Instrument up-down swing mechanism and minimally invasive surgical instrument

Abstract

This utility model provides a swing mechanism for an instrument and a minimally invasive surgical instrument, relating to the field of medical device technology. The swing mechanism includes: a handle, a cannula arm, a working head, swing cables, and a locking device. The working head is hinged to the front end of the cannula arm, and the rear end of the cannula arm is connected to a swing shaft frame. The front end of the handle is connected to a swing wheel axle, which is rotatably connected to the swing shaft frame. The swing wheel axle and the working head are driven by the swing cables. When the handle is held, only wrist movement is required to swing the swing wheel axle relative to the swing shaft frame, thereby pulling the swing cables to drive the working head's pitch movement. The locking device is installed on the handle, which locks the swing wheel axle relative to the swing shaft frame, thus preventing the working head's pitch movement and improving the stability of the instrument's swing operation.

Description

Technical Field

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

[0002] During minimally invasive surgery, it is often necessary to control the pitch and flexion of the surgical head placed at the lesion site. To avoid relying on the fingers for this pitch and flexion operation, thus freeing the surgeon's fingers to perform grasping and other intraoperative procedures, it is necessary to develop an easy-to-operate up-and-down swing mechanism. Furthermore, given the need for multi-degree-of-freedom motion control during surgery, the pitch and flexion angle of the surgical head is difficult to maintain stably through manual operation by the surgeon; therefore, a mechanism design capable of reliably achieving up-and-down swinging motion is urgently needed. Utility Model Content

[0003] The purpose of this invention is to provide a device swing mechanism and a minimally invasive surgical instrument to alleviate the technical problem of poor stability of the swing operation of the device in the prior art.

[0004] In the first aspect, the device swing mechanism provided by this utility model includes: a handle, a sleeve arm, a working head, a swing cable and a locking device. The working head is hinged to the front end of the sleeve arm, and the rear end of the sleeve arm is connected to an upper and lower swing shaft frame. The front end of the handle is connected to an upper and lower swing wheel shaft, which is rotatably connected to the upper and lower swing shaft frame. The upper and lower swing wheel shafts are connected to the working head via the upper and lower swing pull wires; The upper and lower locking device is installed on the handle, and the upper and lower locking device is used to lock the upper and lower swing wheel shaft relative to the upper and lower swing shaft frame.

[0005] In conjunction with the first aspect, this utility model provides a first possible implementation of the first aspect, wherein the upper and lower swing shaft frame is rotatably connected to a tension wheel, and the upper and lower swing pull line extends from the upper and lower swing wheel shaft, around the tension wheel, to the working head.

[0006] In conjunction with the first aspect, this utility model provides a second possible implementation of the first aspect, wherein the upper and lower swing shaft frame is connected to a pull wire guide, and the pull wire guide is provided with a pull wire hole adapted to the upper and lower swing pull wire; The upper and lower swing pull wires extend from the upper and lower swing wheel shaft through the pull wire hole into the sleeve arm.

[0007] In conjunction with the first aspect, this utility model provides a third possible implementation of the first aspect, wherein the working head is provided with a swivel wheel, and the working head is hinged to the sleeve arm about the axis of the swivel wheel; The upper and lower pendulum pull wires extend forward from the upper and lower pendulum wheel axis, pass around the pendulum wheel, and then extend backward to the upper and lower pendulum wheel axis.

[0008] In conjunction with the first aspect, this utility model provides a fourth possible implementation of the first aspect, wherein the upper and lower swing shaft frame is connected to a locking gear adapted to the upper and lower locking device.

[0009] In conjunction with the first aspect, this utility model provides a fifth possible implementation of the first aspect, wherein the upper and lower locking device includes: a knob, a camshaft, and a locking slider; The locking slider is slidably engaged with the handle; The knob is rotatably connected to the handle, the camshaft is connected to the knob, and the camshaft is parallel to the axis of the knob; The camshaft is connected to the locking slider in a driving connection.

[0010] In conjunction with the first aspect, this utility model provides a sixth possible implementation of the first aspect, wherein the upper and lower locking device includes: a locking slider, a control key, and a transmission component; The locking slider is adapted to and opposite to the upper and lower swing shaft frame. The locking slider and the control key are respectively movably connected to the handle, and the locking slider and the control key are connected by transmission through the transmission component.

[0011] In conjunction with the sixth possible implementation of the first aspect, this utility model provides a seventh possible implementation of the first aspect, wherein the upper and lower locking device further includes upper and lower locking elastic members; The upper and lower locking elastic members are installed between the locking slider and the handle, and the upper and lower locking elastic members have the tendency to keep the locking slider locked to the upper and lower swing shaft frame.

[0012] In conjunction with the sixth possible implementation of the first aspect, this utility model provides an eighth possible implementation of the first aspect, wherein the control key includes: a button, a return spring, a linkage, and a telescopic member; The button is slidably connected to the handle, and the return spring is installed between the handle and the button; The telescopic component is slidably fitted to the handle, and the telescopic component is connected to the transmission component; One end of the connecting rod is hinged to the button, and the other end of the connecting rod is hinged to the telescopic member.

[0013] Secondly, the minimally invasive surgical instrument provided by this utility model is equipped with the instrument up-and-down swing mechanism described in the first aspect.

[0014] This utility model embodiment brings the following beneficial effects: The working head is hinged to the front end of the sleeve arm, the rear end of the sleeve arm is connected to an upper and lower swing shaft frame, and the front end of the handle is connected to an upper and lower swing wheel shaft. The upper and lower swing wheel shafts are rotatably connected to the upper and lower swing shaft frame. The upper and lower swing wheel shafts and the working head are driven by upper and lower swing pull cables. When holding the handle, only wrist movement is needed to make the upper and lower swing wheel shafts swing relative to the upper and lower swing shaft frame, thereby pulling the upper and lower swing pull cables to drive the pitch movement of the working head. An upper and lower locking device is installed on the handle. This locking device can lock the upper and lower swing wheel shafts relative to the upper and lower swing shaft frame, thereby locking the pitch movement of the working head and improving the stability of the instrument's upper and lower swing operation.

[0015] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the specific embodiments or related technologies of this utility model, the drawings used in the description of the specific embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 A schematic diagram of the minimally invasive surgical instruments provided in the embodiments of this utility model; Figure 2 A partial schematic diagram of the handle of the minimally invasive surgical instrument provided in this embodiment of the present invention. Figure 1 ; Figure 3 A schematic diagram of the upper and lower locking device of the minimally invasive surgical instrument provided in the embodiment of this utility model; Figure 4 A partial schematic diagram of the handle of the minimally invasive surgical instrument provided in this embodiment of the present invention. Figure 2 ; Figure 5 A partial schematic diagram of the handle of the minimally invasive surgical instrument provided in this embodiment of the present invention. Figure 3 ; Figure 6 A partial schematic diagram of the working head of the minimally invasive surgical instrument provided in an embodiment of this utility model; Figure 7 A schematic diagram of the working head, first pull wire, and execution control component of the minimally invasive surgical instrument provided in this embodiment of the utility model; Figure 8 A schematic diagram of the working head, second pull wire, and execution control component of the minimally invasive surgical instrument provided in this embodiment of the utility model; Figure 9 A schematic diagram of the upper and lower swing wheel shafts, the first coupling wheel group, the tension wheel, the transmission cable, and the working head of the minimally invasive surgical instrument provided in this embodiment of the utility model; Figure 10 A schematic diagram of the working head, the upper and lower swing pull wires, and the transmission pull wires of the minimally invasive surgical instrument provided in the embodiment of this utility model; Figure 11 for Figure 7 An enlarged view of position A in the middle; Figure 12 for Figure 8 An enlarged view of position B in the middle.

[0018] Icons: 001-Handle; 101-Up and down swing wheel shaft; 102-First coupling wheel assembly; 103-Second coupling wheel assembly; 110-Top shell; 111-Arc-shaped slide groove; 120-Grip; 130-Moving frame; 140-Pivot shaft; 150-Central guide wheel assembly; 160-Limiting component; 002-Sleeve arm; 201-Up and down swing shaft frame; 202-Tensioning wheel; 203-Locking gear; 204-Pull cable guide; 003-Working head; 301-First moving part; 302-Second moving part; 303-Swing wheel; 304-First decoupling pulley assembly; 305-Second decoupling pulley assembly; 004-Up and down swing pull cable; 005-Up and down locking device; 510-Knob; 520-Cam shaft; 530-Locking anti-slip Block; 540-Control key; 541-Button; 542-Reset spring; 543-Link rod; 544-Telescopic component; 550-Transmission component; 560-Upper and lower locking elastic component; 006-Transmission cable; 601-First cable; 602-Second cable; 007-Actuation control component; 710-First shifter; 720-Second shifter; 730-First winding wheel; 740-Second winding wheel; 750-First shaft; 760-Second shaft; 770-First synchronizing gear; 780-Second synchronizing gear; 790-Moving shaft; 008-Pivot locking component; 810-Release component; 820-Release transmission component; 830-Locking pin; 840-Swing locking elastic component; 009-Transmission guide wheel assembly; 010-Tension adjustment component. Detailed Implementation

[0019] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0020] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model 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 utility model. Furthermore, the terms "first," "second," and "third" are only used to describe differences in name and should not be construed as indicating or implying relative importance. Physical quantities in formulas, unless otherwise specified, should be understood as basic quantities of the International System of Units (SI) base units, or derived quantities derived from basic quantities through mathematical operations such as multiplication, division, differentiation, or integration.

[0021] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0022] like Figure 1 , Figure 2 , Figure 9 and Figure 10 As shown, the device upper and lower swing mechanism provided in this embodiment includes: a handle 001, a sleeve arm 002, a working head 003, an upper and lower swing pull cable 004, and an upper and lower locking device 005; the working head 003 is hinged to the front end of the sleeve arm 002, and the rear end of the sleeve arm 002 is connected to an upper and lower swing shaft frame 201; the front end of the handle 001 is connected to an upper and lower swing wheel shaft 101, and the upper and lower swing wheel shaft 101 is rotatably connected to the upper and lower swing shaft frame 201; the upper and lower swing wheel shaft 101 and the working head 003 are driven by the upper and lower swing pull cable 004; the upper and lower locking device 005 is installed on the handle 001, and the upper and lower locking device 005 is used to lock the upper and lower swing wheel shaft 101 relative to the upper and lower swing shaft frame 201.

[0023] When operating minimally invasive surgical instruments, the cannula arm 002 remains fixed, and the hand holds the handle 001, making an upward or downward wrist movement. At this time, the upper and lower swing wheel shaft 101 rotates with the top shell 110 relative to the upper and lower swing shaft frame 201, thereby driving the upper and lower swing pull cable 004 to move. Through the upper and lower swing pull cable 004, the working head 003 is acted upon, so that the upper and lower swing pull cable 004 at one position above and below the hinge shaft at the front end of the working head 003 is relaxed, and the upper and lower swing pull cable 004 at the other position is tightened, thereby realizing the control of the up and down swing of the working head 003.

[0024] In this embodiment of the utility model, the handle 001 is provided with an upper and lower locking device 005, which is used to lock the upper and lower swing wheel shaft 101 relative to the upper and lower swing shaft frame 201 in a specific operating state, thereby restricting its swing freedom in the vertical direction.

[0025] Specifically, the upper and lower locking device 005 includes a locking mechanism, which may take the form of, but is not limited to, a mechanical latch, an elastic engagement structure, or a threaded fastener. When the user operates the handle 001 to a certain preset angle or position, the upper and lower locking device 005 can be manually or automatically triggered to engage with the mating structure (such as a groove, hole, or limiting surface) on the upper and lower swing shaft frame 201, thereby fixing the upper and lower swing wheel shaft 101.

[0026] Furthermore, the upper and lower locking device 005 is equipped with an unlocking operation part, such as a button, lever, or knob, for releasing the locked state when the angle needs to be readjusted. The unlocking operation part and the locking mechanism can be connected by a linkage structure (such as a lever, linkage, or spring return device), so that after the lock is released, the upper and lower swing wheel shaft 101 can restore its swing freedom relative to the upper and lower swing shaft frame 201. Through the above structural design, this embodiment achieves flexible control of the handle's swing state, improves the stability and safety of operation, and is especially suitable for usage scenarios that require maintaining a fixed posture at a specific angle.

[0027] See Figure 2 and Figure 4 In this embodiment, the upper and lower swing shaft frame 201 is connected to a locking gear 203 that is adapted to the upper and lower locking device 005. When the upper and lower locking device 005 is switched to the locked state, the upper and lower locking device 005 cooperates with the locking gear 203, thereby locking the upper and lower swing shaft frame 201 relative to the top shell 110, and thus preventing the working head 003 from swinging up and down relative to the sleeve arm 002.

[0028] like Figure 1 , Figure 2 and Figure 3As shown, in an optional embodiment, the upper and lower locking device 005 includes: a knob 510, a camshaft 520, and a locking slider 530; the locking slider 530 is slidably engaged with the handle 001; the knob 510 is rotatably connected to the handle 001, the camshaft 520 is connected to the knob 510, and the axes of the camshaft 520 and the knob 510 are parallel; the camshaft 520 is drively connected to the locking slider 530. When the knob 510 is rotated, the camshaft 520 can drive the locking slider 530 to slide relative to the handle 001, thereby realizing the reciprocating movement of the locking slider 530 between the locking position and the unlocking position.

[0029] See Figure 4 and Figure 5 In another embodiment, the upper and lower locking device 005 includes a locking slider 530, a control key 540, and a transmission component 550. The locking slider 530 is adapted to and opposite to the upper and lower swing shaft frame 201. The locking slider 530 and the control key 540 are movably connected to the handle 001, and the locking slider 530 and the control key 540 are connected by transmission component 550. The transmission component 550 includes a pull wire or a connecting rod, etc. The control key 540 drives the locking slider 530 to move through the transmission component 550, thereby realizing the locking and unlocking control of the upper and lower swing shaft frame 201.

[0030] See Figure 1 and Figure 4 The upper and lower locking device 005 also includes an upper and lower locking elastic element 560; the upper and lower locking elastic element 560 is installed between the locking slider 530 and the handle 001, and the upper and lower locking elastic element 560 has the tendency to keep the locking slider 530 locked to the upper and lower swing shaft frame 201, which can ensure that the upper and lower swing shaft frame 201 is locked when the surgical instrument is in use, and prevent the working head 003 from tilting up and down when not in operation.

[0031] See Figure 5In an optional embodiment, the control key 540 includes: a button 541, a return spring 542, a connecting rod 543, and a telescopic member 544; the button 541 is slidably connected to the handle 001, and the return spring 542 is installed between the handle 001 and the button 541; the telescopic member 544 is slidably fitted to the handle 001 and is connected to the transmission member 550; one end of the connecting rod 543 is hinged to the button 541, and the other end of the connecting rod 543 is hinged to the telescopic member 544. A sliding hole is provided on the housing of the handle 120 to expose part of the button 541, allowing the button 541 to reciprocate within the sliding hole in a set direction (e.g., axial direction). The return spring 542 can be disposed between the button 541 and the handle 001 to automatically reset after the button 541 is pressed. One end of the return spring 542 abuts against the inner end of the button 541, and the other end abuts against the internal structure of the handle 001 to provide an elastic reset force. The telescopic component 544 is slidably fitted inside the handle 001, and can slide in the same or different directions as the button 541. One end of the telescopic component 544 is connected to the transmission component 550, which is used to drive the transmission component 550 to move when the telescopic component 544 moves, thereby triggering a corresponding mechanical or electrical control response. Both ends of the connecting rod 543 are hinged to the button 541 and the telescopic component 544, respectively. Specifically, one end of the connecting rod 543 is hinged to the bottom or side of the button 541 via a pivot, and the other end is hinged to the top or side of the telescopic component 544 via another pivot, thus forming a lever linkage structure. When the user presses the button 541, the button 541 moves downward and pushes the telescopic component 544 toward the transmission component 550 through the connecting rod 543; when the button 541 is released, the return spring 542 pushes the button 541 back to its original position, while simultaneously driving the connecting rod 543 to reset, thereby driving the telescopic component 544 back to its initial position.

[0032] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, in an optional embodiment, the minimally invasive surgical instrument further includes an execution control element 007, which is movably mounted on the handle 120 and is connected to the working head 003 via a transmission cable 006.

[0033] The cannula arm 002 can accommodate the vertical swing cable 004 and the transmission cable 006, and the cannula arm 002 can be used as an insertion device to pass through the minimally invasive surgical incision, and is used to support the working head 003 and the handle 001.

[0034] Furthermore, the actuator 007 drives the transmission cable 006, which in turn drives the working head 003 to open and close. Additionally, a return spring can be provided at least at one of the working head 003 and the actuator 007, thereby giving the working head 003 a tendency to open or close.

[0035] In this embodiment, the handle 001 includes a top shell 110 and a grip 120 rotatably connected to the top shell 110; the rear end of the sleeve arm 002 is connected to the top shell 110, and the actuator 007 is movably mounted on the grip 120. The actuator 007 can move relative to the grip 120 by pivoting, sliding, or other means, thereby driving the transmission cable 006, which in turn drives the opening and closing of the working head 003. When the grip 120 rotates relative to the top shell 110, the actuator 007 moves along with the grip 120 relative to the top shell 110, thereby driving the working head 003 to swing left and right via the transmission cable 006.

[0036] In an optional implementation, when it is necessary to control the working head 003 to tilt left and right, the wrist rotates left and right, thereby causing the handle 120 to rotate relative to the top shell 110. The handle 120 drives the transmission cable 006, which in turn causes the movable part of the working head 003 to tilt left and right.

[0037] like Figure 1 , Figure 2 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 and Figure 12As shown, in this embodiment, the control unit 007 includes: a first shifter 710, a second shifter 720, a first winding reel 730, and a second winding reel 740; the working head 003 has a first movable part 301 and a second movable part 302; the transmission cable 006 includes: a first cable 601 connecting the first winding reel 730 and the first movable part 301, and a second cable 602 connecting the second winding reel 740 and the second movable part 302; the first winding reel 730 and the second winding reel 740 are rotatably connected to the handle 120, the first shifter 710 is connected to the first winding reel 730, and the second shifter 720 is connected to the second winding reel 740. The first lever 710 drives the first winding wheel 730 to rotate, and the rotating first winding wheel 730 can wind or release the first pull line 601, thereby pulling or releasing the first movable part 301 through the first pull line 601. The second lever 720 drives the second winding wheel 740, and the rotating second winding wheel 740 can wind or release the second pull line 602, thereby pulling or releasing the second movable part 302 through the second pull line 602. When the first movable part 301 and the second movable part 302 are pulled together by the transmission pull line 006, the first movable part 301 and the second movable part 302 move synchronously to achieve a closing action; when the transmission pull line 006 is released, the first movable part 301 and the second movable part 302 can be driven by a torsion spring to achieve an opening action. In another alternative embodiment, the opening action can also be achieved when the first movable part 301 and the second movable part 302 are pulled together by the transmission cable 006, and when the transmission cable 006 is released, the first movable part 301 and the second movable part 302 can be driven to close relative to each other by a torsion spring.

[0038] See Figures 6 to 12 As shown, the working head 003 is equipped with a swing wheel 303, and the working head 003 is hinged to the sleeve arm 002 around the axis of the swing wheel 303; the upper and lower swing pull lines 004 extending forward from the upper and lower swing wheel shafts 101 pass around the swing wheel 303 and then extend backward to the upper and lower swing wheel shafts 101; the swing wheel 303 is coaxially rotatably connected to the first decoupling pulley group 304 and the second decoupling pulley group 305, and the upper and lower swing wheel shafts 101 are coaxially rotatably connected to the first coupling wheel group 102 and the second coupling wheel group 103; the tension section and the slack section of the first pull line 601 are both fitted together. The first decoupling pulley group 304 is located on one side and is coupled to the first coupling pulley group 102 on one side; the tension section and slack section of the second pull cable 602 are both coupled to the other side of the second decoupling pulley group 305 and the other side of the second coupling pulley group 103; when one of the control element 007 and the handle 001 is fixed and the other is in motion, the driving effects of the first decoupling pulley group 304 and the first coupling pulley group 102 on the first pull cable 601 are opposite, and the driving effects of the second decoupling pulley group 305 and the second coupling pulley group 103 on the second pull cable 602 are opposite.

[0039] The first decoupling pulley group 304 includes a small decoupling pulley I 3041 and a large decoupling pulley I 3042, and the second decoupling pulley group 305 includes a small decoupling pulley II 3051 and a large decoupling pulley II 3052. The first coupling pulley group 102 includes a coupling small pulley I 1021 and a coupling large pulley I 1022, and the second coupling pulley group 103 includes a coupling small pulley II 1031 and a coupling large pulley II 1032. The diameter ratio of the small decoupling pulley I 3041 to the large decoupling pulley I 3042 is equal to the diameter ratio of the coupling small pulley I 1021 to the coupling large pulley I 1022, and the diameter ratio of the small decoupling pulley II 3051 to the large decoupling pulley II 3052 is equal to the diameter ratio of the coupling small pulley II 1031 to the coupling large pulley II 1032. Small decoupling pulley I 3041, large decoupling pulley I 3042, small decoupling pulley II 3051, large decoupling pulley II 3052 and pendulum wheel 303 are coaxially arranged, and coupling small wheel I 1021, coupling large wheel I 1022, coupling small wheel II 1031, coupling large wheel II 1032 and upper and lower pendulum wheel shaft 101 are coaxially arranged.

[0040] One end of the first pull wire 601 is connected to the circumference of the first winding wheel 730, and the other end extends through the partial transmission guide wheel group 009 to engage with the coupling large wheel I 1022. It then passes through the large decoupling pulley I 3042, around the axle of the first movable part 301, and then through the small decoupling pulley I 3041 to engage with the coupling small wheel I 1021. It continues to extend through the partial transmission guide wheel group 009 and connects to the circumference of the first winding wheel 730. Similarly, one end of the second pull wire 602 is connected to the circumference of the second winding wheel 740, and the other end extends through the partial transmission guide wheel group 009 to engage with the coupling large wheel II 1032. It then passes through the large decoupling pulley II 3052, around the axle of the second movable part 302, and then through the small decoupling pulley II 3051 to engage with the coupling large wheel I 1022. It continues to extend through the partial transmission guide wheel group 009 and connects to the circumference of the second winding wheel 740.

[0041] When the swing wheel shaft 101 drives the working head 003 to swing up and down around the axis of the swing wheel 303 via the swing pull line 004, the driving forces of the first decoupling pulley group 304 and the first coupling pulley group 102 on the first pull line 601 cancel each other out, and the driving forces of the second decoupling pulley group 305 and the second coupling pulley group 103 on the second pull line 602 cancel each other out, thereby preventing the swing of the working head 003 from affecting the stability of the opening and closing action of the first movable part 301 and the second movable part 302.

[0042] See Figure 1 , Figure 4 , Figure 6 , Figure 7 and Figure 8In an optional embodiment, the first winding wheel 730 is mounted on the first rotating shaft 750, and the second winding wheel 740 is mounted on the second rotating shaft 760. The first rotating shaft 750 and the second rotating shaft 760 are arranged parallel to each other. The first rotating shaft 750 is connected to a first synchronous gear 770, and the second rotating shaft 760 is connected to a second synchronous gear 780. The first synchronous gear 770 and the second synchronous gear 780 mesh, thereby ensuring that the first winding wheel 730 and the second winding wheel 740 rotate synchronously, thereby realizing synchronous driving of the first movable part 301 and the second movable part 302.

[0043] Furthermore, the handle 120 is connected to a movable frame 130, and the first winding wheel 730 and the second winding wheel 740 are rotatably connected to the movable frame 130 respectively; both the handle 120 and the movable frame 130 are rotatably connected to the top shell 110 about a pivot axis 140. The movable frame 130 is connected to the handle 120, and the movable frame 130 can rotate with the handle 120 relative to the top shell 110 about the pivot axis 140, thereby driving the first winding wheel 730 and the second winding wheel 740 to move relative to the top shell 110 about the pivot axis 140. During this process, the first pull cable 601 and the second pull cable 602 synchronously and in the same direction drive the first movable part 301 and the second movable part 302 to produce a left-right swinging motion.

[0044] Furthermore, the handle 120 is connected to a limiting member 160; a pivot locking member 008 adapted to the limiting member 160 is installed on the top shell 110. The limiting member 160 extends around the pivot axis 140 and has multiple limiting holes spaced apart. The pivot locking member 008 can be detachably inserted into any of the limiting holes, thereby locking the handle 120 relative to the top shell 110, and thus locking the orientation of the first movable part 301 and the second movable part 302 after left and right rotation.

[0045] See Figure 1 , Figure 2 and Figure 4 In another optional embodiment, the first winding wheel 730 and the second winding wheel 740 are both rotatably connected to the same movable shaft 790; the handle 120 is rotatably connected to the top shell 110 about the pivot shaft 140, the top shell 110 is provided with an arc-shaped groove 111 extending about the pivot shaft 140, the movable shaft 790 is parallel to the pivot shaft 140, and the movable shaft 790 is slidably fitted in the arc-shaped groove 111, thereby making the structure of the actuator 007 more compact.

[0046] Furthermore, a limiting member 160 is rotatably connected to the pivot shaft 140, and the limiting member 160 is connected to the movable shaft 790; a pivot locking member 008 adapted to the limiting member 160 is installed on the top shell 110. The limiting member 160 is configured as a circular or arc-shaped structure extending around the pivot shaft 140, and the limiting member 160 has multiple limiting holes or teeth distributed around the pivot shaft 140. By engaging the pivot locking member 008 with the limiting member 160, the position of the movable shaft 790 relative to the top shell 110 is locked, thereby preventing the working head 003 from swinging left and right.

[0047] See Figure 4 A central guide wheel assembly 150 is rotatably connected to the pivot shaft 140. A first pull cable 601 extends from the first winding wheel 730 through the central guide wheel assembly 150 and connects to the first movable part 301. A second pull cable 602 extends from the second winding wheel 740 through the central guide wheel assembly 150 and connects to the second movable part 302. The central guide wheel assembly 150 includes several central guide wheels rotatably connected to the pivot shaft 140. The first pull cable 601 and the second pull cable 602 respectively wind through their corresponding central guide wheels and then extend to the transmission guide wheel assembly 009 rotatably connected to the handle 001, thereby realizing the reversal and tensioning of the pull cables within a compact space.

[0048] Specifically, a plurality of transmission guide wheel groups 009 are rotatably connected to the handle 001, and the plurality of transmission guide wheel groups 009 are arranged at intervals around the central guide wheel group 150; the first pull cable 601 extends from the central guide wheel group 150 through a portion of the transmission guide wheel group 009 and is connected to the first movable part 301, and the second pull cable 602 extends from the central guide wheel group 150 through another portion of the transmission guide wheel group 009 and is connected to the second movable part 302.

[0049] like Figure 1 , Figure 4 and Figure 5 As shown, in an optional embodiment, the pivot locking member 008 includes: a release member 810, a release transmission member 820, a locking pin 830, and a swing locking elastic member 840; the release member 810 is movably mounted on the handle 001, and the release member 810 is pulsatorically connected to the locking pin 830 via the release transmission member 820; the locking pin 830 is adapted to the limiting member 160, and the locking pin 830 is movably connected to the top shell 110; the swing locking elastic member 840 is installed between the top shell 110 and the locking pin 830, and the swing locking elastic member 840 has a tendency to engage the locking pin 830 with the limiting member 160.

[0050] In an alternative embodiment, the release member 810 may have a structure similar to the control key 540 and be disposed on the handle 120, thereby facilitating the operation of the pivot lock member 008 while holding the handle 120.

[0051] See Figure 1 , Figure 4 , Figure 7 , Figure 8 and Figure 9 As shown, the upper and lower swing shaft frame 201 is rotatably connected to a tensioning wheel 202, and the upper and lower swing pull wire 004 extends from the upper and lower swing shaft 101, around the tensioning wheel 202, to the working head 003. Multiple tensioning wheels 202 are coaxially arranged, and the upper and lower swing pull wire 004, the first pull wire 601, and the second pull wire 602 respectively wrap around the corresponding tensioning wheel 202, which on the one hand realizes the reversal of the pull wire arrangement, and on the other hand ensures the tension of the pull wire.

[0052] See Figure 2 The upper and lower swing shaft bracket 201 is connected to a cable guide 204, which has a cable hole adapted to the upper and lower swing cable 004. The upper and lower swing cable 004 extends from the upper and lower swing wheel shaft 101 through the cable hole into the sleeve arm 002. The cable hole can be correspondingly matched with the upper and lower swing cable 004, the first cable 601 and the second cable 602, thereby providing corresponding damping effect for the cable and improving the operation stability while maintaining the tension of the cable.

[0053] In addition, multiple tension adjustment components 010 can be provided on the side wall of the top shell 110. The tension adjustment components 010 are installed on the side wall of the top shell 110 by means of sliding fit or threaded fit. By pushing or pulling the first pull wire 601 and the second pull wire 602 by multiple tension adjustment components 010, it can be ensured that the pull wires extending between the two adjacent transmission guide wheel sets 009 remain taut.

[0054] The minimally invasive surgical instrument provided in this embodiment is equipped with the instrument up-and-down swing mechanism described in the above embodiments. The minimally invasive surgical instrument has the same technical effect as the instrument up-and-down swing mechanism, which will not be described again here.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A mechanism for the up-and-down swinging of an appliance, characterized in that, include: Handle (001), sleeve arm (002), working head (003), up and down swing cable (004), and up and down locking device (005); The working head (003) is hinged to the front end of the sleeve arm (002), and the rear end of the sleeve arm (002) is connected to the upper and lower swing shaft frame (201). The front end of the handle (001) is connected to the upper and lower swing wheel shaft (101), and the upper and lower swing wheel shaft (101) is rotatably connected to the upper and lower swing shaft frame (201). The upper and lower swing wheel shaft (101) and the working head (003) are driven by the upper and lower swing pull wire (004); The upper and lower locking device (005) is installed on the handle (001), and the upper and lower locking device (005) is used to lock the upper and lower swing wheel shaft (101) relative to the upper and lower swing shaft frame (201).

2. The device swing mechanism according to claim 1, characterized in that, The upper and lower swing shaft frame (201) is rotatably connected to a tension wheel (202), and the upper and lower swing pull line (004) extends from the upper and lower swing shaft (101) through the tension wheel (202) to the working head (003).

3. The device swing mechanism according to claim 1, characterized in that, The upper and lower swing shaft frame (201) is connected to a pull wire guide (204), and the pull wire guide (204) is provided with a pull wire hole that is adapted to the upper and lower swing pull wire (004); The upper and lower swing pull wire (004) extends from the upper and lower swing wheel shaft (101) through the pull wire hole into the sleeve arm (002).

4. The device swing mechanism according to claim 1, characterized in that, The working head (003) is provided with a swing wheel (303), and the working head (003) is hinged to the sleeve arm (002) around the axis of the swing wheel (303); The upper and lower pendulum pull line (004) extends forward from the upper and lower pendulum wheel shaft (101), passes around the pendulum wheel (303), and then extends backward to the upper and lower pendulum wheel shaft (101).

5. The device swing mechanism according to claim 1, characterized in that, The upper and lower swing shaft frame (201) is connected to a locking gear (203) that is compatible with the upper and lower locking device (005).

6. The device swing mechanism according to claim 1 or 5, characterized in that, The upper and lower locking device (005) includes: a knob (510), a camshaft (520), and a locking slider (530). The locking slider (530) is slidably engaged with the handle (001); The knob (510) is rotatably connected to the handle (001), the camshaft (520) is connected to the knob (510), and the axis of the camshaft (520) is parallel to that of the knob (510); The camshaft (520) is connected to the locking slider (530) in a driving connection.

7. The device swing mechanism according to claim 1 or 5, characterized in that, The upper and lower locking device (005) includes: a locking slider (530), a control key (540), and a transmission component (550). The locking slider (530) is adapted to and opposite to the upper and lower swing shaft frame (201). The locking slider (530) and the control key (540) are respectively movably connected to the handle (001), and the locking slider (530) and the control key (540) are connected by transmission through the transmission component (550).

8. The device swing mechanism according to claim 7, characterized in that, The upper and lower locking device (005) also includes upper and lower locking elastic elements (560); The upper and lower locking elastic element (560) is installed between the locking slider (530) and the handle (001), and the upper and lower locking elastic element (560) has the tendency to keep the locking slider (530) locked to the upper and lower swing shaft frame (201).

9. The device swing mechanism according to claim 7, characterized in that, The control key (540) includes: a button (541), a return spring (542), a linkage (543), and a telescopic component (544). The button (541) is slidably connected to the handle (001), and the return spring (542) is installed between the handle (001) and the button (541); The telescopic component (544) is slidably fitted to the handle (001), and the telescopic component (544) is connected to the transmission component (550); One end of the connecting rod (543) is hinged to the button (541), and the other end of the connecting rod (543) is hinged to the telescopic member (544).

10. A minimally invasive surgical instrument, characterized in that, The minimally invasive surgical instrument is equipped with the instrument rotation mechanism as described in any one of claims 1 to 9.

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