Linear drive motion module and minimally invasive surgical forceps

Abstract

This application discloses a linear motion module and a minimally invasive surgical forceps. The linear motion module includes a joint structure, a positioning structure, and two connecting lines, the joint structure includes a plurality of joint units connected to each other, the positioning structure is provided between two adjacent joint units, the positioning structure includes a first positioning member and a second positioning member that are movably connected and can approach or move away from each other in a first direction, the connecting lines are inserted through all the joint units and the positioning structure, and both ends of any one of the connecting lines inserted through the positioning structure are positioned and connected to the first positioning member and the second positioning member, respectively, thereby limiting the length of the connecting lines connected to the positioning structure to a certain value. The linear motion module can adjust the motion trajectory of the joint structure, improve the motion range of the joint structure, and enhance the flexible operability of the minimally invasive device.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to a Chinese patent application filed with the China Patent Office on August 31, 2022, bearing application number 202211062457.6 and entitled "Linear-driven motion module and minimally invasive surgical forceps," the entire contents of which are incorporated herein by reference. [Technical field]

[0002] The present application relates to the technical field of medical devices, and more particularly to linear drive motion modules and minimally invasive surgical forceps. [Background technology]

[0003] Due to its excellent strength and ability to flexibly adapt to spatial motion, the joint structure is widely used in machinery and medical fields, etc. At present, in medical devices, for example, in minimally invasive surgery, doctors use corresponding operating mechanisms to control operations and commands to make minimally invasive devices perform desired operations, thereby achieving medical and diagnostic purposes on the human body.

[0004] In the prior art, a minimally invasive device is usually composed of a joint structure and a plurality of connecting lines, the connecting lines and the joint structure are connected internally, one end of the plurality of connecting lines is connected to an external driving device, and the other end of the plurality of connecting lines is connected to an external operating end. When the joint structure of the minimally invasive device needs to be adjusted to be curved, the connecting lines are pulled back by the external driving device, so that the adjacent joints where the pulling ends are located are brought closer to each other and the included angle between the adjacent joints is reduced, and the connecting lines are pushed and extended by the external driving device, so that the adjacent joints where the wire feeding ends are located are separated from each other and the included angle between the adjacent joints is increased, thereby completing the bending and folding action of the joints and realizing the desired operating process.

[0005] However, when the above structure is adopted, when the driving device controls the joint structure to perform an operation, the motion trajectory of the distal end node of the joint structure is always maintained on a spherical surface with a fixed point as the center of the sphere, and the distal end node of the joint structure can only move on the spherical surface, so the motion trajectory of the joint structure is limited. When a doctor performs operations such as clamping or suturing in the longitudinal extension direction from the proximal end to the distal end, it is necessary to displace the distal end node of the joint structure in that longitudinal direction. However, the above structure has difficulty in adapting to the displacement in that longitudinal direction, resulting in an insufficient range of motion and limiting the flexible operating performance of the minimally invasive device. Summary of the Invention [Problem to be solved by the invention]

[0006] The technical problem that the present application aims to solve is the deficiencies of the prior art, such as the limited motion trajectory of the joint structure, the insufficient range of motion, and the limited flexible operation of the minimally invasive device. [Means for solving the problem]

[0007] In a first aspect, the present application provides a method for producing a method for manufacturing a pharmaceutical composition comprising: a joint structure including a plurality of joint units, one end of which is adapted to be connected to an external drive mechanism and the other end of which is adapted to be connected to an external operation mechanism, and which are connected to each other; a positioning structure provided between two adjacent joint units, the positioning structure including a first positioning member and a second positioning member, the first positioning member and the second positioning member being movably connected to each other and being movable toward or away from each other in a first direction; at least two connecting lines passing through all of the joint units and the positioning structure, each connecting line passing through both ends of the positioning structure, and the first positioning member and the second positioning member restricting the connecting lines within the positioning structure; A line-driven motion module is provided in which, when the first positioning member and the second positioning member approach each other along the first direction, the connecting line is restricted and accommodated within a line-accommodating cavity jointly surrounded by the first positioning member and the second positioning member, and, when the first positioning member and the second positioning member move away from each other along the first direction, the connecting line is straightened within the line-accommodating cavity.

[0008] Optionally, in the above line-driven motion module, the positioning structure further includes at least two positioning sleeves, the positioning sleeves corresponding to the connection line and configured to restrict and accommodate the connection line, the positioning sleeves being disposed within the line-accommodating cavity, and both ends of the positioning sleeves being connected to the same connection line at a first wiring port of the first positioning member and a second wiring port of the second positioning member, respectively.

[0009] Optionally, in the linear drive motion module, the positioning sleeve is a flexible tube; When the first positioning member and the second positioning member approach each other along the first direction, the flexible tube and the connecting line are folded, entangled, or wound synchronously in the line-receiving cavity; When the first positioning member and the second positioning member move away from each other along the first direction, the flexible pipe and the connecting line are synchronously expanded or extended.

[0010] Optionally, the linearly driven motion module further includes a first adapter structure and a second adapter structure spaced apart, the first adapter structure and the second adapter structure being disposed at opposite ends of the joint structure, the first adapter structure being adapted to be connected to an external drive mechanism, and the second adapter structure being adapted to be connected to an operating mechanism; The line-driven motion module has a curved state in which the first adapter structure pulls the connecting line under the action of an external force, causing the second adapter structure and the joint structure to bend synchronously and interlockingly with respect to the first adapter structure, and an initial state in which the first adapter structure, the positioning structure and the second adapter structure are arranged coaxially, and the line-driven motion module is configured to switch between the curved state and the initial state.

[0011] Optionally, in the linear driven motion module, the first positioning member has a first connection portion and the second positioning member has a second connection portion; The first connection portion and the second connection portion have a screw structure that is fitted together, and when the first connection portion and the second connection portion are screwed together, the first positioning member and the second positioning member move relatively closer to or farther apart along a first direction, which is the axial direction of the screw structure.

[0012] Optionally, in the above-mentioned line-driven motion module, the first positioning member and the second positioning member are cylindrical structures fitted together, the first connection portion is molded on an inner wall surface of the first positioning member, the second connection portion is molded on an outer wall surface of the second positioning member, and the line-accommodating cavity is a cavity within the cylindrical structure.

[0013] Optionally, in the above line-driven motion module, the same connecting line is inserted into a first wiring port of the first positioning member and a second wiring port of the second positioning member, and when the first positioning member is screwed into a first rotation position of the second positioning member, the direction of the line connecting the first wiring port and the second wiring port is set to the same direction as a first direction, and the line-driven motion module has a first bending state in which the first adapter structure pulls the connecting line under the action of an external force, bending the second adapter structure and the joint structure synchronously and interlockingly with respect to the first adapter structure to move in an S-shape.

[0014] Optionally, in the linearly driven motion module, in the curved state, a first end face of the first adapter structure away from a side to which the joint structure is connected and a second end face of the second adapter structure away from a side to which the joint structure is connected are arranged parallel to each other.

[0015] Optionally, in the above line-driven motion module, the same connecting line is inserted into a first wiring port of the first positioning member and a second wiring port of the second positioning member, and when the first positioning member is screwed into a second rotational position of the second positioning member, a first plane in which the first wiring port and the first direction are located and a second plane in which the second wiring port and the first direction are located form an angle of 90 degrees, and the line-driven motion module has a second bending state in which the first adapter structure pulls the connecting line under the action of an external force, causing the second adapter structure and the joint structure to bend synchronously and interlockingly with respect to the first adapter structure and move in a non-coplanar S-shape.

[0016] Optionally, in the above line-driven motion module, the same connecting line is inserted into a first wiring port of the first positioning member and a second wiring port of the second positioning member, and when the first positioning member is screwed to a third rotational position of the second positioning member, a first plane in which the first wiring port and the first direction are located and a second plane in which the second wiring port and the first direction are located form an angle of 180 degrees; The line-driven motion module has a third bending state in which the first adapter structure pulls the connecting line under the action of an external force, causing the second adapter structure and the joint structure to bend synchronously and interlock with each other relative to the first adapter structure to move in a C-shape.

[0017] Optionally, in the above linear driven motion module, the first positioning member has a third connection portion, the second positioning member has a fourth connection portion, the third connection portion and the fourth connection portion are sliding structures that are fitted together, and when the third connection portion and the fourth connection portion slide relative to each other, the first positioning member and the second positioning member move closer to or farther apart relative to each other along a first direction, which is the sliding direction of the sliding structure.

[0018] Optionally, in the above-mentioned line-driven motion module, the line-driven motion module further has an orientation-changing state in which the first adapter structure rotates under the action of an external force to pull the connecting line and drive the second adapter structure and the joint structure to change orientation synchronously with the first adapter structure.

[0019] Optionally, in the linear drive motion module, the joint unit is A rotating member having a limiting portion provided in a circumferential direction; a limiting support fixedly connected to the rotating member, the limiting support having at least one accommodating cavity for movably connecting the rotating member of an adjacent joint unit, the limiting support further having a limiting member within the accommodating cavity, the limiting member engaging with the limiting portion of the adjacent joint unit to limit axial rotation of the rotating member of the adjacent joint unit.

[0020] Optionally, in the linear drive motion module, the pivot member is a sphere, and an inner wall surface of the receiving cavity matches an outer wall surface of the pivot member of the adjacent joint unit; The limiting portion is provided in two portions, and the two limiting portions are fitted together to form the sphere, The two limiting portions are spaced apart from each other to form an assembly space that limits the limiting member, and the limiting member is movably connected to the assembly space.

[0021] Optionally, in the linear drive motion module, the first positioning member includes a first connection hole extending in the same direction as the extension direction of the first positioning member; the second positioning member includes a second connection hole extending in the same direction as the extension direction of the second positioning member, Any one of the adapter structures has a third connection hole extending in the same direction as the extension direction of the adapter structure, Any one of the joint units has a core hole, and all of the core holes, all of the second connecting holes and the first connecting hole jointly form an intervention passage, and the intervention passage is suitable for inserting an external tube therethrough.

[0022] Optionally, in the linearly driven motion module, the first positioning member further includes a first coupling portion provided adjacent a proximal end of the first positioning member and movably connected to a distal end of the first joint structure; the second positioning member further includes a second coupling portion provided on a side away from the proximal end of the second positioning member and movably connected to a proximal end of the joint structure; The first connecting portion and the second connecting portion have the same structure as the rotating member or the same structure as the limiting support.

[0023] Optionally, in the linear drive motion module, the first adapter structure includes a third coupling portion movably connected to the joint unit; the second adapter structure includes a fourth coupling portion movably connected to the joint unit; The third connecting portion and the fourth connecting portion have the same structure as the rotating member or the same structure as the limiting support.

[0024] In a second aspect, the present application provides a minimally invasive surgical forceps including a linear drive motion module according to the first aspect above.

[0025] The technical solution of the present application has the following advantages:

[0026] 1. A line-driven motion module according to the present application includes a joint structure, a positioning structure, and two connecting lines, one end of the joint structure is suitable for connection to an external driving mechanism and the other end of the joint structure is suitable for connection to an external operating mechanism, the joint structure includes a plurality of joint units connected to each other, the positioning structure is disposed between two adjacent joint units, the positioning structure includes a first positioning member and a second positioning member, the first positioning member and the second positioning member are movably connected to each other and can move toward or away from each other in a first direction, the connecting lines are inserted through all the joint units and the positioning structure, each connecting line is inserted through both ends of the positioning structure, respectively, the first positioning member and the second positioning member restrict the connecting lines in the positioning structure, when the first positioning member and the second positioning member approach each other along the first direction, the connecting lines are restricted and accommodated in a line-accommodating cavity jointly surrounded by the first positioning member and the second positioning member, and when the first positioning member and the second positioning member move away from each other along the first direction, the connecting lines are straightened in the line-accommodating cavity.

[0027] In the line-driven motion module of this structure, the first positioning member and the second positioning member are movably connected, and by moving toward or away from each other in a first direction, the joint structure connected to the first positioning member and the joint structure connected to the second positioning member are correspondingly displaced to move toward or away from each other in the first direction, thereby adjusting the motion position of the joint structure by the motion of the first positioning member and the second positioning member, and achieving the purpose of adjusting the motion trajectory of the joint structure in the first direction by the positioning structure. When the first positioning member and the second positioning member are positioned and fitted to restrict the connecting line in the positioning structure, specifically, when the first positioning member and the second positioning member are positioned toward each other along the first direction, the connecting line is restricted within the line-accommodating cavity, and the joint structure is in a bending motion. When the first positioning member and the second positioning member move away from each other along the first direction, the connecting line is released in the line-accommodating cavity, at this time, the connecting line is stretched to be straight, and the joint structure performs an extension movement. The first positioning member and the second positioning member limit the distance between both ends of the connecting line in the positioning structure, so that the length of the connecting line in the positioning structure is always constant and does not change according to the sliding of the first positioning member and the second positioning member in the first direction, and the changing movement of the connecting line in the positioning structure matches the relative movement between the first positioning member and the second positioning member and the movement trajectory position of the joint structures located at both ends of the positioning structure, so as to optimize the movement trajectory of the joint structure and improve the movement range of the joint structure, thereby achieving the purpose of enhancing the flexible operability of the minimally invasive device.

[0028] 2. In the line-driven motion module of the present application, the positioning structure further includes two positioning sleeves, the positioning sleeves are provided corresponding to the connecting line and configured to restrict and accommodate the connecting line, the positioning sleeves are provided in the line-accommodating cavity, and both ends of the positioning sleeves are respectively connected to the same connecting line at the first wiring port of the first positioning member and the second wiring port of the second positioning member, the positioning sleeves are flexible tubes, and when the first positioning member and the second positioning member approach each other along the first direction, the flexible tubes and the connecting line are folded, entangled or wound synchronously in the line-accommodating cavity, and when the first positioning member and the second positioning member move away from each other along the first direction, the flexible tubes and the connecting line are unfolded or extended synchronously.

[0029] In the linear-driven motion module of this structure, the first positioning member, the second positioning member and the positioning sleeve are fitted together to restrict the movement of the connecting line, and both ends of the positioning sleeve are fixedly connected to the first positioning member and the second positioning member respectively, and are connected and inserted into the positioning sleeve, so that the axial displacement of the connecting line is restricted by the positioning sleeve, and the positioning sleeve adopts a flexible member, so that when the first positioning member and the second positioning member approach each other along the first direction, the first positioning member and the second positioning member respectively make both ends of the positioning sleeve approach their middle parts, and at the same time, the positioning sleeve is fixed to the first positioning member and the second positioning member. The sleeve restricts and presses the connecting line therein, so that the connecting line and the positioning sleeve perform a folding, rolling or winding movement synchronously in the line-accommodating cavity. When the first positioning member and the second positioning member move away from each other along the first direction, the first positioning member and the second positioning member respectively move both ends of the positioning sleeve away from its middle portion, and at the same time, the both ends of the positioning sleeve restrict and stretch the connecting line therein, so that the connecting line and the positioning sleeve perform an expanding or stretching movement synchronously. The displacement of the connecting line is consistent with the distance between the first positioning member and the second positioning member, and the motion range of the joint structure can be expanded.

[0030] 3. The linear-driven motion module of the present application further includes a first adapter structure and a second adapter structure arranged at an interval, the first adapter structure and the second adapter structure being arranged at both ends of the joint structure, the first adapter structure being suitable for connection to an external driving mechanism, and the second adapter structure being suitable for connection to an operating mechanism, and all of the connecting lines have the same length, and the linear-driven motion module has a curved state in which the first adapter structure pulls the connecting lines under the action of an external force to curve the second adapter structure and the joint structure in a synchronous and interlocking manner with respect to the first adapter structure, and an initial state in which the first adapter structure, the positioning structure and the second adapter structure are arranged coaxially, and the linear-driven motion module is configured to be switched between the curved state and the initial state.

[0031] In the linear-driven motion module of this structure, the first adapter structure is driven to adjust its motion position by an external driving mechanism, and the connecting line engages with the joint structure to transmit power to the second adapter structure. When the linear-driven motion module switches between the curved state and the initial state, the first adapter structure and the second adapter structure perform corresponding motions around the positioning structure, and the connecting line has the same length to promote the synchronous interlocking of the second adapter structure with the first adapter structure, allowing the second adapter structure to reach the desired motion movement and position. The design of the entire module improves the stability of the connecting line interlocking the joint unit, and the connection is tight, which is favorable to improving the connection strength of the joint structure, and balances the motion performance of the entire linear-driven motion module.

[0032] In order to more clearly describe the specific embodiments of the present application or the technical solutions of the prior art, the drawings necessary for describing the specific embodiments or the prior art will be briefly described below. It will be apparent that the drawings described below are some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without creative labor. [Brief description of the drawings]

[0033] [Figure 1] FIG. 2 is a structural schematic diagram of a linear drive motion module according to an embodiment of the present application; [Diagram 2] FIG. 2 is a schematic diagram of a connection of a positioning structure of a linear drive motion module according to an embodiment of the present application. [Diagram 3] FIG. 2 is a perspective structural schematic diagram of a first positioning member of a linear drive motion module according to an embodiment of the present application; [Figure 4] 1 is a schematic side view of a first positioning member of a linear drive motion module according to an embodiment of the present application; FIG. [Diagram 5] 1 is a schematic front view of a first positioning member of a linear drive motion module according to an embodiment of the present application; FIG. [Figure 6] FIG. 2 is a perspective structural schematic diagram of a second positioning member of a linear drive motion module according to an embodiment of the present application; [Figure 7] FIG. 2 is a front structural schematic diagram of a second positioning member of a linear drive motion module according to an embodiment of the present application. [Figure 8] FIG. 2 is a schematic side view of the structure of a second positioning member of the linear drive motion module according to the embodiment of the present application; [Figure 9] FIG. 2 is a structural schematic diagram of a linear-driven motion module in a first bending state according to an embodiment of the present application; [Figure 10] FIG. 2 is a structural schematic diagram of the linear-driven motion module in a second bending state according to an embodiment of the present application; [Figure 11] FIG. 2 is a structural schematic diagram of a joint unit of a linear drive motion module according to an embodiment of the present application. [Figure 12] FIG. 2 is a schematic perspective view of a joint unit of a linear drive motion module according to an embodiment of the present application. [Figure 13] FIG. 2 is a structural schematic diagram of a first adapter structure of a linear-driven motion module according to an embodiment of the present application; [Figure 14] FIG. 13 is a structural schematic diagram of a linear-driven motion module according to an embodiment of the present application, in which a first adapter structure is located on the distal end side. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0034] The technical solution of the present application will be described below clearly and completely with reference to the drawings, and it is obvious that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. Based on the embodiments of the present application, all other embodiments that a person skilled in the art can obtain without creative labor belong to the scope of protection of the present application.

[0035] In the description of this application, the orientations or positional relationships indicated by terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" are orientations or positional relationships based on the drawings, and are merely for the convenience and simplification of the description of this application, and do not indicate or imply that such devices or elements necessarily have a specific orientation or are constructed and operated in a specific orientation, and should not be understood as limiting this application. In addition, it should be understood that terms such as "first," "second," and "third" are used for the purpose of description only, and do not indicate or imply relative importance.

[0036] In the description of this application, unless otherwise clearly specified and limited, the terms "connection", "coupling", "connection" and the like should be understood in a broad sense, for example, may be fixed connection, detachable connection, or integral connection, may be mechanical connection, electrical connection, direct connection, indirect connection via an intermediate medium, or internal communication between two elements. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific situation.

[0037] In the following description, the end of the instrument that is closest to an operator, in use, is referred to as the proximal end, and the end that is away from the operator is referred to as the distal end.

[0038] In addition, the technical features according to different embodiments of the present application described below can be combined with each other unless they are inconsistent with each other. EXAMPLES

[0039] This embodiment provides a linear-driven motion module, which can be used as a mechanical component for medical and diagnostic purposes, and of course can also be applied to the application environment of the human body's own motion joints. As shown in Figures 1 and 2, the linear-driven motion module includes a joint structure, a positioning structure and two connecting lines 4, one end of the joint structure is suitable for connecting to an external driving mechanism, and the other end of the joint structure is suitable for connecting to an external operating mechanism. The joint structure includes a number of joint units 1 connected to each other, the positioning structure is disposed between two adjacent joint units 1, and the connecting lines 4 are inserted into all the joint units 1 and the positioning structure, and the connecting lines 4 are used to adjust the motion of the adjacent joint units 1 in response to the motion of the external driving mechanism.

[0040] The positioning structure includes a first positioning member 2 and a second positioning member 3, the first positioning member 2 and the second positioning member 3 are movably connected and can move toward or away from each other in a first direction, the positioning structure actively adjusts the position of the joint structure connected to it in the first direction, each connecting line 4 is inserted into both ends within the positioning structure, and the first positioning member 2 and the second positioning member 3 restrict the connecting lines 4 within the positioning structure.

[0041] In the line-driven motion module of this embodiment, when the first positioning member 2 and the second positioning member 3 approach each other along the first direction, the connecting line 4 is restricted and accommodated in the line-accommodating cavity jointly surrounded by the first positioning member 2 and the second positioning member 3. The displacement of the connecting line 4 in the first direction can be controlled by the relative motion position of the first positioning member 2 and the second positioning member 3, and by matching with the position of the joint structure, interference with the initial tension of the connecting line 4 can be avoided. The coordination between the positioning structure and the connecting line 4 realizes the bending and extension motion of the joint structure, optimizes the motion trajectory of the joint structure, increases the degree of freedom of the line-driven motion module to move along the first direction and rotate around the first direction, and further improves the motion range of the joint structure, thereby achieving the purpose of enhancing the flexible operability of the minimally invasive device.

[0042] As shown in Fig. 3 to Fig. 8, the first positioning member 2 is provided on a side close to the proximal end of the first positioning member 2 and further includes a first connecting portion 24 movably connected to the adjacent joint unit 1, and the second positioning member 3 is provided on a side away from the proximal end of the second positioning member 3 and further includes a second connecting portion 34 movably connected to the adjacent joint unit 1. The first connecting portion 24 and the second connecting portion move the adjacent joint units 1, thereby performing bending and extending movements of the entire joint structure. The first connecting portion 24 and the second connecting portion can restrict the adjacent joint units 1, thereby ensuring stability of the movable engagement between the positioning structure and the adjacent joint units 1 and allowing the joint structure to bend flexibly.

[0043] 2 , the positioning structure further includes a positioning sleeve 5, which is configured to restrict and accommodate the connecting line 4, the number of the positioning sleeves 5 is equal to the number of the connecting lines 4, the positioning sleeves 5 are disposed in the line-accommodating cavity of the positioning structure, and both ends of the positioning sleeve 5 are respectively connected to the same connecting line 4 at the first wiring port 21 of the first positioning member 2 and the second wiring port 31 of the second positioning member 3. The first positioning member 2, the second positioning member 3 and the positioning sleeve 5 are fitted together to restrict the movement of the connecting line 4, and the positioning sleeve 5 is used to restrict the axial displacement of the connecting line 4.

[0044] In this embodiment, the positioning sleeve 5 is a flexible tube. When the first positioning member 2 and the second positioning member 3 approach each other along the first direction, the first positioning member 2 and the second positioning member 3 respectively move both ends of the positioning sleeve 5 closer to their middle parts, while the positioning sleeve 5 restricts and presses the connecting line 4 therein, and the positioning sleeve 5 and the connecting line 4 are synchronously entangled or wound in the line-accommodating cavity; when the first positioning member 2 and the second positioning member 3 move both ends of the positioning sleeve 5 away from their middle parts, while the first positioning member 2 and the second positioning member 3 respectively restrict and stretch the connecting line 4 therein, so that the connecting line 4 and the positioning sleeve 5 perform synchronously expanding or expanding motion, and the displacement of the connecting line 4 is consistent with the distance between the first positioning member 2 and the second positioning member 3, and the motion range of the joint structure can be expanded. The line-driven motion module is in a curved state and an initial state, and the total length of the connecting line 4 restricted in the positioning sleeve 5 does not change.

[0045] 11, in this embodiment, a mounting hole 123 is provided in the joint unit 1, which is movably connected to the connection line 4, and the connection line 4 abuts against the mounting hole 123 to transmit power to the adjacent joint unit 1. The first wiring port and the second wiring port are each connected to the mounting hole in the adjacent joint unit via the connection line.

[0046] In the linear drive motion module according to the present application, the first positioning member 2 has a first connection portion 22, and the second positioning member 3 has a second connection portion 32, as shown in FIGS.

[0047] In this embodiment, the first connection portion 22 and the second connection portion have a screw structure that is fitted into each other, and when the first connection portion 22 and the second connection portion 32 are screwed together, the first positioning member 2 and the second positioning member 3 move relatively closer to or farther apart along a first direction, which is the axial direction of the screw structure (the Z-axis direction shown in Figure 1).

[0048] In this embodiment, the first positioning member 2 and the second positioning member 3 are a cylindrical structure fitted together, the first positioning member 2 is rotatably mounted on the second positioning member 3, the first connection portion 22 is molded on the inner wall surface of the first positioning member 2, the second connection portion 32 is molded on the outer wall surface of the second positioning member 3, and the wire accommodating cavity is a cavity within the cylindrical structure.

[0049] When adjusting the motion range of the linear-driven motion module, in the specific operation, the first positioning member 2 may be fixed and the second positioning member 3 may be rotated to displace the linear-driven motion module in the first direction and rotate the joint structure adjacent to the second positioning member 3 around the first direction; the second positioning member 3 may be fixed and the first positioning member 2 may be rotated to displace the linear-driven motion module in the first direction and rotate the joint structure adjacent to the first positioning member 2 around the first direction; or the first positioning member 2 and the second positioning member 3 may be rotated simultaneously to displace the linear-driven motion module in the first direction and rotate the joint structures respectively adjacent to the first positioning member 2 and the second positioning member 3 around the first direction. These three kinds of operation methods can be selected and matched according to actual requirements and working conditions.

[0050] In the linear drive motion module according to this embodiment, the rotation angle between the first positioning member 2 and the second positioning member 3 is related to the number of rotations, and the relative rotation angle between the first positioning member 2 and the second positioning member 3 is not particularly limited here. In this embodiment, the number of rotations that the first positioning member 2 and the second positioning member 3 can rotate is set to 3 revolutions, the first positioning member 2 and the second positioning member 3 can be screwed together at any angle between 0 degrees and 1080 degrees, and the first positioning member 2 and the second positioning member 3 may be fixed to each other by an external fixed connection member. Of course, the first positioning member 2 may be fixed to an external connection member, a tooth member may be arranged on the outside of the second positioning member 3 as an exterior member, the tooth member may be driven by an external drive member, and the tooth member may rotate the second positioning member 3 relative to the first positioning member 2, changing the relative rotation angle between the first positioning member 2 and the second positioning member 3 from 0 degrees to 1080 degrees. In response to this, the second positioning member 3 may be fixed to an external connecting member, and a gear member may be arranged externally on the outside of the first positioning member 2, and the gear member may be driven by an external driving member so as to rotate the first positioning member 2 relative to the second positioning member 3, thereby changing the relative rotation angle between the first positioning member 2 and the second positioning member 3 from 0 degrees to 1080 degrees.

[0051] In the line-driven motion module of this embodiment, the screw structure adopts an equal pitch screw, the extension length of the connecting line 4 is equal to the relative displacement between the first positioning member 2 and the second positioning member 3, and the number of revolutions shows a linear relationship proportional to the pitch of the screw structure and the change in length of the connecting line 4. The pitch is set according to the change in length of the connecting line 4 required under the working conditions during use.

[0052] The length and material of the entire positioning structure are not particularly limited, and the material of the first positioning member 2 and the second positioning member 3 may be steel, medical plastic, etc., and the length and material are selected and matched according to the actual application scene.

[0053] The linear-driven motion module of this embodiment further includes a first adapter structure 6 and a second adapter structure 7 spaced apart, as shown in FIG. 1, the first adapter structure 6 and the second adapter structure 7 are provided at both ends of the joint structure, the first adapter structure 6 is suitable for connecting to an external driving mechanism, the second adapter structure 7 is suitable for connecting to an operating mechanism, and the positioning structure is attached between the first adapter structure 6 and the second adapter structure 7.

[0054] In this embodiment, the line-driven motion module has a bending state in which the first adapter structure 6 pulls the connecting line 4 under the action of an external force, causing the second adapter structure 7 and the joint structure to bend synchronously and interlockingly with the first adapter structure 6.

[0055] In this embodiment, the line-driven motion module has an initial state in which the first adapter structure 6 pulls the connecting line 4 under the action of an external force, so that the first adapter structure 6, the positioning structure and the second adapter structure 7 are coaxially arranged.

[0056] The motion of the first adapter structure 6 is driven and adjusted by an external driving mechanism, and the second adapter structure 7 is transmitted by the linkage between the connecting line 4 and the joint structure, so that the linear-driven motion module can switch between a curved state and an initial state. In the curved state and the initial state, the first adapter structure 6 and the second adapter structure 7 perform corresponding motions around the positioning structure, and in the initial state, the lengths of all the connecting lines 4 can be made the same, which promotes the synchronous linkage between the second adapter structure 7 and the first adapter structure 6, and allows the second adapter structure 7 to reach a desired motion action and position, and the design of the entire module improves the stability of the connecting line 4 linking the joint unit 1, which is favorable to improving the connection strength of the joint structure, and balances the motion performance of the entire linear-driven motion module.

[0057] In the linearly driven motion module of this embodiment, as shown in Fig. 1, two or more connecting lines 4 are provided, and all the connecting lines 4 are arranged rotationally symmetrically in the axial direction of the positioning structure. The connecting lines 4 are used to rotate the joint structure and movably engage the adjacent joint units 1. In this embodiment, the connecting lines 4 may be selected from elastic materials such as elastic fiber rope, nickel titanium wire, etc., so as to achieve the purpose of the connecting lines 4 driving the joint assembly and the second adapter structure 7, and further realize the interlocking function of the linearly driven motion module.

[0058] In this embodiment, as shown in Fig. 1, four connecting lines 4 are taken as an example, and the four connecting lines 4 are inserted and distributed in the line-driven motion module, respectively. In this embodiment, both ends of the connecting line 4 are fixedly connected to the first adaptor structure 6 and the second adaptor structure 7, respectively, and the connecting line 4 is inserted into all the joint units 1 and the positioning structures, and movably connected to the joint units 1 and the positioning structures.

[0059] In the linear motion module according to the present embodiment, in the initial state, all the connecting lines 4 have the same length, so that the connecting lines 4 are pulled by the movement of the first adaptor structure 6, and the adjacent joint unit 1 and the second adaptor structure 7 can be correspondingly adjusted to match the movement of the first adaptor structure 6. When the first adaptor structure 6 pulls and moves one end of the connecting line 4, the linear motion module makes the second adaptor structure 7 where the other end of the connecting line 4 is located perform a matching movement by the connecting lines 4 abutting against the positioning structure, thereby realizing the interlocking bending process. The connecting lines 4 are tightly and fixedly connected between the first adaptor structure 6 and the second adaptor structure 7, and the entire linear motion module has excellent joint strength.

[0060] As shown in FIG. 13, the first adapter structure 6 includes a first adapter body 62, and as shown in FIG. 1, the second adapter structure 7 includes a second adapter body 72, the first adapter body 62 and the second adapter body 72 are spaced apart from each other, the first adapter body 62 has a first end face 623 away from the connection joint unit 1, and the second adapter body 72 has a second end face 723 away from the connection joint unit 1, as shown in FIG. 1, the first end face 623 is located at a proximal end portion of the linear-driven motion module, and as shown in FIG. 9, the second end face 721 is located at a distal end portion of the linear-driven motion module, and in the initial state of the linear-driven motion module, the first end face 623 and the second end face 721 are opposite each other.

[0061] In particular, when the linear motion module is driven to move, the first end surface 623 can function as a reference surface for the driving mechanism, and the driving mechanism first drives the first adaptor structure 6 to adjust the position, and then moves the entire linear motion module in the three-dimensional space to realize the corresponding curved motion posture, and then adjusts the first end surface 623 and makes the first end surface 623 and the second end surface 721 perform the corresponding motion to achieve the purpose of adjusting the position and orientation of the second end surface 721, thereby allowing the operating mechanism of the second adaptor structure 7 to perform a motion in a predetermined target position and target direction. Correspondingly, the driving mechanism first adjusts the first end surface 623, makes the second end surface 721 perform the motion corresponding to the first end surface 623, and then drives the first adaptor structure 6 to adjust the position, and moves the entire linear motion module in the three-dimensional space to realize the corresponding curved motion posture. The first end surface 623 can function as a mounting surface for connecting a drive mechanism, and the shape of the first end surface 623 may be a flat surface, a curved surface, or a stepped surface, and is not particularly limited here.

[0062] In this embodiment, the first adapter structure 6 is the same as the second adapter structure 7. Taking the first adapter structure 6 as an example, as shown in Figures 13 and 14, the first adapter structure 6 further includes an assembly hole 622, into which the connecting line 4 is inserted and fixed, and the connection between the assembly hole 622 and the connecting line 4 includes, but is not limited to, welding, adhesive bonding, and locking with fastening members.

[0063] 1, 13 and 14, the first adapter structure 6 includes a third coupling part 61 movably connected to the joint unit 1, and the second adapter structure 7 includes a fourth coupling part 71 movably connected to the joint unit 1. The power and torque of the first adapter structure 6 are transmitted to the joint structure by a combination of the third coupling part 61 and the connection line 4, and the power and torque are received and transmitted to the second adapter structure 7 by a combination of the fourth coupling part 71 and the connection line 4, thereby causing the second adapter structure 7 to change in conjunction with the movement position of the first adapter structure 6.

[0064] In this embodiment, there is no particular limitation on the number of joint units between the positioning structure and the first adaptor structure 6 and the number of joint units between the positioning structure and the second adaptor structure 7. Fig. 1 shows a usage situation in this embodiment where the number of joint units 1 on both ends of the positioning structure is the same.

[0065] The joint structure between the first adaptor structure 6 and the positioning structure is named the first joint assembly, and the joint structure between the second adaptor structure 7 and the positioning structure is named the second joint assembly. In the linear drive motion module, the first adaptor structure 6 and the first joint assembly can be bent relative to the second adaptor structure 7 and the second joint assembly, and the displacement of the first adaptor structure 6 caused in the three-dimensional space relative to the positioning structure by the drive mechanism is compensated by the rotation of the joint units 1 connected adjacent to each other between the first adaptor structure 6 and the positioning structure and the elastic expansion and contraction of the connection line 4 itself, causing the first joint assembly to perform a flexible bending and stretching motion, at which time the first end surface 623 and the second end surface 721 maintain the positional relationship originally provided parallel to each other in space, and the second adaptor structure 7 and the second joint assembly maintain their original postures. Within the flexible movement range of the first joint assembly, the driving mechanism drives the first adapter structure 6 to perform bending and stretching adjustment on the first joint assembly according to the position of the linear-driven motion module in the bending motion process, so that the first joint assembly can reach a desired motion posture and a position in the bending and stretching motion process to meet the requirements of the working conditions during use. Correspondingly, the driving mechanism first drives the first adapter structure 6 to perform bending and stretching adjustment on the first joint assembly, and the driving mechanism further drives the first adapter structure 6 to generate a bending motion on the entire linear-driven motion module, so as to meet the requirements of the working conditions.

[0066] In addition, the linear drive motion module can set any one of the reachable operating postures as the initial position at which the drive mechanism drives, and the linear drive motion module has the advantages of flexible operation and high continuity and stability of motion.

[0067] In the line-driven motion module according to this embodiment, the same connection line 4 is inserted into the first wiring port 21 of the first positioning member 2 and the second wiring port 31 of the second positioning member 3, and when the first positioning member 2 is screwed into the first rotation position of the second positioning member 3, the direction of the line connecting the first wiring port 21 and the second wiring port 31 is set in the same direction as the first direction, and as shown in Fig. 9, the line-driven motion module has a first bending state in which the first adapter structure 6 pulls the connection line 4 under the action of an external force, and the second adapter structure 7 and the joint structure are bent in an S-shape in synchronization with each other in conjunction with the first adapter structure 6. By driving the first adapter structure 6 by an external driving mechanism, the first adapter structure 6 and the second adapter structure 7 can be moved in opposite directions on the XY plane, and the first adapter structure 6 and the second adapter structure 7 can be bent in opposite directions. As shown in FIG. 9, the first end surface 623 and the second end surface 721 are arranged in parallel, and by operating the first end surface 623, a corresponding operation can be performed in synchronization with the second end surface 721.

[0068] When the first positioning member 2 rotates relative to the second positioning member 3, when the first positioning member 2 is screwed into the second rotation position of the second positioning member 3, the first plane in which the first wiring port 21 and the first direction are located and the second plane in which the second wiring port 31 and the first direction are located form an angle of 90 degrees, and as shown in FIG. 10, the line-driven motion module has a second bending state in which the first adapter structure 6 pulls the connecting line 4 under the action of an external force, and bends the second adapter structure 7 and the joint structure synchronously and interlockingly with the first adapter structure 6 to move in a non-coplanar S-shape. When the first adapter structure 6 is driven by an external driving mechanism to move in the X-axis direction shown in FIG. 1, the first adapter structure 6 and the first joint assembly perform a bending motion together in the X-axis direction; at this time, under the transmission action of the connecting line 4, the second adapter structure 7 and the second joint assembly perform a bending motion together in the Y-axis direction shown in FIG. 1, and the bending directions of the first joint assembly and the second joint assembly are projected on the XY plane at an angle of 90 degrees, so that the joint assembly can reach a desired operating posture and position in the non-coplanar S-shaped curved operating process, and can meet the requirements of the working conditions during use.

[0069] When the first positioning member 2 rotates relative to the second positioning member 3, when the first positioning member 2 is screwed into the third rotation position of the second positioning member 3, the first plane where the first wiring port 21 and the first direction are located and the second plane where the second wiring port 31 and the first direction are located form an angle of 180 degrees, and the line-driven motion module has a third bending state in which the first adapter structure 6 pulls the connecting line 4 under the action of an external force, causing the second adapter structure 7 and the joint structure to bend synchronously and interlockingly with the first adapter structure 6 to move in a C-shape. By driving the first adapter structure 6 by an external driving mechanism, the first adapter structure 6 and the second adapter structure 7 can be moved closer to each other in the circumferential plane along the radial plane of the positioning body, so that the joint assembly can reach a desired operation and position to meet a desired working condition.

[0070] In the linear-driven motion module according to this embodiment, the linear-driven motion module further has an orientation-changing state in which the first adapter structure 6 rotates under the action of an external force to pull the connecting line 4, and drives the second adapter structure 7 and the joint structure to change orientation synchronously with the first adapter structure 6. In this embodiment, when the whole changes orientation and rotates, the first positioning member 2 and the second positioning member 3 are fixed to each other, and the positioning structure and the external support ring are rotatably connected, thereby achieving the purpose of the linear-driven motion module rotating around the axis line of the positioning structure.

[0071] Taking one embodiment as an example, the rotation limit position of the first positioning member 2 and the second positioning member 3 is the third rotation position. Therefore, during the rotation process of the first positioning member 2 and the second positioning member 3, the first wiring port 21 and the second wiring port 31 can pass through positions corresponding to the first rotation position and the second rotation position multiple times, so that with just one positioning structure, multiple types of rotation positions of the first positioning member 2 and the second positioning member 3, such as the first rotation position, the second rotation position, and the third rotation position, can be met, and the needs of users can be further met.

[0072] In another possible embodiment, the first rotation position may be a rotation limit position of the first positioning member 2 and the second positioning member 3, and the second rotation position and the third rotation position may be process positions correspondingly. Similarly, the second rotation position may be a rotation limit position of the first positioning member 2 and the second positioning member 3, and the first rotation position and the third rotation position may be process positions correspondingly.

[0073] In the linear drive motion module according to the present embodiment, as shown in Figures 11 and 12, the joint unit 1 includes a rotating member 11 and a limiting support 12, a limiting portion 111 is provided in the circumferential direction of the rotating member 11, the limiting support 12 is fixedly connected to the rotating member 11, the limiting support 12 has an accommodating cavity 121 for movably connecting the rotating member 11 of the adjacent joint unit 1, and the accommodating cavity 121 further has a limiting member 13, which fits into the limiting portion 111 of the adjacent joint unit 1 to limit the axial rotation of the rotating member 11 of the adjacent joint unit 1. The adjacent joint units 1 have two perpendicular pivots, one of which is parallel to the extension direction of the limiting member 13, and the other pivot is parallel to the intersection line between the radial plane of the limiting member 13 and the extension direction of the limiting member 13.

[0074] In this embodiment, the rotating member 11 is a sphere, the inner wall surface of the accommodating cavity 121 matches the outer wall surface of the rotating member 11 of the adjacent joint unit 1, and two limiting portions 111 are provided, and the two limiting portions 111 are fitted together to form a sphere. The two limiting portions 111 are provided at a distance from each other to form an assembly space that restricts the member 13, and the limiting member 13 is movably connected to the assembly space.

[0075] In the linearly driven motion module of this embodiment, as shown in Fig. 3 and Fig. 5, the first positioning member 2 includes a first connecting hole 23 extending in the same direction as its extension direction, as shown in Fig. 7, the second positioning member 3 includes a second connecting hole 33 extending in the same direction as its extension direction, as shown in Fig. 13 and Fig. 14, any one of the adapter structures has a third connecting hole 621 extending in the same direction as its extension direction, as shown in Fig. 11 and Fig. 12, any one of the joint units 1 has a core hole 122, and all the core holes 122, all the second connecting holes 33 and the first connecting hole 23 jointly form an intervention passage, which is suitable for inserting an external tube. By arranging holes matching the adapter structure, the joint structure and the positioning structure, an intervention passage for medical purposes is formed, and a flexible tube can be connected in the intervention passage by the operation space formed by the intervention passage, and when the linearly driven motion module is curved and changed, the tube is curved together, thereby meeting the desired working conditions.

[0076] In the linearly driven motion module of this embodiment, the first coupling part 24 and the second coupling part 34 have the same structure as the rotating member 11, and the third coupling part 61 and the fourth coupling part 71 have the same structure as the limiting support 12. The coupling parts play a role in transmitting power and torque, and transmit the interlocking of the joint structure and the adapter structure by the connecting line 4, and the coupling parts are also used to connect the joint structure to allow limited rotation.

[0077] In an alternative embodiment of this embodiment, the first connecting portion 24 and the second connecting portion 34 have the same structure as the limiting support 12, and the third connecting portion 61 and the fourth connecting portion 71 have the same structure as the rotating member 11.

[0078] As an alternative embodiment of this embodiment, the first positioning member 2 has a third connection portion, the second positioning member 3 has a fourth connection portion, the third connection portion and the fourth connection portion are a sliding structure that are fitted together, and when the third connection portion and the fourth connection portion slide relative to each other, the first positioning member 2 and the second positioning member 3 move closer to or farther away from each other along a first direction, which is the sliding direction of the sliding structure. The third connecting portion and the fourth connecting portion are engageable and slidable, thereby moving the first positioning member 2 and the second positioning member 3 closer to or apart from each other, thereby causing the joint structure connected to the first positioning member 2 and the joint structure connected to the second positioning member 3 to perform bending or extending movements, and the positioning sleeve 5 is capable of bending movement within the accommodating cavity surrounded by the first positioning member 2 and the second positioning member 3, so that when the first positioning member 2 and the second positioning member 3 move relatively closer to each other along the first direction, the positioning sleeve 5 and the connecting line 4 are curved and folded together, and when the first positioning member 2 and the second positioning member 3 move relatively away from each other along the first direction, the positioning sleeve 5 and the connecting line 4 are stretched and expanded together.

[0079] As an alternative embodiment of this embodiment, the first connecting portion 22 and the second connecting portion 32 are screw structures that are fitted together with each other, the screw structures have variable pitch threads, the connecting wire 4 is directly inserted into the first wiring port 21 and the second wiring port 31, when the first positioning member 2 and the second positioning member 3 approach each other along the first direction, the screw structures are in a screwing operation, and the relative extension of the connecting wire 4 is limited and accommodated in the wire-accommodating cavity together with the screw structures having variable pitch threads, and the joint structures at both ends of the positioning structures are the first positioning member 2 and the second positioning member 3. When the first and second positioning members 2 and 3 move away from each other along the first direction under the driving of the positioning member 3, the screw structure is in the process of screwing out, the connecting line 4 is restricted and accommodated in the wire-accommodating cavity, and the joint structures at both ends of the positioning structure are extended away from each other under the driving of the first and second positioning members 2 and 3, the change in the length of the connecting line 4 is equal to the pitch of the variable pitch screw, the screw structure restricts the connecting line 4, and the variable pitch screw eliminates the influence of the length of the connecting line 4 itself on the line-driven motion module. Note that at this time, the maximum angle of relative rotation between the first connecting part 22 and the second connecting part 32 is 180 degrees.

[0080] In an alternative embodiment of this embodiment, in the positioning structure, the first coupling part 24 and the second coupling part 34 may be formed by the joint unit 1 to achieve the purpose of transmitting power and torque. One or two joint units 1 are directly fixed to the end of the positioning structure in the first direction, and the fixing method may be integral molding, welding, screw connection or bolt connection, etc., and the joint unit 1 and the joint structure are movably connected in series.

[0081] In an alternative embodiment of this embodiment, any one of the third connecting portion 61 of the first adaptor structure 6 and the fourth connecting portion 71 of the second adaptor structure 7 may be formed by a joint unit 1 to achieve the purpose of transmitting power and torque. One joint unit 1 is directly fixed to the distal end of the first adaptor structure 6 or the proximal end of the second adaptor structure 7, and the fixing method may be integral molding, welding, screw connection or bolt connection, etc., and the joint unit 1 is movably connected in series to the joint structure.

[0082] In the linearly driven motion module of this embodiment, the first positioning member 2 and the second positioning member 3 move toward each other to adjust the motion position of the joint structure as an example, and the usage process is as follows: the first positioning member 2 is fixed externally, and the second positioning member 3 is rotated to move the first positioning member 2 and the second positioning member 3 toward each other, and the two ends of the positioning sleeve 5 approach the middle part of the positioning sleeve 5 due to the driving action of the first positioning member 2 and the second positioning member 3, and at the same time, the positioning sleeve 5 performs a winding motion, and the positioning sleeve 5 restricts and presses the connecting line 4, and causes the connecting line 4 to perform a winding motion together, and the joint structure connected to the first positioning member 2 is in its original position and posture, and the joint structure connected to the second positioning member 3 rotates with the rotation of the second positioning member 3 and moves toward the first positioning member 2, at this time, the entire joint structure is in a bending posture relative to the original joint structure, and the entire linearly driven motion module performs a contracting motion in the first direction.

[0083] In the line-driven motion module of this embodiment, the first positioning member 2 and the second positioning member 3 are movably connected, and by moving closer to or farther away from each other in a first direction, the joint structure connected to the first positioning member 2 and the joint structure connected to the second positioning member 3 are correspondingly displaced to move closer to or farther away from each other in the first direction, thereby adjusting the motion position of the joint structure by the motion of the first positioning member 2 and the second positioning member 3, and achieving the purpose of adjusting the motion trajectory of the joint structure in the first direction by the positioning structure. The first positioning member 2 and the second positioning member 3 are positioned and fitted together to limit the length of the connecting line 4 connected to the positioning structure to a certain length. Specifically, when the first positioning member 2 and the second positioning member 3 move closer to each other along the first direction, the connecting line 4 is limited within the wire-accommodating cavity, and the joint the joint structure performs a bending motion, and when the first positioning member 2 and the second positioning member 3 move away from each other along the first direction, the connecting line 4 is released in the line-accommodating cavity, at this time, the connecting line 4 is extended to be straight, and the joint structure performs an extension motion, and when the first positioning member 2 and the second positioning member 3 limit the distance between both ends of the connecting line 4 in the positioning structure to be constant, the length of the connecting line 4 in the positioning structure is always constant and does not change according to the sliding of the first positioning member 2 and the second positioning member 3 in the first direction, the changing motion of the connecting line 4 in the positioning structure matches the relative motion between the first positioning member 2 and the second positioning member 3 and the motion trajectory position of the joint structures located at both ends of the positioning structure, so as to optimize the motion trajectory of the joint structure, improve the motion range of the joint structure, and achieve the purpose of enhancing the flexible operability of the minimally invasive device. EXAMPLES

[0084] This embodiment provides a minimally invasive surgical forceps, which includes the linear motion module of embodiment 1, and thus has the advantages of the linear motion module, and the linear motion module is provided with the function of moving the joint structure along the first direction by the rotation of the positioning structure, and the function of rotating the joint structure connected to the first positioning member 2 and the second positioning member 3, which can effectively improve the motion range of the joint structure, thereby providing the minimally invasive surgical forceps with the corresponding motion and rotation functions, and expanding the flexible operation of the minimally invasive surgical forceps. In addition, the integrated modular structure makes the overall connection compact and has high connection strength, which can facilitate the assembly process of the minimally invasive surgical forceps and increase the stability during use.

[0085] As is apparent, the above examples are merely examples for the purpose of clarity and are not intended to limit the embodiments. Those skilled in the art can make various modifications and changes based on the above description. It is not necessary or possible to cover all the embodiments here. Any obvious modifications or changes derived therefrom are also within the scope of protection of the present application. [Explanation of symbols]

[0086] 1-joint unit; 11-rotating member; 111-limiting portion; 12-limiting support; 121-accommodating cavity; 122-core hole; 123-mounting hole; 13-limiting member; 2—first positioning member; 21—first wiring port; 22—first connection portion; 23—first connection hole; 24—first coupling portion; 3—second positioning member; 31—second wiring port; 32—first connection portion; 33—second connection hole; 34—second coupling portion; 4-connecting wire; 5-positioning sleeve; 6—first adapter structure; 61—third coupling portion; 62—first adapter body; 621—third connection hole; 622—assembly hole; 623—first end surface; 7—second adapter structure; 71—fourth coupling portion; 72—second adapter body; 721—second end face.

Claims

1. 1. A linear drive motion module comprising: a joint structure including a plurality of joint units (1) connected to each other, one end of which is adapted to be connected to an external drive mechanism and the other end of which is adapted to be connected to an external operation mechanism; a positioning structure provided between two adjacent joint units (1), including a first positioning member (2) and a second positioning member (3), the first positioning member (2) and the second positioning member (3) being movably connected and capable of moving toward or away from each other in a first direction; At least two connecting lines (4) are inserted into all of the joint units (1) and the positioning structure, each connecting line (4) is inserted into both ends of the positioning structure, and the first positioning member (2) and the second positioning member (3) include at least two connecting lines (4) that limit the connecting lines (4) in the positioning structure; A line-driven motion module characterized in that, when the first positioning member (2) and the second positioning member (3) approach each other along the first direction, the connecting line (4) is restricted and accommodated within a line-accommodating cavity jointly surrounded by the first positioning member (2) and the second positioning member (3), and, when the first positioning member (2) and the second positioning member (3) move away from each other along the first direction, the connecting line (4) becomes straight within the line-accommodating cavity.

2. 2. The linear-driven motion module according to claim 1, wherein the positioning structure further includes at least two positioning sleeves (5), each of which is provided corresponding to the connecting line (4) and configured to restrict and accommodate the connecting line (4), the positioning sleeve (5) being provided in the line-accommodating cavity, and both ends of the positioning sleeve (5) being connected to the same connecting line (4) at a first wiring port (21) of the first positioning member (2) and a second wiring port (31) of the second positioning member (3), respectively.

3. The positioning sleeve (5) is a flexible tube, When the first positioning member (2) and the second positioning member (3) approach each other along the first direction, the flexible tube and the connecting line (4) are folded, entangled, or wound synchronously in the line-receiving cavity; 3. The linear-driven motion module according to claim 2, wherein when the first positioning member (2) and the second positioning member (3) move away from each other along the first direction, the flexible tube and the connecting line (4) are expanded or extended synchronously.

4. further comprising a first adapter structure (6) and a second adapter structure (7) spaced apart, the first adapter structure (6) and the second adapter structure (7) being provided at opposite ends of the joint structure, the first adapter structure (6) being adapted to be connected to an external drive mechanism, and the second adapter structure (7) being adapted to be connected to an operating mechanism; The linear-driven motion module according to any one of claims 1 to 3, characterized in that the linear-driven motion module has a curved state in which the first adapter structure (6) pulls the connecting line (4) under the action of an external force, thereby bending the second adapter structure (7) and the joint structure synchronously and interlocking with the first adapter structure (6), and an initial state in which the first adapter structure (6), the positioning structure and the second adapter structure (7) are arranged coaxially, and the linear-driven motion module is arranged to switch between the curved state and the initial state.

5. The first positioning member (2) has a first connection portion (22), and the second positioning member (3) has a second connection portion (32), 5. The linear-driven motion module according to claim 4, wherein the first connecting portion (22) and the second connecting portion (32) are screw structures that are fitted together, and when the first connecting portion (22) and the second connecting portion (32) are screwed together, the first positioning member (2) and the second positioning member (3) move relatively closer to or farther away from each other along a first direction, the first direction being an axial direction of the screw structure.

6. 6. The linear-driven motion module according to claim 5, wherein the first positioning member (2) and the second positioning member (3) are cylindrical structures fitted together, the first connection portion (22) is molded on an inner wall surface of the first positioning member (2), the second connection portion is molded on an outer wall surface of the second positioning member (3), and the wire-accommodating cavity is a cavity within the cylindrical structure.

7. 5. The linear motion module according to claim 4, wherein the same connecting line (4) is inserted into the first wiring port (21) of the first positioning member (2) and the second wiring port (31) of the second positioning member (3), and when the first positioning member (2) is screwed into the first rotation position of the second positioning member (3), the direction of the line connecting the first wiring port (21) and the second wiring port (31) is set to the same direction as a first direction, and the linear motion module has a first bending state in which the first adapter structure (6) pulls the connecting line (4) under the action of an external force, and causes the second adapter structure (7) and the joint structure to bend synchronously and interlockingly with respect to the first adapter structure (6) to move in an S-shape.

8. 8. The linear-driven motion module according to claim 7, wherein in the bent state, a first end face of the first adapter structure (6) away from a side connected to the joint structure and a second end face of the second adapter structure (7) away from a side connected to the joint structure are arranged parallel to each other.

9. The same connecting wire (4) is inserted into a first wiring port (21) of the first positioning member (2) and a second wiring port (31) of the second positioning member (3); 6. The linear-driven motion module according to claim 5, wherein, when the first positioning member (2) is screwed into the second positioning member (3) at a second rotational position, a first plane in which the first wiring port (21) and the first direction are located and a second plane in which the second wiring port (31) and the first direction are located form an angle of 90 degrees, and the linear-driven motion module has a second bending state in which the first adapter structure (6) pulls the connecting line (4) under the action of an external force, so that the second adapter structure (7) and the joint structure are synchronously and interlockingly bent relative to the first adapter structure (6) to move in a non-coplanar S-shape.

10. the same connecting line (4) is inserted into the first wiring port (21) of the first positioning member (2) and the second wiring port (31) of the second positioning member (3), and when the first positioning member (2) is screwed into the second positioning member (3) at a third rotation position, an angle of 180 degrees is formed between the first wiring port (21) and a first plane in which the first direction is located and between the second wiring port (31) and a second plane in which the first direction is located; The linear-driven motion module according to claim 5, characterized in that the first adapter structure (6) pulls the connecting line (4) under the action of an external force, causing the second adapter structure (7) and the joint structure to bend synchronously and interlockingly with respect to the first adapter structure (6) to move in a C-shape.

11. The first positioning member (2) has a third connection portion, and the second positioning member (3) has a fourth connection portion, 5. The linear-driven motion module according to claim 4, characterized in that the third connection portion and the fourth connection portion are of a sliding structure that are fitted together, and when the third connection portion and the fourth connection portion slide relative to each other, the first positioning member (2) and the second positioning member (3) move closer to or farther away from each other along a first direction, which is a sliding direction of the sliding structure.

12. 9. The linear-driven motion module according to claim 8, further comprising an orientation-changing state in which the first adapter structure (6) rotates under the action of an external force to pull the connecting line (4) and drive the second adapter structure (7) and the joint structure to change orientation synchronously with the first adapter structure (6).

13. The joint unit (1) comprises: A rotating member (11) provided with a limiting portion (111) in a circumferential direction; 13. The linear-drive motion module according to claim 12, further comprising: a limiting support (12) fixedly connected to the rotating member (11), the limiting support (12) having at least one receiving cavity (121) for movably connecting the rotating member (11) of an adjacent joint unit (1), the limiting support (12) further having a limiting member (13) in the receiving cavity (121), the limiting member (13) engaging with the limiting portion (111) of the adjacent joint unit (1) to limit the axial rotation of the rotating member (11) of the adjacent joint unit (1).

14. The rotating member (11) is a sphere, and the inner wall surface of the receiving cavity (121) matches the outer wall surface of the rotating member (11) of the adjacent joint unit (1); Two limiting portions (111) are provided, and the two limiting portions (111) are fitted together to form the sphere; The linear drive motion module according to claim 13, characterized in that the two limiting portions (111) are spaced apart to form an assembly space that limits the limiting member (13), and the limiting member (13) is movably connected to the assembly space.

15. The first positioning member (2) includes a first connection hole (23) extending in the same direction as the extending direction of the first positioning member (2), The second positioning member (3) includes a second connection hole (33) extending in the same direction as the extension direction of the second positioning member (3), Any one of the adapter structures has a third connection hole (621) extending in the same direction as the extension direction of the adapter structure; The linear-driven motion module according to claim 13, characterized in that any one of the joint units (1) has a core hole (122), and all of the core holes (122), all of the second connection holes (33) and the first connection hole (23) collectively form an intervention passage, and the intervention passage is suitable for inserting an external tube therethrough.

16. the first positioning member (2) further includes a first coupling portion (24) provided on a side adjacent to a proximal end of the first positioning member (2) and movably connected to the joint structure; the second positioning member (3) further includes a second coupling portion (34) provided on a side away from the proximal end of the second positioning member (3) and movably connected to the joint structure; 16. The linear drive motion module according to claim 15, characterized in that the first coupling portion (24) and the second coupling portion (34) are the same in structure as the pivot member (11) or the same in structure as the limiting support (12).

17. The first adapter structure (6) includes a third coupling part (61) movably connected to the joint unit (1); the second adapter structure (7) includes a fourth coupling part (71) movably connected to the joint unit (1); 17. The linear-drive motion module according to claim 16, characterized in that the third coupling portion (61) and the fourth coupling portion (71) have the same structure as the pivot member (11) or the same structure as the limiting support (12).

18. A minimally invasive surgical forceps comprising the linear drive motion module according to any one of claims 1 to 17.

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