End effector and surgical instrument

Abstract

The end effector with the deflection function comprises a fixed base, a deflection base, a deflection driving assembly, an opening and closing driving assembly and a clamp assembly, the deflection base is hinged to the fixed base, the deflection driving assembly and the opening and closing driving assembly are both movably arranged in the fixed base, and the clamp assembly is connected with the deflection driving assembly and the opening and closing driving assembly. The deflection driving assembly can drive the deflection base to rotate, the clamp assembly is arranged on the deflection base, and the opening and closing driving assembly can drive the clamp assembly to be opened or closed. The fixed base is provided with a first contact limiting face, the deflection base is provided with a second contact limiting face, and the first contact limiting face and the second contact limiting face can abut against each other when the deflection base rotates to the initial position so as to prevent the deflection base from continuing rotating. The first contact limiting surface and the second contact limiting surface abut against each other when the deflection base rotates to the initial position, so that the deflection base stably stops at the initial position, and the position stability of the deflection base at the initial position is guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model relates to surgical instrument technical field, specifically, relate to a kind of end effector with deflection function and a kind of surgical instrument comprising the end effector. BACKGROUND

[0002] In pincer, forceps-shaped surgical instrument, how to accurately control the orientation of the head has been an important research direction, in the existing surgical instrument, rigid transmission and with deflection surgical instrument head part is often made into the specification of diameter 8mm and above, the key to limit its miniaturization lies in the jitter problem of the deflection part of the head.

[0003] In the existing rigid transmission and with deflection surgical instrument, deflection part and fixed seat are hingedly connected, and are hingedly connected with another connecting rod mechanism and deflection part, utilize connecting rod mechanism to promote deflection part rotation, to drive the head to rotate to different orientation, however, in the existing surgical instrument, head swing to limit position, often cannot stably keep deflection angle, leading to inconvenient use of surgical instrument.

[0004] Therefore, how to provide a kind of end effector with more stable structure, become the technical problem urgently to be solved in the field. SUMMARY

[0005] The utility model aims at solving one of the technical problems in the related art to some extent, and therefore, the utility model provides a kind of end effector with deflection function and a kind of surgical instrument comprising the end effector, which can ensure the position stability of the deflection base at the limit position and improve the use experience of the surgical instrument.

[0006] To achieve the above-mentioned purpose, as one aspect of the utility model, an end effector with deflection function is provided, comprising a fixed base, a deflection base, a deflection driving assembly, an opening and closing driving assembly and a clamp assembly, the deflection base is hingedly connected with the fixed base, the deflection driving assembly and the opening and closing driving assembly are movably arranged in the fixed base, the deflection driving assembly can drive the deflection base to rotate around the hinge axis between the deflection base and the fixed base, the clamp assembly is arranged on the deflection base, and the opening and closing driving assembly can drive the clamp assembly to open or close.

[0007] The yawing base is capable of rotating around the hinged axis between an initial position extending in the same direction as the fixed base and a yawing position deviating from the initial position, the fixed base has a first contact limiting surface, the yawing base has a second contact limiting surface, the first contact limiting surface and the second contact limiting surface can abut each other when the yawing base rotates to the initial position, so as to block the rotation of the yawing base to the side away from the yawing position, avoid the yawing base from shaking in the high-frequency use state (initial position), and improve the reliability of the instrument operation.

[0008] Optionally, the fixed base comprises a guide cylinder and a pair of first hinged parts, the yawing driving assembly and the opening and closing driving assembly are movably arranged in the guide cylinder, the distal jaw end of the yawing base is arranged between the first hinged parts and is hingedly connected with the first hinged parts on both sides, and the outer surface of the yawing base is provided with a pair of movable avoiding grooves.

[0009] The first contact limiting surface is located on the side wall of the first hinged part, and the second contact limiting surface is located on the side wall of the movable avoiding groove.

[0010] Optionally, the first contact limiting surface comprises a first limiting plane and a first curved surface, the first limiting plane extends in the direction from the proximal jaw end of the fixed base to the distal jaw end of the fixed base, and the first curved surface is transitionally connected to one side of the first limiting plane away from the clamp assembly.

[0011] The second contact limiting surface comprises a second limiting plane and a second curved surface, the second limiting plane abuts against the first limiting plane when the yawing base rotates to the initial position, and the second curved surface has a gap with the first curved surface.

[0012] Optionally, the yawing driving assembly has a third limiting plane, the distal jaw end of the yawing base has a fourth limiting plane, and the third limiting plane and the fourth limiting plane can abut against each other when the yawing base rotates to the yawing position.

[0013] Optionally, the yawing driving assembly comprises a yawing slider, a yawing connecting rod, a first yawing shaft and a second yawing shaft, the yawing slider is movably arranged in the guide cylinder, the yawing slider is hingedly connected with the first end of the yawing connecting rod through the first yawing shaft, and the second end of the yawing connecting rod is hingedly connected with the distal jaw end of the yawing base through the second yawing shaft.

[0014] Optionally, the deflection slider has a third limit plane at one end of the clamp assembly, the distal clamp end of the deflection base has a fourth limit plane, the third limit plane and the fourth limit plane can abut each other when the deflection base rotates to the deflection position, so as to block the deflection base from rotating to one side away from the initial position.

[0015] Optionally, the rotation angle of the deflection base from the initial position to the deflection position is 35°-60°.

[0016] Optionally, the rotation angle of the deflection base from the initial position to the deflection position is 45°.

[0017] Optionally, the distal clamp end of the deflection base has a pair of spaced apart distal clamp hinge parts, the deflection driving assembly is hingedly connected with the distal clamp hinge parts, the lower end surface of the distal clamp hinge part is a slope, and the slope is a fourth limit plane.

[0018] Optionally, the deflection slider comprises a containing cylinder and a pair of spaced apart second hinge parts, the containing cylinder is movably arranged in the guide cylinder, and the opening and closing driving assembly passes through the containing cylinder.

[0019] The distal clamp end of the deflection base has a pair of spaced apart distal clamp hinge parts, the first end of the deflection connecting rod is arranged between the second hinge parts, the second end of the deflection connecting rod is arranged between the distal clamp hinge parts, the third limit plane is located at one end of the second hinge part towards the clamp assembly, and the fourth limit plane is located on the distal clamp hinge part.

[0020] Optionally, the end effector further comprises a main hinge shaft, the main hinge shaft penetrates through the deflection base and the fixed base, so that the deflection base and the fixed base are hingedly connected; the main hinge shaft is located between the deflection driving assembly and the opening and closing driving assembly.

[0021] Optionally, the fixed base comprises a guide cylinder and a pair of first hinge parts, the first hinge part has a first hinge hole, the distal clamp end of the deflection base has a pair of spaced apart distal clamp hinge parts, the distal clamp hinge part has a second hinge hole, the main hinge shaft penetrates through a plurality of first hinge holes and a plurality of second hinge holes, and the distal clamp hinge part and the first hinge part are hingedly connected.

[0022] Optionally, the opening and closing driving assembly comprises a rear end push rod and a clamp connecting rod, the rear end push rod is movably arranged in the fixed base, the clamp connecting rod comprises a first enlarged portion, a connecting portion and a second enlarged portion which are sequentially connected along the length direction of the clamp connecting rod, the cross section of the first enlarged portion and the second enlarged portion is larger than that of the connecting portion, the first connecting rod hole is formed in the first enlarged portion, the second connecting rod hole is formed in the second enlarged portion, the end of the rear end push rod is provided with a first push rod shaft, the first push rod shaft passes through the first connecting rod hole, the driving end of the clamp assembly is provided with a second push rod shaft, the second push rod shaft passes through the second connecting rod hole, and the main hinge shaft is located between the first enlarged portion and the second enlarged portion.

[0023] Optionally, the clamp assembly comprises a front end push rod, a fixed shaft and a pair of clamp heads, the clamp head comprises a clamping portion and a hinge disc which are connected with each other, and the hinge disc is provided with an arc-shaped hole penetrating through the thickness direction of the hinge disc.

[0024] The front end push rod comprises a shaft body portion and a push disc which are connected with each other, the shaft body portion is movably arranged in the deflection base, one end of the shaft body portion away from the push disc is hingedly connected with the opening and closing driving assembly, and the push disc is formed with a strip-shaped hole extending along the length direction of the front end push rod.

[0025] The hinge discs of the clamp heads are respectively stacked on the two sides of the push disc, the fixed shaft passes through the arc-shaped hole and the strip-shaped hole and is fixedly connected with the deflection base, the hinge axes of the push disc and the two sides of the hinge disc are respectively located on the two sides of the fixed shaft, and the hinge axes of each hinge disc and the deflection base and the hinge axes of each hinge disc and the push disc are respectively located on the two sides of the fixed shaft.

[0026] As a second aspect of the utility model, a surgical instrument is provided, comprising a handle device, a rotating rod, a deflection rod, a clamping driving rod and the end effector provided by the utility model, the rotating rod is connected between the handle device and the fixed base of the end effector, the deflection rod is connected between the handle device and the deflection driving assembly of the end effector, and the clamping driving rod is connected between the handle device and the opening and closing driving assembly of the end effector.

[0027] In the end effector and the surgical instrument provided by the utility model, the clamp assembly is arranged on the deflection base, the deflection driving assembly and the opening and closing driving assembly pass through the fixed base and are connected with the deflection base and the clamp assembly, the opening and closing driving assembly can push and pull the clamp assembly to drive it to open or close, the deflection driving assembly can push the deflection base to make it deflect and rotate relative to the fixed base, and then the clamp assembly on the deflection base is driven to swing.

[0028] And the fixed base has a first contact limiting surface, and the deflection base has a second contact limiting surface, when the deflection base rotates to the initial position, the first contact limiting surface and the second contact limiting surface can abut each other, so that the deflection base is stably parked at the initial position, that is, the deflection base at the end of the deflection action transmission chain is directly in contact with the fixed base, compared with the scheme of limiting the deflection driving assembly, the position stability of the deflection base at the initial position can be effectively ensured, and then the stability of the clamp assembly position can be ensured, and the use experience of the surgical instrument can be ensured.

[0029] Further, one end of the deflection sliding block towards the clamp assembly has a third limiting surface, and the far-end of the deflection base has a fourth limiting surface, so that when the deflection base and the clamp assembly rotate to the maximum angle, the third limiting surface and the fourth limiting surface abut each other, and then the rotation angle stability of the clamp assembly at the deflection position can be ensured, and then the action stability of the end effector at the deflection posture can be ensured, and the use experience of the surgical instrument can be further improved. BRIEF DESCRIPTION OF DRAWINGS

[0030] The utility model makes further explanation in connection with the drawings:

[0031] Figure 1 Is the structure schematic drawing of the end effector in the curved state provided by the utility model embodiment;

[0032] Figure 2 Is the schematic drawing of the end effector in the initial position provided by the utility model embodiment;

[0033] Figure 3 Is the partial exploded structure schematic drawing of the end effector provided by the utility model embodiment;

[0034] Figure 4 Is the partial exploded structure schematic drawing of the end effector provided by the utility model embodiment;

[0035] Figure 5 Is the structure schematic drawing of the deflection sliding block in the end effector provided by the utility model embodiment;

[0036] Figure 6 Is the internal structure schematic drawing of the end effector provided by the utility model embodiment;

[0037] Figure 7 Is Figure 6 The structure schematic drawing of the end effector in the clamp assembly open state;

[0038] Figure 8 Is the internal structure schematic drawing of the end effector in the curved state provided by the utility model embodiment;

[0039] Figure 9 is Figure 8 is a structural schematic view of the structure in an open state of the clamp assembly;

[0040] Figure 10 is a structural schematic view of the end effector in a state of being cut open the fixed base and in an initial position provided by the embodiment of the utility model;

[0041] Figure 11 Figure 10 is a side view schematic view of the structure;

[0042] Figure 12 is a structural schematic view of the end effector in a state of being cut open the fixed base and in a deflection position provided by the embodiment of the utility model;

[0043] Figure 13 is Figure 12 is a side view schematic view of the structure;

[0044] Figure 14 is a partial structure schematic view of the surgical instrument provided by the embodiment of the utility model.

[0045] Mark explanation:

[0046] Fixed base 100; guide cylinder 110; first hinged part 120; first hinged hole 121; deflection base 200; movable avoiding slot 201; far clamp hinged part 210; second hinged hole 211; near clamp hinged part 220; near clamp limiting hole 221; near clamp hinged hole 222; transmission cylinder 230; deflection driving assembly 300; deflection sliding block 310; containing cylinder 311; second hinged part 312; deflection connecting rod 320; first deflection shaft 330; second deflection shaft 340; open-close driving assembly 400; rear end push rod 410; first push rod shaft 411; clamp connecting rod 420; first expansion part 421; connecting part 422; second expansion part 423; clamp assembly 500; front end push rod 510; shaft body part 511; push disc 512; strip-shaped hole 513; push convex block 514; second push rod shaft 515; fixed shaft 520; clamp head 530; clamping part 531; hinged disc 532; push slot 533; arc-shaped hole 534; hinged convex 535; main hinged shaft 600; first contact limiting surface a; second contact limiting surface b; second limiting plane b1; second curved surface b2; third limiting plane c; fourth limiting plane d; rotary rod 10; deflection rod 20; clamping driving rod 30. Specific implementation

[0047] Embodiments of the present application will be described in detail below, examples of which are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. Based on the embodiments in the embodiments, it is intended to explain the present application, and cannot be understood as a limitation of the present application.

[0048] In this specification, "one embodiment" or "an embodiment" or "example" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.

[0049] In the existing rigid transmission and the surgical instrument with the deflection, the deflection part of the jaw assembly is hingedly connected between the fixed seat, the deflection part is driven to rotate through the connecting rod mechanism, and the limiting of the limit position is realized by the collision contact between the connecting rod mechanism and the fixed seat, and the hard contact position of the connecting rod mechanism and the fixed seat is located on the side away from the deflection part. Therefore, even if the distal end of the connecting rod mechanism is in contact with the fixed seat and remains stationary, the gaps of the multiple hinge pivots on the connecting rod mechanism will still be transferred to the deflection part, resulting in a large swing allowance of the deflection part, and further causing the deflection part of the jaw assembly to swing to the limit position and still cannot stably maintain the deflection angle, resulting in the inconvenience of using the surgical instrument;

[0050] For example, in order to reduce the size of the wound, when the jaw assembly extends into the working area, it is usually necessary to swing the deflection part to the initial position coaxial with the fixed seat, so that the deflection part of the jaw and the fixed seat enter the wound along the same path, or during the surgical operation such as separating tissues and blood vessels, if the deflection part shakes, it is easy to rub, adhere, collide, and jam with the surrounding tissues, not only increasing the resistance of the jaw assembly to enter and exit the working area, but also possibly causing the wound to expand, affecting the effect of minimally invasive operation, and possibly causing misjudgment and operation errors.

[0051] To solve the above technical problems, as one aspect of the present application, a kind of end effector with deflection function is provided, as shown in Figures 1-2 、 Figures 6-13 The end effector includes a fixed base 100, a deflection base 200, a deflection driving assembly 300, an opening and closing driving assembly 400 and a clamp assembly 500, the deflection base 200 is hingedly connected with the fixed base 100, the deflection driving assembly 300 and the opening and closing driving assembly 400 are movably arranged in the fixed base 100, the deflection driving assembly 300 can drive the deflection base 200 to rotate around the hinge axis between the deflection base 200 and the fixed base 100, the clamp assembly 500 is arranged on the deflection base 200, and the opening and closing driving assembly 400 can drive the clamp assembly 500 to open or close.

[0052] The yawing base 200 can rotate around the hinge axis between an initial position (i.e. the position shown in Figure 2 , Figure 10 , Figure 11 ) extending in the same direction as the fixed base 100 and a yawing position (i.e. the position shown in Figure 1 , Figure 12 , Figure 13 ) deviating from the initial position, the fixed base 100 has a first contact limiting surface a, and the yawing base 200 has a second contact limiting surface b, the first contact limiting surface a and the second contact limiting surface b can abut each other when the yawing base 200 rotates to the initial position (i.e. the state shown in Figure 1 swings to the state shown in Figure 2 ), so as to block the yawing base 200 from rotating to the side away from the yawing position, avoid the yawing base 200 from shaking in the high-frequency use state (the initial position), and improve the reliability of the operation of the instrument.

[0053] In the end effector provided by the utility model, the clamp assembly 500 is arranged on the yawing base 200, the yawing driving assembly 300 and the opening and closing driving assembly 400 are both arranged through the fixed base 100 and connected with the yawing base 200 and the clamp assembly 500, the opening and closing driving assembly 400 can push and pull the clamp assembly 500 so as to drive the clamp assembly 500 to open or close, and the yawing driving assembly 300 can push the yawing base 200 to make the yawing base 200 rotate relative to the fixed base 100, and then make the clamp assembly 500 on the yawing base 200 swing together.

[0054] In addition, the fixed base 100 has the first contact limiting surface a, and the yawing base 200 has the second contact limiting surface b, when the yawing base 200 rotates to the initial position, the first contact limiting surface a and the second contact limiting surface b can abut each other, so as to make the yawing base 200 stably stop at the initial position, that is, the yawing base 200 at the end of the yawing action transmission chain directly contacts and limits the fixed base 100, compared with the scheme of limiting the yawing driving assembly 300, the position stability of the yawing base 200 at the initial position can be effectively ensured, and then the stability of the position of the clamp assembly 500 can be ensured, and the use experience of the surgical instrument can be ensured.

[0055] In addition, the end effector provided by the utility model has smaller swing allowance at the limit position under the same size, so that the overall size of the end effector can be smaller under the same precision requirement of the surgical instrument, the surgical instrument is miniaturized, and then surgical operation can be performed under a smaller scale, and experiments prove that the outer diameter of the end effector designed by the utility model can reach 5mm at the minimum, compared with the surgical instrument structure with a clamp head diameter of 8mm or more, the surgical incision can be further reduced, and the effect of minimally invasive surgery can be improved.

[0056] As an optional embodiment of the utility model, as shown in Figures 1-2 、 Figures 6-13 , the fixed base 100 includes a guide cylinder 110 and a pair of first hinged parts 120, the deflection driving assembly 300 and the opening and closing driving assembly 400 are movably arranged in the guide cylinder 110, the far clamp end of the deflection base 200 is arranged between the first hinged parts 120 and is hingedly connected with the first hinged parts 120 on both sides, the outer surface of the deflection base 200 has a pair of movably arranged avoiding grooves 201, and the first hinged parts 120 are accommodated in the avoiding grooves 201.

[0057] The first contact limiting surface a is located on the side wall of the first hinged part 120, and the second contact limiting surface b is located on the side wall of the avoiding groove 201.

[0058] Preferably, as shown in Figure 1 、 Figure 2 , the outer surface profiles of the deflection base 200 and the fixed base 100 are both cylindrical, so as to facilitate the extension into the area to be operated and the removal from the operation area.

[0059] As an optional embodiment of the utility model, the first contact limiting surface a includes a first limiting plane and a first curved surface, the first limiting plane extends in the direction from the near clamp end (i.e. the end close to the clamp assembly 500, and correspondingly, the far clamp end is the end away from the clamp assembly 500) of the fixed base 100 to the far clamp end of the fixed base 100, and the first curved surface is transitionally connected to the side of the first limiting plane away from the clamp assembly 500.

[0060] As shown in Figure 1 , the second contact limiting surface b includes a second limiting plane b1 and a second curved surface b2, the second limiting plane b1 abuts against the first limiting plane when the deflection base 200 rotates to the initial position, and the second curved surface b2 has a gap with the first curved surface, so as to ensure that there is enough space around the movable path of the mutual contact between the first limiting plane and the second limiting plane b1, and avoid mutual interference between structures.

[0061] As a preferred embodiment of the utility model, as shown in Figure 10 、 Figure 11 , the deflection driving assembly 300 has a third limiting plane c, the far clamp end of the deflection base 200 has a fourth limiting plane d, and the third limiting plane c and the fourth limiting plane d can abut against each other when the deflection base 200 rotates to the deflection position.

[0062] In the embodiment of the utility model, third limit plane c is arranged on the swing driving assembly 300, and the distal end of the swing base 200 is provided with fourth limit plane d, so that when the swing base 200 and the clamp assembly 500 are rotated to the maximum angle, the third limit plane c and the fourth limit plane d are mutually adhered (as shown in Figure 12 、 Figure 13 indicated), thereby ensuring the rotation angle stability of the clamp assembly 500 at the swing position, further ensuring the action stability of the end effector at the swing posture, and further improving the use experience of the surgical instrument.

[0063] As an optional embodiment of the utility model, as shown in Figure 1 、 Figure 2 、 Figures 3-13 , the swing driving assembly 300 comprises a swing sliding block 310, a swing connecting rod 320, a first swing shaft 330 and a second swing shaft 340, the swing sliding block 310 is movably arranged in the guide cylinder 110, the swing sliding block 310 is hingedly connected with the first end of the swing connecting rod 320 through the first swing shaft 330, the second end of the swing connecting rod 320 is hingedly connected with the distal end of the swing base 200 through the second swing shaft 340, and one end of the swing sliding block 310 towards the clamp assembly 500 is provided with the third limit plane c.

[0064] It can be understood that the swing sliding block 310 and the swing connecting rod 320 are hingedly connected through the first swing shaft 330 to form a connecting rod structure, the swing sliding block 310 can move along the guide cylinder 110 of the fixed base 100, when it is needed to rotate the clamp assembly 500, the swing sliding block 310 can be driven by the handle device to extend from the inside of the fixed base 100, thereby making the swing connecting rod 320 push the second swing shaft 340 to rotate together with the swing base 200 around the hinge shaft (main hinge shaft 600) of the swing base 200 and the fixed base 100, thereby making the swing base 200 and the clamp assembly 500 rotate away from the initial position, i.e., from the state shown in Figure 6 、 Figure 7 、 Figure 10 、 Figure 11 to the state shown in Figure 8 、 Figure 9 、 Figure 12 、 Figure 13 .

[0065] As an optional embodiment of the utility model, the rotation angle of the swing base 200 from the initial position to the swing position is 35°~60°, i.e., the maximum angle of the swing base 200 rotating to one side from the state of extending in the same direction with the fixed base 100 is 35°~60°, and the third limit plane c and the fourth limit plane d are mutually adhered and abutted when rotated to the maximum angle, so as to ensure the action stability of the end effector at the swing posture.

[0066] Optionally, the rotation angle of the yawing base 200 from the initial position to the yawing position can be 45°.

[0067] As an optional embodiment of the utility model, as shown in Figure 4 、 Figure 5 , the distal end of the yawing base 200 has a pair of distal hinge parts 210 arranged at intervals, the yawing driving assembly 300 is hingedly connected with the distal hinge parts 210, and the lower end surface of the distal hinge parts 210 is in the shape of an inclined plane, which is the fourth limiting plane d.

[0068] As an optional embodiment of the utility model, as shown in Figure 4 、 Figure 5 , the yawing sliding block 310 includes a containing cylinder 311 and a pair of second hinge parts 312 arranged at intervals, the containing cylinder 311 is movably arranged in the guide cylinder 110, and the opening and closing driving assembly 400 passes through the containing cylinder 311.

[0069] The distal end of the yawing base 200 has a pair of distal hinge parts 210 arranged at intervals, the first end of the yawing connecting rod 320 is arranged between the second hinge parts 312, the second end of the yawing connecting rod 320 is arranged between the distal hinge parts 210, as shown in Figure 10 、 Figure 11 , the third limiting plane c is located at one end of the second hinge part 312 towards the clamp assembly 500, and the fourth limiting plane d is located on the distal hinge part 210.

[0070] As a preferred embodiment of the utility model, as shown in Figures 1-2 、 Figures 6-13 , the end effector further includes a main hinge shaft 600, the main hinge shaft 600 penetrates the yawing base 200 and the fixed base 100, so that the yawing base 200 is hingedly connected with the fixed base 100, and the main hinge shaft 600 is located between the yawing driving assembly 300 and the opening and closing driving assembly 400.

[0071] In the embodiment of the utility model, the main hinged shaft 600 passes through the eccentric base 200 and the fixed base 100 to hinge connect the two, the eccentric driving assembly 300 (the eccentric connecting rod 320) and the opening and closing driving assembly 400 (the clamp connecting rod 420) are arranged at the two sides of the main hinged shaft 600 respectively, the main hinged shaft 600 is continuous through design, can effectively guarantee the connecting strength of the hinge position between the fixed base 100 and the eccentric base 200, guarantee the stability of the end effector, then under the condition of using the same performance material, allow the overall size of the end effector to be smaller, realize the miniaturization of surgical instrument, then carry out surgical operation under smaller scale, it has been proved that the outer diameter of the end effector designed by the embodiment of the utility model can reach 5mm at least, compared with the surgical instrument structure of the existing forceps head diameter 8mm and above, can further reduce the surgical incision, improve the minimally invasive surgery effect.

[0072] As an optional embodiment of the utility model, as shown in Figures 1-2 、 Figures 6-13 The fixed base 100 includes a guide cylinder 110 and a pair of first hinge parts 120, the first hinge part 120 has a first hinge hole 121, the distal clamp end of the eccentric base 200 has a pair of distal clamp hinge parts 210, the distal clamp hinge part 210 is formed with a second hinge hole 211, the main hinged shaft 600 passes through a plurality of first hinge holes 121 and a plurality of second hinge holes 211, and the distal clamp hinge part 210 is hingedly connected with the first hinge part 120.

[0073] Preferably, as shown in Figure 1 The end face of the first hinge part 120 towards one end of the clamp assembly 500 is a cylindrical surface extending around the main hinged shaft 600 to reduce the friction between the first hinge part 120 and the eccentric base 200.

[0074] As a preferred embodiment of the utility model, as shown in Figures 6-9 The opening and closing driving assembly 400 includes a rear end push rod 410 and a clamp connecting rod 420, the rear end push rod 410 is movably arranged in the fixed base 100, the clamp connecting rod 420 includes a first enlarged part 421, a connecting part 422 and a second enlarged part 423 connected in sequence along the length direction thereof, the cross section of the first enlarged part 421 and the second enlarged part 423 is larger than that of the connecting part 422, the first enlarged part 421 is formed with a first connecting rod hole, the second enlarged part 423 is formed with a second connecting rod hole, the end of the rear end push rod 410 has a first push rod shaft 411, the first push rod shaft 411 passes through the first connecting rod hole, the driving end of the clamp assembly 500 has a second push rod shaft 515, the second push rod shaft 515 passes through the second connecting rod hole, and the main hinged shaft 600 is located between the first enlarged part 421 and the second enlarged part 423.

[0075] In this embodiment of the invention, the linkage structure of the opening and closing drive assembly 400 is located inside the bending direction of the oscillating base 200, and will not interfere with the linkage structure of the outer oscillating drive assembly 300. Regardless of the angle to which the oscillating base 200 swings, such as... Figures 6-9 As shown, the opening and closing drive assembly 400 can move freely relative to the fixed base 100 and the swing base 200 to drive the clamp assembly 500 to complete the opening and closing action.

[0076] Furthermore, the two ends of the clamping link 420 are located on both sides of the main hinge shaft 600, and the outer diameter of the two ends used for hinge connection is enlarged to form the first enlarged part 421 and the second enlarged part 423. This not only avoids interference with the main hinge shaft 600, but also strengthens the structural strength of the hinge connection between the two ends of the clamping link 420 and the rear push rod 410 and the clamping assembly 500, ensuring the reliability of the end effector.

[0077] As a preferred embodiment of this utility model, such as Figures 6-9 As shown, the surface of the connecting portion 422 facing away from the main hinge axis 600 is tangent to the outer surface of the first enlarged portion 421 and the outer surface of the second enlarged portion 423. That is, the connecting portion 422 is as far away from the main hinge axis 600 as possible, thereby providing a larger range of motion for the yaw drive assembly 300.

[0078] As an optional embodiment of this utility model, such as Figure 3 , Figure 4 As shown, the clamp assembly 500 includes a front push rod 510, a fixed shaft 520, and a pair of clamp heads 530. Each clamp head 530 includes a clamping part 531 and a hinge plate 532 connected to each other. The hinge plate 532 has an arc-shaped hole 534 that extends along the thickness direction of the hinge plate 532.

[0079] The front push rod 510 includes a shaft part 511 and a push disk 512 connected to each other. The shaft part 511 is movably disposed in the swing base 200, and the end of the shaft part 511 facing away from the push disk 512 is hinged to the opening and closing drive assembly 400. A strip hole 513 extending along the length direction of the front push rod 510 is formed in the push disk 512.

[0080] The hinge plates 532 of the pliers 530 are stacked on both sides of the push plate 512. The fixed shaft 520 passes through the arc-shaped hole 534 and the strip-shaped hole 513 and is fixedly connected to the swing base 200. The hinge axes of the push plate 512 and the two hinge plates 532 are located on both sides of the fixed shaft 520. The hinge axis of each hinge plate 532 and the swing base 200 and the hinge axis of the push plate 512 are located on both sides of the fixed shaft 520.

[0081] In the embodiment of the utility model, the hinged discs 532 of the tongs head 530 are respectively stacked on the two sides of the front end push rod 510, and are connected by the fixed shaft 520, when the opening and closing driving assembly 400 pushes and pulls the shaft body part 511 of the front end push rod 510, the push disc 512 is under the limiting action of the fixed shaft 520 and the strip hole 513, and is telescopic along the extension direction of the strip hole 513, so that the two sides of the push disc 512 drive the two hinged discs 532 respectively, and in the rotating process, the limiting relationship between the inner wall of the arc hole 534 of the hinged disc 532 and the fixed shaft 520 can ensure the stability of the opening and closing movement of the tongs head 530.

[0082] As an optional embodiment of the utility model, as shown in the figure, Figure 4 The biasing base 200 includes the near-tongs hinge part 220, the transmission cylinder 230 and the far-tongs hinge part 210 connected in sequence from the near-tongs end to the far-tongs end, the shaft body part 511 is movably arranged in the transmission cylinder 230, the near-tongs hinge parts 220 are arranged in pairs and spaced, and the near-tongs hinge parts 220 are provided with the near-tongs limiting hole 221 and the near-tongs hinge hole 222, the near-tongs limiting holes 221 of the plurality of near-tongs hinge parts 220 are coaxially arranged, and the near-tongs hinge holes 222 of the plurality of near-tongs hinge parts 220 are respectively located on both sides of the axis of the near-tongs limiting hole 221;

[0083] As shown in the figure, Figure 3 The hinged disc 532 is further provided with the push groove 533 and the hinge protrusion 535, the push groove 533 penetrates through the thickness direction of the hinged disc 532, the hinge protrusion 535 and the push groove 533 are located on both sides of the arc hole 534, and the arc hole 534 extends around the hinge protrusion 535;

[0084] As shown in the figure, Figure 4 The two sides of the push disc 512 are formed with the push protrusion 514, and the push protrusion 514 is located on both sides of the strip hole 513; the hinged disc 532 and the push disc 512 are arranged between the near-tongs hinge parts 220, the fixed shaft 520 penetrates through the near-tongs limiting hole 221, the arc hole 534 and the strip hole 513, the hinge protrusion 535 is accommodated in the near-tongs hinge hole 222, and the push protrusion 514 on both sides of the push disc 512 is accommodated in the push groove 533 on the two sides of the hinged disc 532.

[0085] When the opening and closing drive assembly 400 pushes and pulls the shaft part 511 of the front push rod 510, the push disk 512 moves along the extension direction of the strip hole 513 under the limiting action of the fixed shaft 520 and the strip hole 513. The push protrusions 514 on both sides of the push disk 512 act on the push grooves 533 of the pliers 530 on both sides, so that the pliers 530 rotates around the hinge axis of its hinge protrusion 535 and the near-pliers hinge hole 222. At the same time, the fixed shaft 520 rubs against the inner wall of the arc hole 534 of the pliers 530 to ensure the stability of the opening and closing action of the pliers 530.

[0086] In other embodiments of this utility model, the pliers head 530 may also be a tweezer-shaped tool, a scissor-shaped tool, or other functional structures.

[0087] As a second aspect of this utility model, a surgical instrument is provided, including a handle device (not shown in the figure), a rotating rod 10, a tilting rod 20, a clamping drive rod 30, and an end effector provided in the embodiments of this utility model, such as... Figure 14 As shown, the rotating rod 10 is connected between the handle device and the fixed base 100 of the end effector, the yaw rod 20 is connected between the handle device and the yaw drive assembly 300 of the end effector, and the clamping drive rod 30 is connected between the handle device and the opening and closing drive assembly 400 of the end effector.

[0088] It is understood that the handle device drives the fixed base 100 to rotate through the rotating rod 10, thereby driving the end effector to rotate as a whole; the handle device drives the yaw drive assembly 300 to push and pull through the yaw rod 20, thereby driving the yaw base 200 and the clamp assembly 500 to swing, thus realizing the bending action; the handle device drives the opening and closing drive assembly 400 to push and pull through the clamping drive rod 30, thereby driving the clamp assembly 500 to open and close, so as to complete the clamping or shearing action.

[0089] As an optional embodiment of this utility model, such as Figure 14 As shown, the rotating rod 10, the yaw rod 20, and the clamping drive rod 30 are sleeve structures. That is, the yaw rod 20 is sleeved on the clamping drive rod 30, and the rotating rod 10 is sleeved on the yaw rod 20. The rotating rod 10 and the yaw rod 20 can extend and retract independently in the clamping drive rod 30, thereby completing the swinging and bending of the yaw base 200 and the clamp assembly 500 in various directions, and the combined movement of opening and closing the clamp assembly 500 to various angles.

[0090] In the surgical instrument, the clamp assembly 500 is arranged on the deflection base 200, the deflection driving assembly 300 and the opening and closing driving assembly 400 are both arranged through the fixed base 100 and connected with the deflection base 200 and the clamp assembly 500, the opening and closing driving assembly 400 can push and pull the clamp assembly 500 to drive the clamp assembly 500 to open or close, and the deflection driving assembly 300 can push the deflection base 200 to make the deflection base 200 rotate relative to the fixed base 100, and then make the clamp assembly 500 on the deflection base 200 swing together.

[0091] Moreover, the fixed base 100 is provided with a first contact limiting surface a, and the deflection base 200 is provided with a second contact limiting surface b, when the deflection base 200 rotates to the initial position, the first contact limiting surface a and the second contact limiting surface b can abut against each other to make the deflection base 200 stably stop at the initial position, that is, the deflection base 200 at the end of the deflection action transmission chain directly contacts and limits the fixed base 100, compared with the scheme of limiting the deflection driving assembly 300, the position stability of the deflection base 200 at the initial position can be effectively ensured, and then the stability of the position of the clamp assembly 500 can be ensured, and the use experience of the surgical instrument can be ensured.

[0092] The above is only a specific embodiment of the utility model, but the protection scope of the utility model is not limited to this, and the person skilled in the art should understand that the utility model includes but is not limited to the content described in the drawings and the above specific embodiment. Any modification not deviating from the function and structural principle of the utility model will be included in the scope of claims.

Claims

1. An end effector with yawing function, comprising a fixed base (100), a yawing base (200), a yawing driving assembly (300), an opening and closing driving assembly (400) and a gripper assembly (500), the yawing base (200) is hinged with the fixed base (100), the yawing driving assembly (300) and the opening and closing driving assembly (400) are movably arranged in the fixed base (100), the yawing driving assembly (300) can drive the yawing base (200) to rotate around the hinged axis between the yawing base (200) and the fixed base (100), the gripper assembly (500) is arranged on the yawing base (200), and the opening and closing driving assembly (400) can drive the gripper assembly (500) to open or close, characterized in that, the yawing base (200) can rotate around the hinged axis between an initial position extending in the same direction as the fixed base (100) and a yawing position deviating from the initial position, the fixed base (100) has a first contact limiting surface (a), the yawing base (200) has a second contact limiting surface (b), and the first contact limiting surface (a) and the second contact limiting surface (b) can abut against each other when the yawing base (200) rotates to the initial position. The fixed base (100) comprises a guide cylinder (110) and a pair of first hinged parts (120), the yawing driving assembly (300) and the opening and closing driving assembly (400) are movably arranged in the guide cylinder (110), the distal gripper end of the yawing base (200) is arranged between the first hinged parts (120) and hingedly connected with the first hinged parts (120) on both sides, and the yawing base (200) has a pair of movable avoiding grooves (201) on the outer surface; 2. The end effector of claim 1, wherein, The first contact limiting surface (a) is located on the side wall of the first hinged part (120), and the second contact limiting surface (b) is located on the side wall of the movable avoiding groove (201). The first contact limiting surface (a) comprises a first limiting plane and a first curved surface, the first limiting plane extends in the direction from the proximal gripper end of the fixed base (100) to the distal gripper end of the fixed base (100), and the first curved surface is transitionally connected to one side of the first limiting plane away from the gripper assembly (500); 3. The end effector of claim 2, wherein, The second contact limiting surface (b) comprises a second limiting plane (b1) and a second curved surface (b2), the second limiting plane (b1) abuts against the first limiting plane when the yawing base (200) rotates to the initial position, and the second curved surface (b2) has a gap with the first curved surface. ​ 4. The end effector of claim 1, wherein, The yaw driving assembly (300) has a third limiting plane (c), and the distal jaw end of the yaw base (200) has a fourth limiting plane (d), the third limiting plane (c) and the fourth limiting plane (d) can abut each other when the yaw base (200) rotates to the yaw position.

5. The end effector of claim 2, wherein, The yaw driving assembly (300) comprises a yaw slider (310), a yaw connecting rod (320), a first yaw shaft (330) and a second yaw shaft (340), the yaw slider (310) is movably arranged in the guide cylinder (110), the yaw slider (310) is hinged to the first end of the yaw connecting rod (320) through the first yaw shaft (330), and the second end of the yaw connecting rod (320) is hinged to the distal jaw end of the yaw base (200) through the second yaw shaft (340). The yaw slider (310) has a third limiting plane (c) at one end of the jaw assembly (500), and the distal jaw end of the yaw base (200) has a fourth limiting plane (d), the third limiting plane (c) and the fourth limiting plane (d) can abut each other when the yaw base (200) rotates to the yaw position.

6. The end effector of claim 4, wherein, The distal jaw end of the yaw base (200) has a pair of spaced distal jaw hinged parts (210), the yaw driving assembly (300) is hingedly connected with the distal jaw hinged parts (210), and the lower end surface of the distal jaw hinged part (210) is in the shape of an inclined plane, and the inclined plane is a fourth limiting plane (d).

7. The end effector of claim 5, wherein, The yaw slider (310) comprises a containing cylinder (311) and a pair of spaced second hinged parts (312), the containing cylinder (311) is movably arranged in the guide cylinder (110), and the opening and closing driving assembly (400) passes through the containing cylinder (311). The distal jaw end of the yaw base (200) has a pair of spaced distal jaw hinged parts (210), the first end of the yaw connecting rod (320) is arranged between the second hinged parts (312), the second end of the yaw connecting rod (320) is arranged between the distal jaw hinged parts (210), the third limiting plane (c) is located at one end of the second hinged part (312) toward the jaw assembly (500), and the fourth limiting plane (d) is located on the distal jaw hinged part (210).

8. The end effector of any one of claims 1 to 7, wherein, The end effector further comprises a main hinged shaft (600), the main hinged shaft (600) penetrates the yaw base (200) and the fixed base (100), so that the yaw base (200) and the fixed base (100) are hinged; and the main hinged shaft (600) is located between the yaw driving assembly (300) and the opening and closing driving assembly (400).

9. The end effector of claim 8, wherein, The fixed base (100) comprises a guide cylinder (110) and a pair of first hinge parts (120) having first hinge holes (121) formed therein, the distal end of the deflection base (200) has a pair of distal end hinge parts (210) spaced apart therefrom, the distal end hinge parts (210) have second hinge holes (211) formed therein, the main hinge shaft (600) passes through the first hinge holes (121) and the second hinge holes (211) and connects the distal end hinge parts (210) and the first hinge parts (120).

10. The end effector of claim 9, wherein, The opening and closing driving assembly (400) comprises a rear end push rod (410) movably arranged in the fixed base (100) and a clamp link (420) comprising a first enlarged part (421), a connecting part (422) and a second enlarged part (423) connected in sequence along the length direction thereof, the cross sections of the first enlarged part (421) and the second enlarged part (423) are larger than that of the connecting part (422), the first enlarged part (421) has a first link hole formed therein, the second enlarged part (423) has a second link hole formed therein, the end of the rear end push rod (410) has a first push rod shaft (411) passing through the first link hole, the driving end of the clamp assembly (500) has a second push rod shaft (515) passing through the second link hole, and the main hinge shaft (600) is located between the first enlarged part (421) and the second enlarged part (423).

11. A surgical instrument, characterized by The handle device, the rotating rod (10), the deflection rod (20), the clamping driving rod (30) and the end effector of any one of claims 1 to 10 are connected between the handle device and the fixed base (100) of the end effector, the deflection rod (20) is connected between the handle device and the deflection driving assembly (300) of the end effector, and the clamping driving rod (30) is connected between the handle device and the opening and closing driving assembly (400) of the end effector.

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