CN110037758B

CN110037758B - Mounting base and slender shaft assembly

Info

Publication number: CN110037758B
Application number: CN201910400752.XA
Authority: CN
Inventors: 朱莫恕
Original assignee: 5r Med Technology Chengdu Co ltd
Current assignee: 5r Med Technology Chengdu Co ltd
Priority date: 2019-05-15
Filing date: 2019-05-15
Publication date: 2024-05-03
Anticipated expiration: 2039-05-15
Also published as: CN110037758A

Abstract

The invention discloses a mounting base and slender shaft assembly, which comprises a shaft shoulder, a first fixed arm and a second fixed arm, wherein the first fixed arm and the second fixed arm extend to the far end; the distal end of the first fixing arm comprises a first boss extending from the first mounting surface towards the movement base surface or a first fixing hole recessed from the first mounting surface towards the inside of the fixing arm; the distal end of the second fixing arm comprises a second boss extending from the second mounting surface towards the movement base surface or a second fixing hole recessed from the second mounting surface towards the inside of the fixing arm; the first boss or the first fixing hole is used for installing a first jaw and forms a first rotating pair which can be quickly disassembled with the first jaw; the second boss or the second fixing hole is used for installing a second jaw and forms a second rotating pair capable of being quickly disassembled with the second jaw.

Description

Mounting base and slender shaft assembly

Technical Field

The invention relates to a surgical instrument, in particular to a endoscopic handheld instrument.

Background

Endoscopic surgery (including hard-lumen endoscopes, fiber endoscopes), i.e., the use of elongated endoscopic hand-held instruments, into a patient's body via a natural lumen or a constructed puncture channel, to complete tissue grasping, shearing, separation, coagulation, suture closure, etc. The main advantages over traditional open surgery are reduced trauma and pain and accelerated recovery. In endoscopic surgery, a doctor can only access internal organs of a patient by means of instruments, and cannot directly feel the internal organs by hands; in addition, the field of view of the laparoscopic surgeon is severely limited and only a localized area of the working head of the instrument can be observed in real time by means of an endoscope and imaging system. Because of limited field of view and lack of tactile feedback in surgical medicine, high requirements are placed on the accuracy, consistency, operability and the like of endoscopic hand-held instruments (endoscopic scissors, endoscopic graspers, endoscopic separation forceps and the like).

To date, reusable endoscopic hand-held instruments (abbreviated as reusable instruments) have been dominant in the market, and disposable endoscopic hand-held instruments (abbreviated as disposable instruments) have relatively few clinical applications. However, many medical documents have deeply parsed the multiplexing apparatus to have problems, a doctor paper named Safety Evaluation of Surgical Instruments,a thesis submitted for the degree of Philosophy doctor(PHD)of University of Dundee,February 2017 has summarized in detail the unreliable and uncontrollable problems of cleaning, distribution and use of the multiplexing apparatus, such as the ion in human blood is very easy to corrode the stainless steel multiplexing apparatus, and no reliable solution has been found so far.

Disposable instruments can effectively solve many problems of multiplexing instruments, however, the cost of a good quality disposable instrument is too high. A research paper, named Reducing the Cost of Laparoscopy:Reusable versus Disposable Laparoscopic Instruments,Minimally Invasive Surgery,Volume 2014, has shown that the cost of application of disposable devices is about 10 times that of reusable devices. The expensive disposable instruments burden the patient and severely hamper the development of laparoscopic surgery. The cost of the apparatus mainly comprises the manufacturing cost of parts, the assembly cost, the sterilization cost, the storage and transportation cost and the like. On the premise of ensuring and even optimizing the functional performance, the cost is very difficult to reduce. One of the most difficult challenges is how to improve the head structure of the instrument. Heretofore, current endoscopic instruments have largely used pin riveting to form the revolute joint. The rivet fixing of the joint pin must be very fine: firstly, the rigidity and hardness of the pin are enough, secondly, the riveting is firm to prevent the pin from falling off, thirdly, the clearance between the pin and the matching hole is reasonable, and the pin can rotate smoothly. Riveting of the joint pin typically requires multiple manual repairs by experienced advanced technicians and multiple verification and validation, which greatly increases the manufacturing cost of the instrument. The single-use endoscopic handheld instrument with performance approaching to, equivalent to or even exceeding that of the multiplexing instrument is optimally designed and manufactured, and meanwhile, the overall cost is obviously reduced, so that the single-use endoscopic handheld instrument is very difficult but has great significance.

Disclosure of Invention

Therefore, in order to solve the existing problems, a mounting base capable of effectively reducing the manufacturing cost and application thereof are provided.

In one aspect of the present invention, a mounting base for a surgical instrument is provided, comprising a shoulder, and a first fixed arm and a second fixed arm extending to a distal end, wherein a shaft hole penetrates the shoulder, a movement base surface and a buckling surface are substantially vertically intersected, and an intersection line thereof is substantially coincident with a first central axis of the shaft hole; the distal end of the first fixing arm comprises a first boss extending from the first mounting surface towards the movement base surface or a first fixing hole recessed from the first mounting surface towards the inside of the fixing arm; the distal end of the second fixing arm comprises a second boss extending from the second mounting surface towards the movement base surface or a second fixing hole recessed from the second mounting surface towards the inside of the fixing arm; the first boss or the first fixing hole is used for installing a first jaw and forms a first rotating pair which can be quickly disassembled with the first jaw; the second boss or the second fixing hole is used for installing a second jaw and forms a second rotating pair capable of being quickly disassembled with the second jaw.

In one aspect, the base includes a first boss including a first stationary cylindrical portion having a cross-sectional diameter Df1 and a first narrow body feature having a cross-sectional width Bf1, where Bf1 < Df1. The first cylindrical portion is used for being connected with a first jaw to form a first rotating pair. The first narrow body feature enables the first jaw to be rotatably assembled into the base at a particular angle to form a first revolute pair with the first boss, while the first jaw can be rotatably disassembled at a particular angle to disengage the first revolute pair.

In yet another aspect, the first narrow body feature forms an included angle Ap1 with the snap fit surface, the 0.ltoreq.ap1.ltoreq.45 °. The dynamic mating area (dynamic contact area) of the first rotating pair can be increased during rotation of the first jaw to any angle during operation.

In yet another aspect, the base includes a first boss and a second boss, an extension height Hf1 of the first boss, an extension height Hf2 of the second boss, and a distance Hb1 between the first fixing arm and the second fixing arm, where Hf1 is less than 0.5×hb1, and Hf2 is less than 0.5×hb1.

In yet another aspect, the base includes a first securing hole including a first cylindrical surface having a diameter Df3 and a first cutout having a width Bf3, wherein Bf3 < Df3; the first cylindrical surface is used for connecting the first jaw to form a first rotating pair. The first notch enables the first jaw to be rotatably assembled into the base at a certain angle to form a first rotating pair with the first fixing hole, and meanwhile the first jaw can be rotatably disassembled at a certain angle to enable the first rotating pair to be separated.

In yet another aspect, the diameter Cd1 of the shaft bore, the minimum distance L1 between the first boss and the second boss, wherein Cd1 < L1.

In yet another aspect, the base further includes a first reinforcing arm having a height Hr1 extending from the shoulder to the vicinity of the first boss and integrally connected to the first fixing arm, and a second reinforcing arm having a height Hr2 extending from the shoulder to the vicinity of the second boss and integrally connected to the second fixing arm; and a distance Hb1 between the first fixed arm and the second fixed arm, wherein Hr1 is less than or equal to 0.5 Hb1, and Hr2 is less than or equal to 0.5 Hb1. The first reinforcing arm increases the deformation stiffness of the first fixing arm so that the fixing is firmer and the deformation in application is smaller, and the movement of the instrument is smoother and more accurate.

In still another aspect, the first and second reinforcing arms have a proper length, so that the first and second fixing arms have sufficient elasticity and sufficient rigidity, and the first and second fixing arms do not need additional fixing measures, and only rely on the elasticity of the first and second fixing arms to give sufficient fixing force to the parts mounted between the first and second fixing arms, thereby preventing the fixed object from falling off and preventing the fixing force from being too large to hinder the flexible movement of the fixed object.

In yet another aspect of the invention, a static tube assembly is provided comprising any of the foregoing bases and a hollow tube connected thereto, the hollow tube comprising a tube distal end and a tube proximal end and a tube wall extending therebetween, the tube distal end being connected to the shoulder.

In one implementation, the base of the static tube assembly is manufactured by metal powder injection molding, and the base is connected with the hollow tube by welding.

In yet another implementation, the shoulder of the static tube assembly includes a fixed wall extending to a proximal end, the base is made of metal powder injection molding, the hollow tube is made of a thermoplastic material, and then the distal end of the hollow tube is wrapped around the outer surface of the fixed wall by glue bonding or by a heated interference fit or by a two shot molding process.

In yet another implementation, the shoulder of the static tube assembly includes a fixed wall extending to a proximal end, the outer surface of the fixed wall further includes one or more concave portions and/or one or more convex portions, the base is manufactured by metal powder injection molding, the hollow tube is manufactured by metal material, and the distal tube end of the hollow tube is wrapped around the outer surface of the fixed wall and is connected with the fixed wall by a mechanical external force extrusion deformation method.

In still another implementation scheme, the base of the static tube assembly and the first jaw form a first rotating pair capable of being assembled and disassembled quickly, and the base of the static tube assembly and the first jaw form a second rotating pair capable of being assembled and disassembled quickly, and no extra parts are generated in the process of disassembling and reassembling the first rotating pair and the second rotating pair.

In yet another implementation, the base includes both a first boss and a second boss, wherein the first boss includes a first stationary cylindrical portion having a cross-sectional diameter Df1 and a first narrow body feature having a cross-sectional width Bf1, wherein Bf1 < Df1; the first cylindrical portion is used for being connected with a first jaw to form a first rotating pair.

In yet another implementation, the base includes both a first securing hole and a second securing hole, wherein the first securing hole includes a first cylindrical surface having a diameter Df3 and a first cutout having a width Bf3, wherein Bf3 < Df3; the first cylindrical surface is used for connecting the first jaw to form a first rotating pair.

In yet another aspect of the invention, an elongate shaft assembly is provided that includes any of the foregoing bases and first, second and drive heads mated thereto. The first jaw comprises a first jaw tail, a first jaw wrist connected with the first jaw tail and a first jaw head extending to a distal end; the second jaw includes a second jaw tail and a second jaw wrist connected thereto and a second jaw head extending to a distal end. The first jaw tail and the second jaw tail are clamped between the first fixed arm and the second fixed arm, the first jaw tail and the first fixed arm form a first rotating pair, and the second jaw tail and the second fixed arm form a second rotating pair; the drive head is clamped between the first and second tails, the drive head and the first tail form a first cam pair, and the drive head and the second tail form a second cam pair. The driving head can translate along the central shaft direction, and drives the first cam pair to slide relatively so as to force the first rotating pair to rotate relatively, and drives the second cam pair to slide relatively so as to force the second rotating pair to rotate relatively.

In one implementation, the first revolute pair comprises a first outboard pair and a first inboard pair, and the second revolute pair comprises a second outboard pair and a second inboard pair.

In one embodiment, the first outer pair comprises a partial cylindrical fixation surface and a cutout feature, and the first inner pair comprises a partial cylindrical body and a narrow body feature, the partial cylindrical fixation surface and the partial cylindrical body forming a first rotating pair that is disengageable when rotated to align the narrow body feature and the cutout feature.

In yet another specific aspect, the elongate shaft assembly includes a limit state, a critical state, and an operating state, and satisfies the following relationship: le1 is less than Lu1, and Lw1 is less than or equal to Le1;

Wherein Lu1 is the limit displacement of the driving head, le1 is the critical displacement of the driving head, and Lw1 is the working displacement of the driving head.

In one embodiment, the first and second tails are sandwiched between the first and second fixed arms and are free to contact without additional pin fixation or additional fixation measures. In yet another embodiment, the driving head is sandwiched between the first and second tails and is free to contact without additional fixation means.

In yet another embodiment, the first jaw, the second jaw, the drive head and the base satisfy the following relationship:

Hw1+Hj2+δ2＝Hb1；

Wherein: hw1 is the thickness dimension of the first jaw, hj2 is the thickness of the second jaw tail, delta 2 is the machining error, and Hb1 is the distance between the first fixed arm and the second fixed arm of the base.

In yet another embodiment, the working angle Awork of the elongate shaft assembly, when 0 ° -Awork ° -60 °, the first jaw always contacts the second jaw, the second jaw always contacts the first jaw, and the first jaw (second jaw) is shaped to avoid the axial motion trajectory of the drive head.

In yet another arrangement, the driving head is sandwiched between the first and second tails and is free to contact without additional pinning or additional fixing means.

In yet another specific embodiment, the first jaw, the second jaw, the drive head and the base satisfy the following relationship: hj1+hj2+hd1+δ1=h1;

Wherein: hj1 is the thickness of the first tail; hj2 is the thickness of the second tail; hd1 is the thickness of the drive block; hb1 is a pitch of the first and second fixed arms, and δ1 is a machining error.

In yet another specific embodiment, the first tail comprises an annular first driven groove, the drive head comprises a first drive lug, and the first drive lug and the first driven groove are matched to form a first cam pair and satisfy the following geometric relationship: lj1 is greater than or equal to Ld1;

wherein Lj1 is the shortest distance between the geometric centroid of the far end of the first driven groove and the axis of the first rotating pair along the buckling surface, and Ld1 is the shortest distance between the axis of the first driving lug and the central axis.

In yet another aspect of the invention, a surgical instrument for minimally invasive surgery is provided comprising the foregoing elongate shaft assembly, and further comprising a handle assembly coupled to the elongate shaft assembly. The handle assembly comprises a first handle, a second handle and a handle rotating shaft, wherein the first handle is connected with the hollow tube, the second handle is connected with the driving rod, the first handle and the second handle can rotate around the handle rotating shaft so as to drive the driving head to do translational motion along the central shaft direction, further drive the first cam pair to generate relative sliding so as to force the first rotating pair to rotate mutually, and drive the second cam pair to generate relative sliding so as to force the second rotating pair to rotate mutually, so that the first jaw and the second jaw are rotated to open or close mutually.

Drawings

For a fuller understanding of the nature of the present invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings in which:

FIG. 1 is a schematic side view of a base 30;

fig. 2 is a perspective view of the base 30 from the distal end to the proximal end;

FIG. 3 is a schematic side view of the base 30 a;

FIG. 4 is a schematic side view of the base 30 b;

FIG. 5 is a cross-sectional view 5-5 of FIG. 4;

FIG. 6 is a schematic side view of the base 30 c;

FIG. 7 is a schematic side view of the base 30 d;

FIG. 8 is a cross-sectional view 8-8 of FIG. 7;

fig. 9 is a schematic side view of the base 30 e;

Fig. 10 is a perspective view of the base 30e from the distal end to the proximal end;

fig. 11 is a distal-to-proximal projection of the base 30 f;

FIG. 12 is a cross-sectional view taken along line 12-12 of FIG. 11;

FIG. 13 is a schematic side view of the base 30 g;

Fig. 14 is a perspective view of the base 30g from the distal end to the proximal end;

FIG. 15 is a cross-sectional view taken along line 15-15 of FIG. 13;

FIG. 16 is a schematic side view of the base 30 h;

FIG. 17 is a perspective view of the base 30h from the distal end to the proximal end;

fig. 18 is a schematic side view of the base 30 i;

FIG. 19 is a sectional view taken along line 19-19 of FIG. 18;

FIG. 20 is a cross-sectional view taken along line 20-20 of FIG. 19;

FIG. 21 is a schematic side view of the stationary tube assembly 4;

FIG. 22 is a cross-sectional view 22-22 of FIG. 21;

FIG. 23 is a schematic side view of the movable bar assembly 5;

FIG. 24 is a perspective view of the movable rod assembly 5 from the distal end to the proximal end;

Fig. 25 is a schematic perspective view of the working jaw 10;

fig. 26 is a schematic perspective view of the working jaw 20;

FIG. 27 is a schematic view of the elongate shaft assembly 2 in a critical state;

FIG. 28 is a partial schematic perspective view of the head of the elongate shaft assembly 2;

FIG. 29 is a partial side elevational view of the head of the elongate shaft assembly 2;

Fig. 30 is a schematic perspective view of the working jaw 20 a;

fig. 31 is an inside projection view of the first jaw 10b (second jaw 20 b);

Fig. 32 is a projection view perpendicular to the occlusal surface of the first jaw 10b (second jaw 20 b);

FIG. 33 is a schematic view of an assembly method of the elongate shaft assembly 2 b;

FIG. 34 is a partial side elevational view of the head of the elongate shaft assembly 2 b;

FIG. 35 is a partial schematic perspective view of the head of the elongate shaft assembly 2b (from a proximal to a distal perspective);

FIG. 36 is a partial schematic perspective view of the head of the elongate shaft assembly 2b (from a distal to proximal perspective);

FIG. 37 is a partial schematic perspective view of the head of the elongate shaft assembly 2c (with the base hidden);

FIG. 38 is a side elevational view of the elongate shaft assembly of FIG. 37 (the base shown);

FIG. 39 is a cross-sectional view 39-39 of FIG. 38;

FIG. 40 is a cross-sectional view 40-40 of FIG. 38;

FIG. 41 is a cross-sectional view taken along line 41-41 of FIG. 38;

FIG. 42 is a schematic side view of the handle of the instrument 1;

throughout the drawings, like reference numerals designate identical parts or elements.

Detailed Description

Embodiments of the present invention are disclosed herein, but it is to be understood that the disclosed embodiments are merely exemplary of the invention, which can be embodied in various forms. Therefore, the disclosure herein is not to be interpreted as limiting, but merely as a basis for the claims and as a basis for teaching one skilled in the art how to employ the invention.

Referring to fig. 1, for convenience of description, the side closer to the operator is defined as the proximal side, and the side farther from the operator is defined as the distal side. In performing laparoscopic surgery, a penetrating cannula assembly (not shown) is typically used to create a surgical path for instruments into and out of the patient's body wall, and various minimally invasive instruments, such as instrument 1, may be inserted into a body cavity through the path created by the cannula assembly. One or more cannula assemblies may be used simultaneously during surgery, and instrument 1 may be configured for one or more simultaneous operations, as desired during surgery.

A typical endoscopic hand-held instrument 1 includes a base 30. Fig. 1-2 depict the structure and composition of the base 30 in detail. The base 30 includes a shoulder 31 and first and second fixed arms 33 and 34 extending to distal ends, the first and second fixed arms forming a mounting space 300 having a pitch Hb1. The shaft hole 32 extends through the shoulder 31, and the movement base 371 and the engagement surface 372 intersect substantially perpendicularly, with the intersection line substantially coinciding with the first central axis 37 of the shaft hole 32. The distal end of the first fixed arm 33 includes a first boss 331 of height Hf1 extending from the first mounting surface 330 toward the movement base 371; the distal end of the second fixed arm 34 includes a second boss 341 of height Hf2 extending from the second mounting surface 340 toward the movement base 371. The mounting surface 330, the mounting surface 340 and the base surface 371 are substantially parallel. In one embodiment, hf1+Hf2 < Hb1.

In yet another aspect, the first boss 331 and the second boss 341 are respectively located at two sides of the fastening surface 372 and are asymmetric; the first boss 331 and the second boss 341 are respectively located on two sides of the base 371 and are asymmetric.

In yet another aspect, the diameter Cd1 of the shaft hole 32 is the minimum distance L1 between the first boss 331 and the second boss 341, where Cd1 < L1.

Fig. 3 depicts yet another pedestal 30a of the present invention. The reference numerals for the geometric structures in fig. 3 are the same as the corresponding reference numerals in fig. 1-2, meaning that the structures of the same reference numerals are substantially identical. The same reference numerals in the different embodiments hereafter denote substantially identical structures. The base 30a is similar in structure to the base 30, with the main difference being the boss arrangement. Briefly, the base 30a includes a shoulder 31, a shaft hole 32, a motion base 371, a fastening surface 372, a first fixing arm 33, and a second fixing arm 34. The distal end of the first fixed arm 33 of the base 30a includes a first boss 331a extending from the first mounting surface 330 toward the movement base 371; the distal end of the second fixed arm 34 of the base 30a includes a second boss 341a extending from the second mounting surface 340 toward the movement base surface 371. That is, the first boss 331a is substituted for the first boss 331 of the base 30, and the first boss 341a is substituted for the second boss 341 of the base 30, thereby constituting a new base 30a.

In one embodiment, the first boss 331a includes a first stationary cylindrical portion 333a having a cross-sectional diameter Df1 and a first narrow body feature 334a having a cross-sectional width Bf1, where Bf1 < Df1. In an alternative, the first cylindrical fixation portion 333a comprises two oppositely disposed cylindrical surfaces, and the first narrow body feature comprises two oppositely disposed tangential planes, however, it may comprise only one tangential plane or a shaped cut-out surface, forming a shaped cylinder 331a (or shaped prism 331 a) comprising a partial cylinder and a partial narrow body. In one implementation, the second boss 341a includes a second stationary cylindrical portion 343a having a cross-sectional diameter Df2 and a second narrow body feature 344a having a cross-sectional width Bf2, where Bf 2< Df2. In an alternative, the second cylindrical fixation portion 343a comprises two oppositely disposed cylindrical surfaces and the second narrow body feature 344a comprises two oppositely disposed tangential planes, but may also comprise one tangential plane or a shaped cut-out surface, forming a shaped cylinder 341a (or shaped prism 341 a) comprising a partial cylinder and a partial narrow body.

In a preferred embodiment, the narrow body feature 334a forms an angle Ap1 with the engagement surface 372, and the narrow body feature 344a forms an angle Ap2 with the engagement surface 372, and in a specific embodiment, the angle Ap1 is equal to or less than 0 and equal to or less than 45 °, and the angle Ap2 is equal to or less than 0 and equal to or less than 45 °.

Fig. 4-5 depict yet another pedestal 30b of the present invention. The base 30b is similar in structure to the base 30, with the primary difference being the boss arrangement. Briefly, the base 30b includes a shoulder 31, a shaft hole 32, a base surface 371, a fastening surface 372, a first fixing arm 33, and a second fixing arm 34. The distal end of the first securing arm 33 of the base 30b includes a first securing aperture 331b recessed inwardly from the first mounting surface 330 toward the securing arm; the distal end of the second fixing arm 34 of the base 30b includes a second fixing hole 341b recessed inward toward the fixing arm from the second mounting surface 340. That is, the first boss 331 of the base 30 is replaced with the first fixing hole 331b, and the second boss 341 of the base 30 is replaced with the second fixing hole 341b, thereby constructing a new base 30b.

Fig. 6 depicts yet another pedestal 30c of the present invention. The base 30c is similar to the base 30 in structure, and is mainly different in the arrangement of the fixing holes. Briefly, the base 30c includes a shoulder 31, a shaft hole 32, a base surface 371, a fastening surface 372, a first fixing arm 33, and a second fixing arm 34. The distal end of the first securing arm 33 of the base 30c includes a first securing aperture 331c recessed inwardly toward the securing arm from the first mounting surface 330; the distal end of the second fixing arm 34 of the base 30c includes a second fixing hole 341c recessed inward toward the fixing arm from the second mounting surface 340. The first fixing hole 331c includes a first cylindrical surface 333c having a diameter Df3 and a first cutout 334c having a width Bf3, and the cutout 334c cuts out a portion of the first fixing hole 331c to form a half-open structure, bf3 < Df3. The second fixing hole 341c includes a second cylindrical surface 343c having a diameter Df4 and a second cutout 344c having a width Bf4, and the cutout 344c cuts out a portion of the second fixing hole 341c to form a half-open structure, bf4 < Df4. That is, the first fixing hole 331b of the base 30b is replaced with the first fixing hole 331c having a cutout, and the second fixing hole 341b of the base 30b is replaced with the second fixing hole 341c having a cutout, thereby constructing a new base 30c.

Fig. 7-8 depict yet another pedestal 30d of the present invention. The base 30d is similar in structure to the base 30, and is mainly different in the arrangement of the fixing holes. Briefly, the base 30d includes a shoulder 31, a shaft hole 32, a base surface 371, a fastening surface 372, a first fixing arm 33, and a second fixing arm 34. The distal end of the first fixed arm 33 of the base 30c includes a first boss 331a extending from the first mounting surface 330 toward the movement base 371; the distal end of the second fixing arm 34 of the base 30c includes a second fixing hole 341b recessed inward toward the fixing arm from the second mounting surface 340. That is, the second boss 341a of the base 30a is replaced with the second fixing hole 341b, thereby constituting a new base 30d.

Fig. 9-10 depict yet another pedestal 30e of the present invention. The base 30e is similar to the base 30 in structure, and is mainly different in the arrangement of the fixing holes. Briefly, the base 30e includes a shoulder 31, a shaft hole 32, a base surface 371, a fastening surface 372, a first fixing arm 33, and a second fixing arm 34. The distal end of the first securing arm 33 of the base 30c includes a first securing aperture 331c recessed inwardly toward the securing arm from the first mounting surface 330; the distal end of the second fixed arm 34 of the base 30c includes a second boss 341 extending from the second mounting surface 340 toward the movement base surface 371. That is, the second fixing hole 341c of the base 30c is replaced with the second boss 341, thereby constituting a new base 30e.

Fig. 11-12 depict yet another base 30f of the present invention, the base 30f being substantially identical in structure to the base 30d, except that the first boss 331a and the second fixed hole 341b of the base 30 are located on both sides of the movement base plane 371, respectively, and are symmetrical in positional relationship (the axes of the first boss 331a and the second fixed hole 341b are coaxial).

Fig. 13-15 depict yet another pedestal 30g of the present invention, the pedestal 30g being similar in construction to the pedestal 30 a. Briefly, the base 30c includes a shoulder 31, a shaft hole 32, a motion base 371, a fastening surface 372, a first fixing arm 33, a second fixing arm 34, a first boss 331a, and a second boss 341a. The base 30g further includes a first stiffening arm 339g of a height Hr1 extending from the shoulder 31 to the vicinity of the first boss 331a and integrally connected to the first fixed arm 33, and a second stiffening arm 349g of a height Hr2 extending from the shoulder 31 to the vicinity of the second boss 341a and integrally connected to the second fixed arm 34. The first reinforcing arm and the second reinforcing arm can improve the deformation rigidity of the first fixing arm and the second fixing arm to a large extent. In one embodiment, the first stiffening arm 339g and the second stiffening arm 349g are each on opposite sides of the engagement surface 372 and are not symmetrical. In a specific scheme, hr1 is less than or equal to 0.5 Hb1, hr2 is less than or equal to 0.5 Hb1, and the arrangement can greatly improve the deformation rigidity of the first fixing arm and the second fixing arm, simplify the manufacturing process of the base 30g and greatly reduce the manufacturing cost of parts.

Fig. 16-17 depict yet another pedestal 30h of the present invention, the pedestal 30h being similar in structure to the pedestal 30 g. In brief, the base 30c includes a shoulder 31, a shaft hole 32, a movement base 371, a fastening surface 372, a first fixing arm 33, and a second fixing arm 34. The distal end of the first fixing arm 33 includes a first prism 331h formed by a first cylindrical surface 332h and a plurality of side planes 333h, and the intersection line of the first cylindrical surface 332h and the plurality of side planes 333h is on the same virtual cylindrical surface. The distal end of the second fixing arm 34 includes a second prism 341h formed by a second cylindrical surface 342h and a plurality of side planes 343h, and the intersecting lines of the second cylindrical surface 342h and the plurality of side planes 343h are on the same virtual cylindrical surface. The base 30g further includes a first stiffening arm 339h of a height Hr1 extending from the shoulder 31 to the vicinity of the first prism 331h and integrally connected to the first fixed arm 33, and a second stiffening arm 349h of a height Hr2 extending from the shoulder 31 to the vicinity of the second boss 341a and integrally connected to the second fixed arm 34. The first reinforcing arm and the second reinforcing arm can improve the deformation rigidity of the first fixing arm and the second fixing arm to a large extent. In one embodiment, the first stiffening arm 339g and the second stiffening arm 349g are each on opposite sides of the engagement surface 372 and are not symmetrical. In a specific scheme, hb1 is larger than Hr1 and larger than 0.5 x Hb1, hb1 is larger than Hr2 and larger than 0.5 x Hb1, the setting can greatly improve the deformation rigidity of the first fixing arm and the second fixing arm, the manufacturing process of the base 30h can be simplified, and the manufacturing cost of parts is greatly reduced. The base 30h is more simplified in manufacturing process than the base 30g, while the first and second arms thereof are more rigid in deformation.

It will be appreciated by those skilled in the art that the bases 30,30b,30c,30d,30e,30f may each be augmented with a first, second, stiffening arm that is the same as or similar to the base 30g, in conjunction with the figures disclosed herein and corresponding descriptions above; the bases 30b,30c may be augmented with first and second stiffening arms that are the same as or similar to the base 30 h; the deformation rigidity of the first and second fixing arms is improved to a large extent without increasing the manufacturing cost of the base.

Fig. 18-20 depict yet another pedestal 30i of the present invention, the pedestal 30i being similar in construction to the pedestal 30 g. In brief, the base 30c includes a shoulder 31, a shaft hole 32, a motion base 371, a fastening surface 372, a first fixing arm 33, a second fixing arm 34, a first boss 331, and a second boss 341. The base 30i further includes a first stiffening arm 339i of a height Hr1 extending from the shoulder 31 to the vicinity of the first boss 331 and integrally connected to the first fixed arm 33, and a second stiffening arm 349i of a height Hr2 extending from the shoulder 31 to the vicinity of the second boss 341 and integrally connected to the second fixed arm 34. The first reinforcing arm and the second reinforcing arm can improve the deformation rigidity of the first fixing arm and the second fixing arm to a large extent.

In one design, the first reinforcement arm 339i includes a first limiting cylindrical portion 337i and the second reinforcement arm 349i includes a second limiting cylindrical portion 347i, the first and second limiting cylindrical portions being of equal diameter to the shaft bore 32 as shown in fig. 19-20, however the diameter of the cylindrical portions 337i,347i may also be smaller than the diameter of the shaft bore 32.

In one embodiment, the first reinforcement arm 339i (the second reinforcement arm 349 i) has a sufficient length so that the first and second fixing arms 33 and 34 have sufficient elasticity and sufficient rigidity, so that the first and second fixing arms do not require additional fixing measures, and only rely on the elastic force of the first and second fixing arms to give sufficient fixing force to the parts mounted between the first and second fixing arms, thereby preventing the fixed object from falling off and preventing the fixing force from being too large so as to hinder the flexible movement of the fixed object. The specific value can be obtained by adopting a finite element method to calculate and test and verify.

The pedestals 30 (30 a,30b,30c,30D,30e,30f,30g,30h,30 i) are manufactured by various methods, such as removing material from a metal bar (e.g., milling chips) or welding a plurality of parts in combination, or using a 3D printing method. In order to greatly reduce the manufacturing cost of the parts for use in disposable devices, it is preferable to manufacture the base by metal powder injection molding (Powder Metal Injection Molding Technology, hereinafter abbreviated as MIM) or metal casting (abbreviated as MC process) or high-strength plastic injection molding (abbreviated as IM process). MIM is a novel powder metallurgy forming technology formed by introducing a modern plastic injection forming technology into the field of powder metallurgy. Briefly, metal powder (e.g., 17-4PH, SUS316, SUS440 stainless steel metal powder, etc.) is first prepared, then the solid powder is uniformly mixed with an organic binder, then the mixture is injected into a mold cavity by an injection molding machine in a heated plasticizing state for solidification molding, then the binder in the molded blank is removed by a chemical or thermal decomposition method, and finally the final product is obtained by sintering densification. The MIM technology is adopted for mass production, so that the requirements on precision and strength are met, and the cost of a single piece can be greatly reduced. Those skilled in the art will appreciate that the mold of the pedestals 30 (30 a,30b,30c,30g,30h,30 i) is less expensive to manufacture and the part production efficiency is relatively higher when manufactured using the MIM process.

Referring to fig. 21-22, a static tube assembly 4 comprises any of the foregoing bases and a hollow tube 40 connected thereto, the hollow tube 40 comprising a tube distal end 41 and a tube proximal end 49 and a tube wall 45 extending therefrom, the tube wall 45 defining a central through bore 46 generally concentric with the shaft bore 32, the tube distal end 41 being connected to the shaft shoulder 31. It will be appreciated by those skilled in the art that the base and the hollow tube 40 may be connected in a variety of ways, including, but not limited to, welding, threading, glue bonding, and the like. As shown in fig. 22, the shoulder 31 preferably further includes a retaining wall 35 extending proximally. The outer surface of the fixed wall 35 may optionally further comprise one or more recessed portions 351 and/or one or more raised portions 353; however, the outer surface of the fixing wall 35 may be a flat surface or a curved surface having a smooth and non-convex structure. In one embodiment, the hollow tube 40 is made of a thermoplastic material, and then the tube distal end 41 of the hollow tube 40 is coated on the outer surface of the fixing wall 35 by glue bonding, interference fit (heating may be used for auxiliary assembly), or two-shot molding (as shown in fig. 22). The secondary injection molding method is to put the base in a designed injection mold in advance and then to inject the hollow tube 40 to be connected into a whole. In yet another embodiment, the hollow tube 40 is made of a metal material (e.g., stainless steel), the tube distal end 41 of the hollow tube 40 is sleeved on the outer surface of the fixed wall 35 and the hollow tube 40 is connected to the fixed wall 35 by extrusion, for example, by applying an extrusion force to the outer periphery of the tube distal end 41 using a punching tool or a hydraulic tool to force the tube distal end 41 to shrink and deform inward to connect to the fixed wall 35.

Referring to fig. 23-24, a movable rod assembly 5 includes a drive head 70 and a drive rod 80 coupled thereto. The drive head 70 comprises a second central axis 71, the virtual first transverse plane 711 and the virtual first longitudinal plane 712 intersecting substantially perpendicularly, the intersection line of which coincides substantially with the second central axis 71. The first translation surface 74 and the second translation surface 75 are substantially parallel to said longitudinal plane 712 and define a driving block 73 of thickness Hd 1. The first drive lug 740 extends by a height Hp1 from said translation surface 74 towards the outside of said block 73; the second drive lug 750 extends from the translation surface 75 to a height Hp2 outside the block 73. The distance between the geometric center of the first driving lug 740 and the central shaft 71 is Ld1, the distance between the geometric center of the second driving lug 750 and the central shaft 71 is Ld2, and Ld1 and Ld2 may be equal or unequal. In one version, the first and second drive lugs 740, 750 are on either side of the longitudinal plane 712 and are asymmetric; the first and second drive lugs 740, 750 are on either side of the transverse plane 711 and are asymmetric. The first translation surface 74 and the second translation surface 75 extend proximally to intersect the drive neck 72, and the tab 740 (or the tab 750) is axially at the shortest distance Ldx1 from the drive neck 72. The drive rod 80 includes a rod distal end 81 and a rod proximal end 89 and a rod portion 85 extending therebetween, the rod proximal end 89 including an annular slot 88 generally perpendicular to the drive rod axis, the rod distal end 81 being connected to the drive neck 72, the axis of the drive rod 80 generally coinciding with the second central axis 71.

Referring to fig. 25 and 29, a working jaw 10 includes a first tail 13 of thickness Hj1 defined by a first outer side 11 and a first inner side 12 at a proximal end thereof. The first base hole 14 is recessed from the first outer side 11 toward the inside of the tail 13, and the first driven groove 15 is recessed from the first inner side 12 toward the inside of the tail 13. The first jaw wrist 16 is integral with the first jaw tail 13 and extends distally to form a first jaw head 19. The first base hole 14 includes a first cylindrical base surface 142 having a diameter Dr1 and a first cutout 141 having a width Br1, and the cutout 141 cuts out a part of the cylindrical base surface 142 to form a half-open structure. In an alternative, br1 < Dr1. The first follower slot 15 includes a first follower slot proximal opening 151 having a width dimension Ss 1. The first driven groove 15 shown in fig. 25 does not penetrate through the first outer side surface 11, but can also completely penetrate through the tail 13; the first base hole 14 shown in fig. 25 extends completely through the tail 13, or does not extend through to the first inner side 12.

Referring to fig. 26 and 29, a working jaw 20 includes a second tail 23 of thickness Hj2 defined by a second outer side 21 and a second inner side 22 at a proximal end thereof. The second base column 24 extends from the second outer side surface 21 to the outside of the jaw tail, and the second driven groove 25 is recessed from the second inner side surface 22 to the inside of the jaw tail 23. The second wrist 26 is integral with the second tail 23 and extends distally to form a second jaw 29.

Referring to FIGS. 27-29, an elongate shaft assembly 2 includes a stationary tube assembly of a base 30d and a hollow tube 40, a movable rod assembly 5, a working jaw 10 and a working jaw 20. Wherein the first and second tails 13, 23 are sandwiched between the first and second fixed arms 33, 34 of the base 30d, the first mounting surface 330 mates with the first outer side 11, and the second mounting surface 340 mates with the second outer side 21. The first boss 331a is matched with the first base hole 14 to form a first rotating pair 100; the second fixing hole 341b is matched with the second base column 24 to constitute the second revolute pair 200.

The drive head 70 is sandwiched between the first and second tails, with the first translating surface 74 mating with the first inner side 12; the second translation surface 75 matches the second inner side 22; the first drive lug 740 mates with the first driven slot 15 to form a first cam pair 700; the second drive lug 750 mates with the second driven groove 25 to form a second cam pair 800 (not shown). The driving head 70 can move in a translational manner along the axial direction, so that the first driving lug 740 and the first driven groove 15 are forced to move relatively to drive the first jaw 10 to rotate around the first rotating pair 100; the second driving lug 750 generates a relative motion with the second driven groove 25 to drive the second jaw 20 to rotate about the second revolute pair 200.

Referring now to fig. 27-29, in yet another embodiment, the elongate shaft assembly 2 includes three states, namely, a limit state, a critical state and an operating state, and the driving head 70 includes a limit displacement Lu1, a critical displacement Le1 and an operating displacement Lw1 (displacement measurement means: the shortest distance between the first driving lug 740 and the first boss 331a along the axial direction). In fig. 27 to 28, the base 30d is subjected to a perspective (virtual) process, which is indicated by a two-dot line, and the structure indicated by a two-dot chain line is indicated hereinafter.

Limit state: lu1 < Ldx1, the first cam pair may be disengaged from each other in a limit state, i.e. the working jaw 10 may rotate about the first rotation pair to completely disengage the first driving lug 740 from the first driven groove 15, and the tail is shaped and dimensioned so as not to interfere with the driving neck 72 during rotation, which is referred to as the limit state.

Critical state: le1 < Lu1, the working jaw is rotatable about the first revolute pair 100 to align the first drive lug 740 with said first driven socket proximal opening 151 a. In this critical state, when the driving head 70 is moved from the proximal end to the distal end, the lug 740 is completely separated from the driven groove 15, i.e., is shifted to the limit state; when the drive head 70 is moved from the distal end to the proximal end, the lugs 740 are engaged with the driven grooves 15 to be converted into an operative state.

Working state: lw1.ltoreq.Le1, the first drive lug 740 enters the first driven groove 15 through the first driven groove proximal opening 151 and mates therewith to form the first cam pair 700. In the working state, when the driving head 70 is moved from the proximal end to the distal end, the first cam pair 700 (the second cam pair 800) slides relatively, so that the working jaw 10 (the working jaw 20) is pushed to rotate around the revolute pair to open or close.

The slender shaft assembly 2 can be quickly disassembled and assembled, and in the assembly and disassembly processes, a small pin shaft or other small scattered parts are not required to be installed or disassembled, so that the assembly and disassembly efficiency can be improved to a large extent, the assembly cost and the finished product rejection rate are greatly reduced, and the overall cost of the disposable instrument is greatly reduced. In the assembly method, the driving head 70 is put in the base 30d, the working jaw 20 is put in, the second driving lug 750 is adjusted to be matched with the second driven groove 25 to form a second cam pair 800, and the second fixed hole 341b is matched with the second base column 24 to form a second revolute pair 200; the drive head is then placed in the limit displacement Lu1, the first narrow body feature 334a is inserted in alignment with the first cutout 141, rotated to mate the first stationary cylindrical portion 333a with the first cylindrical base surface 142 to form the first rotating pair 100, and finally the working jaw 10 is rotated and the drive head 70 is moved to access the first driven socket 15 via the first driven socket proximal opening 151 and mate therewith to form the first cam pair 700. The method of disassembly of the elongate shaft assembly 2 is the reverse of the assembly method described above, as will be readily appreciated by those skilled in the art in view of the figures and will not be described in detail. An additional limiting mechanism can be added to limit the displacement of the driving head 70 to the working displacement Lw1 which is less than or equal to Le1 in the use process of the instrument 1, so that the working jaw is effectively prevented from being separated in the use process. Most simply, the length dimensions of the hollow tube 40 and the driving rod 80 are reasonably set, so that when the slender shaft assembly 2 and the handle assembly are assembled into a whole, the limit of the handle assembly ensures that Lw1 is less than or equal to Le1. Other stop mechanisms are also conceivable by those skilled in the art after understanding the concepts of the present invention.

Yet another elongate shaft assembly 2a (not shown) includes a base 30e, a drive head 70, a working jaw 10a and a working jaw 20a. Fig. 30 depicts yet another working jaw 20a, which working jaw 20a is similar in construction to working jaw 20, except for the arrangement of a base post and a driven groove, in brief, the second tail 23 of working jaw 20a includes a second base post 24a extending outwardly of the tail from a second outer side 21 and a second driven groove 25a recessed inwardly of the tail from a second inner side 22. The second base column 24a includes a second cylindrical base 242a having a diameter Dr4 and a second narrow body feature 241a having a width Br4, with Br4 < Dr4. The second follower slot 25a includes a second follower slot proximal opening 251a. Yet another working jaw 10a (not shown) is similar to the working jaw 10, except for the arrangement of the base aperture and the driven slot, and briefly the first base aperture 14a of the working jaw 10a does not comprise a first cut-out and the first driven slot 15a of the working jaw 10a does not comprise a driven slot proximal opening.

The elongate shaft assembly 2a likewise includes extreme, critical and operating conditions. The assembly and disassembly are also quick, and the fine pin shafts or other fine scattered parts are not required to be assembled or disassembled in the assembly and disassembly processes. Briefly, the drive head 70 is first placed in the base 30e, the working jaw 10 is first installed, and the first cam pair 700a is formed by matching the first drive lug 740 with the first driven groove 15a and the first boss 331 is formed by matching the first base hole 14a with the first rotating pair 100a; the drive head is then placed in extreme displacement, the second narrow body feature 241a is then inserted into the second cutout 344c, rotated to mate the second cylindrical body 242a with the second cylindrical surface 343c to form the second revolute pair 200a, and finally the working jaw 20 is rotated and the drive head 70 is moved to mate the second drive lug 750 into the second driven slot 25 via the second driven slot proximal opening 251a to form the second cam pair 800a. The method of disassembly of the elongate shaft assembly 2a is the reverse of the assembly method described above, and will be readily understood by those skilled in the art in conjunction with the figures and text and will not be described in detail.

It will be appreciated by those skilled in the art that different designs may be created by substituting or combining different first (second) bosses, first (second) base holes, first (second) base posts, first (second) securing holes, first (second) cutouts, and first (second) narrow body features. For example, the first rotating pair may be constituted by the first boss and the first base hole, or may be constituted by the first fixing hole and the first base post. The foregoing embodiments have enumerated several combinations, and based on the foregoing description, one skilled in the art should understand that the following general language sets forth one of the inventive concepts:

In general terms, the first revolute pair comprises a first outboard pair (e.g. a fixed aperture on the fixed arm or a base aperture on the tail of the jaw) and a first inboard pair (e.g. a boss on the fixed arm or a base post on the tail of the jaw), and similarly the second revolute pair comprises a second outboard pair and a second inboard pair. In one aspect, the first outer pair comprises a partial cylindrical fixation surface and a cutout feature, the first inner pair comprises a partial cylindrical body and a narrow body feature, the partial cylindrical fixation surface and the partial cylindrical body form a first rotating pair, the first rotating pair is detachable when the first rotating pair rotates to align the narrow body feature and the cutout feature, and the first rotating pair can be rotationally detached. When the first revolute pair can be rotationally disassembled, the second revolute pair does not need to comprise a narrow body feature and a notch feature, and can still be conveniently disassembled. Of course, the second revolute pair may also similarly comprise a narrow body feature and a notch feature. Different combinations may vary the assembly method of the components or the refined performance differences, and more different technical feature combinations and alternatives are also conceivable. For economy of space, this is not exhaustive.

After understanding the above inventive concept, one skilled in the art should readily understand the function (benefit) of the base of the present invention. The base is used for connecting (mounting) the first jaw and the second jaw. The pedestals 30a (30 d,30 f) comprise a first boss comprising a first stationary cylindrical portion having a cross-sectional diameter Df1 and a first narrow body feature having a cross-sectional width Bf1, where Bf1 < Df1. The first cylindrical portion is configured to couple to the first jaw to form a first revolute pair, and the first narrow body feature enables the first jaw to be rotatably mounted in the base at a particular angle to form the first revolute pair with the first boss, while the first jaw is rotatable at a particular angle to disengage the first revolute pair.

In a preferred scheme, an included angle Ap1 is formed between the first narrow body feature and the buckling surface, wherein Ap1 is more than or equal to 0 and less than or equal to 45 degrees, and in the process that the first jaw rotates to any angle in operation, the dynamic matching area (dynamic contact area) of the first rotating pair can be increased, so that matching is tighter and smoother, and more accurate feedback information is given to an operator in clinical application.

The base 30c (30 e) includes a first fixing hole including a first cylindrical surface having a diameter Df3 and a first cutout having a width Bf3, wherein Bf3 < Df3. Also, the first cylindrical surface is used for connecting the first jaw to form a first rotating pair, the first notch enables the first jaw to be rotatably assembled into the base at a certain specific angle to form the first rotating pair with the first fixing hole, and meanwhile the first jaw can be rotatably disassembled at a certain specific angle to enable the first rotating pair to be separated. When the first revolute pair can be rotationally assembled or disassembled, the second revolute pair does not need to comprise a narrow body feature and a notch feature, and can still be conveniently disassembled.

As will be appreciated in light of the foregoing, the geometry of the aforementioned pedestals 30a (30 d,30e,30 f) participate in the first inboard pair or the first outboard pair that comprise the first rotating pair. The first outer side pair comprises a part cylinder fixing surface and a notch feature, the first inner side pair comprises a part cylinder and a narrow body feature, the part cylinder fixing surface and the part cylinder form a first rotating pair, when the first rotating pair rotates to align the narrow body feature and the notch feature, the first rotating pair can be separated, and the first rotating pair can be rotationally detached. When the first revolute pair can be rotationally disassembled, the second revolute pair does not need to comprise a narrow body feature and a notch feature, and can still be conveniently disassembled. When the base 30a (30 d,30e,30 f) is used to construct a surgical instrument (either a head assembly or an elongate shaft assembly of a surgical instrument), it is quickly disassembled and assembled without the need to install or disassemble small pins or other small loose parts during assembly and disassembly. Therefore, the problem that the riveting of the joint pin is usually completed by manually repairing the joint pin for many times by a high-grade technician with abundant experience, and is verified and confirmed for many times, which greatly increases the manufacturing cost of the instrument, improves the consistency of disposable products and greatly reduces the manufacturing cost is solved.

It should be appreciated by those skilled in the art that the pedestals 30a (30 d,30 f) are relatively less expensive to manufacture than the pedestals 30c (30 e), but the pedestals 30a (30 d,30 f) are stronger and the dynamic mating area (dynamic contact area) of the first rotating pair is larger and the use experience is better given the same size.

Fig. 31-34 depict yet another elongate shaft assembly 2b of the present invention. The elongate shaft assembly 2b includes a first jaw 10b, a second jaw 20b, a base 30g, and a hollow tube 40 and a movable rod assembly 5 coupled thereto.

Fig. 31-32 depict in detail the structure and composition of the first jaw 10b and the second jaw 20 b. The first jaw 10b (second jaw 20 b) is similar in construction to the working jaw 10 (working jaw 20) described above, with the primary differences being in the arrangement of the wrist, base aperture and driven slot. Briefly, the first jaw 10b includes a first outer side 11, a first inner side 12, a first tail 13, a first wrist 16 and a first jaw head 19. The first base hole 14b is recessed from the first outer side surface 11 toward the inside of the tail 13, and the first driven groove 15b is recessed from the first inner side surface 12 toward the inside of the tail 13. The first base hole 14b includes a first cylindrical base surface 142b having a diameter Dr1 and a first cutout 141b having a width Br1, and the cutout 141b cuts out a part of the cylindrical base surface 142b to form a half-open structure. The first driven groove 15b includes a first driven groove distal end 159b and generally parallel groove sides extending from the groove distal end to a first driven groove proximal end 151 b. The slot proximal end 151b, slot sides and slot distal end 159b form a closed racetrack annular groove. Although the slot sides are shown as straight sides, curved sides may be used. The first jaw wrist 16b includes a first support surface 17b.

The second jaw 20b includes a second outer side 21, a second inner side 22, a second tail 23, a second wrist 26, and a second jaw head 29. The second base hole 24b is recessed from the second outer side surface 21 toward the inside of the tail 23, and the second driven groove 25b is recessed from the second inner side surface 22 toward the inside of the tail 23. The second base hole 24b includes a second cylindrical base surface 242b having a diameter Dr2 and a second cutout 241b having a width Br2, and the cutout 241b cuts out a portion of the cylindrical base surface 242b to form a half-open structure. The second driven groove 25b includes a second driven groove distal end 259b and generally parallel groove sides extending from the groove distal end to the second driven groove proximal end 251 b. The slot proximal end 251b, slot side and slot distal end 259b form a closed racetrack annular groove. The second jaw wrist 26b includes a second support surface 27b.

Referring now to fig. 33-34, the first jaw 10b, the second jaw 20b is sandwiched between the first and second fixed arms 33, 34 of the base 30 g; wherein the first outer side 11 mates with the first mounting surface 330, the second outer side 21 mates with the second mounting surface 340, the first support surface 17b mates with the second inner side 22, and the second support surface 27b mates with the first inner side 12; the first boss 331a and the first base hole 14b constitute a first revolute pair 100b, and the second boss 341a and the second base hole 24b constitute a second revolute pair 200b.

The driving head 70 is clamped between the first jaw tail 13b and the second jaw tail 23b, the first inner side surface 12d and the second inner side surface 22d, and the first driven chute 15b and the first driving lug 740 form a first cam pair 700b; the second follower chute 25b and the second drive lug 750 constitute a second cam pair 800b. The movement and driving relationship thereof will be readily understood by those skilled in the art in view of the foregoing. Briefly, as the drive head 70 moves along the axis, the first cam pair 700b produces a relative sliding motion, causing the first jaw 10b to rotate about the first pivot pair 100b to open or close. The interaction between the drive head 70 and the second jaw 20b is similar and will not be described in detail.

The elongate shaft assembly 2b is quickly disassembled and assembled, and no small pins or other small loose parts are required to be mounted or dismounted during the assembly and disassembly process. The assembly method and steps of the slender shaft assembly 2b are as follows:

S1, the first jaw, the second jaw and the movable bar assembly 5 cooperate: inserting first drive lug 740 into first driven slot 15b to form first cam pair 700b, inserting second drive lug 750 into second driven slot 25b to form second cam pair 800b, rotating the first and second jaws to mate first translation surface 74 with first inner side 12 and second translation surface 75 with second inner side 22;

s2, matching with the base: loading the assembly assembled in step S1 together into the base 30g, first mating the first exterior side 11 with the first mounting surface 330 and the second exterior side 21 with the second mounting surface 340, and aligning the first narrow body feature 334a with the first cutout 141b and the second narrow body feature 344a with the second cutout 241b; the first and second jaws are then translated and rotated such that the first cylindrical base surface 142b mates with the first stationary cylindrical portion 333a to form a first revolute pair 100b and the second cylindrical base surface 242b mates with the second stationary cylindrical portion 343a to form a second revolute pair 200b (as will be appreciated with reference to FIGS. 33-34).

In one particular design, the shortest distance between the geometric centroid of the distal slot end 159b and the center of the first base aperture 14b along the engagement plane is Lj1, where Lj1 is greater than or equal to Ld1. Similarly, in the elongate shaft assembly 2b, the drive head 70 includes three states of a limit state, a critical state and an operating state, and the drive head 70 includes a limit displacement Lu2 (when the first narrow body feature 334a is completely disengaged from the first notch 141 b), a critical displacement Le2 (when the first narrow body feature 334a is aligned with the first notch 141 b) and an operating displacement Lw2 (when the first cylindrical base surface 142b is matched with the first fixed cylindrical portion 333a to form the first rotating pair 100 b). The elongate shaft assembly 2b is also quickly removable and assembled, and requires no small pins or other small loose parts to be installed or removed during assembly and removal. The first and second cam sets are formed by closed racetrack annular grooves relative to the elongate shaft assembly 2 (2 a) described above, which enhances the strength of the tail and helps to reduce sharp corners on the exterior of the instrument and reduce accidental injury to clinical use.

In yet another aspect of the invention, an elongate shaft assembly includes a first jaw, a second jaw, and a base. The base comprises a shaft shoulder, a first fixing arm and a second fixing arm, wherein the first fixing arm and the second fixing arm extend to the far end, the shaft hole penetrates through the shaft shoulder, the movement base surface and the buckling surface are approximately perpendicularly intersected, and the intersection line of the movement base surface and the first central shaft of the shaft hole is basically coincident. The first jaw comprises a first tail and the second jaw comprises a second tail; the first and second jaw tails are sandwiched between the first and second fixed arms and are in free contact without additional pin fixation or additional fixation measures.

In an alternative embodiment, the first and second tails are sandwiched between first and second fixed arms, wherein the first tail and the first fixed arm form a first under-constrained revolute pair and the second tail and the second fixed arm form a second under-constrained revolute pair.

In a specific embodiment, the first under-constrained revolute pair comprises a first outer cylindrical surface and a first inner cylindrical surface; the first rotation axis of the first underconstrained revolute pair is approximately parallel to the buckling surface and approximately perpendicular to the movement base surface; the first outer cylinder and the first inner cylinder comprise 2 degrees of freedom, namely a rotational degree of freedom about the first rotational axis and a translational degree of freedom along the first rotational axis. Similarly, in a specific embodiment, the second under-constrained revolute pair comprises a second outer cylindrical surface and a second inner cylindrical surface; the second rotation axis of the second under-constrained revolute pair is approximately parallel to the buckling surface and approximately perpendicular to the movement base surface; the second outer cylinder and the second inner cylinder comprise 2 degrees of freedom, namely a rotational degree of freedom about the second rotational axis and a translational degree of freedom along the second rotational axis.

In the mechanics of the linkage, two members constituting the revolute pair (i.e., the fixed arm and the tail of the jaw described in the present invention) are usually studied as rigid bodies, and the two members constituting the revolute pair only allow rotational degrees of freedom about the rotational axis of the revolute pair without other degrees of freedom. The large number of standard revolute pairs used in minimally invasive surgical instruments has resulted in the background "staking of the joint pins" typically requiring multiple manual repairs by experienced advanced technicians and multiple verifications and confirmations, which greatly increases the manufacturing cost of the instrument.

In the invention, two members (the fixed arm and the jaw tail) forming the revolute pair are used as elastic bodies to study, the revolute pair is allowed to contain 2 degrees of freedom, and the first jaw tail and the second jaw tail are clamped between the first fixed arm and the second fixed arm and are in free contact without additional pin shaft fixing or additional fixing measures by utilizing the elastic deformation of the fixed arm and the stress characteristics in the operation of the minimally invasive surgical instrument. By utilizing the self-adaptive capacity of elastic deformation of the fixed arm, the first (second) under-constrained revolute pair can be ensured to be capable of not only enabling the firm connection part to fall off but also enabling the first (second) under-constrained revolute pair to smoothly rotate.

In a specific design, the first jaw, the second jaw, the driving head and the base satisfy the following relationship:

Hj1+Hj2+Hd1+δ1＝Hb1；

31-34, In yet another specific design, the first wrist 16b has dimensions that satisfy the following relationship: hw1+hj2+δ2=h1, wherein: hw1 is the thickness dimension of the first jaw 16b, hj2 is the thickness of the second jaw tail 23b, δ2 is the machining error, and Hb1 is the spacing between the first and second fixed arms of the base.

31-34, In yet another specific design, the second wrist 26b has dimensions that satisfy the following relationship: hw2+hj1+δ3=h1, wherein: hw2 is the thickness dimension of the second wrist 26b, hj1 is the thickness of the first tail 13b, delta is the machining error, and Hb1 is the spacing between the first and second fixed arms of the base.

34-36, In yet another specific design, the working angle Awork of the elongate shaft assembly 2b, typically 0 ° -Awork ° -80 °, the first wrist 16b (first wrist 26 b) is configured such that, within the working angle Awork of the elongate shaft assembly 2b, the first support surface 17b is in constant contact with the second inner side 22, the second support surface 27b is in constant contact with the first inner side 12, and the first wrist 16b (second wrist 26) is configured such that it avoids the axial movement path of the drive head 70, i.e., the first wrist 16b (second wrist 26) and the drive head 70 do not interfere with each other during operation of the elongate shaft assembly 2 b. The reasonable arrangement of the first jaw wrist and the second jaw wrist is beneficial to increasing the dynamic fit area (dynamic contact area) between the first jaw and the second jaw during rotation to any angle during operation, so that the movement play or swing of the first jaw and the second jaw during operation is reduced, the fit is tighter and stable, and more accurate feedback information is given to an operator in clinical application.

The beneficial effects of the base 30g (30 h,30 i) will be readily appreciated by those skilled in the art upon understanding that the present invention pertains to "quick disassembly and assembly, and that no small pins or other small loose parts need to be installed or removed during assembly and disassembly". The first reinforcing arm with the height Hr1 of the base 30g (30 h) can greatly improve the deformation rigidity of the first fixing arm, and when the part of the part base 30g (30 h) is manufactured, the first reinforcing arm is beneficial to improving the processing deformation resistance; when the base 30g (30 h) is used to construct a surgical instrument (head assembly or elongate shaft assembly of a surgical instrument), the instrument can be quickly disassembled and assembled without the need to install or disassemble small pins or other small loose parts during assembly and disassembly, and the first reinforcing arm increases the deformation stiffness of the first fixing arm so that the fixing is firmer and the deformation in application is smaller, the instrument movement is smoother and more accurate, and more accurate feedback information is given to the surgeon in clinical application. When Hr1 is less than or equal to 0.5 Hb1, the arrangement can greatly simplify the die design and the subsequent processing technology of the MIM manufacturing method of the base 30g, and greatly reduce the manufacturing cost of parts.

Fig. 37-41 depict yet another elongate shaft assembly 2c of the present invention. The elongate shaft assembly 2c includes a first jaw 10c, a second jaw 20c, a base 30i and a hollow tube 40 and a movable rod assembly 5 coupled thereto.

For ease of viewing, the base 30i is hidden in fig. 37 and is understood in conjunction with fig. 18 and 38. The first jaw 10c includes a first wrist 16c and a first tail 13c extending proximally and a first head 19c extending distally, the distal end of the first tail including a first base aperture 14c and the proximal end including a first driven slot 15c. The first jaw 19c includes a first curved blade 191c and a first blade 195c. The second jaw 20c includes a second wrist 26c and a second tail 23c extending proximally and a second head 29c extending distally, the distal end of the second tail including a second base aperture 24c and the proximal end including a second driven slot 25c. The second jaw 29c includes a second curved blade 291c and a second blade 295c.

The first jaw 10c and the second jaw 20c are sandwiched between the first fixed arm 33 and the second fixed arm 34 of the base 30 i; the first edge 195c and jaw second edge 295c are in contact; the first boss 331 and the first base hole 14c constitute a first revolute pair 100c, and the second boss 341 and the second base hole 24c constitute a second revolute pair 200c. The drive head 70 is sandwiched between the first tail 13b and the second tail 23b, and the first driven groove 15c and the first drive lug 740 form a first cam pair 700c; the second driven groove 25c and the second driving lug 750 constitute a second cam pair 800c. The movement and driving relationship thereof will be readily understood by those skilled in the art in view of the foregoing. Briefly, as the drive head 70 moves along the axis, the first cam pair 700c slides relatively, causing the first jaw 10c to rotate about the first pivot pair 100c to open or close; the second cam gear 800c slides relatively to open or close the second jaw 20c by rotating about the second revolute gear 200 c; thereby driving the first blade 195c and the jaw second blade 295c to slide relative to each other to perform a shearing function.

38-39, In combination with the foregoing, the first boss 331 and the first base bore 14c form a first under-constrained revolute pair 100c, and the second boss 341 and the second base bore 24c form a second under-constrained revolute pair 200c. The first and second under-constrained revolute pairs have translational degrees of freedom along the rotational axis of the revolute pair, such that when the scissor tips of an elongate shaft assembly 2c are sheared, the first and second fixed arms are elastically deformable and adaptively adjustable, thereby achieving a sharp and light operating (shearing) experience.

The first reinforcement arm 339i (the second reinforcement arm 349 i) of the base 30i has a sufficient length so that the first and second fixing arms 33 and 34 have sufficient elasticity and sufficient rigidity, so that the first and second fixing arms do not require additional fixing measures, and only rely on the elasticity of the first and second fixing arms themselves to give sufficient fixing force to the parts installed between the first and second fixing arms, thereby achieving both preventing the object to be fixed from falling off and preventing the fixing force from being too large to hinder flexible movement of the object to be fixed. The value of the length of the first reinforcing arm and the second reinforcing arm is influenced by various factors such as material types, material hardness, geometric structures, design interference magnitude and the like, and can be obtained by adopting a finite element method for calculation and experimental verification.

It should be readily apparent to those skilled in the art that the foregoing base may be used in the field of endoscopic surgical instruments, fiberoptic surgical instruments, microsurgical instruments, and the like. The types of instruments can be divided into bending separation forceps, bending scissors, cholecyst forceps, fine tooth forceps, stomach forceps, intestine forceps, crocodile forceps and the like according to different forms and functions, and the existing instruments are slightly adaptively modified, so that any base of the invention can be used for being compatible with various forceps heads or scissors blades, and the cost is greatly increased. Preferably, the base manufactured by the MIM process is standardized and can be sold to different factories for common use, so that the part cost and the assembly cost of the instrument are reduced to a greater extent, and the rapid development of minimally invasive surgery is promoted.

In another aspect, the invention provides a hand-held instrument for minimally invasive surgery comprising any of the foregoing elongate shaft assemblies, and further comprising a rotatable wheel 3 coupled to the elongate shaft assembly, a first handle 4 and a second handle 5. As shown in fig. 41-42, in one implementation, the hand-held instrument 1 comprises any of the foregoing elongate shaft assemblies, the elongate shaft assemblies are simultaneously connected to the rotating wheel 3 and the first handle 4, the proximal rod end 89 is connected to the second handle 5, and the first handle 4 and the second handle 5 are mutually matched and can rotate around the handle rotation shaft, so that the driving rod 80 and the hollow tube 40 generate axial relative motion, and further force the driving head to move axially, and further generate relative sliding in the first cam pair (the second cam pair), and further drive the first jaw (the second jaw) to rotate around the first rotating pair (the second rotating pair), so as to realize opening and closing actions of the first jaw and the second jaw. In yet another design, the apparatus 1 further comprises an insulating tube wrapped around the hollow tube 40, the metal electrode is in communication with the hollow tube or the driving rod via a conductive reed, and the apparatus 1 can be used for surgical electrocoagulation, electroincision, etc. operations when the metal electrode assembly is connected to a high frequency electrosurgical device. The hollow tube 40 and drive rod 80 may be implemented using flexible materials or flexible mechanisms, and the rod assembly of the elongate shaft assembly may exhibit overall flexibility, and the instrument may be used for single hole transumbilical procedures, urological procedures, bronchial procedures, or digestive system procedures.

U.S. patent nos. 5489290, 5947996, 6340365, 7931667, 8551077, 8926599, etc. disclose various quick attachment and detachment mechanisms for an elongate shaft assembly to a handle, which are slightly adaptable and can be used for the connection between the elongate shaft assembly and the handle of the present invention. The prior art to date has disclosed a wide variety of handle assemblies for minimally invasive procedures, with slight adaptations that can be used to attach and drive the elongate shaft assembly of the present invention, and will not be described in detail. Many different embodiments and examples of the invention have been shown and described. One of ordinary skill in the art will be able to make adaptations to the method and apparatus by appropriate modifications without departing from the scope of the invention. Several modifications have been mentioned, and other modifications are conceivable to the person skilled in the art. The scope of the present invention should therefore be determined with reference to the appended claims, rather than with reference to the structures, materials, or acts illustrated and described in the specification and drawings.

Claims

1. A mounting base for a surgical instrument comprising a shoulder and first and second fixed arms extending to a distal end, characterized in that: the shaft hole penetrates through the shaft shoulder, the movement base surface and the buckling surface are approximately perpendicularly intersected, and the intersection line of the movement base surface and the first central shaft of the shaft hole are basically coincident; the distal end of the first fixing arm comprises a first boss extending from the first mounting surface towards the movement base surface or a first fixing hole recessed from the first mounting surface towards the inside of the fixing arm; the distal end of the second fixing arm comprises a second boss extending from the second mounting surface towards the movement base surface or a second fixing hole recessed from the second mounting surface towards the inside of the fixing arm; the first boss or the first fixing hole is used for installing a first jaw and forms a first rotating pair which can be quickly disassembled with the first jaw; the second boss or the second fixing hole is used for installing the second jaw and forming a second rotating pair capable of being quickly disassembled with the second boss or the second fixing hole, and no extra parts are generated in the process of disassembling and reassembling the first rotating pair and the second rotating pair.

2. The susceptor of claim 1, wherein said first boss comprises a first stationary cylindrical portion having a cross-sectional diameter Df1 and a first narrow body feature having a cross-sectional width Bf1, wherein Bf1 < Df1; the first fixed cylindrical part is used for connecting the first jaw to form a first rotating pair.

3. The base of claim 2, wherein the first narrow body feature forms an angle Ap1 with the snap face of 0.ltoreq.ap1.ltoreq.45 °.

4. The susceptor of claim 1, wherein said susceptor comprises both a first boss and a second boss, an extension height Hf1 of the first boss, an extension height Hf2 of the second boss, and a spacing Hb1 between the first and second fixed arms, wherein Hf1 < 0.5 x hb1, hf2 < 0.5 x hb1.

5. The base of claim 1, wherein the first securing hole comprises a first cylindrical surface having a diameter Df3 and a first cutout having a width Bf3, wherein Bf3 < Df3; the first cylindrical surface is used for connecting the first jaw to form a first rotating pair.

6. The susceptor of claim 5, wherein the shaft bore has a diameter Cd1, and a minimum distance L1 between the first boss and the second boss, wherein Cd1 < L1.

7. The base of claim 1 further comprising a first reinforcing arm of height Hr1 extending from the shoulder to the vicinity of the first boss and integral with the first securing arm, and a second reinforcing arm of height Hr2 extending from the shoulder to the vicinity of the second boss and integral with the second securing arm; and a distance Hb1 between the first fixed arm and the second fixed arm, wherein Hr1 is less than or equal to 0.5 Hb1, and Hr2 is less than or equal to 0.5 Hb1.

8. The base of claim 7, wherein the first reinforcing arm and the second reinforcing arm have a proper length such that the first fixing arm and the second fixing arm have sufficient elasticity and sufficient rigidity, and the first fixing arm and the second fixing arm do not require additional fixing measures, and only rely on the first fixing arm, the elastic force of the second fixing arm itself gives sufficient fixing force to the part installed between the first fixing arm and the second fixing arm, thereby achieving both preventing the object to be fixed from falling off and preventing the fixing force from being too large to hinder flexible movement of the object to be fixed.

9. An elongate shaft assembly for a surgical instrument comprising a base as claimed in any one of claims 7 to 8 and first jaw, second jaw and drive head matched thereto; the first jaw comprises a first jaw tail and a first jaw wrist connected thereto; the second jaw comprises a second jaw tail and a second jaw wrist connected thereto; the first jaw tail and the second jaw tail are clamped between the first fixed arm and the second fixed arm, the first jaw tail and the first fixed arm form a first rotating pair, and the second jaw tail and the second fixed arm form a second rotating pair; the driving head is clamped between the first jaw tail and the second jaw tail, the driving head and the first jaw tail form a first cam pair, and the driving head and the second jaw tail form a second cam pair; the driving head can translate along the central shaft direction, and drives the first cam pair to slide relatively so as to force the first rotating pair to rotate relatively, and drives the second cam pair to slide relatively so as to force the second rotating pair to rotate relatively.

10. The elongate shaft assembly of claim 9 wherein said first pair of rotation are disengageable from each other when said first jaw is rotated to a particular angle, thereby allowing said elongate shaft assembly to be quickly disassembled and assembled without requiring the installation or removal of a small pin during assembly and disassembly.