Bent core surgical instrument easy to disassemble

Abstract

A bent core surgical instrument easy to disassemble comprises a handle assembly and a bent core assembly, and the handle assembly comprises a rotating wheel assembly and a button assembly. The core bending assembly comprises a rod bending assembly and a pipe bending assembly. The bent rod assembly comprises a first clamp piece, a second clamp piece, a base and a bent pull rod. The base comprises a first arm and a second arm which extend from a base shoulder to the far end to form a U-shaped fork shape. The first clamp piece comprises a first clamp tail, a first clamp claw and a clamp handle connected with the first clamp claw; the second clamp piece comprises a second clamp tail, a second clamp claw and a clamp handle connected with the second clamp claw; the first clamp tail and the second clamp tail are mutually stacked and are mounted between the first arm and the second arm; the bent pull rod comprises a driving head and a driving mechanism connected with the driving head, the driving mechanism is connected with the first clamp tail and the second clamp tail, the bent pull rod is moved to push and pull the driving head, the driving head drives the driving mechanism, and the driving mechanism forces the first clamp tail and the second clamp tail to rotate to be closed or opened. Therefore, the first gripper arm and the second gripper arm are forced to rotate to be closed or opened mutually.

Description

Technical Field

[0001] This utility model relates to minimally invasive surgical instruments, and more particularly to a single-port laparoscopic surgical instrument. Background Technology

[0002] Laparoscopic single-port surgery involves inserting and removing a laparoscope and multiple instruments through a single incision in the patient's body wall to complete the surgical procedure. Typically, a single-port multi-channel device is inserted into the single incision as the channel for instruments to enter and exit the body. Currently, laparoscopic single-port surgery faces two major challenges: first, the feasibility of operation at arbitrary extreme angles within a hemispherical space; and second, the interference problem between multiple instruments in a very small space (referred to as the "chopstick effect"). To date, there are no reliable solutions. Utility Model Content

[0003] Therefore, in order to solve the problems of existing technologies, a variety of solutions have been proposed.

[0004] In one aspect of the invention, a detachable curved core surgical instrument is provided, comprising a handle assembly and a curved core assembly. The handle assembly includes a rotary wheel assembly and a button assembly. The curved core assembly includes a curved rod assembly and a curved tube assembly. The curved rod assembly includes a first clamping plate, a second clamping plate, a base, and a curved pull rod. The base includes a first arm and a second arm forming a U-shaped fork extending distally from a base shoulder. The first clamping plate includes a first clamping tail, a first clamping jaw, and a clamping handle connected thereto. The second clamping plate includes a second clamping tail, a second clamping jaw, and a clamping handle connected thereto. The first and second clamping tails are stacked on top of each other and mounted between the first and second arms. The curved pull rod includes a drive head and a drive mechanism connected thereto. The drive mechanism is connected to the first and second clamping tails respectively. Moving the curved pull rod pushes and pulls the drive head, which drives the drive mechanism. The drive mechanism forces the first and second clamping tails to rotate and close or rotate and open relative to each other, thereby forcing the first and second clamping jaws to rotate and close or rotate and open relative to each other. The pipe bending assembly includes a pipe clamp, a straight pipe, and a bend extending therebetween; the bend tie rod matches the bend; and the base matches the pipe clamp to form a detachable quick-lock connection mechanism.

[0005] In another embodiment, the pipe clamp includes a pipe head shell and a pipe head inner hole, the pipe head inner hole including a pipe head axis; a first slot and a second slot divide the pipe head shell into a first half-shell and a second half-shell; the first slot includes a first cylindrical surface, and the second slot includes a second cylindrical surface; the axes of the first cylindrical surface and the second cylindrical surface coincide. The bend includes a bend head, a bend tail, and extends therebetween to an arc-shaped pipe body, the arc-shaped pipe body including a circular arc centerline; the arc-shaped inner hole extends along the circular arc centerline through the bend head, the arc-shaped pipe body, and the bend tail. The tangent of the circular arc centerline at the intersection of the pipe head inner hole and the arc-shaped inner hole forms a pipe head oblique angle A1 with the pipe head axis, where A1 ≤ 5°.

[0006] In another embodiment, the straight pipe includes a straight pipe head, a straight pipe tail, and extends therebetween to a straight pipe body. The straight pipe body includes a straight pipe inner hole and a straight pipe axis. The straight pipe inner hole penetrates the straight pipe head, the straight pipe body, and the straight pipe tail. The pipe head axis and the straight pipe axis form a pipe tail oblique angle A2, where 20°≤A2≤55°.

[0007] In another embodiment, the first slot includes a distal first guide opening, a first cylindrical surface, and a first cutting groove. The maximum opening width of the first guide opening is H11, and the diameter of the first cylindrical surface is D11. The first guide opening and the first cylindrical surface intersect to form a first bite with an opening width of H12, wherein H11 ≥ D11 > H12. The second slot includes a distal second guide opening, a second cylindrical surface, and a second cutting groove. The maximum opening width of the second guide opening is H21, and the diameter of the second cylindrical surface is D21. The second guide opening and the second cylindrical surface intersect to form a second bite with an opening width of H22, wherein H21 ≥ D21 > H22.

[0008] In another embodiment, the base further includes a hollow tube extending from the base shoulder towards the proximal end, the outer surface of which is provided with a first horizontal axis and a second horizontal axis; the bent rod assembly is inserted into the bent tube assembly, the hollow tube is inserted into the inner hole of the tube head, the first horizontal axis is engaged in a first slot and forms a first engagement pair with a first cylindrical surface, and the second horizontal axis is engaged in a second slot and forms a second engagement pair with a second cylindrical surface;

[0009] In another embodiment, the bent tie rod includes a first tie rod and a second tie rod. The first tie rod includes a drive head, a first connector, and an arc-shaped rod extending therebetween. The first connector includes a first half-rod head; the second tie rod includes a tie rod tail, a second connector, and an extension rod therebetween, and the second connector includes a second half-rod head; the first half-rod head and the second half-rod head are riveted together to form a rotatable coupling, allowing the second tie rod to rotate around the coupling.

[0010] In another embodiment, the length of the first pull rod is L1, and the length of the second pull rod is L2, where 0.01≤L2 / L1≤0.1.

[0011] In another embodiment, the straight tube includes a straight tube head, a straight tube tail, and an extension therein to a straight tube body. The outer side of the straight tube head includes an adapter for transmitting torque, and the outer side of the straight tube tail includes a limiting annular groove. The straight tube tail mates with the rotary wheel assembly and the button assembly. The bent pull rod is connected to the second handle. The first and second handles rotate about the handle axis, thereby pulling the bent pull rod to move, which in turn pushes its drive head to move, thereby forcing the first and second jaws to rotate together or open relative to each other, thus forcing the first and second jaws to rotate together or open relative to each other. Attached Figure Description

[0012] To gain a fuller understanding of the essence of the present invention, a detailed description will be provided below in conjunction with the accompanying drawings, wherein:

[0013] Figure 1 This is a side projection diagram of device 1;

[0014] Figure 2 yes Figure 1 Sectional view 2-2;

[0015] Figure 3 This is a 3D schematic diagram of clamp 10 (clamp 20);

[0016] Figure 4 This is a 3D schematic diagram of link 40 (link 50);

[0017] Figure 5 This is a 3D schematic diagram of base 60;

[0018] Figure 6 This is a side projection diagram of the bent tie rod 30;

[0019] Figure 7 This is a three-dimensional partial fracture diagram of the first tie rod 31;

[0020] Figure 8 This is a 3D schematic diagram of the second pull rod 32;

[0021] Figure 9 yes Figure 6 9-9 magnified view;

[0022] Figure 10 This is a three-dimensional, partial fracture diagram of the pipe bending assembly 5;

[0023] Figure 11 This is a cross-sectional view of the pipe bending assembly 5;

[0024] Figure 12 This is a partial 3D schematic diagram of the head of the bending rod assembly 4 (hidden base 60).

[0025] Figure 13 This is a partial 3D schematic diagram of the head of the bending rod assembly 4;

[0026] Figure 14 This is a side projection view of the bent core assembly 3;

[0027] Figure 15 yes Figure 14 15-15 magnified view;

[0028] Figure 16 yes Figure 2 16-16 magnified view;

[0029] Figure 17This is a schematic diagram of a clinical simulation scenario of using curved core surgical instruments in single-port laparoscopic surgery;

[0030] In all views, the same label indicates the same part or component. Detailed Implementation

[0031] Embodiments of the invention are disclosed herein; however, it should be understood that the disclosed embodiments are merely examples of the invention, and the invention can be implemented in different ways. Therefore, the disclosure herein is not to be construed as limiting, but rather serves only as the basis for the claims and as a means of teaching those skilled in the art how to use the invention.

[0032] refer to Figure 1 For ease of description, the side closer to the operator will be defined as the proximal end, and the side farther from the operator will be defined as the distal end. During laparoscopic surgery, a trocar assembly is usually used to create a surgical channel in the patient's body wall for instruments to enter and exit the patient's body. Various minimally invasive instruments, such as Instrument 1, can be inserted into the body cavity through the channel formed by the trocar assembly.

[0033] Figure 1-2 A typical laparoscopic handheld instrument 1 is depicted, comprising a handle assembly 2 and a bending core assembly 3. The bending core assembly 3 includes a bending rod assembly 4 and a bending tube assembly 5. For example... Figure 2 As shown, the bending rod assembly 4 includes a first clamping plate 10, a second clamping plate 20, a bending tie rod 30, a first connecting rod 40, a second connecting rod 50, and a base 60.

[0034] like Figure 3 As shown, the first clamping plate 10 includes a first clamping tail 11, a first clamping jaw 13, and a clamping handle 12 connected thereto. The first clamping tail 11 also includes a first base hole 14 and a first tail hole 15 penetrating therethrough. The second clamping plate 20 includes a second clamping tail 21, a second clamping jaw 23, and a clamping handle 22 connected thereto. The second clamping tail 21 also includes a second base hole 24 and a second tail hole 25 penetrating therethrough laterally. Those skilled in the art will understand that the shapes and structures of the first and second clamping plates can be substantially the same or different. Figure 3 This indicates that the first clamp and the second clamp are essentially equivalent.

[0035] like Figure 4As shown, the first link 40 includes a first link head 41, a first link tail 43, and a first link body 42 extending therebetween; the first link head 41 includes a laterally outward extension to a first link shaft 44, and the first link tail 43 includes a laterally through-hole 45. The second link 50 includes a second link head 51, a second link tail 53, and a second link body 52 extending therebetween; the second link head 51 includes a laterally outward extension to a second link shaft 54, and the second link tail 53 includes a laterally through-hole 55.

[0036] like Figure 5 As shown, the base 60 includes a base shoulder 61. A first arm 62 and a second arm 63 extend distally from the base shoulder 61 to form a forked U-shaped groove. A first transverse hole 64 laterally penetrates the first arm 62, and a second transverse hole 65 laterally penetrates the second arm 63. The base 60 also includes a hollow tube 66 extending proximally from the base shoulder, the inner hole 67 of which penetrates the base shoulder 61 and connects to the U-shaped groove. The outer surface of the hollow tube 66 is provided with a first transverse axis 68 and a second transverse axis 69.

[0037] like Figure 6-9 As shown, the bent tie rod 30 includes a first tie rod 31 and a second tie rod 32. The first tie rod 31 includes a drive head 311, a first connector 319, and an arc-shaped rod 315 extending therebetween. In one design, the arc-shaped rod 315 includes a circular arc centerline 316 with a radius of R1. The drive head 311 includes a drive block 312 and a first drive shaft 313 and a second drive shaft 314 connecting thereto and extending to both sides. The first connector 319 includes a first half-rod head 318 and a first connecting hole 317 penetrating therethrough. The second tie rod 32 includes a tie rod tail 321, a second connector 329, and an extension rod 325 therebetween. The tie rod tail 321 includes a curved rod head 323 and an annular groove 322. The second connector 329 includes a second half-rod head 328 and a connecting shaft 327 connecting thereto and extending laterally. The connecting shaft 327 is inserted into the first connecting hole 317 and riveted to form a rotatable coupling, that is, the second pull rod 32 can rotate around the coupling formed by the connecting hole 317 and the connecting shaft 327.

[0038] like Figure 10-11As shown, the pipe bending assembly 5 includes a pipe clamp 70, a bend 80, and a straight pipe 90. The pipe clamp 70 includes a pipe head housing 71 and a pipe head inner hole 72, the pipe head inner hole 72 including a pipe head axis 77. A first slot 73 and a second slot 74 divide the pipe head housing into a first half-shell 75 and a second half-shell 76. The first slot 73 includes a distal first guide opening 731, a first cylindrical surface 732, and a first cutting groove 733. The maximum opening width of the first guide opening is H11, the diameter of the first cylindrical surface is D11, and the intersection of the first guide opening and the first cylindrical surface forms a first bite 734 with an opening width of H12. In a preferred embodiment, H11 ≥ D11 > H12. Similarly, the second slot 74 includes a distal second guide opening 741, a second cylindrical surface 742, and a second cutting groove 743. The maximum opening width of the second guide port is H21, and the diameter of the second cylindrical surface is D21. The second guide port and the second cylindrical surface intersect to form a second bite 744 with an opening width of H22. In a preferred embodiment, H21 ≥ D21 > H22. The axes of the first cylindrical surface 732 and the second cylindrical surface 742 are substantially coincident.

[0039] The bend 80 includes a bend head 81, a bend tail 89, and extends therebetween to an arc-shaped pipe body 85. The arc-shaped pipe body 85 includes a circular arc centerline 86 with a radius of R2. An arc-shaped inner hole 82 extends along the circular arc centerline 86 and penetrates the bend head 81, the arc-shaped pipe body 85, and the bend tail 89. The straight pipe 90 includes a straight pipe head 91, a straight pipe tail 99, and extends therebetween to a straight pipe body 95. The straight pipe body 95 includes a straight pipe inner hole 92 and a straight pipe axis 97. The straight pipe inner hole 92 penetrates the straight pipe head 91, the straight pipe body 95, and the straight pipe tail 99. The outer side of the straight pipe head 91 includes a torque-transmitting adapter 93. The outer side of the straight pipe tail 99 includes a limiting annular groove 98.

[0040] The pipe clamp 70, the bend 80, and the straight pipe 90 are integrated into a single unit. The inner hole 72 of the pipe clamp is seamlessly connected to the arc-shaped inner hole 82, and the inner hole 92 of the straight pipe is also seamlessly connected to the arc-shaped inner hole 82. In a preferred embodiment, the tangent of the arc center line 86 at the intersection of the inner hole of the pipe clamp and the arc-shaped inner hole forms a pipe clamp angle A1 with the pipe clamp axis 77. In another preferred embodiment, A1 ≤ 5°. In yet another preferred embodiment, the pipe clamp axis 77 and the straight pipe axis 97 form a pipe clamp angle A2, where 20° ≤ A2 ≤ 55°. In a specific design, 350 ≤ R2 ≤ 800 (in millimeters). Those skilled in the art will understand that the bend 80 can be formed from a single metal material or welded from multiple metal parts.

[0041] like Figure 12-13The structural composition and assembly relationship of the bent rod assembly 4 are depicted. The first clamp tail 11 and the second clamp tail 21 are stacked and clamped between the first arm 62 and the second arm 63 of the base 60; the main pin 9 passes through the first base hole 14 and the second base hole 24, fixing the first and second clamp tails together and forming a main rotating pair that can rotate around the main pin. The first connecting rod shaft 44 penetrates the first tail hole 15, connecting the first connecting rod head 41 and the first clamp tail 11 together, forming a first linkage pair that can rotate around the first connecting rod shaft. The second connecting rod shaft 54 ​​penetrates the second tail hole 25, fixing the second connecting rod head 51 and the second clamp tail 21 together, forming a second linkage pair that can rotate around the second connecting rod shaft. The first drive shaft 313 penetrates the first connecting rod hole 45, fixing the first connecting rod tail 43 and the drive head 311 together, forming a first drive pair that can rotate around the first drive shaft. The second drive shaft 314 penetrates the second connecting rod hole 55, fixing the second connecting rod tail 53 and the drive head 311 together, forming a second drive pair that can rotate around the second drive shaft. Pulling the drive rod 30 causes the first and second drive pairs, the first and second linkage pairs, and the main rotary pair to rotate simultaneously. When the drive head 311 is moved, it drives the first and second connecting rods to move and rotate, causing the first and second jaws to rotate, thereby achieving the closing or opening of the first and second jaws.

[0042] like Figure 14-15 The diagram illustrates the assembly relationship of the bending core assembly 3. The bending rod assembly 4 is inserted into the bending tube assembly 5, wherein the arc-shaped rod 315 matches the shape and size of the arc-shaped tube body 85; the bending tie rod 30 passes sequentially from the distal end to the proximal end through the inner hole 72 of the tube head, the arc-shaped inner hole 82, and the straight inner hole 92 of the tube head; the hollow tube 66 of the base is inserted into the inner hole 72 of the tube head, and the first horizontal shaft 68 is engaged in the first slot 73 to form a first engagement pair with the first cylindrical surface 732, similarly, the second horizontal shaft 69 is engaged in the second slot 74 to form a second engagement pair with the second cylindrical surface 742. The first and second engagement pairs constitute a typical quick-release structure (quick-lock mechanism).

[0043] Figure 1 , Figure 2 and Figure 16The assembly relationship between the handle assembly 2 and the bent core assembly 3 is depicted. The handle assembly 2 includes a first handle 1002 and a second handle 1003 connected by a handle shaft 1001, and the first and second handles are rotatable around the handle shaft. The wheel assembly 1100 includes a wheel 1101, an outer sleeve 1103, and an inner sleeve 1105. The outer sleeve 1103 is integrally connected to the wheel 1101, and the inner sleeve 1105 is integrally connected to the first handle 1002. The outer sleeve 1103 and the inner sleeve 1105 constitute a rotating mechanism that allows the wheel 1101 to rotate relative to the first handle 1002. The button assembly 1200 is installed in the button mounting compartment 1008 of the first handle 1002. The button assembly 1200 includes a locking member 1202, one end of which is connected to an elastic element 1201 and the other end to a button 1204. A fastener 1203 secures the locking member 1202 within a mounting chamber 1008. The elastic element 1201 drives the locking member 1202 to move laterally within the mounting chamber 1008 to a locked position. The handheld device 1 includes a handle assembly 2 and a curved core assembly 3. A pull rod tail 321 is matched with a second handle 1003. The elastic element 1201 drives the locking member 1202 to move laterally within the mounting chamber 1008 to a locked position and match with a limiting ring groove 98. An adapter 93 is matched with a rotating wheel 1101, which transmits rotational torque to the curved core assembly. The first and second handles rotate around the handle axis, thereby pushing the pull rod tail 321 to move axially, which in turn pushes the drive head 311 to move axially, thereby driving the first and second connecting rods to move and rotate, causing the first and second jaws to rotate, thus closing or opening the first and second jaws. Pressing button 1204 compresses elastic element 1201, causing lock 1202 to move laterally away from the locking position, disengaging the limiting ring groove 98 from lock 1202, thereby separating the bent core assembly 3 and handle assembly 2.

[0044] Combination Figure 1-2 , Figure 11 and Figure 15-16 Understandably, in a preferred design, the bending core assembly 3 includes three states: working state, critical state, and separation state. Correspondingly, the drive head 311 includes a working displacement Lw1 and a critical displacement Le1 (Lw1 and Le1 are measured as the shortest distance between the axis of the first drive shaft and the axis of the kingpin), where Lw1 > Le1.

[0045] Operating state: When the drive head is at the working displacement Lw1, the first horizontal axis 68 remains in contact with the first cylindrical surface, i.e., the first meshing pair is in the meshing state; the second horizontal axis 69 remains in contact with the second cylindrical surface, i.e., the second meshing pair is in the meshing state. In the operating state, operating the first and second handles can drive the first and second jaws to close or open within the angle range of 0 to Ang1. Typically, Ang1 is designed to be 65 to 85°.

[0046] Critical state: When the drive head is at the critical displacement Le1, the first and second handles continue to move away from each other, thereby causing the drive head to move in the direction of reducing the distance between the axis of the first drive shaft and the axis of the kingpin. At this time, the opening angle of the first and second jaws reaches the maximum limit angle Ang1, and Le1 no longer decreases. When the first and second handles continue to move away from each other, the drive head pushes the first and second jaws to move toward the far end, thereby pushing the first and second transverse axes to move toward the far end and pushing the first and second jaws to open.

[0047] Separation state: In the critical state, the first handle and the second handle continue to move away from each other; the first and second horizontal axes are pushed to move toward the far end; the first and second bites are fully expanded and slip into the first and second guide mouths; that is, the first and second bite pairs are in a failed separation state; thereby realizing the separation of the bending rod assembly and the bending tube assembly.

[0048] Those skilled in the art will recognize that, depending on the actual needs of the surgical instrument, the specific value of Le1 can be adjusted by modifying the size and shape of the first and second connecting rods, the first and second clamp tails, and the drive head. An additional limiting mechanism can be added to restrict the displacement of the drive head during use to a working displacement Lw1 > Le1, preventing it from dislodging during use.

[0049] In another embodiment, the bending core assembly 3 does not exhibit a clear critical state, meaning that the operating force causes the first and second handles to move away from each other, preventing the first and second pins from fully expanding and engaging the first and second engagement points. Those skilled in the art should understand that auxiliary tools can be used to push or pull the bending rod assembly and the bending tube assembly to cause them to separate, thereby pushing the first and second transverse axes towards the distal end; fully expanding and engaging the first and second engagement points and sliding into the first and second guide openings; that is, the first and second engagement pairs are in a failed separation state; thus achieving the separation of the bending rod assembly and the bending tube assembly.

[0050] The reassembly of the bending rod assembly and the bending tube assembly is the reverse operation of the disassembly: The first and second handles are brought together, pulling the first and second horizontal axes proximally through the first and second guide openings; the first and second jaws are fully expanded and engaged in the first and second cylindrical surfaces; that is, the first horizontal axis remains in contact with the first cylindrical surface, i.e., the first engagement pair is in engagement; the second horizontal axis remains in contact with the second cylindrical surface, i.e., the second engagement pair is in engagement; thus, the reassembly of the bending rod assembly and the bending tube assembly is achieved. Similarly, auxiliary tools can also be used for reassembly.

[0051] Those skilled in the art should be able to recognize that the base, drive mechanism, etc., can be adaptively modified using the disclosed prior art to replace the corresponding structures in the aforementioned examples, thus forming new implementation schemes.

[0052] For example, an adaptive modification can be made to the dual-column structure disclosed in US20090259248A1: the first jaw includes a first base column, the second jaw includes a second base column, the first arm of the base includes a first side hole, and the second arm of the base includes a second side hole. The first base column and the first side hole form a first main rotating joint, and the second base column and the second side hole form a second main rotating joint. The first and second main rotating joints replace the aforementioned main rotating joints, constituting a new implementation scheme.

[0053] For example, by adapting the sliding drive structure disclosed in US5849022A, the first jaw includes a first tail post (replacing the first tail hole), and the second jaw includes a second tail post (replacing the second tail hole). The first pull rod of the bent pull rod includes a drive block defined by a first drive surface and a second drive surface, and also includes a first drive groove recessed into the drive block by the first drive surface, and a second drive groove recessed into the drive block by the second drive surface. The first drive groove and the first tail post match to form a first drive pair, and the second drive groove and the second tail post match to form a second drive pair. When the bent pull rod is moved, the drive block moves, causing the first and second drive pairs to rotate and slide simultaneously, thereby driving the first jaw and the second jaw to rotate relative to each other, thus realizing the closing or opening of the first and second jaws.

[0054] More solutions are conceivable, so they will not be exhaustive. These rotating and driving mechanisms are equivalent. In general, the base includes a first arm and a second arm forming a U-shaped fork extending distally from the base shoulder; the first clamping plate includes a first clamping tail, a first clamping claw, and a clamping handle connected thereto; the second clamping plate includes a second clamping tail, a second clamping claw, and a clamping handle connected thereto; the first and second clamping tails are stacked on top of each other and mounted between the first and second arms; the bent pull rod includes a drive head and a drive mechanism connected thereto, the drive mechanism being connected to the first and second clamping tails respectively; moving the bent pull rod pushes and pulls the drive head, the drive head drives the drive mechanism, and the drive mechanism forces the first and second clamping tails to rotate and close or rotate and open relative to each other, thereby forcing the first and second clamping claws to rotate and close or rotate and open relative to each other.

[0055] Those skilled in the art should understand that laparoscopic single-port surgery presents two challenges: first, the operability at arbitrary extreme angles within a hemispherical space; and second, the interference problem between multiple instruments in a very small space (referred to as the "chopstick effect"). Studies have shown that using flexible instruments can effectively solve these problems. However, currently disclosed flexible instruments are usually of a snake-like structure or a near-snake-like mechanism, with the bending of the forceps controlled by a manipulation mechanism. This mechanism is essentially a fully flexible structure, resulting in insufficient or unrealistic tactile feedback, severely interfering with the surgeon's judgment. In addition, such flexible forceps are complex in structure and cannot be reused, leading to high application costs. Currently disclosed reusable pre-bent forceps typically contain multiple special bends, combined with special single-port multi-channel access devices to complete specific surgeries, making it difficult to meet the needs of different single-port surgical procedures; moreover, these specific multi-bent pre-bent forceps cannot be disassembled, resulting in the forceps core not being able to be cleaned properly, posing a significant risk of cross-infection during clinical application. Therefore, to date, the clinical application of reusable pre-bent forceps is limited.

[0056] Figure 17 A simulated schematic diagram of instrument 1 and endoscope 7 in a single-port laparoscopic surgery clinical application scenario is depicted. The pre-bent tube assembly allows the two instruments 1 to be operated in a cross-operation manner, and moves the intersection area of ​​the cross-operation to outside the patient's body. More importantly, there is no interference between the handles, providing a large operating space. Studies have shown that the tangent of the arc center line 86 at the intersection of the inner hole of the tube head and the arc-shaped inner hole forms a tube head oblique angle A1 with the tube head axis 77, where A1 ≤ 5°; the tube head axis 77 forms a tube tail oblique angle A2 with the straight tube axis 97, where 20° ≤ A2 ≤ 55°. This setting is beneficial for moving the intersection point of the two cooperating instruments under single-port laparoscopy to a reasonable position, while avoiding mutual interference between the handles and facilitating real-time monitoring and visual feedback of the distal forceps of the instruments.

[0057] Combination Figure 1 , Figure 2 , Figure 6 , Figure 16 and Figure 17 It is understood that the first tie rod 31 and the second tie rod 32 of the bending tie rod are riveted together to form a rotatable coupling, meaning that the second tie rod can rotate relative to the coupling. This mechanism has an adaptive function, which is crucial for the rotation and disassembly functions of the bending mandrel. Figure 6 As shown, in a preferred embodiment, the length of the first pull rod is L1, and the length of the second pull rod is L2, where 0.01 ≤ L2 / L1 ≤ 0.1. This ratio is beneficial for improving the ease of disassembly while ensuring high strength of the instrument.

[0058] In the examples shown, the inner hole 72 of the pipe head is seamlessly connected to the arc-shaped inner hole 82, and the inner hole 92 of the straight pipe is seamlessly connected to the arc-shaped inner hole 82. The inner diameters of the holes are essentially equal, but they can also be unequal. For example, the inner diameter of the straight pipe inner hole 92 may be larger than the inner diameter of the arc-shaped inner hole 82; for example, the inner diameter of the inner hole 72 of the pipe head may be larger than the inner diameter of the arc-shaped inner hole 82. Many variations have been shown, and many more can be conceived, but will not be exhaustive here. Those skilled in the art should understand that the terms "first," "second," etc., are not in a strict order, but are used only for the sake of simplicity and accuracy, and for ease of understanding.

Claims

1. A detachable bending instrument, comprising a handle assembly and a bending assembly, the handle assembly comprising a rotating knob assembly and a button assembly, characterized in that: 1) the bending assembly comprises a bending lever assembly and a bending tube assembly; 2) the bending lever assembly comprises a first jaw, a second jaw, a base and a bending lever; the base comprises a first arm and a second arm constituting a U-shaped fork extending from the base shoulder to the distal end; the first jaw comprises a first jaw tail, a first jaw claw and a jaw handle connected thereto, and the second jaw comprises a second jaw tail, a second jaw claw and a jaw handle connected thereto; the first jaw tail and the second jaw tail are stacked and mounted between the first arm and the second arm; the bending lever comprises a driving head and a driving mechanism connected thereto, the driving mechanism is connected with the first jaw tail and the second jaw tail respectively, moving the bending lever to push and pull the driving head, the driving head drives the driving mechanism, and the driving mechanism forces the first jaw tail and the second jaw tail to rotate and close or rotate and open, thereby forcing the first jaw claw and the second jaw claw to rotate and close or rotate and open; 3) the bending tube assembly comprises a tube clamp head, a straight tube and a bending tube extending therebetween; the bending lever is matched with the bending tube; the base is matched with the tube clamp head to form a detachable quick-locking connection mechanism.

2. The bending instrument according to claim 1, characterized in that: 1) the tube clamp head comprises a tube head shell and a tube head inner hole, the tube head inner hole comprises a tube head axis; a first clamping groove and a second clamping groove divide the tube head shell into a first half shell and a second half shell; the first clamping groove comprises a first cylindrical surface, and the second clamping groove comprises a second cylindrical surface; the axes of the first cylindrical surface and the second cylindrical surface coincide; 2) the bending tube comprises a bending tube head, a bending tube tail and an arc-shaped tube body extending therebetween, the arc-shaped tube body comprises an arc center line; the arc-shaped inner hole extends along the arc center line through the bending tube head, the arc-shaped tube body and the bending tube tail; the straight tube comprises a straight tube head, a straight tube tail and a straight tube body extending therebetween, the straight tube body comprises a straight tube inner hole and a straight tube axis, the straight tube inner hole extends through the straight tube head, the straight tube body and the straight tube tail; the tube head axis and the straight tube axis form a tube tail oblique angle A2, wherein 20°≤A2≤55°; the first clamping groove comprises a distal first guide port, a first cylindrical surface and a first cut-off groove, the maximum opening width of the first guide port is H11, the diameter of the first cylindrical surface is D11, and the first guide port and the first cylindrical surface intersect to form a first bite opening with an opening width of H12, wherein H11≥D11>H12; the second clamping groove comprises a distal second guide port, a second cylindrical surface and a second cut-off groove, the maximum opening width of the second guide port is H21, the diameter of the second cylindrical surface is D21, and the second guide port and the second cylindrical surface intersect to form a second bite opening with an opening width of H22, wherein H21≥D21>H22; the base further comprises a base hollow tube extending from the base shoulder to the proximal end, the outer surface of the hollow tube is provided with a first transverse shaft and a second transverse shaft; the bending lever assembly is inserted into the bending tube assembly, the base hollow tube is inserted into the tube head inner hole, the first transverse shaft is clamped into the first clamping groove to form a first bite pair with the first cylindrical surface, and the second transverse shaft is clamped into the second clamping groove to form a second bite pair with the second cylindrical surface. ​ ​ ​ ​ ​ 3. A mandrel instrument as claimed in claim 2, wherein: ​ 4. A mandrel instrument as claimed in claim 2, wherein: ​ 5. A mandrel instrument as claimed in claim 4, wherein: ​ 6. The bending core surgical instrument of claim 1, wherein: 1) the bending lever comprises a first lever and a second lever, the first lever comprising a driving head and a first connecting head and an arc-shaped lever extending therebetween; 2) the first connecting head comprises a first half lever head; the second lever comprises a lever tail and a second connecting head and an extending rod therebetween, the second connecting head comprising a second half lever head; the first half lever head and the second half lever head are riveted and fixed to form a rotatable connecting shaft, so that the second lever can rotate around the connecting shaft.

7. A mandrel instrument as claimed in claim 6, wherein: The length of the first lever L1, the length of the second lever L2, wherein 0.01≤L2 / L1≤0.

1.

8. The bending core surgical instrument of claim 1, wherein: 1) the straight tube comprises a straight tube head, a straight tube tail and a straight tube body extending therebetween, the outside of the straight tube head comprising a torque transmission adapter, the outside of the straight tube tail comprising a limiting ring groove; 2) the straight tube tail is matched with a rotating wheel assembly and a button assembly; 3) the bending lever is connected with a second handle, the first handle and the second handle rotate around the hand handle rotating shaft, so as to pull the bending lever to move, and then push the driving head to move, and then force the first clamp tail and the second clamp tail to rotate and close to each other or rotate and open away from each other, so as to force the first clamp jaw and the second clamp jaw to rotate and close to each other or rotate and open away from each other.

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