A minimally invasive surgical instrument

Abstract

This utility model discloses a minimally invasive surgical instrument, belonging to the field of medical device technology. It includes an end effector, an operating section, a power transmission section, and a connecting section. The connecting section includes a straight section connected to the end effector, a curved section connected to the operating section, and a ball joint mechanism connecting the straight and curved sections. The ball joint mechanism has an inner path for smooth transition of the jaw guide wire. The ball joint mechanism has a rotation limiting shaft and a locking assembly. The rotation limiting shaft is configured to allow the curved section to pitch relative to the straight section. The locking assembly includes a locking unit and a control unit. The locking unit provides locking force to the ball joint mechanism, and the control unit is a locking wire connecting the locking unit and the locking operating section. The locking operating section and the ball joint mechanism are interlocked in opposite directions. This utility model adjusts the angle between the straight and curved sections to place the surgeon's wrist in a comfortable position, thereby improving wrist flexibility during surgery and reducing surgeon fatigue.

Description

Technical Field

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

[0002] Minimally invasive surgery refers to the surgical procedures performed by doctors using thin surgical instruments to insert into the body through tiny incisions on the surface of the body. Due to its advantages such as small surgical incisions, less bleeding, and faster postoperative recovery, it is widely used in clinical surgery. Under the assistance of an endoscope, minimally invasive surgical instruments are essential tools for surgical procedures, and they can perform different functions including clamping, resection, cutting, suturing, and anastomosis.

[0003] Handheld minimally invasive surgical instruments are often the first choice for patients due to their cost advantage. When using such surgical instruments, there is a need to maintain a specific state of the surgical instrument without the doctor applying force. For example, a surgical instrument disclosed in patent CN118647324A adds a locking component to the operating part, which cooperates with the pitch or deflection operating part inside it. This allows the instrument to be locked or unlocked depending on whether it is fastened to the pitch or deflection operating part.

[0004] However, during surgery, due to the angle and position of the surgical incision, the end tools of the surgical instruments are often inserted into the wound at a certain angle. When the doctor performs the deflection or pitching movements of the operating part in the unlocked state and performs the execution movements of the end tools, the flexibility of the wrist will be affected by the angle. At the same time, performing surgical movements at an unsuitable angle will also increase the doctor's fatigue. Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing a minimally invasive surgical instrument to improve the flexibility of the surgeon's wrist during surgery and reduce the surgeon's fatigue.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A minimally invasive surgical instrument includes an end effector, an operating section, a power transmission section, and a connecting section. The connecting section includes a straight section connected to the end effector and a curved section connected to the operating section. The operating section includes a pitch control section for controlling the pitch of the end effector, a deflection control section for controlling the deflection of the end effector, and a locking control section for locking or unlocking the pitch and deflection control sections. The power transmission section includes multiple jaw wires for connecting the operating section and the end effector and transmitting rotational motion. The connecting section also includes a ball joint mechanism, with both ends of the ball joint mechanism connected to the straight section and the curved section, respectively. The inner side of the ball joint mechanism has a spacer for the jaw wires. The ball joint mechanism has a smoothly transitioning inner path, a rotation limiting shaft, and a locking assembly. The rotation limiting shaft is configured to allow the curved portion to pitch relative to the straight portion about the rotation limiting shaft. The locking assembly includes a locking unit and a control unit. The locking unit is configured to provide a locking force to the ball joint mechanism. The control unit includes a locking wire connecting the locking unit and a locking operation unit. When the locking operation unit performs a locking action, the locking wire drives the locking unit to release the locking force, thereby placing the ball joint mechanism in an unlocked state. When the locking operation unit performs an unlocking action, the locking wire drives the locking unit to release the locking force, thereby placing the ball joint mechanism in a locked state. The connector for linking the surgical instrument's end tool and operating section is designed as a split structure. The straight section and the curved section rotate relative to each other via a ball joint mechanism under the constraint of a rotation limiter, thereby adjusting the angle between the straight and curved sections and changing the tilt position of the operating section relative to the end tool to counteract the effect of the instrument's tilt angle at the wound site. Simultaneously, the control unit that controls the locking force applied to the ball joint mechanism by the locking unit is a locking wire connected to the locking operating section. The locking and unlocking states of the ball joint mechanism are inversely interlocked with the locking and unlocking actions of the locking operating section. When locking the pitch and yaw movements of the operating section, the position of the operating section is adjusted; when unlocking the pitch and yaw movements of the operating section, the ball joint mechanism locks, allowing the surgeon's wrist to be in a comfortable and flexible position for subsequent surgical operations. This improves wrist flexibility during surgery and reduces surgeon fatigue, making the entire operation convenient and fast.

[0007] The ball joint mechanism includes two outer spheres, an inner sphere hinged to each outer sphere, and a synchronous rotation assembly. One of the outer spheres is connected to the straight section, and the other outer sphere is connected to the curved section. The two ends of the synchronous rotation assembly are movably connected to the two outer spheres respectively, and drive the two outer spheres to rotate synchronously towards each other. The non-hinged ends of the two inner spheres are fixedly connected, and the inner spheres have a connected wiring cavity. The wiring cavity has a first connection port facing the curved section and a second connection port facing the straight section. A first pulley is fixed near the first connection port, and a second pulley is fixed near the second connection port. The inner path is formed along the first connection port, the surface of the first pulley, the surface of the second pulley, and the second connection port.

[0008] The rotation limiting member is located between any of the outer and inner spheres that are hinged together, and the central axis of the rotation limiting member is parallel to the central axis of the first pulley or the second pulley.

[0009] The locking unit is located on the inner sphere near the straight section and includes a locking block, a driving member, and a spring member. The inner sphere has a locking cavity perpendicular to the wiring cavity and connected to the inner surface of the outer sphere, and a through channel parallel to the wiring cavity and connected to the locking cavity. A limit ring is fixed at the non-hinged end of the inner sphere through the through channel. The locking block is slidably disposed in the locking cavity. The driving member is slidably disposed in the through channel and abuts against the limit ring via the spring member. The locking wire passes through the limit ring and is connected to the driving member. The outer side of the locking block has a locking surface, and the inner side of the locking block and the driving member have a stop structure. The stop structure has a first state in which the locking surface engages and presses against the inner surface of the outer sphere to lock the ball joint mechanism when the driving member moves closer to the limit ring, and a second state in which the locking surface disengages from the outer sphere to unlock the ball joint mechanism when the driving member moves away from the limit ring.

[0010] A guide wheel is rotatably mounted on the outer sphere located outside the first connection port. A transmission wheel is mounted on the pulley group of the curved part. An arc-shaped channel is opened in the pitch frame of the pitch operation part. The locking wire passes through the guide wheel, the transmission wheel and the arc-shaped channel in sequence and is connected to the locking wire holder of the locking operation part.

[0011] The abutting stop structure includes a frustum portion disposed on the outside of the driving member and an inner conical surface disposed on the inside of the locking block. The frustum portion and the inner conical surface are gradually tapered in the direction close to the limiting ring. When the frustum portion and the inner conical surface wedge together and drive the locking block to move toward the outer sphere, the abutting stop structure is in a first state. When the frustum portion and the inner conical surface disengage, the abutting stop structure is in a second state.

[0012] The synchronous rotation assembly includes at least four connecting seats and two connecting rods. The connecting seats are in pairs and are fixed symmetrically on the side of the two outer spheres away from the connected straight or curved part. The connecting seats on different outer spheres are connected by connecting rods. Each connecting seat has a spherical groove, and the connecting rod has a spherical end that rotates with the spherical groove.

[0013] The rotating limiting component is a screw, the outer surface of the inner sphere is provided with a limiting groove, the outer sphere is provided with a threaded hole, the screw is connected to the threaded hole and the end of the screw is inserted into the limiting groove.

[0014] A first connecting tube for connecting the curved part is fixed on the outer sphere located on one side of the curved part, and a second connecting tube for connecting the straight part is fixed on the outer sphere located on one side of the straight part. The inner wall of the outer sphere corresponding to the inner cavity of the first connecting tube and the inner wall of the outer sphere corresponding to the inner cavity of the second connecting tube are provided with wire holes of the same number as the clamp wires.

[0015] The driving component has a positioning post formed at one end facing the limiting ring and a guide post formed at the other end facing away from the limiting seat. The spring is sleeved on the outside of the positioning post. The end of the through channel extends with a guide groove that slides with the guide post, and a limiting step is provided at the extension position. The limiting step is limited and engaged with the end face of the large-size end of the truncated cone.

[0016] This invention has the following advantages: By designing the connecting part for connecting the end tool and the operating part of the surgical instrument as a separate structure, the straight part and the curved part can rotate relative to each other under the restriction of the rotation limiter through a ball joint mechanism, thereby adjusting the angle between the straight part and the curved part and changing the tilt position of the operating part relative to the end tool to counteract the influence of the instrument's tilt angle at the wound. At the same time, the control unit for controlling the locking unit to apply locking force to the ball joint mechanism is a locking wire connected to the locking operating part. The locking and unlocking states of the ball joint mechanism are set in reverse interlock with the locking and unlocking actions of the locking operating part. When locking the pitch and yaw movements of the operating part, the position of the operating part is adjusted. When unlocking the pitch and yaw movements of the operating part, the ball joint mechanism locks, allowing the surgeon's wrist to be in a comfortable position for subsequent surgical operations, thereby improving wrist flexibility during surgery and reducing surgeon fatigue. The entire operation process is convenient and fast. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a partial structural schematic diagram of the present invention from another angle; Figure 3 for Figure 1 A magnified view of part A in the image; Figure 4 This is a schematic diagram of the ball joint mechanism in this utility model; Figure 5 This is a front view of the ball joint mechanism in this utility model; Figure 6 This is a side view of the ball joint mechanism in this utility model; Figure 7 For along Figure 4 A cross-sectional view along the BB direction; Figure 8 For along Figure 5 A cross-sectional view along the CC direction; Figure 9 This is a schematic diagram showing the connection between the two outer spheres and the synchronous rotation assembly in this utility model; Figure 10 This is a cross-sectional schematic diagram of the locking unit in this utility model; Figure 11 This is a schematic diagram of the drive component in this utility model; Figure 12 This is a schematic diagram of the pitch frame in this utility model; Figure 13 This is a schematic diagram of the ball joint mechanism in the unlocked state in this utility model; Figure 14 This is a schematic diagram of the locking operation part of the present invention in the unlocking action; Figure 15 This is a schematic diagram of the locking operation part of this utility model in the locking action.

[0019] 100. End tool; 200. Operating part; 201. Operating handle; 202. Pitch operating part; 2021. Pitch frame; 203. Yaw operating part; 204. Actuation operating part; 205. Locking operating part; 2051. First locking lever part; 2052. Second locking lever part; 2053. Hook part; 2054. Slot part; 2055. Elastic member; 2056. Locking wire retainer; 2057. First locking wire; 2058. Second locking wire; 206. Locking device one; 207. Locking device two; 300. Connecting part; 301. Straight part; 302. Bending part; 303. Ball joint mechanism; 304. Pulley block; 400. Jaw wire; 1. Outer sphere; 1a. First outer sphere; 1b. Second outer sphere; 2. Inner sphere; 2a. First inner sphere; 2b. Second inner sphere; 3 4. Connecting plate; 5. Locking unit; 401. Locking block; 4011. Locking surface; 4012. Inner conical surface; 402. Driving component; 4021. Frustum section; 4022. Positioning post; 4023. Guide post; 403. Locking cavity; 404. Through channel; 4041. Guide groove; 4042. Limiting step; 405. Limiting ring; 406. Spring component; 5. Synchronous rotation assembly; 501. Connecting seat; 502. Connecting rod; 503. Spherical end; 6. Screw; 601. Limiting groove; 7. First connecting tube; 701. Wire hole; 702. Wire hole; 8. Second connecting tube; 9. First pulley; 10. Second pulley; 11. Inner path; 12. Wiring cavity; 1201. First connection port; 1202. Second connection port; 13. Locking wire; 14. Guide wheel; 15. Transmission wheel; 16. Arc-shaped channel. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0022] In the description of this utility model, it should be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the utility model product is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are only used to facilitate the description of this utility model and to simplify the description, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0023] like Figure 1 As shown, this utility model provides a minimally invasive surgical instrument, including an end effector 100, an operating part 200, a power transmission part, and a connecting part 300. The connecting part 300 includes a straight part 301 connected to the end effector 100 and a curved part 302 connected to the operating part 200. The operating part 200 is provided with an actuation operating part 204, which is the same as that in the surgical instrument disclosed in CN118647324A, for controlling the opening and closing of the jaws on the end effector 100; a pitch operating part 202, for controlling the pitch movement of the end effector 100; and a deflection operating part 203, for controlling... The deflection action of the end tool 100; the locking operation unit 205, used to control the locking and unlocking actions of the locking device 1 206 on the pitch operation unit 202 and the locking and unlocking actions of the driven device 2 on the deflection operation unit 203; and multiple jaw wires 400 for connecting the actuation operation unit 204 and the end tool 100, the pitch operation unit 202 and the end tool 100, and the deflection operation unit 203 and the end tool 100, with multiple pulley groups 304 spaced along the bending path on the bending portion 302 to achieve a smooth transition of the jaw wires 400 on the bending portion 302.

[0024] Further preferred, such as Figures 3-8 As shown, the connecting part 300 also includes a ball joint mechanism 303. The two ends of the ball joint mechanism 303 are respectively connected to the straight part 301 and the curved part 302. The inner side of the ball joint mechanism 303 has an inner path 11 for the smooth transition of the jaw wire 400. The ball joint mechanism 303 has a rotation limiting shaft and a locking assembly. The rotation limiting member is configured to cause the curved part 302 to perform a pitch rotation relative to the straight part 301 about the rotation limiting member. That is, the rotation center line of the rotation limiting member is parallel to the rotation axis center line of the pitch operation part 202. The pitch rotation action in this solution is similar to the definition of pitch action in existing patents, referring to the extension direction of the curved part 302 relative to the straight part 301. Figure 1 and Figure 2 The motion of rotation in the vertical direction (X-axis direction), that is, around Figure 1 and Figure 2The locking assembly includes a locking unit 4 and a control unit. The locking unit 4 is configured to provide a locking force to the ball joint mechanism 303. The control unit includes a locking wire 13 connecting the locking unit 4 and the locking operation part 205. When the locking operation part 205 performs a locking action, the locking wire 13 drives the locking unit 4 to release the locking force, so that the ball joint mechanism 303 is in an unlocked state. When the locking operation part 205 performs an unlocking action, the locking wire drives the locking unit 4 to release the locking force, so that the ball joint mechanism 303 is in a locked state. In this configuration, the connecting part 300, which connects the surgical instrument end tool 100 and the operating part 200, is configured as a split structure. The straight part 301 and the curved part 302 rotate relative to each other under the restriction of the rotation limiter through the ball joint mechanism 303, thereby adjusting the angle between the straight part 301 and the curved part 302 and changing the tilt position of the operating part 200 relative to the end tool 100. This counteracts the influence of the tilt angle of the instrument at the wound, allowing the surgeon's wrist to be in a comfortable position for subsequent surgical operations, thereby improving wrist flexibility during surgery and reducing surgeon fatigue.

[0025] As described in CN118647324A, such as Figure 14 and Figure 15 As shown, the locking operation unit 205 includes a first locking lever 2051, a second locking lever 2052, a first locking wire 2057, and a second locking wire 2058. The first end of the first locking lever 2051 is rotatably coupled to the end of the operating handle 201, and an elastic member 2055 is provided at the coupling to provide a predetermined elastic force, causing the second end of the first locking lever 2051 to rotate in a direction away from the operating handle 201. A locking wire retainer 2056 is formed inside the first locking lever 2051. The locking wire retainer 2056 rotates together with the first locking lever 2051, and the ends of the first locking wire 2057 and the second locking wire 2058 are fixed to the locking wire retainer 2056. The other end of the first locking wire 2057 is connected to the locking device. One end of the first locking rod 2051 is connected to the first locking rod 2051, and the other end of the second locking wire 2058 is connected to the second locking device 207. The second locking rod 2052 is rotatably coupled to the second end of the first locking rod 2051. An elastic member 2055 providing a predetermined elastic force is also provided at this coupling, allowing the outer end of the second locking rod 2052 to rotate in a direction close to the first locking rod 2051. The inner end of the second locking rod 2052 is detachably coupled to the slot 2054 of the operating handle 201 via a hook 2053. The improvement of this solution is that one end of the locking wire 13 is fixed to the locking wire holder 2056, and the other end of the locking wire 13 passes through the hollow part of the operating handle 201 and connects to the locking unit. Specifically, to ensure that the locking wire 13 has a smooth wire path, such as... Figure 14 and Figure 15 As shown, an arc-shaped channel 16 is provided inside the pitch frame 2021 of the pitch control unit 202, such as... Figure 2 As shown, the pulley block 304 of the curved section 302 is equipped with a transmission wheel 15. The locking wire 13 passes through the arc-shaped channel 16 and the transmission wheel 15 in sequence and is connected to the locking unit 4 in the ball joint mechanism 303. Furthermore, as shown... Figure 12 As shown, the arc-shaped channel 16 is located in the middle of the pitch frame 2021, and the arc center of the arc-shaped channel 16 coincides with the pitch rotation axis of the pitch frame 2021, so that when the operating part 200 controls the pitch movement of the end tool 100, it does not affect the length change of the locking wire 13; and the length change of the locking wire 13 depends on the position change of the first locking lever 2051, such as Figure 14 As shown, the first locking lever 2051 is in the first position. At this time, pulling the first locking wire 2057, the second locking wire 2058, and the locking wire 13 causes the first locking wire 2057 to unlock the pitch operation unit 202 via the locking device 1 206, and the second locking wire 2058 to unlock the deflection operation unit 203 via the locking device 2 207. The locking wire 13 causes the locking unit 4 to release the locking force, thus locking the ball joint mechanism 303. Figure 15 As shown, the first locking lever 2051 is in the second position. At this time, the first locking wire 2057, the second locking wire 2058, and the locking wire 13 are released. The locking device 1 206 and the locking device 207 are reset as the locking wires are released, locking the pitch operation unit 202 and the yaw operation unit 203 respectively. The locking unit 4 releases the locking force as the locking wire 13 is released, so that the ball joint mechanism 303 is in the unlocked state. The locking and unlocking states of the ball joint mechanism 303 are set in reverse interlock with the locking and unlocking actions of the locking operation unit 205, making the whole operation process convenient and fast.

[0026] The ball joint mechanism 303 includes two outer spheres, an inner sphere hinged to each outer sphere, and a synchronous rotation component 5. Specifically, the two outer spheres are respectively referred to as the first outer sphere 1a connected to the curved part 302 and the second outer sphere 1b connected to the straight part 301. The inner sphere located inside the first outer sphere 1a is referred to as the first inner sphere 2a, and the inner sphere located inside the second outer sphere 1b is referred to as the second inner sphere 2b. The two ends of the synchronous rotation component 5 are respectively movably connected to the two outer spheres and drive the two outer spheres to rotate synchronously towards each other. The non-hinged ends of the two inner spheres are fixedly connected, and the inner spheres have a connected wiring cavity 12. Specifically, in this embodiment, the non-hinged ends of the first inner sphere 2a and the non-hinged ends of the second inner sphere 2b have a connecting plane on their outer sides. When the two non-hinged ends are connected, the end faces of the two non-hinged ends are aligned, and their respective connecting planes are flush. A connecting plate 3 is provided on the flush connecting surface and the connecting plate 3 is fixed to the connecting surface of the two non-hinged ends by bolts.

[0027] Specifically, such as Figure 1 and Figure 2 As shown, the curved portion 302 and the straight portion 301 connected by the ball joint mechanism 303 have their extended axes not collinear. Furthermore, the first outer sphere 1a and the second outer sphere 1b are arranged vertically. In this embodiment, the first outer sphere 1a is located on top. In other embodiments, the second outer sphere 1b can be located on top.

[0028] The wiring cavity 12 has a first connection port 1201 facing the curved portion 302 and a second connection port 1202 facing the straight portion 301. A first pulley 9 is fixed near the first connection port 1201, and a second pulley 10 is fixed near the second connection port 1202. The inner path 11 is formed along the first connection port 1201, the surface of the first pulley 9, the surface of the second pulley 10, and the second connection port 1202. Preferably, as follows... Figure 8 As shown, the inner path 11 intersects the center diameter of the first inner sphere 2a parallel to the axis of the first pulley 9 at the point of tangency with the first pulley 9, and the inner path 11 intersects the center diameter of the second inner sphere 2b parallel to the axis of the second pulley 10 at the point of tangency with the second pulley 10, so that the jaw wire 400 rotates about the center diameter within the ball joint mechanism 303. Simultaneously, since the ball joint mechanism 303 is composed of a double ball joint structure and the outer spheres of each ball joint structure are connected by the synchronous rotation assembly 5, the two outer spheres can move towards each other relative to their respective inner spheres. The length deformation of the jaw wire 400 at the first pulley 9 caused by the rotation of the first outer sphere 1a will be offset by the length deformation at the second pulley 10 caused by the opposing rotation of the second outer sphere 1b. Figure 13 As shown, when the curved section 302 is lifted, the first outer sphere 1a rotates by an angle 'a' relative to the first inner sphere 2a. The amount of the jaw wire 400 wrapped around the first pulley 9 (the length of the wire wrapped around the first pulley 9) decreases. At this time, the second outer sphere 1b rotates upward by an angle 'a' relative to the second inner sphere 2b, thereby increasing the amount of the jaw wire 400 wrapped around the second pulley 10. This ensures that the length of the jaw wire 400 located in the suture cavity 12 remains unchanged. When the angle of the connecting section 300 is adjusted, because the jaw wire 400 does not change, the end tool 100 does not move, ensuring the safety of the surgical operation. Furthermore, the double-ball hinge structure also increases the angle adjustment range between the connecting section 300 and the curved section 302. Figure 13 As shown, after both the first outer sphere 1a and the second outer sphere 1b are rotated by an angle a, the straight part 301 will be relatively fixed in the auxiliary channel formed by the pneumoperitoneum needle or other endoscopic channel, and the angle adjusted by the curved part 302 and the operating part 200 relative to the initial position is 2a, so as to better adapt to the operation of large-angle inclined incision surgery.

[0029] More preferably, the rotation limiting member is located between any of the outer and inner spheres that are hinged together, and the central axis of the rotation limiting member is parallel to the central axis of the first pulley 9 or the second pulley 10, so that when the outer sphere rotates relative to the inner sphere about the rotation limiting member, it drives the curved portion 302 to pitch. Specifically, as shown in the example... Figure 7 As shown, the rotating limiting component is a screw 6. A limiting groove 601 is formed on the outer surface of the inner sphere, and a threaded hole is provided on the outer sphere. The screw 6 is connected to the threaded hole and the end of the screw 6 is inserted into the limiting groove 601 without contacting the bottom of the limiting groove 601. At this time, the screw 6 forms a rotating shaft between the outer sphere and the inner sphere. More preferably, the first outer sphere 1a and the second outer sphere 1b are both threaded with screws 6.

[0030] In this design, a first connecting tube 7 for connecting the curved section 302 is fixed on the first outer sphere 1a, and a second connecting tube 8 for connecting the straight section 301 is fixed on the second outer sphere 1b. Specifically, the two curved rods of the curved section 302 are fixed on the connecting plane outside the first connecting tube 7, and the instrument rod of the straight section 301 is inserted and fixed inside the second connecting tube 8. The same number of wire holes 701 as the jaw wires 400 are opened on the inner wall of the first outer sphere 1a corresponding to the inner cavity of the first connecting tube 7 and on the inner wall of the second outer sphere 1b corresponding to the inner cavity of the second connecting tube 8. The jaw wires 400 pass through the wire holes 701 of the first outer sphere 1a after passing around the pulley group 304 on the curved section 302, and form an inner path 11. Then they pass out through the wire holes 701 of the second outer sphere 1b and extend along the length of the instrument rod to the jaws for connection.

[0031] Further preferred, such as Figure 9 As shown, the synchronous rotation assembly 5 includes at least four connecting seats 501 and two connecting rods 502. The connecting seats 501 are arranged in pairs and are fixed symmetrically on the side of the two outer spheres away from the connected straight section 301 or curved section 302. That is, the two connecting seats 501 of the first group are symmetrically arranged along the longitudinal axis on the side of the first outer sphere 1a facing away from the first connecting pipe 7, and the two connecting seats 501 of the second group are symmetrically arranged along the longitudinal axis on the side of the second outer sphere 1b facing away from the second connecting pipe 8. The connecting seats 501 on the different outer spheres are fixed in pairs. The connecting seat 501 is connected by the connecting rod 502. Specifically, each connecting seat 501 is provided with a spherical groove, and the connecting rod 502 is provided with a spherical end 503 that rotates with the spherical groove, so that when the first outer sphere 1a rotates, it can perform corresponding angular transmission on the second outer sphere 1b. More preferably, the connecting rod 502 is made of hard metal, and the two metal connecting rods 502 are cross-wound. The two spherical ends 503 of each metal connecting rod 502 are respectively hinged to the spherical pairs of the two connecting seats 501 arranged diagonally.

[0032] like Figure 8 and Figure 10 As shown, the locking unit 4 is located on the second inner sphere 2b and includes a locking block 401, a driving member 402, and a spring member 406. The second inner sphere 2b has a locking cavity 403 perpendicular to the wiring cavity 12 and connected to the inner surface of the second outer sphere 1b, and a through channel 404 parallel to the wiring cavity 12 and connected to the locking cavity 403. A limiting ring 405 is fixed at the non-hinged end of the through channel 404. The locking block 401 is slidably disposed within the locking cavity 403. The driving member 402 is slidably disposed within the through channel 404 and abuts against the limiting ring 405 via the spring member 406. The locking wire 13 passes through the limiting ring 405 and is connected to the driving member 402. Specifically, the path of the locking wire 13 into the ball joint mechanism is as follows: Figure 8 As shown, the device passes sequentially through the first connecting pipe 7, the first outer sphere 1a, the first inner sphere 2a, and the limiting ring 405 located on the second inner sphere 2b. A threading hole 702 is provided on the inner wall of the first outer sphere 1a corresponding to the inner cavity of the first connecting pipe 7. A guide wheel 14 is rotatably mounted on the first outer sphere 1a located outside the first connecting port 1201. After the locking wire 13 passes around the transmission wheel 15 on the pulley group 304 of the bent part 302, it passes through the threading hole 702 into the first outer sphere 1a. After passing around the guide wheel 14, it enters the through channel 404 through the limiting ring 405 and connects with the driving member 402. To facilitate the connection between the locking wire 13 and the driving member 402, as shown... Figure 10 As shown, the driving component 402 has a rope-threading channel in the middle, and the end of the locking wire 13 has a rope-threading channel that passes into the driving component 402 to form a knot for fixation.

[0033] The locking block 401 has a locking surface 4011 on its outer side. This locking surface 4011 is in frictional damping engagement with the inner surface of the outer sphere. The locking surface 4011 has a spherical structure adapted to the inner surface of the outer sphere. To enhance the damping effect of the spherical structure, a rubber friction layer is attached and fixed to the outer side of the spherical structure. Simultaneously, the soft friction provided by the rubber friction layer also ensures that the surface of the outer sphere is not worn. There is an abutting stop structure between the inner side of the locking block 401 and the driving member 402. This abutting stop structure has a first state where, when the driving member 402 moves closer to the limiting ring 405, the locking surface 4011 presses against the inner surface of the outer sphere to provide damping force, thus locking the ball joint mechanism 303. It also has a second state where, when the driving member 402 moves away from the limiting ring 405, the locking surface 4011 disengages from the outer sphere, allowing the ball joint mechanism 303 to be unlocked. Specifically, as shown... Figure 10As shown, the abutment stop structure includes a frustum portion 4021 disposed on the outside of the driving member 402 and an inner conical surface 4012 disposed on the inside of the locking block 401. The frustum portion 4021 and the inner conical surface 4012 are gradually tapered in the direction close to the limiting ring 405. When the first locking rod portion 2051 is in the first position, the locking wire retainer 2056 pulls the locking wire 13, and the locking wire 13 drives the driving member 402 to move upward, so that the frustum portion 4021 and the inner conical surface 4012 engage in a wedge shape to drive the movement. The locking block 401 moves toward the outer ball until the ball joint mechanism 303 is in the locked state. At this time, the abutment stop structure maintains the first state described above. When the first locking lever 2051 is in the second position, the locking wire holder 2056 releases the locking wire 13, the spring 406 is released from compression, and the driving member 402 moves down to reset. The truncated cone 4021 disengages from the inner cone surface 4012, and the locking block 401 is in a free state. At this time, the ball joint mechanism 303 is in the unlocked state, and the abutment stop structure maintains the second state described above.

[0034] like Figure 11 As shown, the driving member 402 has a positioning post 4022 formed at one end facing the limiting ring 405 and a guide post 4023 formed at the other end facing away from the limiting seat. The spring member 406 is sleeved on the outside of the positioning post 4022. The two ends of the spring member 406 abut against the end face of the driving member 402 on the outside of the positioning post 4022 and the inner side of the limiting ring 405, respectively, so that the spring member 406 is compressed axially along the positioning post 4022. The end of the through channel 404 extends with a guide groove 4041 that slides with the guide post 4023 to improve the stability of the driving member 402 moving axially along the through channel 404. The extended position has a limiting step 4042. The limiting step 4042 is limited and engaged with the end face of the large-size end of the frustum portion 4021, providing the driving member 402 with a reset endpoint as it moves downward as the spring member 406 is released from compression.

[0035] When implementing this technical solution, the improved connecting part 300 is installed on an existing surgical instrument with a locking operating part 205205. The locking wire 13 is connected to the locking wire holder 2056 along the wire path. When the doctor operates, he holds the operating handle 201 of the surgical instrument with one hand. By moving his fingers outward, the second locking rod 2052 separates its inner hook 2053 from the slot 2054 of the operating handle 201. Under the action of the elastic member 2055, as... Figure 15As shown, the first locking lever 2051 is in the second position, releasing the first locking wire 2057, the second locking wire 2058, and the locking wire 13. The deflection operation part 203 and the pitch operation part 202 are locked by the locking device. The drive member 402 is not under the tension of the locking wire 13 and moves down under the reset action of the spring member 406 until its frustum part 4021 disengages from the inner cone surface 4012 of the locking block 401. The ball joint mechanism 303 is in the unlocked state, and the doctor can rotate the entire operation part 200, so that it and the bending part 302 together with the ball joint mechanism 303 as the rotating member can pitch relative to the straight part 301 and the end tool 100, thereby rotating the operation part 200 to a comfortable position where the wrist can move (i.e., rotating the operation part 200 in the opposite direction of the instrument's tilt angle). Figure 14 As shown, the fingers grasp the first locking lever 2051 and move it to the first position, pulling the first locking wire 2057, the second locking wire 2058, and the locking wire 13. The deflection operation part 203 and the pitch operation part 202 are unlocked. At the same time, the drive member 402 moves upward as the locking wire 13 is pulled. Under the wedge-shaped engagement of its frustum part 4021 and the inner conical surface 4012 of the locking block 401, the locking block 401 moves towards the second outer sphere 1b until its locking surface 4011 is pressed against the inner surface of the second outer sphere 1b, and the ball joint mechanism 303 is in the locked state. When the doctor performs the surgical operation, the doctor's wrist is in a comfortable position. The flexibility of the wrist is relatively improved during the operation, and the fatigue is correspondingly reduced.

[0036] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A minimally invasive surgical instrument, comprising an end effector, an operating part, a power transmission part, and a connecting part, wherein the connecting part includes a straight part connected to the end effector and a curved part connected to the operating part; the operating part includes a pitch operating part for controlling the end effector to perform pitch movements, a deflection operating part for controlling the end effector to perform deflection movements, and a locking operating part for locking or unlocking the pitch operating part and the deflection operating part; the power transmission part includes a plurality of jaw wires for connecting the operating part and the end effector and transmitting rotational movements, characterized in that... The connecting part further includes a ball joint mechanism, the two ends of which are connected to the straight part and the curved part, respectively. The ball joint mechanism has an inner path for the jaw wire to smoothly transition. The ball joint mechanism has a rotation limiting shaft and a locking assembly. The rotation limiting shaft is configured to allow the curved part to pitch relative to the straight part about the rotation limiting shaft. The locking assembly includes a locking unit and a control unit. The locking unit is configured to provide locking force to the ball joint mechanism. The control unit includes a locking wire connecting the locking unit and the locking operation unit. When the locking operation unit performs a locking action, the locking wire drives the locking unit to release the locking force, so that the ball joint mechanism is in an unlocked state. When the locking operation unit performs an unlocking action, the locking wire drives the locking unit to release the locking force, so that the ball joint mechanism is in a locked state.

2. A minimally invasive surgical instrument according to claim 1, wherein, The ball joint mechanism includes two outer spheres, an inner sphere hinged to each outer sphere, and a synchronous rotation assembly. One outer sphere is connected to the straight section, and the other outer sphere is connected to the curved section. The two ends of the synchronous rotation assembly are movably connected to the two outer spheres respectively, and drive the two outer spheres to rotate synchronously towards each other. The non-hinged ends of the two inner spheres are fixedly connected, and the inner spheres have a connected wiring cavity. The wiring cavity has a first connection port facing the curved section and a second connection port facing the straight section. A first pulley is fixed near the first connection port, and a second pulley is fixed near the second connection port. The inner path is formed along the first connection port, the surface of the first pulley, the surface of the second pulley, and the second connection port.

3. A minimally invasive surgical instrument according to claim 2, wherein the distal end of the elongate shaft is configured to be inserted into the body of a patient through a small incision. The rotation limiting member is located between any of the outer and inner spheres that are hinged together, and the central axis of the rotation limiting member is parallel to the central axis of the first pulley or the second pulley.

4. A minimally invasive surgical instrument according to claim 2, wherein the distal end of the elongate shaft is configured to be inserted into the body of a patient through a small incision. The locking unit is located on the inner sphere near the straight section and includes a locking block, a driving member, and a spring member. The inner sphere has a locking cavity perpendicular to the wiring cavity and connected to the inner surface of the outer sphere, and a through channel parallel to the wiring cavity and connected to the locking cavity. A limit ring is fixed at the non-hinged end of the inner sphere through the through channel. The locking block is slidably disposed in the locking cavity. The driving member is slidably disposed in the through channel and abuts against the limit ring via the spring member. The locking wire passes through the limit ring and is connected to the driving member. The outer side of the locking block has a locking surface, and the inner side of the locking block and the driving member have a stop structure. The stop structure has a first state in which the locking surface engages and presses against the inner surface of the outer sphere to lock the ball joint mechanism when the driving member moves closer to the limit ring, and a second state in which the locking surface disengages from the outer sphere to unlock the ball joint mechanism when the driving member moves away from the limit ring.

5. A minimally invasive surgical instrument according to claim 2, characterized in that, A guide wheel is rotatably mounted on the outer sphere located outside the first connection port. A transmission wheel is mounted on the pulley group of the curved part. An arc-shaped channel is opened in the pitch frame of the pitch operation part. The locking wire passes through the guide wheel, the transmission wheel and the arc-shaped channel in sequence and is connected to the locking wire holder of the locking operation part.

6. A minimally invasive surgical instrument according to claim 4, wherein, The abutting stop structure includes a frustum portion disposed on the outside of the driving member and an inner conical surface disposed on the inside of the locking block. The frustum portion and the inner conical surface are gradually tapered in the direction close to the limiting ring. When the frustum portion and the inner conical surface wedge together and drive the locking block to move toward the outer sphere, the abutting stop structure is in a first state. When the frustum portion and the inner conical surface disengage, the abutting stop structure is in a second state.

7. A minimally invasive surgical instrument according to claim 2, wherein the distal end of the elongate shaft is configured to be inserted into a body cavity of a patient. The synchronous rotation assembly includes at least four connecting seats and two connecting rods. The connecting seats are in pairs and are fixed symmetrically on the side of the two outer spheres away from the connected straight or curved part. The connecting seats on different outer spheres are connected by connecting rods. Each connecting seat has a spherical groove, and the connecting rod has a spherical end that rotates with the spherical groove.

8. A minimally invasive surgical instrument according to claim 3, wherein, The rotating limiting component is a screw, the outer surface of the inner sphere is provided with a limiting groove, the outer sphere is provided with a threaded hole, the screw is connected to the threaded hole and the end of the screw is inserted into the limiting groove.

9. A minimally invasive surgical instrument according to claim 2, wherein, A first connecting tube for connecting the curved part is fixed on the outer sphere located on one side of the curved part, and a second connecting tube for connecting the straight part is fixed on the outer sphere located on one side of the straight part. The inner wall of the outer sphere corresponding to the inner cavity of the first connecting tube and the inner wall of the outer sphere corresponding to the inner cavity of the second connecting tube are provided with wire holes of the same number as the clamp wires.

10. A minimally invasive surgical instrument according to claim 6, wherein, The driving component has a positioning post formed at one end facing the limiting ring and a guide post formed at the other end facing away from the limiting seat. The spring is sleeved on the outside of the positioning post. The end of the through channel extends with a guide groove that slides with the guide post, and a limiting step is provided at the extension position. The limiting step is limited and engaged with the end face of the large-size end of the truncated cone.

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