Surgical instrument

Abstract

The application relates to a surgical instrument, which comprises an executor for realizing a target action, a mounting assembly, the executor being movably mounted on the mounting assembly, an operating arm, the mounting assembly being fixedly mounted on the end of the operating arm, the operating arm being internally provided with a driving mechanism, the operating arm being divided into a flexible arm and a rigid arm, a driving rod being divided into a flexible rod corresponding to the flexible arm and a rigid rod corresponding to the rigid arm, the flexible rod being fixedly connected with the rigid rod, the flexible rod being coaxially arranged with the flexible arm, a limiting piece being arranged between the flexible rod and the flexible arm, the limiting piece being used for limiting the flexible rod to be arranged on the central axis of the flexible arm, and the limiting piece being capable of being simultaneously bent and deformed with the flexible rod in the case that the flexible arm is bent. The flexible rod is limited to be arranged on the central axis of the flexible arm through the limiting piece, the design not only improves the overall strength and service life of the driving rod, but also maintains the bending flexibility of the flexible rod, and the diversified operation requirements of the surgical instrument are met.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a surgical instrument. Background Technology

[0002] With the development of minimally invasive surgical techniques, the precision and safety requirements for surgical instruments are becoming increasingly stringent. In minimally invasive surgery, instruments typically need to be inserted into the body through narrow incisions, placing greater demands on the flexibility and maneuverability of these instruments. Currently, flexible surgical instruments are widely used in minimally invasive surgery due to their excellent flexibility and adaptability.

[0003] In the prior art, surgical instruments generally include an actuator, a connecting assembly, a drive mechanism, an operating arm, and an instrument housing. The actuator is mounted on the connecting assembly, and one end of the drive mechanism is fixedly mounted on the connecting assembly, while the other end passes through the operating arm and connects to the instrument housing. During surgery, the actuator's posture and position are changed by controlling the drive mechanism to perform surgical operations at the desired location.

[0004] Currently, most surgical instruments use flexible sheaths and drive wires to drive the bending or linear motion of connecting components, enabling the actuator at the end effector to perform the target action. However, the flexible drive of the drive wire cannot simultaneously meet the bending motion requirements of the flexible arm and the linear motion requirements of the rigid arm, resulting in poor actuator drive control stability and directly affecting surgical outcomes. Therefore, how to achieve precise drive of the drive mechanism is a problem that urgently needs to be solved in the design of surgical instruments. Utility Model Content

[0005] Therefore, it is necessary to provide a surgical instrument that can achieve precise driving of the driving mechanism, addressing the problem of poor stability of the existing driving mechanism.

[0006] This embodiment provides a surgical instrument, including:

[0007] An actuator, which is used to perform a target action;

[0008] The actuator is movably mounted on the mounting component;

[0009] The operating arm, wherein the mounting assembly is fixedly mounted on the end of the operating arm, and the operating arm is provided with a drive mechanism, and the operating arm is divided into a flexible arm and a rigid arm;

[0010] The driving mechanism includes a driving rod, which drives the actuator to achieve the first action in the target action. The driving rod includes a flexible rod corresponding to the flexible arm and a rigid rod corresponding to the rigid arm. The flexible rod and the rigid rod are axially connected. The flexible rod and the flexible arm are coaxially arranged. A limiting member is provided between the flexible rod and the flexible arm. The limiting member is used to restrict the flexible rod to be positioned on the central axis of the flexible arm. When the flexible arm bends, the limiting member is subjected to bending compression by the flexible arm to force the flexible rod to bend and deform simultaneously.

[0011] In one embodiment, the limiting member is a flexible sleeve, which is sleeved on the flexible rod.

[0012] In one embodiment, the flexible arm is provided with a plurality of first recesses, and the circumferential surface of the flexible sleeve is provided with second recesses corresponding to the first recesses. The first recesses and the second recesses are used to construct a first deformation space, which is used to release the compressive stress formed when the flexible arm and the flexible rod bend simultaneously.

[0013] In one embodiment, the limiting member is a sphere, and multiple spheres are sleeved on the flexible rod and have rolling friction with the inner wall of the flexible arm.

[0014] In one embodiment, a plurality of the spheres are distributed and fitted at predetermined positions on the flexible rod, the predetermined positions being the positions where the flexible rod undergoes bending deformation.

[0015] In one embodiment, at least two spheres are disposed at the preset position, and the at least two spheres are disposed side by side at the preset position.

[0016] In one embodiment, the end of the drive rod is provided with a drive part, the drive part is coaxially connected to the flexible rod, the drive part has a T-shaped structure, the actuator is provided with a first slide groove, and the T-shaped structure is slidably installed in the first slide groove.

[0017] In one embodiment, the mounting assembly includes a detachably connected first mounting base and a second mounting base, the actuator is detachably mounted on the first mounting base, the second mounting base is fixedly mounted on the end of the flexible arm, the first mounting base is provided with a second sliding groove, and the T-shaped structure is simultaneously slidably mounted in both the first sliding groove and the second sliding groove.

[0018] In one embodiment, the mounting assembly further includes a gasket mounted between the second mounting base and the flexible arm, the gasket being an insulating element.

[0019] In one embodiment, the outer diameter of the rigid rod is larger than the outer diameter of the flexible rod, and the flexible rod is fixedly connected to the rigid rod by a seal.

[0020] The limiting component proposed in this application ensures that the flexible rod remains in the centered position throughout the bending process of the flexible arm, avoiding eccentricity caused by the full movement of the flexible arm, which would reduce driving accuracy and extend the service life of the surgical instrument. Simultaneously, the deformation space between the limiting component and the inner wall of the flexible arm ensures the flexibility of the flexible arm's bending, improving the control accuracy of the surgical instrument. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the surgical instruments provided in this embodiment.

[0022] Figure 2 This is a schematic diagram of the internal structure of the surgical instrument provided in this embodiment.

[0023] Figure 3a This is a schematic diagram of the assembly of the drive rod installed on the actuator, as provided in this embodiment.

[0024] Figure 3b for Figure 3a A schematic diagram of the actuator opening structure is provided.

[0025] Figure 3c for Figure 3a A schematic diagram of the actuator closure is provided.

[0026] Figure 4 This is a schematic diagram of the drive rod provided in this embodiment.

[0027] Figure 5 This is a schematic diagram of the structure of the first mounting base provided in this embodiment.

[0028] Figure 6 This is a schematic diagram of the structure of the second mounting base provided in this embodiment.

[0029] Figure 7 This is one of the structural schematic diagrams of the limiting member provided in this embodiment.

[0030] Figure 8 This is the second structural schematic diagram of the limiting member provided in this embodiment.

[0031] Reference numerals: Surgical instrument-10; Actuator-11; Mounting assembly-12; Operating arm-13; Drive mechanism-14; Instrument box-16; Flexible arm-131; Rigid arm-132; First recess-1311; First drive wire-141; Second drive wire-142; Drive rod-143; Flexible rod-1431; Rigid rod-1432; Limiting element-15; Drive unit-1433; T-shaped structure-1333; First slide groove-111; First mounting base-121; Second mounting base-122; Second slide groove-1211; Gasket-123; Sealing cap-124; Sealing element-1434; Flexible sleeve-151; Second recess-1511; Ball-152; Through hole-1521; Slot-1221; Limiting groove-1222. Detailed Implementation

[0032] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0033] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0034] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0035] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0036] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0037] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0038] See Figures 1 to 4 , Figure 1 The diagram shows a schematic of the structure of a surgical instrument 10 according to an embodiment of the present application. The surgical instrument 10 provided in an embodiment of the present application includes an actuator 11, a mounting assembly 12, an operating arm 13, and a drive mechanism 14.

[0039] Actuator 11, Actuator 11 is used to implement the target action;

[0040] Mounting component 12, actuator 11 is movably mounted on mounting component 12;

[0041] The operating arm 13 is fixedly mounted on the end of the mounting assembly 12. The operating arm 13 is equipped with a drive mechanism 14. The operating arm 13 is divided into a flexible arm 131 and a rigid arm 132. The flexible arm 131 has the characteristics of being able to bend and deform, and can adapt to complex surgical environments. The rigid arm 132 has high rigidity and can provide stable support.

[0042] The drive mechanism 14 includes a first drive wire 141, a second drive wire 142, and a drive rod 143. The drive rod 143 drives the actuator 11 to achieve the first action in the target action, which can be an opening and closing action. The first drive wire 141 is fixedly mounted on the mounting assembly 12 and drives the flexible arm 131 to perform a second action. The second action can include a bending motion, which controls the actuator 11 to achieve the bending motion in the target action. The bending motion can enable the actuator 11 to turn, allowing it to reach different surgical positions. The second drive wire 142 is mounted on the drive rod 143. By controlling the second drive wire 142, the drive rod 143 is driven to perform linear motion. The linear motion of the drive rod 143 pushes the actuator 11 to achieve the first action in the target action, which can be an opening and closing action. For example, the actuator 11 is a surgical forceps, and the linear motion of the drive rod 143 pushes the surgical forceps to perform an opening and closing action.

[0043] The drive rod 143 is divided into a flexible rod 1431 corresponding to the flexible arm 131 and a rigid rod 1432 corresponding to the rigid arm 132. The flexible rod 1431 and the rigid rod 1432 are fixedly connected and coaxially arranged to ensure effective transmission of driving force. A limiting member 15 is provided between the flexible rod 1431 and the flexible arm 131. The limiting member 15 is used to restrict the flexible rod 1431 to be positioned on the central axis of the flexible arm 131. When the flexible arm 131 undergoes bending movement, the limiting member 15 is subjected to bending compression by the flexible arm 131, forcing the flexible rod 1431 to bend and deform. The limiting member 15 ensures that the flexible rod 1431 is always located in the center position of the flexible arm 131, preventing the flexible rod 1431 from deviating during movement, which could lead to reduced driving accuracy or mechanical damage. Moreover, when the flexible arm 131 bends, the limiting member 15 is subjected to bending compression by the flexible arm 131. The limiting member 15 transmits the compression stress to the flexible rod 1431, forcing the flexible rod 1431 and the flexible arm 131 to bend and deform simultaneously.

[0044] The surgical instrument 10 provided in this application uses a limiting member 15 to limit the flexible rod 1431 to be positioned on the central axis of the flexible arm 131. This design not only improves the overall strength and service life of the drive rod 143, but also maintains the bending flexibility of the flexible rod 1431, meeting the diverse operational needs of the surgical instrument 10.

[0045] During use, the first drive wire 141 controlled by the instrument box 16 can drive the flexible arm 131 to bend, thereby adjusting the position of the actuator 11. The second drive wire 142 can be controlled to make the drive rod 143 move linearly. The linear movement of the drive rod 143 can adjust the actuator 11 to achieve opening and closing actions, thus meeting the various surgical needs in complex surgical environments.

[0046] The actuator 11 is used to perform a target action, which can be a surgical operation such as clamping, cutting, or suturing. The actuator 11 is movably mounted on the mounting assembly 12 and can rotate or open / close relative to the mounting assembly 12. The actuator 11 can take various forms such as surgical forceps, surgical scissors, or scalpels, and different actuators 11 are selected according to different surgical needs.

[0047] like Figure 7 As shown, the limiting member 15 provided in this embodiment is a flexible sleeve 151. The flexible sleeve 151 is sleeved on the flexible rod 1431. The flexible sleeve 151 keeps the flexible rod 1431 positioned on the center line of the flexible arm 131. Whether the flexible arm 131 bends or performs linear motion, it ensures that the power torque transmitted by the instrument box 16 accurately drives the actuator 11 through the drive mechanism 14.

[0048] See Figure 1 In one embodiment, the flexible arm 131 is provided with a plurality of first recesses 1311, and the circumferential surface of the flexible sleeve 151 is provided with second recesses 1511 corresponding to the first recesses 1311. The first recesses 1311 and the second recesses 1511 are used to construct a first deformation space, which is the deformation space formed when the flexible arm 131 and the flexible rod 1431 bend simultaneously. The driving mechanism 14 includes a plurality of first driving wires 141. Under the action of the first driving wires 141, the flexible arm 131 bends in the first recesses 1311 by controlling the plurality of first driving wires 141, and the flexible rod 1431 bends in the second recesses 1511. Although the flexible arm 131 can use easily bendable metal materials, polymer materials, and composite materials, etc., to achieve high performance, high reliability, and good biocompatibility of the flexible arm 131. When the flexible arm 131 bends, both the flexible arm 131 and the flexible rod 1431 bend simultaneously. The flexible arm 131 and flexible rod 1431 on the bent side are compressed. The first deformation space is used to release the compressive stress, avoiding stress concentration and other problems caused by excessive bending of the flexible arm 131 and flexible rod 1431. In this embodiment, the flexible arm 131 can be formed by connecting multiple sleeve sections, each sleeve section having a first recess 1311, which makes it easier to achieve bending under force.

[0049] Meanwhile, the second recess 1511 provided in this embodiment reduces friction between the flexible sleeve 151 and the inner wall of the flexible arm 131. Whether the flexible rod 1431 performs linear or bending motion, the flexible sleeve 151 restricts the flexible rod 1431 to the axial position of the flexible arm 131, ensuring that the power torque transmitted by the instrument box 16 accurately drives the actuator 11 through the drive mechanism 14.

[0050] In this example, the second recess 1511 can be in the form of an annular groove, a spiral groove, or a dotted pit, distributed on the surface of the flexible sleeve 151. The second recess 1511 is correspondingly provided with the first recess 1311. When the flexible rod 1431 bends, the second recess 1511 provides a second deformation space, releasing the stress that occurs in the flexible rod 1431 during bending and avoiding problems such as stress concentration. At the same time, it reduces the contact area and friction between the flexible sleeve 151 and the inner wall of the flexible arm 131, ensuring the stability of the driving force transmitted by the flexible rod 1431 even during bending.

[0051] In a preferred embodiment, the flexible sleeve 151 can be made of materials such as silicone or medical-grade elastic plastic, which has good elasticity and deformation recovery. The depth and distribution density of the second recess 1511 can be optimized according to the bending angle and bending radius of the flexible arm 131 to obtain the best support effect and deformation characteristics.

[0052] In one embodiment, such as Figure 2 and Figure 3a , Figure 8As shown, the limiting member 15 is a sphere 152. Multiple spheres 152 are sleeved on the flexible rod 1431. Rolling friction exists between the spheres 152 and the inner wall of the flexible arm 131, reducing the frictional resistance between the flexible rod 1431 and the flexible arm 131, and improving the flexibility and response speed of the flexible arm 131 during bending. Multiple spheres 152 are sleeved at preset positions on the flexible rod 1431, where the flexible rod 1431 undergoes bending deformation. In this embodiment, the flexible arm 131 is provided with multiple first recesses 1311. The flexible arm 131 bends under force at the first recesses 1311, and the preset positions can also be understood as positions corresponding to the first recesses 1311. A through hole 1521 is provided at the center of each sphere 152, through which the flexible rod 1431 passes. A ball 152 is used as a limiting element 15, rolling to adjust its position during the bending process of the flexible arm 131, ensuring that the flexible rod 1431 is always in the center position of the flexible arm 131, thus ensuring stable transmission of driving force. The ball 152 can be made of materials such as stainless steel, ceramic, or high-strength medical-grade plastic, possessing good wear resistance and a smooth surface. The diameter of the ball 152 is slightly smaller than the inner diameter of the flexible arm 131, ensuring that the ball 152 can roll freely within the flexible arm 131 while effectively limiting the position of the flexible rod 1431. The rolling friction between the ball 152 and the inner wall of the flexible arm 131 greatly reduces frictional resistance, improving the flexibility and response speed of the flexible arm 131 during bending. When the flexible arm 131 bends, the ball 152, located in a preset position, can roll to adjust its position, ensuring that the flexible rod 1431 is always in the center position of the flexible arm 131, avoiding direct friction and wear between the flexible rod 1431 and the inner wall of the flexible arm 131.

[0053] like Figure 2 As shown, at least two spheres 152 are positioned at a preset location, arranged side-by-side. Multiple spheres 152 are arranged side-by-side on the flexible rod 1431. A third deformation space is formed between two adjacent limiting members 15 and the inner wall of the flexible arm 131. This third deformation space allows the flexible arm 131 to undergo local deformation during bending, further improving its bending flexibility and smoothness. Multiple spheres 152 are connected in series on the flexible rod 1431. They can be distributed on the flexible rod 1431 according to preset positions based on the bending characteristics of the flexible arm 131, or they can be evenly spaced. The number of spheres 152 is determined by the length and degree of bending of the flexible arm 131. The outer diameter of each sphere 152 is slightly smaller than the inner diameter of the flexible arm 131, allowing the spheres 152 to slide freely inside the flexible arm 131. The inner diameter of the ball 152 is slightly larger than the outer diameter of the flexible rod 1431. The ball 152 can move freely on the flexible rod 1431, which provides more stable support and guidance for the flexible rod 1431, while retaining enough deformation space to ensure the flexibility of the flexible arm 131 when bending.

[0054] In this embodiment, multiple spheres 152 can be distributed on the flexible rod 1431 at preset positions according to the bending characteristics of the flexible arm 131, or they can be evenly spaced on the flexible rod 1431. The density of spheres 152 is increased in easily bendable areas. A third deformation space is formed between two adjacent spheres 152 and the inner wall of the flexible arm 131. When the flexible arm 131 bends, the third deformation space allows for local deformation of the inner wall of the flexible arm 131, reducing friction and resistance between the flexible arm 131 and the spheres 152. The design of multiple spheres 152 enhances the support effect of the flexible rod 1431 within the flexible arm 131, preventing the flexible rod 1431 from shifting or twisting during bending. Simultaneously, the third deformation space ensures the flexibility and smoothness of the flexible arm 131 during bending, improving the control precision of the surgical instrument 10.

[0055] In one embodiment, see Figure 3a and Figure 4 The drive rod 143 has a drive section 1433 at its end, which is coaxially connected to the flexible rod 1431. The drive section 1433 has a T-shaped structure 1333, and the actuator 11 has a first slide groove 111. The T-shaped structure 1333 is slidably installed in the first slide groove 111. The drive section 1433 is slidably installed on the actuator 11 and is used to drive the actuator 11 to achieve the opening and closing action of the target action. The coaxial connection between the drive section 1433 and the flexible rod 1431 can be achieved by welding, threaded connection, or snap-fit ​​connection to ensure direct transmission of driving force. The drive section 1433 is slidably installed on the actuator 11 and can move along a preset track inside the actuator 11, converting the linear motion of the drive rod 143 into the opening and closing action of the actuator 11. The sliding connection method provided in this embodiment not only ensures the effective transmission of driving force but also allows the actuator 11 to have a certain degree of freedom of movement relative to the drive section 1433. The T-shaped structure 1333 includes a vertical portion and a horizontal portion. The vertical portion is coaxially connected to the flexible rod 1431, and the horizontal portion is embedded in the first groove 111 of the actuator 11. The T-shaped structure 1333 increases the contact area with the actuator 11, improving driving stability and force transmission efficiency. The first groove 111 is designed with a contour adapted to the horizontal portion of the T-shaped structure 1333, allowing the horizontal portion of the T-shaped structure 1333 to slide within the first groove 111 while restricting movement in other directions. The sliding connection method provided in this embodiment ensures effective transmission of driving force while allowing the actuator 11 a certain degree of freedom of movement relative to the drive unit 1433.

[0056] In this embodiment, the T-shaped structure 1333 and the first sliding groove 111 can be made of high-strength materials such as stainless steel and titanium alloy, which have good wear resistance and corrosion resistance. The sliding contact surface can be surface treated, such as polishing or coating with lubricating material, to reduce friction and improve the smoothness and response speed of sliding.

[0057] like Figure 1 and Figure 2 As shown, in this embodiment, taking the actuator 11 as a surgical forceps as an example, the surgical forceps consists of two forceps plates and a pivot pin. Each of the two forceps plates has a first sliding groove 111, and the two ends of the T-shaped structure 1333 slide within the first sliding grooves 111 of the two forceps plates. When the second drive wire 142 provides the drive rod 143 to move forward, the T-shaped structure 1333 pushes the two forceps plates to rotate relative to each other around the pivot pin. The pivot pin acts as a fulcrum, enabling the two forceps plates to open and close around the pivot pin as the center.

[0058] In one embodiment, see Figure 3a , 3b Like 3c, the mounting assembly 12 includes a detachably connected first mounting base 121 and a second mounting base 122. The actuator 11 is detachably mounted on the first mounting base 121, and the first drive wire 141 is fixedly mounted on the second mounting base 122. The first mounting base 121 is provided with a rotating slot, and the second mounting base 122 is provided with a snap fastener. The second mounting base 122 is rotatably mounted inside the first mounting base 121, and the snap fastener and the slot are closed to form a closed connection. To prevent dust from entering, the mounting assembly 12 also includes a sealing cover 124, which is used to encapsulate the first mounting base 121 and the second mounting base 122. In this embodiment, the first mounting base 121 and the second mounting base 122 can be detachably connected by means of threaded connection, snap fastener connection, or quick-locking mechanism. The detachable connection design facilitates the cleaning, disinfection, and maintenance of the device, meeting the hygiene requirements of medical devices. In this embodiment, the actuator 11 can be rotatably mounted on the first mounting base 121 and can rotate around a rotation axis, increasing the operational flexibility of the actuator 11. Rotary connections can be achieved using structures such as bearings, bushings, or hinges to ensure smooth and stable rotation. The detachable mounting assembly 12 design not only facilitates maintenance but also allows for the replacement of different types of actuators 11, such as grippers, scissors, and needle holders, increasing the versatility and adaptability of the surgical instrument 10.

[0059] In one embodiment, see Figure 4 and Figure 5The first mounting base 121 is provided with a second sliding groove 1211, and the T-shaped structure 1333 is slidably installed in both the first sliding groove 111 and the second sliding groove 1211. The design of the first sliding groove 111 and the second sliding groove 1211 enhances the sliding guidance of the T-shaped structure 1333 and ensures that the T-shaped structure 1333 will not experience jamming or accidental disengagement during sliding, thus guaranteeing the accurate transmission of driving force.

[0060] See Figure 3a and Figure 3c In this embodiment, the second slide groove 1211 is designed to match the shape of the horizontal portion of the T-shaped structure 1333, and together with the first slide groove 111, it forms a guide and support for the T-shaped structure 1333. This double slide groove design enhances the connection stability between the drive unit 1433 and the actuator 11, and reduces the influence of lateral forces and torques on the sliding mechanism. At the same time, the T-shaped structure 1333 is slidably installed in both the first slide groove 111 of the actuator 11 and the second slide groove 1211 of the first mounting base 121, forming a stable sliding mechanism. When the drive rod 143 moves forward or backward, the T-shaped structure 1333 slides smoothly in the first slide groove 111 and the second slide groove 1211, converting linear motion into the opening and closing action of the actuator 11.

[0061] In a preferred embodiment, the second slide 1211 can be designed with a slight angle difference from the first slide 111 to form a wedge-shaped space, thereby enhancing the transmission efficiency of driving force using the wedge principle. The length and shape of the second slide 1211 can be optimized according to the opening and closing range and mechanical characteristics of the actuator 11 to achieve the best operating effect.

[0062] In one embodiment, see Figure 3a and Figure 6 The mounting assembly 12 also includes a gasket 123, which is mounted on the second mounting base 122. The second mounting base 122 has a slot 1221 for mounting the gasket 123, and the gasket 123 is engaged within the slot 1221. The second mounting base 122 also has a limiting groove 1222 for fixing the first drive wire 141. The terminal of the first drive wire 141 is fixedly mounted on the limiting groove 1222 and contacts the gasket 123. The gasket 123 is an insulating component. The second mounting base 122 is a metal component, possessing good mechanical strength and durability. As an insulating component, the gasket 123 prevents current conduction between metal components, improving the safety of the surgical instrument 10, especially in electrosurgical applications.

[0063] In this embodiment, the second mounting base 122 is made of high-strength metal materials such as stainless steel and titanium alloy, possessing excellent mechanical strength and durability. The use of metal materials ensures the structural stability and reliability of the second mounting base 122 during long-term use. A gasket 123 is installed between the second mounting base 122 and the operating arm 13, serving as a buffer and insulation. The gasket 123 can be made of polytetrafluoroethylene, silicone, or other medical-grade insulating materials, possessing good insulation properties and biocompatibility. The design of the insulating gasket 123 prevents current conduction between metal components, improving the safety of the surgical instrument 10, especially in electrosurgical applications. Simultaneously, the gasket 123 also reduces direct contact and friction between metal components, lowering noise and wear.

[0064] In one embodiment, see Figure 4 The outer diameter of the rigid rod 1432 is larger than that of the flexible rod 1431. This design enhances the strength of the rigid rod 1432, meeting the requirements of linear motion. The rigid rod 1432 can be made of high-strength materials such as stainless steel or titanium alloy to ensure structural stability during long-term use. The flexible rod 1431 is fixedly connected to the rigid rod 1432 via a seal 1434. The seal 1434 smoothly transitions the diameter difference between the two, reducing stress concentration and improving the overall strength and service life of the drive rod 143.

[0065] In a preferred embodiment, the connection between the seal 1434 and the rigid rod 1432 and the flexible rod 1431 can be achieved by welding, threaded connection, or integral molding, ensuring the strength and reliability of the connection. The material of the seal 1434 can be the same as that of the rigid rod 1432, or a material with intermediate properties can be selected to further reduce stress concentration.

[0066] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0067] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A surgical instrument, characterized in that, include: An actuator (11) is used to perform a target action; Mounting component (12), on which the actuator (11) is movably mounted; An operating arm (13) is provided, and the mounting assembly (12) is fixedly installed at the end of the operating arm (13). The operating arm (13) is provided with a drive mechanism (14). The operating arm (13) is divided into a flexible arm (131) and a rigid arm (132). The drive mechanism (14) includes a drive rod (143), which is used to drive the actuator (11) to achieve the first action in the target action. The drive rod (143) includes a flexible rod (1431) corresponding to the flexible arm (131) and a rigid rod (1432) corresponding to the rigid arm (132). The flexible rod (1431) is axially connected to the rigid rod (1432). The flexible rod (1431) is coaxially arranged with the flexible arm (131). A limiting member (15) is provided between the flexible rod (1431) and the flexible arm (131). The limiting member (15) is used to restrict the flexible rod (1431) to be positioned on the central axis of the flexible arm (131). When the flexible arm (131) undergoes bending movement, the limiting member (15) is subjected to bending compression by the flexible arm (131) to force the flexible rod (1431) and the flexible arm (131) to undergo bending deformation simultaneously.

2. The surgical instrument as described in claim 1, characterized in that, The limiting member (15) is a flexible sleeve (151), which is sleeved on the flexible rod (1431).

3. The surgical instrument as described in claim 2, characterized in that, The flexible arm (131) is provided with a plurality of first recesses (1311), and the circumferential surface of the flexible sleeve (151) is provided with second recesses (1511) corresponding to the first recesses (1311). The first recesses (1311) and the second recesses (1511) are used to construct a first deformation space. The first deformation space is used to release the compressive stress formed when the flexible arm (131) and the flexible rod (1431) undergo bending motion simultaneously.

4. The surgical instrument as described in claim 1, characterized in that, The limiting member (15) is a sphere (152), and multiple spheres (152) are sleeved on the flexible rod (1431) and have rolling friction with the inner wall of the flexible arm (131).

5. The surgical instrument as described in claim 4, characterized in that, Multiple spheres (152) are distributed and sleeved at preset positions on the flexible rod (1431), where the preset position refers to the position where the flexible rod (1431) undergoes bending deformation.

6. The surgical instrument as described in claim 5, characterized in that, At least two spheres (152) are arranged at the preset position, and at least two spheres (152) are arranged side by side at the preset position.

7. The surgical instrument as described in any one of claims 1 to 6, characterized in that, The end of the drive rod (143) is provided with a drive part (1433), the drive part (1433) is coaxially connected with the flexible rod (1431), the drive part (1433) has a T-shaped structure (1333), the actuator (11) is provided with a first slide groove (111), and the T-shaped structure (1333) is slidably installed in the first slide groove (111).

8. The surgical instrument as described in claim 7, characterized in that, The mounting assembly (12) includes a first mounting base (121) and a second mounting base (122) that are detachably connected. The actuator (11) is detachably mounted on the first mounting base (121), and the second mounting base (122) is fixedly mounted on the end of the flexible arm (131). The first mounting base (121) is provided with a second sliding groove (1211), and the T-shaped structure (1333) is simultaneously slidably mounted in both the first sliding groove (111) and the second sliding groove (1211).

9. The surgical instrument as described in claim 8, characterized in that, The mounting assembly (12) further includes a gasket (123) which is installed between the second mounting base (122) and the flexible arm (131), and the gasket (123) is an insulating component.

10. The surgical instrument as claimed in claim 1, characterized in that, The outer diameter of the rigid rod (1432) is larger than the outer diameter of the flexible rod (1431), and the flexible rod (1431) is fixedly connected to the rigid rod (1432) through a sealing member (1434).

Images