Steerable medical device and system

Abstract

The application discloses a steerable medical device and system, the steerable medical system comprises a steerable medical device and an end effector, the end effector is arranged at the distal end of the steerable medical device. The steerable medical device comprises a handle assembly, a connecting piece, a rotating piece and a driving assembly. The connecting piece is arranged at the distal end of the handle assembly; the rotating piece is arranged in the connecting piece and can rotate; the side surface of the rotating piece is provided with a first matching part, and the opposite side surface of the connecting piece is provided with a second matching part; the proximal end of the driving assembly passes through the connecting piece and the rotating piece in sequence. When a surgeon rotates the rotating piece, the rotation angle of the rotating piece can be accurately controlled through the sliding matching of the first matching part and the second matching part, the accurate control of the rotation angle of the end effector is realized through the driving assembly, the consistency of the operation angle is ensured each time, the orientation of the end effector is accurately controlled, and the operation effect is improved. In addition, a limiting function can also be provided. When the end effector does not need to be rotated, the corresponding protrusion is limited by the groove, the protrusion is prevented from sliding out of the groove, the rotating piece is prevented from being rotated non-purposely to cause the self-rotation of the end effector, and the safety of the operation can be ensured.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more particularly to a manipulable medical device and system. Background Technology

[0002] Manipulated medical devices, such as surgical incision scalpels, are crucial tools in minimally invasive surgery, especially in procedures like gastrointestinal endoscopy, urology, and laparoscopic surgery that require access to natural body cavities or small incisions. These surgeries demand precise incisions or dissections of internal tissues within confined spaces. Manipulated medical devices allow the surgeon to control an end effector (such as a cutting blade) at the distal end of the instrument via a handle, manipulating it at various angles to accurately convey the surgeon's intentions to lesions that are difficult to directly observe or touch. This enables precise cutting of target tissues, effectively reducing surgical trauma and accelerating patient recovery.

[0003] Commonly used manipulable medical devices typically consist of a handle, connector, knob, and cable. The handle is connected to the connector, the knob is mounted on the connector, and the distal end of the cable houses the end effector, while the proximal end passes through the connector and knob and connects to the handle. When the operator rotates the knob, the cable rotates accordingly, controlling the rotation of the end effector.

[0004] However, because surgical scenarios (especially endoscopic surgeries) require extremely high operational precision, and the rotation of knobs relies entirely on the surgeon's experience and intuition, it cannot provide clear, quantifiable feedback on the rotation angle (e.g., the exact angle of rotation). Therefore, it is difficult for the surgeon to determine whether the controllable medical device has been rotated to the desired angle, making precise control of the rotation angle impossible. Utility Model Content

[0005] This application provides a manipulable medical device and system to solve the problem that existing manipulable medical devices cannot precisely control the rotation angle.

[0006] In a first aspect, this application provides a manipulable medical device, comprising: a handle assembly, a connector, a rotating member, and a drive assembly; the connector is disposed at the distal end of the handle assembly; the rotating member is disposed within the connector and is rotatable about the axis of the handle assembly; a first mating portion is provided on one side surface of the rotating member, and a second mating portion is provided on the opposite surface of the connector; the proximal end of the drive assembly passes through the connector and the rotating member in sequence and is connected to the handle assembly, and the distal end of the drive assembly is used to mount an end effector; the drive assembly is configured to rotate by a preset angle through the cooperation of the first mating portion and the second mating portion when the rotating member rotates, thereby driving the end effector to rotate by a preset angle.

[0007] In some implementations, the central region of the connector includes an insert hole that extends through two opposite surfaces of the connector; the axis of the insert hole is perpendicular to the axial direction.

[0008] In some implementations, the rotating component is located within the insertion hole and can rotate within the insertion hole.

[0009] In some implementations, the connector further includes a first side and a second side opposite to the insertion hole, both of which are perpendicular to the axial direction; the rotating member includes a first end face opposite to the first side and a second end face opposite to the second side; a first mating part is disposed on the first end face and a second mating part is disposed on the first side.

[0010] In some implementations, the first mating part includes one of a protrusion and a groove, and the second mating part includes the other of a protrusion and a groove; at least one protrusion is correspondingly embedded in at least one of the plurality of grooves; when the rotating member rotates, at least one protrusion slides into the plurality of grooves, such that the protrusion slides from the corresponding groove into another adjacent groove.

[0011] In some implementations, at least one protrusion is provided on the first side and multiple grooves are provided on the first end face; or, multiple grooves are provided on the first side and at least one protrusion is provided on the first end face.

[0012] In some implementations, multiple grooves are arranged in a ring array relative to the axial direction.

[0013] In some implementations, the preset angle is determined by the number of grooves.

[0014] In some implementations, the edges of any two adjacent grooves are connected in a transitional manner.

[0015] In some implementations, the connector further includes a shaft hole that passes through the first side face and the second side face, and the axis of the shaft hole is parallel to the axial direction; the rotating component further includes a center hole that passes through the first end face and the second end face, and the axis of the center hole is parallel to the axial direction; the driving component passes through the shaft hole and the center hole in sequence.

[0016] In some implementations, the drive assembly includes a booster tube and a cable; the proximal end of the booster tube passes through a shaft hole and a central hole in sequence and is movably connected to the distal end of the handle assembly; the cross-sectional shape of the outer wall of the booster tube is the same as the cross-sectional shape of the central hole of the rotating component, and both are non-circular, so that the booster tube rotates synchronously with the rotating component; the cross-sectional shape of the outer wall of the booster tube is different from the cross-sectional shape of the shaft hole of the connector, and the cross-sectional area of ​​the shaft hole is larger than the cross-sectional area of ​​the outer wall of the booster tube, so that the booster tube rotates relative to the connector within the shaft hole; the cable passes through the booster tube, the distal end of the cable is connected to the end effector, and the proximal end of the cable is movably connected to the distal end of the handle assembly; the cross-sectional shape of the cable is the same as the cross-sectional shape of at least a portion of the inner wall of the booster tube, and both are non-circular, so that the cable rotates synchronously with the booster tube.

[0017] In some implementations, the second end face of the rotating component includes a receiving groove; the receiving groove communicates with the central hole.

[0018] In some implementations, an elastic element is also included; one end of the elastic element is embedded in the receiving groove, and the other end is in an interference fit with the second side of the connector.

[0019] In some implementations, the elastic element includes a through hole that is opposite to and communicates with the central hole; the booster tube passes through the through hole of the elastic element.

[0020] In some implementations, the rotating component also includes a circumferential surface connected to the first end face and the second end face. The circumferential surface includes multiple convex surfaces and multiple concave surfaces, which are spaced and staggered. The number of convex surfaces is the same as the number of concave surfaces, the number of convex surfaces is the same as or an integer multiple of the number of grooves, and the number of concave surfaces is the same as or an integer multiple of the number of grooves.

[0021] In some implementations, the following are also included: prompting information patterns; multiple prompting information patterns are set one-to-one on multiple convex surfaces of the circumferential surface; the prompting information patterns are used to indicate the angle of rotation of the rotating component, and thus the angle of rotation of the end effector.

[0022] In some implementations, the handle assembly includes a core rod and a slider; the slider is disposed on the core rod and is reciprocating along the axis of the core rod; a connector is disposed at the distal end of the core rod and adjacent to the slider; and the proximal end of the drive assembly extends into the slider.

[0023] In a second aspect, this application provides a manipulable medical system, including: an end effector, and a manipulable medical device as provided in the first aspect; the end effector is disposed at the distal end of a drive assembly; the end effector is configured to rotate a preset angle when the rotating member rotates and is driven by the drive assembly to rotate a preset angle.

[0024] The operable medical device and system provided in this application include an operable medical device and an end effector, with the end effector disposed at the distal end of the operable medical device. The operable medical device includes a handle assembly, a connector, a rotating component, and a drive assembly. The connector is disposed at the distal end of the handle assembly; the rotating component is disposed within the connector and is rotatable; a first mating portion is provided on one side surface of the rotating component, and a second mating portion is provided on the opposite side surface of the connector. For example, the first mating portion is one of a protrusion and a groove, and the second mating portion is the other of a protrusion and a groove, with at least one protrusion correspondingly embedded in multiple grooves. The proximal end of the drive assembly passes sequentially through the connector and the rotating component, and the distal end of the drive assembly is disposed of the end effector. When the operator rotates the rotating component, the protrusion slides from the corresponding groove to an adjacent groove, causing the rotating component to rotate by a preset angle. The drive assembly rotates synchronously with the rotating component by the preset angle to drive the end effector to rotate by the preset angle. In this way, the rotation angle of the rotating component is precisely controlled by the sliding engagement of the first mating part on the rotating component and the second mating part on the connecting component. The preset rotation angle is then precisely transmitted to the end effector via the drive assembly, achieving precise control of the end effector's rotation angle. This allows the surgeon to accurately know when the end effector has rotated to the required angle, ensuring consistency in angle for each operation and allowing for precise control of the end effector's orientation, thus improving surgical outcomes. Furthermore, the engagement of the first and second mating parts also provides a limiting function. When the end effector does not need to be rotated, the rotating component remains stationary relative to the connecting component, and the protrusion remains within the groove. The groove limits the corresponding protrusion, preventing it from sliding out. This avoids unintended rotation (such as accidental contact) that could cause the end effector to rotate on its own, ensuring surgical safety. When the rotating component rotates and causes the protrusion to slide between two adjacent grooves, the protrusion and the elastic element on the other side of the rotating component achieve an interference fit, compressing the elastic element and creating resistance to the sliding, thus providing tactile feedback. Attached Figure Description

[0025] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the structure of a rotatable medical device;

[0027] Figure 2 This is a schematic diagram of the structure of the operable medical system provided in the embodiments of this application;

[0028] Figure 3This is a first structural schematic diagram of the operable medical device provided in the embodiments of this application;

[0029] Figure 4 This is a second structural schematic diagram of the operable medical device provided in the embodiments of this application;

[0030] Figure 5 This is a schematic diagram of the structure of the connector provided in the embodiment of this application;

[0031] Figure 6 This is a schematic diagram of the structure of the connector and rotating component provided in the embodiments of this application;

[0032] Figure 7 This is a schematic cross-sectional view of the connector and rotating member provided in the embodiments of this application;

[0033] Figure 8 This is a schematic cross-sectional view of the operable medical device provided in the embodiments of this application;

[0034] Figure 9 yes Figure 8 A partial structural diagram of region A in the middle;

[0035] Figure 10 This is a cross-sectional structural diagram of the connector, rotating member, and driving assembly provided in the embodiments of this application;

[0036] Figure 11 yes Figure 8 A schematic diagram of the partial structure of region B in the middle;

[0037] Figure 12 This is a first structural schematic diagram of the rotating component provided in the embodiments of this application;

[0038] Figure 13 This is a second structural schematic diagram of the rotating component provided in the embodiments of this application;

[0039] Figure 14 This is a schematic diagram showing that multiple grooves are arranged in a ring array according to an embodiment of this application;

[0040] Figure 15 This is a schematic diagram showing the state of the controllable medical device's end effector rotation provided in the embodiments of this application;

[0041] Figure 16 This is a schematic diagram of the sliding cooperation between the groove and the protrusion provided in the embodiments of this application;

[0042] Figure 17 This is a simplified side view of the rotating component provided in an embodiment of this application;

[0043] Figure 18 This is a schematic diagram of the prompt information pattern provided in the embodiments of this application.

[0044] Illustration:

[0045] 1A-Rotating handle, 1-Handle, 2-Sliding part, 3-Connecting block, 4-Knob, 5-Driver, 2A-End effector;

[0046] 100 - Manipulated medical device; 200 - End effector;

[0047] 10-Handle assembly, 11-Core rod, 12-Slider, 121-Finger ring, 13-Conductive plug, 14-Limiting tube;

[0048] 20-Connector, 21-Embedded hole, 22-First side surface, 23-Second side surface, 24-Shaft hole;

[0049] 30-Rotating component, 31-First end face, 32-Second end face, 33-Central hole, 34-Receiving groove, 35-Circumferential surface, 351-Convex surface, 352-Concave surface, 36-Prompt information pattern;

[0050] 40-Drive assembly, 41-Booster tube, 411-First tube segment, 412-Second tube segment, 42-Cable, 43-Heat shrink tubing, 44-Outer tube;

[0051] 51-Protrusion, 52-Groove, 52-1-First Groove, 52-2-Second Groove, 52-3-Third Groove, 52-4-Fourth Groove, 52-5-Fifth Groove, 52-6-Sixth Groove;

[0052] 60 - Elastic element. Detailed Implementation

[0053] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are all within the protection scope of this application.

[0054] It should be noted that many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0055] In the description of this application, it should be understood that the terms "upper," "lower," "left," "right," "front," and "rear," etc., 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 on this application. In this application, unless otherwise expressly specified and limited, "upper" or "lower" of the first feature and the second feature may mean that the first feature and the second feature are in direct contact, or that the first feature and the second feature are in indirect contact through an intermediate medium.

[0056] In this application, the use of terms such as "first," "second," etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0057] In the description of this specification, references to terms such as "some embodiments," "exemplary," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0058] Figure 1 This is a schematic diagram of the structure of a rotatable medical device.

[0059] like Figure 1 As shown, the rotatable medical device includes a rotating handle 1A and an end effector 2A. The rotating handle 1A includes a handle 1, a sliding part 2, a connecting block 3, a knob 4, and a driving component 5. The sliding part 2 is slidably connected to the handle 1. The connecting block 3 is fixedly connected to one end of the handle 1. The knob 4 is located on the connecting block 3 and can rotate relative to the connecting block 3. One end of the driving component 5 is connected to the end effector 2A, and the other end passes through the connecting block 3 and the knob 4 and is connected to the sliding part 2.

[0060] When the operator rotates knob 4, the drive unit 5 rotates synchronously with knob 4, thereby driving the end effector 2A to rotate. The operator can be a doctor, nurse, or other operator.

[0061] In different surgical scenarios, the end effector 2A can be of different types of medical devices. For example, Figure 1The end effector 2A shown is a snare, but in other surgical scenarios, the end effector 2A can also be a scalpel, surgical forceps, or needle, etc., which is not limited here.

[0062] When knob 4 is turned, it typically uses a stepless rotation method. Knob 4 does not provide quantifiable rotation angle feedback, nor does it offer a visual indication of the rotation angle. Therefore, when turning knob 4, the surgeon can only rely on personal experience and intuition. It is difficult for the surgeon to judge whether the end effector 2A has rotated to the desired angle, making precise control of the rotation angle impossible. This leads to inconsistent angles in each operation, resulting in inaccurate orientation of the end effector 2A during surgery and affecting surgical outcomes. In scenarios requiring precise, step-by-step rotational cutting (such as accurately controlling the cutting surface angle and avoiding damage to surrounding important structures), the stepless rotation method of knob 4 is insufficient.

[0063] In addition, the infinitely variable structure between the knob 4 and the connecting block 3 means that the knob 4 may rotate relative to the connecting block 3 under any external force, which may cause the end effector 2A to rotate unintended, which may increase the surgical risk in severe cases.

[0064] To address the aforementioned technical problems, this application provides a manipulable medical device and system. A first mating part is provided on the rotating component, and a second mating part is provided on the connecting component. Through the sliding engagement of the first and second mating parts, precise control of the rotation angle and tactile feedback can be achieved, as well as limiting the position of the rotating component and providing visual feedback.

[0065] Figure 2 This is a schematic diagram of the structure of the operable medical system provided in the embodiments of this application.

[0066] like Figure 2 As shown, in some embodiments, the manipulable medical system includes a manipulable medical device 100 and an end effector 200, the end effector 200 being disposed at the distal end of the manipulable medical device 100.

[0067] The manipulated medical device 100 refers to a mechatronic multifunctional medical device in which the various components work together to achieve precise cutting, coagulation, and manipulation. The manipulated medical device 100 is a medical device that is manually operated by the surgeon from outside the body, and can accurately transmit the surgeon's operating intentions to lesion areas that are difficult to directly observe or touch.

[0068] The end effector 200 refers to the functional head component at the working end of the medical device, which is the direct embodiment of the surgical function. The end effector 200 is located at the farthest end of the manipulable medical device 100. It interacts directly with the patient's tissue to complete the expected surgical task by pushing and pulling the push and pull force transmitted by the pull cable 42 of the manipulable medical device 100.

[0069] The specific form and function of the end effector 200 vary widely, depending on the design purpose of the manipulable medical device 100. For example, when the manipulable medical device 100 performs a grasping / clamping function, the end effector 200 can be a grasping forceps, needle holder, or atraumatic forceps, with the opening and closing of its jaws being the core action. When the manipulable medical device 100 performs a cutting function, the end effector 200 can be a tissue scissors, an electric hook, or an ultrasonic scalpel head, with actions including opening and closing (for scissor-type) and extension and retraction (for blade-type). When the manipulable medical device 100 performs a suturing / anastomosis function, the end effector 200 can be, for example, the staple cartridge and anvil of a linear cutting stapler, with actions including the opening and closing of the anvil and the advancement of the staple cartridge's pusher. When the manipulable medical device 100 performs a coagulation / hemostasis function, the end effector 200 can be, for example, the electrode head of a bipolar electrocoagulation forceps, with actions primarily involving opening and closing to clamp and energize the tissue. When the operable medical device 100 performs a separation function, the end effector 200 may be, for example, a dissector or a separation forceps. When the operable medical device 100 performs a ligation function, the end effector 200 may be, for example, a ligation clip or clamp. When the operable medical device 100 performs a cauterization function, the end effector 200 may be, for example, a monopolar electrosurgical head. For example, Figure 2 The end effector 200 shown is a snare.

[0070] The operable medical system provided in this application embodiment allows the operable medical device 100 to precisely control the end effector 200 to perform corresponding actions, including but not limited to opening and closing, rotation angle, cutting, and moving position, so as to ensure the safety and effectiveness of the surgery.

[0071] Figure 3 This is a first structural schematic diagram of the operable medical device provided in the embodiments of this application; Figure 4 This is a second structural schematic diagram of the operable medical device provided in the embodiments of this application.

[0072] like Figure 3 and Figure 4 As shown, in some embodiments, the operable medical device 100 may include: a handle assembly 10, a connector 20, a rotator 30, and a drive assembly 40.

[0073] To facilitate the description of the positional relationships of the structural components in the maneuverable medical device 100, the end of the maneuverable medical device 100 closer to the operator is defined as the proximal end, and the end farther from the operator is defined as the distal end. That is, the proximal end of each structural component is closer to the operator, and the distal end of each structural component is closer to the patient. Furthermore, this embodiment of the application exemplarily establishes a three-dimensional coordinate system based on the maneuverable medical device 100, where the x-axis direction is the width direction of the maneuverable medical device 100, the y-axis direction is the length direction of the maneuverable medical device 100, and the z-axis direction is the thickness direction of the maneuverable medical device 100.

[0074] In some embodiments, the handle assembly 10 is the basic structure integrating all components, provides grip functionality, and connects to the host unit. The handle assembly 10 is the proximal end of the medical device 100 that can be manipulated and serves as the operator's grip position.

[0075] The handle assembly 10 may include a core rod 11 and a slider 12. The slider 12 is disposed on the core rod 11 and can reciprocate along the axial direction Z0 of the core rod 11. The axial direction Z0 of the core rod 11 is parallel to the y-axis direction.

[0076] The core rod 11 is located at the core of the handle assembly 10 and extends through most of the handle's length. The core rod 11 serves as the main support skeleton of the handle, providing overall rigidity and handheld stability for the manipulating medical device 100; and defines the axis of sliding of the slider 12, providing the basic structure for transmitting push-pull movements and offering guidance and support for the slider 12. Exemplarily, the core rod 11 provides a motion transmission channel to transmit push-pull movements controlled by the slider 12 to the end effector.

[0077] The slider 12 is the surgeon's main push-pull component, connected to and driving the cable via an internal limiting tube. The slider 12 may include a finger ring 121 to facilitate the surgeon's sliding of the slider 12. The slider 12 provides linear drive; for example, the surgeon slides the slider 12 left and right (proximal to distal), causing the cable to move axially. For example, as... Figure 3 In the indicated state, slider 12 slides to the far end (to the left) relative to core rod 11, and slider 12 approaches connector 20, causing the cable to slide to the left; as shown Figure 4 In the indicated state, slider 12 slides towards the proximal end (to the right) relative to core rod 11, slider 12 moves away from connector 20 and closer to the surgeon, thereby causing the cable to slide to the right.

[0078] In some embodiments, the connector 20 is disposed at the distal end of the handle assembly 10. Specifically, the connector 20 is disposed at the distal end of the core rod 11 and adjacent to the slider 12. The connector 20 serves as a connection hub and mechanical joint for manipulating the middle section of the medical device 100, providing structural support for connecting the core rod 11 and the drive assembly 40.

[0079] The connector 20 is fixedly connected to the far end of the core rod 11. The fixing method can be snap-fit, welding, gluing or riveting, etc., and no specific limitation is made here.

[0080] In some embodiments, the rotating member 30 is disposed within the connecting member 20 and is rotatable about the axis Z0 of the handle assembly 10. Exemplarily, the rotating member 30 may be an exposed annular component, such as a knob. The operator rotates the rotating member 30 to adjust the angle of the end effector 200.

[0081] Figure 5 This is a schematic diagram of the structure of the connector provided in an embodiment of this application. Figure 5 (a) and (b) show the structure from different perspectives.

[0082] like Figure 5 As shown in (a) and (b), in some embodiments, the connector 20 may include an insert hole 21 and a shaft hole 24.

[0083] The length direction of the connector 20 is parallel to the y-axis direction, and the middle region of the connector 20 is extended outward by a certain width relative to the body of the connector 20 along the x-axis direction, so as to open the embedding hole 21 in the middle region of the connector 20.

[0084] The insertion hole 21 is located in the middle region of the connector 20, and it penetrates two opposite surfaces of the connector 20. The insertion hole 21 is a strip-shaped hole, and its length direction is parallel to the x-axis; the axis of the insertion hole 21 is z-shaped. 21 Perpendicular to the axial direction Z0, the axis z of the embedded hole 21 21 Parallel to the z-axis direction.

[0085] The connector 20 also includes a first side 22 and a second side 23 opposite to the insertion hole 21. The first side 22 and the second side 23 are opposite to each other and are both perpendicular to the axial direction Z0.

[0086] The shaft hole 24 extends through the proximal and distal ends of the connector 20 along the y-axis, and also extends through the first side surface 22 and the second side surface 23. The axis of the shaft hole 24 is parallel to the axial direction Z0. The shaft hole 24 is used for the drive assembly 40 to pass through, facilitating the rotation of the drive assembly 40 relative to the connector 20.

[0087] Figure 6 This is a schematic diagram of the structure of the connector and rotating component provided in the embodiments of this application.

[0088] like Figure 6 As shown, in some embodiments, the rotating member 30 is located within the insertion hole 21 and can rotate within the insertion hole 21. Exemplarily, the rotation direction of the rotating member 30 can be either counterclockwise or clockwise.

[0089] The size of the rotating member 30 is smaller than the size of the insertion hole 21. For example, the size of the rotating member 30 along the x-axis is smaller than the size of the insertion hole 21 along the x-axis. This ensures that the outer edge of the rotating member 30 will not interfere with the connecting member 20 when it rotates, thereby ensuring the smooth rotation of the rotating member 30 and facilitating precise control of the rotation angle of the rotating member 30.

[0090] The two ends of the circumferential surface 35 of the rotating component 30 are exposed through the insertion hole 21 relative to the z-axis. This can be understood as the two ends of the rotating component 30 along the z-axis being exposed through the insertion hole 21 and protruding from the connecting component 20 at a certain height. The circumferential surface 35 of the rotating component 30 is the position where the surgeon's hand contacts it. This facilitates the surgeon's rotation of the rotating component 30, improving the operability and reliability of the surgery.

[0091] Figure 7 This is a schematic diagram of the cross-sectional structure of the connector and rotating component provided in the embodiments of this application.

[0092] like Figure 7 As shown, in some embodiments, the rotating member 30 may include a central hole 33, the axis of which is parallel to the axial direction (y-axis direction).

[0093] The central hole 33 is located in the middle of the rotating member 30 and passes through the two opposite end faces of the rotating member 30 along the y-axis (e.g., Figure 12 and Figure 13 The first end face 31 and the second end face 32 shown are connected, and the center hole 33 communicates with the shaft hole 24 of the connector 20. For example, the axis of the center hole 33 coincides with the axis of the shaft hole 24 and is parallel to the y-axis direction.

[0094] The central hole 33 is used for the drive assembly 40 to pass through, which can be understood as the drive assembly 40 being the central axis for the rotation of the rotating part 30.

[0095] The central hole 33 is a non-circular hole, which may include rectangular holes, triangular holes, elliptical holes, or polygonal holes. For example, the central hole 33 is a rectangular hole, which facilitates the synchronous rotation of the drive assembly 40 with the rotating component 30.

[0096] Figure 8 This is a schematic cross-sectional view of the operable medical device provided in the embodiments of this application; Figure 9 yes Figure 8 A schematic diagram of the partial structure of region A in the middle.

[0097] like Figure 8 and Figure 9As shown, in some embodiments, the distal end of the drive assembly 40 is used to mount the end effector 200 (not shown in the figure), and the proximal end of the drive assembly 40 passes sequentially through the connector 20 and the rotating member 30 and is connected to the handle assembly 10. The proximal end of the drive assembly 40 extends into the slider 12 and from the inside of the slider 12 all the way to the end effector 200, passing through the central axis of the handle.

[0098] In some embodiments, the drive assembly 40 may include a booster tube 41, a cable 42, a heat shrink tubing 43, and an outer tube 44.

[0099] Cable 42 is a high-strength, low-elongation flexible cable. It is typically made of tightly twisted and braided multiple strands of fine steel wire (such as stainless steel) to ensure good tensile strength and some compressive strength (resistance to bending), while also allowing for flexible force transmission within narrow, curved channels (such as instrument shafts). Cable 42 is used as a force transmission channel.

[0100] The booster tube 41 typically refers to the shaft tube or internal sleeve / guide tube of the device, with the cable 42 passing through it. The booster tube 41 is the core transmission component that drives the rotation of the rotating component 30 to rotate the end effector 200, converting the rotational motion of the rotating component 30 into angular adjustment of the end effector 200. The booster tube 41 serves a guiding and protective function; for example, it provides a precise path for the cable 42, preventing it from twisting, knotting, or getting stuck in the internal structure. The booster tube 41 also serves a force transmission and support function; for example, when the cable 42 is subjected to thrust, the booster tube 41 provides necessary support and reaction force, and its wall effectively transmits the thrust, preventing the cable 42 from bending and becoming unstable under thrust. When the cable 42 is subjected to tension, the wall of the booster tube 41 also acts as a constraint. The booster tube 41 is also used to reduce friction, for example, the inside of the tube wall is usually very smooth (or a coating or bushing can be provided inside the tube wall) to minimize the friction of the cable 42 during movement.

[0101] Heat shrink tubing 43 is the outermost protective tube of the drive assembly 40. It provides an electrical insulation barrier and enhances the rigidity and sealing of the front working section. Heat shrink tubing 43 covers the distal end of connector 20 and the opposite ends of the push tube 41 and outer tube 44. It not only prevents accidental contact of external conductive components with the patient or conductive tissue, which is crucial, especially in electrosurgical procedures, but also improves the reliability of the push tube 41 at connector 20, preventing deformation of the push tube 41 at the connection point with connector 20 due to external forces. Furthermore, heat shrink tubing 43 provides support at the adjacent points of the push tube 41 and outer tube 44, fixing and protecting their adjacent areas, preventing separation or unintended relative movement, thereby improving the stability of the drive assembly 40.

[0102] The outer tube 44 serves as a protective tube near the distal end of the cable 42, which passes through the outer tube 44. The outer tube 44 provides guidance and protection for the booster tube 41 and the cable 42, and transmits some of the structural forces. The outer tube 44 can also serve as a working channel; for example, if the maneuverable medical device 100 is for endoscopic surgical instruments (such as a laparoscope), the outer tube 44 can also act as part of the working channel wall.

[0103] In some embodiments, the booster tube 41 and the outer tube 44 are spaced apart along the axial direction Z0, and the cable 42 passes through the outer tube 44 and the booster tube 41 sequentially from the distal end to the proximal end. A heat-shrinkable tube 43 is sleeved on the outside of the booster tube 41 and the outer tube 44, with the proximal end of the heat-shrinkable tube 43 embedded in the distal end of the connector 20 and fixedly connected to the connector 20. The distal end of the heat-shrinkable tube 43 extends in a direction away from the connector 20. Exemplarily, the heat-shrinkable tube 43 can be fixed to the connector 20 by snap-fitting, welding, gluing, or riveting, etc., without specific limitations here.

[0104] The distal end of the booster tube 41 extends into the heat shrink tubing 43, and the proximal end of the booster tube 41 extends into the connector 20. In this way, the heat shrink tubing 43 can improve the reliability of the booster tube 41 at the connector 20 and prevent the booster tube 41 from being deformed by external forces at the connector 20.

[0105] The heat shrink tubing 43 is in a fixed state, while the booster tube 41 is in a rotatable state. The maximum outer diameter D of the booster tube 41 is... 41 The minimum inner diameter D smaller than 43mm heat shrink tubing 43 This allows the booster tube 41 to rotate within the heat shrink tubing 43 without obstructing its rotation.

[0106] The proximal end of the outer tube 44 extends into the heat shrink tubing 43, and the distal end of the outer tube 44 extends in a direction away from the heat shrink tubing 43. The booster tube 41 and the outer tube 44 are spaced apart along the y-axis, with a gap L0 between them, so that the booster tube 41 and the outer tube 44 have different states, for example, the booster tube 41 is in a rotatable state, and the outer tube 44 is in a fixed state.

[0107] At least a portion of the booster tube 41 and at least a portion of the outer tube 44 are embedded within the heat shrink tubing 43. This can be understood as the heat shrink tubing 43 wrapping around the distal end of the booster tube 41 and the proximal end of the outer tube 44. This improves the reliability of the drive assembly 40, thereby enhancing the rigidity and sealing of the working section of the maneuverable medical device 100.

[0108] The cable 42 is the core flexible drive element that transmits push and pull forces and torque (rotational force). The distal end of the cable 42 is used to house the end effector 200. The cable 42 is sequentially inserted into the outer tube 44 and the booster tube 41. The outer tube 44 and the booster tube 41 not only guide, protect and support the cable 42, but also transmit part of the structural force to transmit the rotational motion of the rotating component 30 to the cable 42, and then to the end effector 200, controlling the end effector 200 to perform the corresponding action.

[0109] The outer tube 44 is fixed, while the cable 42 is rotatable. The minimum inner diameter D of the outer tube 44... 44 The maximum outer diameter D of the cable is greater than 42. 42 This allows the cable 42 to rotate within the outer tube 44, while the outer tube 44 remains stationary during the rotation of the cable 42. The inner diameter D of the booster tube 41 is at least partially [specified]. 41 The outer diameter D of the cable is larger than that of cable 42. 42 Dimensions, and the inner diameter D of the remaining part. 41 The dimension is equal to the outer diameter D of the cable 42. 42 The dimensions are adjusted so that the booster tube 41 and the cable 42 rotate synchronously to control the angle adjustment of the end effector 200.

[0110] Figure 10 This is a cross-sectional structural diagram of the connector, rotating member, and drive assembly provided in the embodiments of this application. Only the structure of the booster tube 41 and the cable 42 is shown in the drive assembly 40.

[0111] like Figure 7 and Figure 10 As shown, in some embodiments, the drive assembly 40 passes sequentially through the shaft hole 24 of the connector 20 and the center hole 33 of the rotating member 30.

[0112] The proximal end of the booster tube 41 passes through the shaft hole 24 and the center hole 33 in sequence, and is movably connected to the distal end of the handle assembly 10.

[0113] The outer wall cross-sectional shape of the booster tube 41 is the same as the cross-sectional shape of the central hole 33 of the rotating member 30, and both are non-circular, so that the booster tube 41 rotates synchronously with the rotating member 30. For example, the non-circular shape includes a rectangle, triangle, ellipse, or polygon. It should be noted that the booster tube 41 can be fixedly connected to the rotating member 30 to improve the stability of the booster tube 41 rotating synchronously with the rotating member 30. The fixed connection method can be snap-fit, welding, gluing, or riveting, etc., and is not specifically limited here.

[0114] The cross-sectional shape of the outer wall of the booster tube 41 is different from that of the cross-sectional shape of the shaft hole 24 of the connector 20, and the cross-sectional area of ​​the shaft hole 24 is larger than that of the outer wall of the booster tube 41, so that the booster tube 41 can rotate relative to the connector 20 within the shaft hole 24. In this way, when the booster tube 41 rotates synchronously with the rotating member 30, the connector 20 will not obstruct the rotation of the booster tube 41, and the connector 20 will not rotate synchronously with the booster tube 41.

[0115] The cable 42 is inserted inside the booster tube 41, and the proximal end of the cable 42 is movably connected to the distal end of the handle assembly 10. The cable 42 has a uniform structure, that is, the cross-sectional shape of the cable 42 is the same everywhere.

[0116] The cross-sectional shape of the cable 42 is the same as that of at least a portion of the inner wall of the booster tube 41, and both are non-circular. This allows the cable 42 to slide along the axial direction Z0 inside the booster tube 41 and to rotate synchronously with the booster tube 41.

[0117] In one implementation, the overall cross-sectional shape of the booster tube 41 is the same as that of the cable 42, and the booster tube 41 is also a uniform structure, so that the booster tube 41 completely wraps around the outer surface of the corresponding area of ​​the cable 42. The cross-sectional shapes of both the cable 42 and the booster tube 41 are non-circular, which allows the cable 42 to rotate synchronously with the booster tube 41.

[0118] In another implementation, a portion of the inner wall cross-sectional shape of the booster tube 41 is the same as the cross-sectional shape of the cable 42. The booster tube 41 includes a first tube segment 411 and a second tube segment 412 connected from the proximal end to the distal end. The inner diameter of the first tube segment 411 is smaller than the inner diameter of the second tube segment 412. The cable 42 passes through the first tube segment 411 and the second tube segment 412 in sequence, and the cable 42 can move along the axial direction Z0 within the first tube segment 411 and the second tube segment 412.

[0119] The inner diameter of the first pipe section 411 is equal to the outer diameter D of the cable 42. 42 The inner wall cross-sectional shape of the first pipe section 411 is the same as that of the cable 42, and both are non-circular, so that the cable 42 rotates synchronously with the booster pipe 41. When the booster pipe 41 is driven to rotate synchronously by the rotating component 30, the booster pipe 41 can transmit torque from the first pipe section 411 to the cable 42, thereby driving the cable 42 to rotate synchronously and controlling the angle adjustment of the end effector 200.

[0120] Figure 11 yes Figure 8 A schematic diagram of the local structure of region B in the middle.

[0121] like Figure 8 , Figure 9 and Figure 11 As shown, in some embodiments, the proximal ends of the cable 42 and the booster tube 41 pass through the connector 20 and the rotating member 30 in sequence and then extend into the slider 12.

[0122] The slider 12 also includes a conductive plug 13 and a limiting tube 14. The conductive plug 13 is located at one end of the slider 12 near the connector 20 and is fixedly connected to the slider 12. The length direction of the conductive plug 13 is parallel to the x-axis and protrudes from the bottom of the slider 12. The conductive plug 13 is used to conduct external high-frequency electrical energy to the inside of the operable medical device 100 and provides a safe and reliable electrical connection interface with the output cable of the high-frequency electrosurgical device.

[0123] The limiting tube 14 is located on the side of the conductive plug 13 opposite to the connector 20, and the axis of the limiting tube 14 is parallel to the axis Z0 of the core rod 11. The limiting tube 14 is not connected to the conductive plug 13, so that the limiting tube 14 can rotate relative to the conductive plug 13.

[0124] The proximal end of the booster tube 41 extends into the slider 12 and is close to the conductive plug 13 inside the slider 12. The booster tube 41 and the conductive plug 13 are not connected, and the booster tube 41 can rotate relative to the conductive plug 13. For example, the first section 411 of the booster tube 41 abuts against the conductive plug 13 inside the slider 12. Correspondingly, a through hole is provided at the relative position of the slider 12 to facilitate the insertion of the booster tube 41 and stop at one side of the conductive plug 13.

[0125] Since the booster tube 41 and the rotating component 30 maintain a constant relative position, the proximal cutoff position of the booster tube 41 can be designed based on the premise that the booster tube 41 and the conductive plug 13 will not contact each other when the slider 12 is at the farthest end of the core rod 11. In this way, when the slider 12 slides to the farthest end relative to the core rod 11, the proximal end of the booster tube 41 will not interfere with the conductive plug 13, thereby avoiding damage to the conductive plug 13, and also ensuring that the maximum sliding stroke of the slider 12 is not affected.

[0126] The proximal end of the cable 42 passes through the slider 12, then through the conductive plug 13, and finally through the limiting tube 14, where the cable 42 is fixedly connected. The cable 42 runs through the entire central axis of the device: starting from the fixing point of the limiting tube 14 inside the slider 12, it passes through the conductive plug 13, through the inside of the booster tube 41, then through the inside of the outer tube 44, and finally is fixed to the end effector 200. Exemplarily, the cable 42 is securely connected to the moving parts of the end effector 200 (e.g., the jaw linkage, the joint lever, the firing lever, etc.).

[0127] The cable 42 can form an electrical connection with the conductive plug 13. When the conductive plug 13 in this application is electrically connected to an external energy source, the external energy source supplies high-frequency current to the conductive plug 13 and transmits it to the end effector 200 through the cable 42, so that the end effector 200 performs a corresponding function, such as heating the end effector 200 to form a cutting function.

[0128] After the proximal end of the cable 42 passes through the conductive plug 13, it is fixed inside the limiting tube 14. When the cable 42 rotates, the limiting tube 14 rotates synchronously. The limiting tube 14 is used to pull the cable 42 towards the proximal end and to limit the movement of the cable 42 towards the distal end, preventing the cable 42 from being pulled too far to the distal end.

[0129] Combination Figure 3 and Figure 11 As shown, when the operator controls the slider 12 to slide to the far end (to the left) relative to the core rod 11, it causes the cable 42 to slide to the left. When the slider 12 slides to the farthest end of the core rod 11, the limiting tube 14 abuts against the conductive plug 13. If the cable 42 continues to move to the far end, the relative stationary state of the limiting tube 14 and the conductive plug 13 can prevent the cable 42 from continuing to move to the far end.

[0130] Combination Figure 4 and Figure 11 As shown, when the operator controls the slider 12 to slide proximally (to the right) relative to the core rod 11, the conductive plug 13 moves proximally along with the slider 12 and pushes the limiting tube 14 to move proximally. At this time, the limiting tube 14 pulls the cable 42 to move proximally.

[0131] In this way, the operator controls the sliding direction of the slider 12, thereby controlling the movement direction of the cable 42 under the support and constraint of the booster tube 41. The cable 42 can accurately and reliably transmit the movement to the end effector 200, so as to control the end effector 200 to perform corresponding actions, such as clamping or opening.

[0132] In some embodiments, a first mating portion is provided on one side surface of the rotating member 30, and a second mating portion is provided on the opposite surface of the connecting member 20; the first mating portion and the second mating portion slide together to precisely control the rotation angle of the rotating member 30.

[0133] The drive assembly 40 is configured to rotate a preset angle by sliding engagement between the first mating part and the second mating part when the rotating member 30 rotates, thereby driving the end effector 200 to rotate a preset angle.

[0134] Figure 12 This is a first structural schematic diagram of the rotating component provided in the embodiments of this application; Figure 13 This is a second structural schematic diagram of the rotating component provided in an embodiment of this application. Wherein, Figure 12 and Figure 13 The structure is shown from different perspectives.

[0135] like Figure 5 , Figure 10 , Figure 12 and Figure 13 As shown, in some embodiments, the first mating portion includes one of the protrusion 51 and the groove 52, and the second mating portion includes the other of the protrusion 51 and the groove 52.

[0136] There is at least one protrusion 51 and multiple recesses 52, with the number of protrusions 51 being less than or equal to the number of recesses 52. At least one protrusion 51 is embedded in at least one of the multiple recesses 52. The multiple protrusions 51 can be arranged symmetrically or asymmetrically; no specific limitation is made here. For example, if there are six recesses 52 and two protrusions 51, then the two protrusions 51 are embedded one-to-one in corresponding two recesses 52 among the six recesses 52. The two protrusions 51 can be spaced apart or adjacent to each other.

[0137] It should be noted that multiple protrusions 51 can be accommodated within the same groove 52, and the multiple protrusions 51 located within the same groove 52 are adjacent to each other. Correspondingly, the groove 52 has a certain length and is arc-shaped, and the curvature of the arc is adapted to the position of the multiple protrusions 51 located within the same groove 52. When the rotating component 30 is rotated, the multiple protrusions 51 simultaneously slide from one groove 52 to another adjacent groove 52.

[0138] In some embodiments, the rotating member 30 may further include a first end face 31 and a second end face 32. The first end face 31 and the second end face 32 are opposite to each other and are both perpendicular to the y-axis direction (axial direction Z0), and the central hole 33 passes through the first end face 31 and the second end face 32.

[0139] The first end face 31 faces the first side face 22 of the connector 20, and the second end face 32 faces the second side face 23 of the connector 20. A first mating portion is disposed on one of the first end face 31 and the second end face 32, and a second mating portion is disposed on the side face of the first side face 22 and the second side face 23 corresponding to the end face on which the first mating portion is disposed. For example, the first mating portion is disposed on the first end face 31, and the second mating portion is disposed on the first side face 22; or, the first mating portion is disposed on the second end face 32, and the second mating portion is disposed on the second side face 23. This embodiment of the application uses the example of the first mating portion being disposed on the first end face 31 and the second mating portion being disposed on the first side face 22 for illustration.

[0140] For example, the first side surface 22 is provided with at least one protrusion 51, and the first end surface 31 is provided with multiple grooves 52; or, the first side surface 22 is provided with multiple grooves 52, and the first end surface 31 is provided with at least one protrusion 51. This application embodiment is described using the example of the first side surface 22 being provided with at least one protrusion 51 and the first end surface 31 being provided with multiple grooves 52.

[0141] When the rotating member 30 rotates, at least one protrusion 51 slides into a plurality of grooves 52, such that each protrusion 51 slides from its corresponding groove 52 into an adjacent groove 52, thereby controlling the drive assembly 40 to rotate by a preset angle. For example, the booster tube 41 and the cable 42 are controlled to follow the rotating member 30 to rotate by a preset angle, thereby driving the end effector 200 to rotate by a preset angle.

[0142] The operable medical device 100 provided in this application embodiment includes a handle assembly 10, a connector 20, a rotating member 30, and a drive assembly 40. The connector 20 is disposed at the distal end of the handle assembly 10; the rotating member 30 is disposed within the connector 20 and is rotatable; a first mating portion is provided on one side surface of the rotating member 30, and a second mating portion is provided on the opposite side surface of the connector 20. The first mating portion is one of a protrusion 51 and a groove 52, and the second mating portion is the other of a protrusion 51 and a groove 52. At least one protrusion 51 is embedded in one of multiple grooves 52. The proximal end of the drive assembly 40 passes sequentially through the connector 20 and the rotating member 30, and an end effector 200 is disposed at the distal end of the drive assembly 40. When the operator rotates the rotating member 30, the protrusion 51 slides from its corresponding groove 52 to an adjacent groove 52, causing the rotating member 30 to rotate by a preset angle. The drive assembly 40 rotates synchronously with the rotating member 30 by the preset angle to drive the end effector 200 to rotate by the preset angle. In this way, the rotation angle of the rotating component 30 is precisely controlled by the sliding engagement of the first mating part on the rotating component 30 and the second mating part on the connecting component 20. The rotation angle is then precisely transmitted to the end effector 200 by the drive assembly 40, so as to achieve precise control of the rotation angle of the end effector 200. This allows the surgeon to accurately know that the end effector 200 has rotated to the required angle, ensuring the consistency of the angle for each operation. The surgeon can also precisely control the orientation of the end effector 200 to improve the surgical outcome.

[0143] Furthermore, the cooperation of the first and second mating parts provides a limiting function. When the end effector 200 does not need to be rotated, the rotating member 30 remains stationary relative to the connecting member 20, and the protrusion 51 is always located within the groove 52. The groove 52 can limit the corresponding protrusion 51, preventing it from sliding out of the groove 52. In this way, the rotating member 30 is prevented from being subjected to unintended rotation (such as accidental contact) that could cause the end effector 200 to rotate on its own, thus ensuring the safety of the surgery.

[0144] Figure 14 This is a schematic diagram showing that multiple grooves are arranged in a ring array according to an embodiment of this application.

[0145] like Figure 14 As shown, in some embodiments, a plurality of grooves 52 are arranged in a circular array relative to the axial direction Z0. For example, when the number of grooves 52 includes six, the six grooves 52 are arranged in a circular array relative to the axial direction Z0.

[0146] Multiple grooves 52 are evenly distributed, and the centerlines of each groove 52 intersect at the center point of the central hole 33, which is located in the axial direction Z0. Figure 14 The dashed lines in the diagram represent the center lines of each groove 52. The center line refers to the line of symmetry of the groove 52.

[0147] The included angle between the center lines of any two adjacent grooves 52 is the same, and the included angle between the center lines of two adjacent grooves 52 is the angle at which the rotating component 30 rotates once. Based on the included angle between adjacent center lines, a preset angle for the rotation of the drive assembly 40 is determined, thereby precisely controlling the rotation of the end effector 200 by the preset angle.

[0148] For example, the six grooves 52 are respectively a first groove 52-1, a second groove 52-2, a third groove 52-3, a fourth groove 52-4, a fifth groove 52-5, and a sixth groove 52-6 distributed clockwise. The center line of the first groove 52-1 and the center line of the second groove 52-2 form a first angle α1, the center line of the second groove 52-2 and the center line of the third groove 52-3 form a second angle α2, the center line of the third groove 52-3 and the center line of the fourth groove 52-4 form a third angle α3, the center line of the fourth groove 52-4 and the center line of the fifth groove 52-5 form a fourth angle α4, the center line of the fifth groove 52-5 and the center line of the sixth groove 52-6 form a fifth angle α5, and the center line of the sixth groove 52-6 and the center line of the first groove 52-1 form a sixth angle α6. Wherein, α1=α2=α3=α4=α5=α6.

[0149] In some embodiments, the preset angle is determined by the number of grooves 52. For example, when there are six grooves 52, the preset angle is 60°; when there are twelve grooves 52, the preset angle is 30°. The more grooves 52 there are, the smaller the angle that the end effector 200 can rotate each time, and the smaller the preset angle; the fewer grooves 52 there are, the larger the angle that the end effector 200 can rotate each time, and the larger the preset angle.

[0150] In this way, a corresponding number of grooves 52 can be set according to the type of end effector 200 and the actual application to achieve precise control of different rotation angles. The surgeon can rotate the rotating component 30 a corresponding number of times according to the desired angle. Through the cooperation of the protrusion 51 and the groove 52, precise control of the rotation angle can be achieved. The angle of each rotation of the rotating component 30 (the angle between the center lines of two adjacent grooves 52) is the same, which can ensure the consistency of the angle of each operation, so that the orientation of the end effector 200 is accurate during the operation, ensuring the surgical effect.

[0151] In some embodiments, the edges of any two adjacent grooves 52 are connected by a transition. For example, the edges of two adjacent grooves 52 are connected by a rounded transition.

[0152] This improves the smoothness of the protrusion 51 sliding from one groove 52 to an adjacent groove 52, making the rotation of the rotating component 30 smoother, thereby improving the rotational flexibility of the end effector 200 and ensuring the safety of the surgery.

[0153] Figure 15 This is a schematic diagram showing the state of the controllable medical device end effector rotation provided in the embodiments of this application.

[0154] like Figure 8 and Figure 15 As shown in (a), in some embodiments, the end effector 200 is connected to the distal end of the cable 42 of the manipulatory medical device 100.

[0155] When the operable medical device 100 controls the end effector 200, the cable 42 can be controlled to perform corresponding actions by sliding the slider 12 and / or rotating the rotating component 30. In turn, the end effector 200 can be controlled to rotate at a preset angle by the cable 42, and the end effector 200 can also be controlled to perform opening and closing actions.

[0156] The cable 42 bears the pushing / pull force transmitted from the sliding slider 12, and also the torque transmitted from the rotating component 30. The cable 42 transmits the pushing / pull force and torque to the end effector 200. Through mechanical structures (not shown in the figure) such as connecting rods, grooves, and rotating shafts designed inside the end effector 200, the pushing / pull force and torque are converted into specific movements (such as opening / closing or rotational movements) required by the end effector 200.

[0157] For example, cable 42 transmits tension, pulling a connecting rod inside the end effector 200 to close the jaws. Cable 42 also transmits thrust, pushing a sliding rod inside the end effector 200 to open the jaws. It should be noted that an end effector 200 with complex functions may require multiple push-pull cables 42 for combined control, which will not be elaborated here.

[0158] The operator rotates the rotating component 30, and through the cooperation of the rotating component 30 and the connecting component 20, such as the cooperation of the protrusion 51 and the groove 52, the booster tube 41 rotates synchronously to a preset angle. Under the support and guidance of the booster tube 41, torque is transmitted to the cable 42, and the cable 42 rotates synchronously with the booster tube 41. The cable 42 transmits torque, and through the cooperation of the internal mechanism of the end effector 200 and the cable 42, the end effector 200 is ultimately controlled to adjust the preset angle.

[0159] Figure 16 This is a schematic diagram of the sliding cooperation between the groove and the protrusion provided in the embodiments of this application.

[0160] like Figure 15 (a) and Figure 16 As shown in (a), taking one protrusion 51 and six grooves 52 as an example, when the operable medical device 100 is in the initial state, the protrusion 51 is embedded in the first groove 52-1 and remains relatively stationary.

[0161] In this scenario, the current angle of the end effector 200 is defined as 0° in the initial state.

[0162] like Figure 15 (b) and Figure 16 As shown in (b), the operator rotates the rotating member 30, for example, by rotating the rotating member 30 downwards, so that the protrusion 51 on the connector 20 slides from the current first groove 52-1 to the adjacent second groove 52-2. The angle at which the protrusion 51 slides is α1, α1 = 60°, that is, the rotating member 30 rotates 60°.

[0163] Combination Figure 10 As shown, through the cooperation of the rotating component 30 and the booster tube 41, the rotating component 30 drives the booster tube 41 to rotate synchronously by 60°, which in turn drives the cable 42 to rotate synchronously by 60°. The cable 42 transmits torque to the end effector 200, causing the end effector 200 to rotate downward synchronously by 60°.

[0164] Thus, through the protrusion 51 on the connector 20 and the groove 52 on the rotating member 30, when the rotating member 30 is rotated, the sliding engagement between the protrusion 51 and the groove 52 allows the rotating member 30 to rotate a preset angle each time, thereby causing the push tube 41 and the cable 42 to rotate synchronously by the preset angle. The cable 42 transmits the torque corresponding to the preset angle of rotation to the end effector 200, causing the end effector 200 to rotate synchronously by the preset angle, achieving precise control of the rotation angle. The surgeon can control the end effector 200 to rotate by a certain angle by rotating the rotating member 30 a corresponding number of times. For example, if the preset angle corresponding to each rotation of the rotating member 30 is 60°, and the surgeon wants to control the end effector 200 to rotate 120°, then rotating the rotating member 30 twice consecutively in the same direction will achieve this, facilitating precise control of the angle of the end effector 200 to ensure the reliability and effectiveness of the surgery.

[0165] See you again Figure 7 , Figure 10 and Figure 13 In some embodiments, the rotating member 30 may include a receiving groove 34, with the receiving groove 34 and the first mating portion located on two opposite surfaces of the rotating member 30. For example, when the first mating portion is located on the first end face 31 of the rotating member 30, the receiving groove 34 is located on the second end face 32.

[0166] The receiving groove 34 is connected to the central hole 33, and the size of the receiving groove 34 is larger than the size of the central hole 33. This makes it easier to install the elastic element 60 inside the receiving groove 34.

[0167] In some embodiments, the operable medical device 100 may further include an elastic element 60. Exemplarily, the elastic element 60 may be made of a material with elastic deformation, such as an elastic damping ring or a rubber ring.

[0168] One end of the elastic member 60 is embedded in the receiving groove 34, and the other end protrudes from the second end face 32 of the rotating member 30. The elastic member 60 abuts against the second side face 23 of the connecting member 20 in an interference fit manner.

[0169] The elastic element 60 includes a through hole (not shown in the figure) that is opposite to and communicates with the central hole 33. The booster tube 41 passes through the through hole of the elastic element 60 and extends into the slider 12.

[0170] When the operator rotates the rotating component 30, the protrusion 51 on the connecting component 20 disengages from the groove 52 on the rotating component 30. At this time, the protrusion 51 slides to abut against the first end face 31 of the rotating component 30 and applies a force towards the proximal end of the rotating component 30. The rotating component 30 tends to move to the right and compresses the elastic element 60, causing the elastic element 60 to deform. When the protrusion 51 rotates into the adjacent groove 52, the force exerted by the protrusion 51 on the rotating component 30 disappears. The force on the elastic element 60 disappears, and the deformation returns to its initial state. The process of the force on the elastic element 60 from generation to disappearance provides obvious tactile feedback, thereby achieving tactile feedback for precise control of the rotation angle.

[0171] The operable medical device 100 provided in this application embodiment has an elastic element 60 between the rotating member 30 and the connecting member 20. When the rotating member 30 is rotated, the rotating member 30 rotates by a preset angle by utilizing the sliding cooperation of the protrusion 51 and the groove 52. At the same time, the sliding of the protrusion 51 in the multiple grooves 52 causes the elastic element 60 to undergo a deformation and return to its original deformation. The process of the force on the elastic element 60 from generation to disappearance produces obvious tactile feedback, thereby achieving tactile feedback for precise control of the rotation angle and improving the operator's operating feel.

[0172] Figure 17 This is a simplified side view of the rotating component provided in the embodiments of this application.

[0173] like Figure 12 , Figure 13 and Figure 17 As shown, in some embodiments, the rotating member 30 may further include a circumferential surface 35, which is connected to the first end face 31 and the second end face 32. The circumferential surface 35 has an annular structure around the axial direction Z0, and serves as the contact position when the operator rotates the rotating member 30.

[0174] In some embodiments, the circumferential surface 35 of the rotating member 30 includes a plurality of convex surfaces 351 and a plurality of concave surfaces 352, which are distributed alternately at intervals. That is, a concave surface 352 is connected between two adjacent convex surfaces 351, and a convex surface 351 is connected between two adjacent concave surfaces 352.

[0175] In this way, the circumferential surface 35 of the rotating component 30 has an uneven surface, which increases the friction when the operator rotates the rotating component 30, making it easier and less strenuous for the operator to rotate the rotating component 30, so as to control the end effector 200 to rotate at a preset angle.

[0176] The number of convex faces 351 is the same as the number of concave faces 352. The number of convex faces 351 is the same as or an integer multiple of the number of grooves 52. The number of concave faces 352 is the same as or an integer multiple of the number of grooves 52. When the number of convex faces 351, the number of concave faces 352, and the number of grooves 52 are the same, the included angle between the center lines of two adjacent convex faces 351 is the same as the included angle between the center lines of two adjacent grooves 52. When the number of convex faces 351 (or the number of concave faces 352) is an integer multiple of the number of grooves 52, the included angle between the center lines of two adjacent convex faces 351 is an integer multiple of the included angle between the center lines of two adjacent grooves 52. For example, if there are three convex surfaces 351 and six grooves 52, the included angle between the center lines of two adjacent convex surfaces 351 is twice the included angle between the center lines of two adjacent grooves 52; if there are twelve convex surfaces 351 and six grooves 52, the included angle between the center lines of two adjacent grooves 52 is twice the included angle between the center lines of two adjacent convex surfaces 351.

[0177] In this way, when the end effector 200 needs to rotate to a preset angle, the convex part 351 of the rotating member 30 can be rotated by n steps, where n is a positive integer greater than or equal to 1. That is, the current convex part 351 can be controlled to rotate from its current position to the position of the adjacent convex part 351, so as to more accurately control the adjustment of the angle of the end effector 200.

[0178] The positions of the multiple concave portions 352 of the circumferential surface 35 correspond one-to-one with the positions of the multiple grooves 52, and the positions of the multiple convex portions 351 of the circumferential surface 35 correspond one-to-one with the positions of any two adjacent grooves 52. That is, the areas between the convex portions 351 and the adjacent grooves 52 are opposite; or vice versa. In this way, the rotation angle of the rotating component 30 can be more intuitively reflected according to the rotation amplitude of the convex portions 351, thereby accurately controlling the angle adjustment of the end effector 200.

[0179] Combination Figure 6 , Figure 12 and Figure 13 As shown, in some embodiments, the operable medical device 100 may further include a prompting information pattern 36. The prompting information pattern 36 is used to indicate the angle of rotation of the rotating member 30, and thus the angle of rotation of the end effector 200.

[0180] Multiple prompting information patterns 36 are arranged one-to-one on the convex part 351 of the circumferential surface 35. The prompting information patterns 36 can indicate the angle between two adjacent grooves 52, thereby indicating the rotation angle of the rotating part 30.

[0181] For example, the prompting pattern 36 on the convex part 351 exposed in the middle region of the connector 20 along the x-axis direction (such as the center of the insertion hole 21) is used to characterize the current angle of the end effector 200. After rotating the rotating member 30 once, another adjacent convex part 251 rotates to the middle region, and the current angle of the end effector 200 after one rotation can be known based on the prompting pattern 36 on the other convex part 351.

[0182] Figure 18 This is a schematic diagram of the prompt information pattern provided in the embodiments of this application.

[0183] like Figure 18 As shown, in some embodiments, the prompt information pattern 36 can be an angle pattern, which includes an angle diagram or the angle of the angle.

[0184] Taking the prompt message pattern 36 as an example, as shown in the diagram, Figure 18 The included angle diagram shown in (a) indicates that the current rotating part 30 (end effector 200) is at 0°, as... Figure 18 The included angle diagram shown in (b) indicates that the current rotating part 30 (end effector 200) is at 60°, as Figure 18 The included angle diagram shown in (c) indicates that the current rotating part 30 (end effector 200) is at 120°, as... Figure 18 The included angle diagram shown in (d) indicates that the current rotating part 30 (end effector 200) is at 180°, as... Figure 18 The included angle diagram shown in (e) indicates that the current rotating part 30 (end effector 200) is at 240°, as... Figure 18 The included angle diagram shown in (f) indicates that the current rotating part 30 (end effector 200) is at 300°.

[0185] The rotating component 30 has circumferentially printed information patterns 36, which correspond to the grooves 52. This provides feedback not only in terms of feel but also in terms of visualization when achieving precise control of the rotation angle, making it convenient for the operator to perform the operation.

[0186] The operable medical device 100 provided in this embodiment of the application has prompt information patterns 36 evenly spaced on the circumferential surface 35 of the rotating member 30. The included angle between the center lines of two adjacent convex surfaces 351 containing the prompt information patterns 36 is equal to the included angle between the center lines of two adjacent grooves 52. When the rotating member 30 is rotated, the prompt information patterns 36 on the convex surface 351 exposed in the middle region of the connecting member 20 indicate the current angle of the end effector 200. In this way, visual feedback for precise control of the rotation angle can be achieved, making it convenient for the surgeon to accurately adjust the angle of the end effector 200.

[0187] It should be noted that those skilled in the art, upon considering the specification and practicing the application disclosed herein, will readily conceive of other embodiments of this application. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope of this application is indicated by the following claims.

[0188] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A manipulable medical device, characterized in that, include: Handle assembly (10); A connector (20) is disposed at the distal end of the handle assembly (10); A rotating component (30) is disposed inside the connecting component (20) and can rotate about the axis of the handle assembly (10); a first mating part is provided on one side surface of the rotating component (30) and a second mating part is provided on the opposite surface of the connecting component (20); A drive assembly (40) has its proximal end passing through the connector (20) and the rotating member (30) in sequence and connected to the handle assembly (10). The distal end of the drive assembly (40) is used to set an end effector (200). The drive assembly (40) is configured to rotate by a preset angle through the cooperation of the first mating part and the second mating part when the rotating member (30) rotates, so as to drive the end effector (200) to rotate by the preset angle.

2. The operable medical device according to claim 1, characterized in that, The central region of the connector (20) includes an embedding hole (21) that penetrates two opposite surfaces of the connector (20); The axis of the embedded hole (21) is perpendicular to the axis direction.

3. The operable medical device according to claim 2, characterized in that, The rotating member (30) is located in the embedding hole (21) and can rotate within the embedding hole (21).

4. The operable medical device according to claim 3, characterized in that, The connector (20) also includes a first side (22) and a second side (23) opposite to the embedding hole (21), both of which are perpendicular to the axial direction; The rotating member (30) includes a first end face (31) opposite to the first side face (22) and a second end face (32) opposite to the second side face (23); The first mating part is disposed on the first end face (31), and the second mating part is disposed on the first side face (22).

5. The operable medical device according to claim 4, characterized in that, The first mating part includes one of a protrusion (51) and a groove (52), and the second mating part includes the other of the protrusion (51) and the groove (52); At least one of the protrusions (51) is embedded in at least one of the plurality of grooves (52); When the rotating member (30) rotates, at least one of the protrusions (51) slides into the plurality of grooves (52), such that the protrusion (51) slides from the corresponding groove (52) into another adjacent groove (52).

6. The operable medical device according to claim 5, characterized in that, The first side surface (22) is provided with at least one of the protrusions (51), and the first end surface (31) is provided with a plurality of the grooves (52); or, The first side surface (22) is provided with a plurality of grooves (52), and the first end surface (31) is provided with at least one protrusion (51).

7. The operable medical device according to claim 5, characterized in that, The plurality of grooves (52) are arranged in a ring array relative to the axial direction.

8. The operable medical device according to claim 7, characterized in that, The preset angle is determined by the number of grooves (52).

9. The operable medical device according to claim 7, characterized in that, The edges of any two adjacent grooves (52) are connected in a transitional manner.

10. The operable medical device according to claim 4, characterized in that, The connector (20) further includes a shaft hole (24) that passes through the first side surface (22) and the second side surface (23), and the axis of the shaft hole (24) is parallel to the axis direction; The rotating component (30) also includes a central hole (33), which penetrates the first end face (31) and the second end face (32), and the axis of the central hole (33) is parallel to the axis direction; The drive assembly (40) passes through the shaft hole (24) and the center hole (33) in sequence.

11. The operable medical device according to claim 10, characterized in that, The drive assembly (40) includes a booster tube (41) and a cable (42); The proximal end of the booster tube (41) passes through the shaft hole (24) and the center hole (33) in sequence, and is movably connected to the distal end of the handle assembly (10). The cross-sectional shape of the outer wall of the booster tube (41) is the same as the cross-sectional shape of the center hole (33) of the rotating member (30), and both are non-circular, so that the booster tube (41) rotates synchronously with the rotating member (30). The cross-sectional shape of the outer wall of the booster tube (41) is different from the cross-sectional shape of the shaft hole (24) of the connector (20), and the cross-sectional area of ​​the shaft hole (24) is larger than the cross-sectional area of ​​the outer wall of the booster tube (41), so that the booster tube (41) rotates relative to the connector (20) within the shaft hole (24). The cable (42) is inserted inside the booster tube (41). The distal end of the cable (42) is connected to the end effector (200), and the proximal end of the cable (42) is movably connected to the distal end of the handle assembly (10). The cross-sectional shape of the cable (42) is the same as the cross-sectional shape of at least part of the inner wall of the booster tube (41), and both are non-circular, so that the cable (42) rotates synchronously with the booster tube (41).

12. The operable medical device according to claim 11, characterized in that, The second end face (32) of the rotating member (30) includes a receiving groove (34); The receiving groove (34) is connected to the central hole (33).

13. The operable medical device according to claim 12, characterized in that, It also includes: elastic element (60); One end of the elastic member (60) is embedded in the receiving groove (34), and the other end abuts against the second side (23) of the connector (20) in an interference fit.

14. The operable medical device according to claim 13, characterized in that, The elastic element (60) includes a through hole that is opposite to and communicates with the central hole (33); The booster tube (41) passes through the through hole of the elastic member (60).

15. The operable medical device according to claim 5, characterized in that, The rotating component (30) also includes a circumferential surface (35) connected to the first end face (31) and the second end face (32); The circumferential surface (35) includes a plurality of convex surfaces (351) and a plurality of concave surfaces (352), and the plurality of convex surfaces (351) and the plurality of concave surfaces (352) are distributed alternately. The number of convex surfaces (351) is the same as the number of concave surfaces (352), the number of convex surfaces (351) is the same as or an integer multiple of the number of grooves (52), and the number of concave surfaces (352) is the same as or an integer multiple of the number of grooves (52).

16. The operable medical device according to claim 15, characterized in that, It also includes: prompt message patterns (36); Multiple prompt information patterns (36) are respectively set on multiple convex parts (351) of the circumferential surface (35); The prompting information pattern (36) is used to indicate the angle of rotation of the rotating component (30), and thus the angle of rotation of the end effector (200).

17. The operable medical device according to claim 11, characterized in that, The handle assembly (10) includes a core rod (11) and a slider (12); The slider (12) is disposed on the core rod (11) and can reciprocate along the axial direction of the core rod (11); The connector (20) is located at the distal end of the core rod (11) and is adjacent to the slider (12); The proximal end of the drive assembly (40) extends into the slider (12).

18. A manipulable medical system, characterized in that, include: An end effector, and a steerable medical device as claimed in any one of claims 1-17; The end effector is located at the distal end of the drive assembly (40); The end effector is configured to rotate by the preset angle when the rotating member (30) rotates and is driven by the drive assembly (40) to rotate by the preset angle.

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