CN112438779A

CN112438779A - Control device

Info

Publication number: CN112438779A
Application number: CN201910813745.2A
Authority: CN
Inventors: 任洪亮; 肖霄; 李长胜
Original assignee: Nus (suzhou) Research Institute; National University of Singapore
Current assignee: Nus (suzhou) Research Institute; National University of Singapore
Priority date: 2019-08-30
Filing date: 2019-08-30
Publication date: 2021-03-05
Also published as: WO2021037044A1

Abstract

The invention discloses a control device which can be used for surgical instruments. The control device comprises a body, a transmission member movably penetrating through the body, an execution member fixed at the first end of the transmission member, and a control member fixed at the second end of the transmission member. The first end of the transmission piece extends from the first end of the body to the outside of the body, and the second end of the transmission piece extends from the second end of the body to the outside of the body. The displacement of the control piece relative to the body drives the transmission piece to displace relative to the body, and the displacement of the transmission piece relative to the body then drives the execution piece to displace relative to the body, so that the control of the spacing distance of the surgical instrument clamp connected to the execution piece is realized.

Description

Control device

Technical Field

The invention relates to a manipulation device, in particular to a manipulation device for minimally invasive surgery.

Background

Surgical forceps belong to surgical instruments and are commonly used in endoscopic surgery. In the traditional endoscopic surgical forceps, functional units such as knives, scissors, forceps and needles and threads are fixed at the tail end of a rigid straight rod and are operated through a handheld part at the other end, and generally only one degree of freedom of movement is realized, namely the opening and closing of the functional units. Because the tail end of the straight rod connected with the functional unit is rigid, the local degree of freedom of the tail end of the surgical clamp is very limited, and the operation flexibility is greatly reduced. In order to improve the operation freedom degree of the surgical forceps, researchers provide the multi-freedom surgical forceps matched with a robot minimally invasive surgery, and the surgical forceps increase the freedom degree of movement by increasing a movable joint at the tail end. However, the more degrees of freedom, the more movable joints, so that the overall size and the control difficulty are greatly increased. Meanwhile, in order to ensure the operation accuracy of the forceps, the forceps need to be replaced periodically, which increases the operation cost. For example, the diameter of the surgical arm of the DaVinci surgical robot is 5 mm/8 mm, and the number of times of use of each surgical arm is limited to 10. For neurosurgery and pediatric surgery, the size of the forceps is generally required to be as small as possible while ensuring the operation flexibility due to the limited operation space.

Therefore, there is a need for a manipulation device for use in minimally invasive surgery that is simple in construction and flexible in manipulation.

Disclosure of Invention

According to one aspect, the present invention provides a manipulation device comprising: the body, movably wear to locate the driving medium of body, be fixed in the executive component of driving medium first end, and be fixed in the control of driving medium second end. The first end of the transmission piece extends from the first end of the body to the outside of the body, and the second end of the transmission piece extends from the second end of the body to the outside of the body. The displacement of the control piece relative to the body drives the transmission piece to displace relative to the body, and the displacement of the transmission piece relative to the body drives the execution piece to displace relative to the body.

According to a preferred version, the body has a passage extending in the longitudinal direction between a first end and a second end of the body, the drive member being movably disposed through the passage.

According to a preferable scheme, the channels comprise a first channel, a second channel, a third channel and a fourth channel which are mutually independent, the transmission pieces comprise a first transmission piece, a second transmission piece, a third transmission piece and a fourth transmission piece, and the first transmission piece, the second transmission piece, the third transmission piece and the fourth transmission piece are respectively and movably arranged in the first channel, the second channel, the third channel and the fourth channel in a penetrating mode.

According to a preferable scheme, the channel comprises a first opening positioned at the first end of the body, a second opening positioned at the second end of the body, and a middle section positioned between the first end and the second end, and the transmission pieces comprise a first transmission piece, a second transmission piece, a third transmission piece and a fourth transmission piece which respectively penetrate out of the body from the first opening and the second opening.

According to a preferable scheme, the control device further comprises a first sleeve, a second sleeve, a third sleeve and a fourth sleeve which are fixed on the body, and the first transmission piece, the second transmission piece, the third transmission piece and the fourth transmission piece are respectively and movably arranged on the first sleeve, the second sleeve, the third sleeve and the fourth sleeve in a penetrating mode.

According to a preferred scheme, the first opening is a first transverse left opening, a first side left opening, a first transverse right opening and a first side right opening; the second opening comprises a second transverse left opening, a second lateral left opening, a second transverse right opening and a second lateral right opening; the first transmission piece penetrates out of the body from the first transverse left opening and the second transverse left opening, the second transmission piece penetrates out of the body from the first lateral left opening and the second lateral left opening, the third transmission piece penetrates out of the body from the first transverse right opening and the second transverse right opening, and the fourth transmission piece penetrates out of the body from the first lateral right opening and the second lateral right opening.

According to one alternative, the first opening comprises a first lateral left opening, a first lateral right opening, and a first lateral right opening; the second opening comprises a second transverse left opening, a second lateral left opening, a second transverse right opening and a second lateral right opening; the first transmission piece penetrates out of the body from the first transverse left opening and the second transverse right opening, the second transmission piece penetrates out of the body from the first side left opening and the second side right opening, the third transmission piece penetrates out of the body from the first transverse right opening and the second transverse left opening, and the fourth transmission piece penetrates out of the body from the first side right opening and the second side left opening.

According to a preferable scheme, the control device further comprises a support fixed at the second end of the body, a bracket pivotally connected to the support, and a handle pivotally connected to the bracket, wherein the control member is fixed to the handle.

According to a preferred embodiment, the stand is pivotally connected to the support by a first pivot, and the handle is pivotally connected to the stand by a second pivot, the second pivot being orthogonal to the first pivot.

According to a preferred embodiment, the support has a hollow core, the control element is spaced apart from the body, and the transmission element between the control element and the body passes through the hollow core of the support.

According to a preferred embodiment, the rotation of the support about the first pivot causes at least one of the first, second, third and fourth transmission members to displace along the body.

According to a preferred embodiment, rotation of the handle about the second pivot causes at least one of the first, second, third and fourth transmission members to displace along the body.

According to a preferable scheme, the control device further comprises a sleeve fixed on the body, wherein the transmission piece is movably arranged through the sleeve.

According to a preferred solution, the first end of the body is directed in a first axial direction of the body and the second end of the body is directed in a second axial direction of the body, the second axial direction being opposite to the first axial direction.

According to an alternative, the first end of the body is directed in a first axial direction of the body and the second end of the body is directed in a second axial direction of the body, the second axial direction being the same as the first axial direction.

Drawings

The foregoing summary, as well as the following detailed description of embodiments of the present application, will be better understood when read in conjunction with the appended drawings. For the purpose of illustrating the methods and apparatus of the present application, there is shown in the drawings representative embodiments. It should be understood, however, that the application is not limited to the particular methods and apparatus shown. In the drawings, like reference numbers indicate identical or functionally similar elements throughout the separate views.

Fig. 1 is a perspective view of a manipulation device according to an embodiment of the present invention;

fig. 2 is an enlarged perspective view of a detail 2 of the operating device shown in fig. 1;

fig. 3 is an enlarged perspective view of a detail 3 of the operating device shown in fig. 1;

FIG. 4A is a perspective view, partially in section, of the body of the manipulation device shown in FIG. 1;

FIG. 4B is a bottom partially cut away perspective view of FIG. 4A;

FIG. 5 is a schematic partial cross-sectional view of the body and the transmission member passing through the body of the manipulating device shown in FIG. 4A;

FIG. 6 is a perspective view, partially in section, of the manipulation device shown in FIG. 1;

FIG. 7 is a perspective view of the manipulator and tool portion mounted thereon of FIG. 6;

FIG. 8 is an exploded perspective view of the steering device of FIG. 7;

FIG. 9 is a perspective view of the manipulation device of FIG. 7 in a displaced state;

fig. 10 is a perspective view, partially in section, of the body portion of a manipulation device according to an alternative embodiment;

FIG. 11 is a perspective view, partially in section, of the body of FIG. 10 and a transmission mounted thereto;

FIG. 12 is a perspective view of the manipulating device according to the present invention, showing the displacement of the components of the body and the transmission member shown in FIG. 10;

fig. 13 is a perspective view of a displacement state of the components of the manipulating device according to another embodiment of the present invention;

FIG. 14 is a partially cut-away exploded perspective view of the body and transmission member of the manipulating device of FIG. 13;

FIG. 15A is a discrete view of a transmission member and sleeve portion of an operating device according to yet another embodiment of the present invention;

FIG. 15B is a partial cross-sectional view of the transmission member and sleeve of the manipulating device shown in FIG. 15A;

FIG. 16A is a partially cut-away perspective view of the transmission member and sleeve of the manipulation device of FIG. 15A mounted to a body according to one aspect;

FIG. 16B is a perspective view, partially in section, of the transmission member and sleeve of the manipulation device of FIG. 15A mounted to the body according to an alternative;

fig. 17A is a perspective view of a manipulation device according to yet another embodiment of the present invention;

FIG. 17B is an enlarged perspective view of a portion 18 of the manipulation device shown in FIG. 17A;

FIG. 17C is an exploded perspective view of the manipulation device illustrated in FIG. 17A;

FIG. 18 is a perspective view, partially in section, of the operative portion of the manipulation device illustrated in FIG. 17A;

FIG. 19 is an exploded perspective view of the operative portion of the manipulating device shown in FIG. 18;

FIG. 20 is a static partial cross-sectional view of the effector and tool portion of the manipulator of FIG. 17A prior to changing orientation;

FIG. 21 is a schematic perspective view of the manipulator actuator and tool portion of FIG. 20 shown after being reoriented in a first direction;

FIG. 22 is a schematic perspective view of the manipulator actuator and tool portion of FIG. 20 shown after being reoriented in a second direction;

FIG. 23 is a schematic view of a control device and its operation according to another embodiment of the present invention;

FIG. 24 is a schematic view of a control device and its operation according to another embodiment of the present invention; and

fig. 25 is a control device and a control diagram thereof according to another embodiment of the invention.

Detailed description of the embodiments and examples

Unless otherwise indicated, the lateral direction X, the transverse direction Y, and the longitudinal direction Z referred or referred to herein are directions as shown in the XYZ coordinate system shown in fig. 1, 10, 17A, 18, and 22, wherein the lateral direction X and the transverse direction Y are perpendicular to each other and both are perpendicular to the longitudinal direction Z.

As shown in fig. 1 to 5, according to one embodiment, the manipulating device 100 of the present invention includes a body 110, a control member 120, an actuating member 130, and a transmission member 140 (fig. 4A). The body 110 is an elongated cylinder having a channel 114 extending in the longitudinal direction Z between a first end 112 and a second end 116 of the body 110. The channel 114 has a first opening at the first end 112 of the body 110, for example, four first openings, namely a first lateral left opening 1121, a first lateral left opening 1122, a first lateral right opening 1123, a first lateral right opening 1124, evenly circumferentially distributed along a geometric center parallel to the X-Y plane and about the first end 112; at the second end 116 of the body 110, there are second openings, for example, four second openings circumferentially evenly distributed about a geometric center of the second end 116 along a plane parallel to the X-Y plane, namely a second lateral left opening 1161, a second lateral left opening 1162, a second lateral right opening 1163, and a second lateral right opening 1164. The transmission member 140 may include a first transmission member 1401, a second transmission member 1402, a third transmission member 1403, and a fourth transmission member 1404. The first to

fourth transmission members

1401, 1402, 1403, 1404 can respectively penetrate out of the body through four

first openings

1121, 1122, 1123, 1124 and four

second openings

1161, 1162, 1163, 1164, that is, the first transmission member 1401 penetrates through the body 110 from the first transverse left opening 1121 and the second transverse left opening 1161, the second transmission member 1402 penetrates through the body 110 from the first transverse left opening 1122 and the second transverse left opening 1162, the third transmission member 1403 penetrates through the body 110 from the first transverse right opening 1123 and the second transverse right opening 1163, and the fourth transmission member 1404 penetrates through the body 110 from the first transverse right opening 1124 and the second transverse right opening 1164.

The manipulation device 100 may further comprise a tool portion 190 detachably connected to the effector 140. The tool portion 190 may include at least one or a combination of the following: such as knives, scissors, pliers, and needles and threads. The tool portion may be a surgical instrument, such as surgical clamp 190 shown in fig. 1-3.

As shown in fig. 4A, 4B, and 5, the middle section of the channel 114 between the first end 112 and the second end 116 of the body 110 may be separate channels, such as the four separate channels shown in fig. 4A, i.e., the first channel 1141, the second channel 1142, the third channel 1143, and the fourth channel 1144. The first channel 1141, the second channel 1142, the third channel 1143 and the fourth channel 1144 are parallel to the longitudinal direction Z, and each transmission member 140 is movably disposed through the channel 114. Specifically, the transmission member 140 may include a first transmission member 1401, a second transmission member 1402, a third transmission member 1403 and a fourth transmission member 1404, which are respectively disposed through a first channel 1141, a second channel 1142, a third channel 1143 and a fourth channel 1144, as shown in fig. 5.

Fig. 6 is a perspective view, partially in section, of a manipulation device having the body structure of fig. 4 and 5 in accordance with the present invention. Fig. 7 is a partial cross-sectional, perspective view of the steering device of fig. 6 with the clamp attached. Fig. 8 is an exploded perspective view of fig. 7. Fig. 9 is a perspective view, partially in section, of the steering device of fig. 7 after the jaws have changed orientation.

As shown in fig. 6-8, the control member 120 is located adjacent the first end 112 of the body 110 and the actuating member 130 is located adjacent the second end 116 of the body 110. The control member 120 is spaced apart from the first end 112 of the body by a first gap 125 along the longitudinal direction Z, and the actuator 130 is spaced apart from the second end 116 of the body by a second gap 135 along the longitudinal direction Z. The lengths of the first gap 125 and the second gap 135 may be equal or different. The transmission member 140 is disposed through the channel of the body 110, and two ends of the transmission member 140 are fixed to the actuating member 120 and the control member 130 respectively along the longitudinal direction Z, for example, one side of the control member 120 and/or one side of the actuating member 130 may each include a hole corresponding to one of the transmission members 140 for receiving and fixing the transmission member 140.

As shown in fig. 9, the displacement of the control member 120 relative to the body 110 drives the one or more transmission members 140 to displace relative to the body 110, and then drives the actuating member 130 and the tool portion 190 connected to the actuating member 130 to displace relative to the body 110. According to a specific example, the rotation of the control member 120 relative to the body 110 along the direction 120a, i.e. the rotation along the counterclockwise direction 120a as shown in fig. 9, drives the first transmission member 1401 to displace in the direction of pulling out the actuator 130 relative to the body 110, and simultaneously drives the third transmission member 1403 to displace in the direction of pushing in the actuator relative to the body 110. The displacement of the first transmission member 1401 and the third transmission member 1403 drives the actuating member 130 and the surgical clamp 190 mounted on the actuating member 130 to rotate relative to the body 110 in the same direction as the control member 120, i.e., in the counterclockwise direction 130a as shown in fig. 9. Similarly, the displacement of the control member 120 relative to the body 110 in the XYZ three-dimensional space along other directions will drive one or more of the first transmission member 1401, the second transmission member 1402, the third transmission member 1403 and the fourth transmission member 1404 to displace independently relative to the body 110, and then drive the actuator 130 to displace correspondingly in the same direction as the control member 120. Therefore, the displacement of the control member 120 relative to the body 110 is transmitted to the actuating member 130 through the first transmission member 1401, the second transmission member 1402, the third transmission member 1403 and the fourth transmission member 1404, so as to control the separation distance of the surgical forceps 190. In this context, the term "spaced-apart manipulation" means that the actuating element of the manipulation device according to the present invention effects a controlled displacement or movement at a distance from the control element.

According to an alternative, as shown in fig. 10 and 11, the middle section of the passage 114 between the first end 112 and the second end 116 of the body 110 may be a single-bore passage, and the first transmission member 1401, the second transmission member 1402, the third transmission member 1403 and the fourth transmission member 1404 are in a common space in the middle section of the body 110. According to this embodiment, the first transmission member 1401, the second transmission member 1402, the third transmission member 1403 and the fourth transmission member 1404 are all disposed through the body 110 in parallel with each other along the longitudinal direction. Taking the first transmission member 1401 as an example, the first transmission member 1401 passes through the first transverse left opening 1121 at the first end 112 of the body 110 and the second transverse left opening 1161 at the corresponding position at the same side of the central longitudinal axis 110Z and at the second end 116 of the body 110. In the same manner and relative position, the second transmission member 1402, the third transmission member 1403 and the fourth transmission member 1404 pass through the first left opening 1122, the first right transverse opening 1123 and the first right opening 1124 of the first end 112 of the body 110, and the second left opening 1162, the second right transverse opening 1163 and the second right opening 1164 of the second end 116 of the body 110, respectively.

In the control device having the body 110 shown in fig. 10 and 11, the displacement directions of the control member 120 and the actuator 130 are the same as those shown in fig. 9. As shown in fig. 12, the rotation of the control member 120 relative to the body 110 in the extending direction 120a, i.e., the rotation in the counterclockwise direction 120a as shown in fig. 12, drives the first transmission member 1401 to displace in the direction of pulling out the body 110 relative to the body 110, and simultaneously drives the third transmission member 1403 to displace in the direction of pushing in the body 110 relative to the body 110. The displacement of the first transmission member 1401 and the third transmission member 1403 drives the actuating member 130 and the surgical clamp 190 mounted on the actuating member 130 to rotate relative to the body 110 in the same direction as the control member 120, i.e., in the counterclockwise direction 130a as shown in fig. 12. Similarly, displacement of the control member 120 relative to the body 110 in other directions in the XYZ three-dimensional space will drive independent displacement of one or more of the first transmission member 1401, the second transmission member 1402, the third transmission member 1403 and the fourth transmission member 1404 relative to the body 110, and then drive the actuating member 130 to perform corresponding displacement. That is, the displacement of the control member 120 relative to the body 110 is transmitted to the actuating member 130 through the first transmission member 1401, the second transmission member 1402, the third transmission member 1403 and the fourth transmission member 1404, so as to control the separation distance of the surgical clamp 190.

Fig. 13 is a motion state perspective view of a manipulation device 200 according to another embodiment of the present invention. Fig. 14 is a partially cut-away exploded perspective view of the manipulation device of fig. 13. As shown in fig. 14, four first, i.e., a first transverse left opening 2121, a first lateral left opening 2122, a first transverse right opening 2123, and a first lateral right opening 2124 are circumferentially and uniformly distributed on the body 210 of the manipulating device 200 along a geometric center parallel to the X-Y plane and about the first end 212. Meanwhile, four second openings, namely a second transverse left opening 2161, a second lateral left opening 2162, a second transverse right opening 2163 and a second lateral right opening 2164, are circumferentially and uniformly distributed on the body 210 along the geometric center parallel to the X-Y plane and with respect to the second end 216. First transmission element 2401, second transmission element 2402, third transmission element 2403 and fourth transmission element 2404 respectively pass through

first openings

2121, 2122, 2123 and 2124 at first end 212 of body 210. The body 210 has a single bore 214 intermediate the first end 212 and the second end 216. First drive member 2401, second drive member 2402, third drive member 2403 and fourth drive member 2404 are disposed in a crossed manner within bore 214, i.e., first drive member 2401 passing through a first transverse left opening 2121 at first end 212 of body 210 is reoriented within bore 214 such that first drive member 2401 passes out of body 210 at second end 216 of body 210 from a second transverse right opening 2163 that is symmetrical to first transverse left opening 2121 about longitudinal axis 210Z.

Similarly, second drive member 2402, which passes through first lateral left opening 2122 at first end 212 of body 210, changes orientation within bore 214 such that second drive member 2402 passes out of body 210 at second end 216 of body 210 through a second lateral right opening 2164 that is symmetrical to first lateral left opening 2122 about longitudinal axis 210Z. The third driver 2403, which passes through the first lateral right opening 2123 at the first end 212 of the body 210, changes orientation within the bore 214 such that the third driver 2403 exits the body 210 at the second end 216 of the body 210 from a second lateral left opening 2161 that is symmetrical to the first lateral right opening 2123 about the longitudinal axis 210Z. Fourth drive member 2404, passing through fourth lateral right-facing opening 2124 at first end 212 of body 210, changes orientation within bore 214 such that fourth drive member 2404 passes out of body 210 at second end 216 of body 210 from second lateral left-facing opening 2162, which is symmetrical to first lateral right-facing opening 2124 about longitudinal axis 210Z.

In the operation device 200 having the body 210 and the transmission member structure shown in fig. 13 and 14, the rotation of the control member 220 relative to the body 210 along the direction 220a, i.e. the rotation in the counterclockwise direction 220a shown in fig. 13, drives the first transmission member 2401 to displace in the direction of pulling out the body 210 relative to the body 210, and simultaneously drives the third transmission member 2403 to displace in the direction of pushing in the body 210 relative to the body 210. Since the first transmission element 2401, the second transmission element 2402, the third transmission element 2403 and the fourth transmission element 2404 are disposed in a crossed manner in the bore 214, the displacement of the first transmission element 2401 and the third transmission element 2403 simultaneously drives the actuating element 230 and the surgical clamp 290 mounted on the actuating element 230 to rotate relative to the body 210 in a direction opposite to the direction of the control element 220, i.e., clockwise direction 230a as viewed in fig. 13. Similarly, displacement of the control member 220 relative to the body 210 in the XYZ three-dimensional space along other directions will drive independent displacement of one or more of the first transmission member 2401, the second transmission member 2402, the third transmission member 2403 and the fourth transmission member 2404 relative to the body 210, and then drive the actuating member 230 to perform corresponding displacement in the opposite direction to the control member 220. In other words, the displacement of control element 220 relative to body 210 is transmitted to actuating element 230 via first, second, third and

fourth transmission elements

2401, 2402, 2403 and 2404, so that a distance control of surgical clamp 290 is achieved.

According to an alternative, as shown in fig. 15A, 15B, 16A, and 16B, steering device 200 may further include one or

more sleeves

2411, 2412, 2413, 2414, each

sleeve

2411, 2412, 2413, 2414 being sleeved externally of first, second, third, and

fourth transmissions

2401, 2402, 2403, 2404, respectively, such that first, second, third, and

fourth transmissions

2401, 2402, 2403, 2404 may be displaced along a longitudinal axis of each transmission relative to the

respective sleeve

2411, 2412, 2413, 2414. The middle section of the body 210 is a single inner bore. One or

more cannulas

2411, 2412, 2413, 2414 are secured through the body 210. A plurality of

cannulas

2411, 2412, 2413, 2414 may be fixed inside the body 210 in parallel with each other in the manner shown in fig. 16A, thereby achieving the manipulation manner shown in fig. 12. Alternatively, a plurality of

casings

2411, 2412, 2413, 2414 may be arranged to cross each other at the mid-section of the single interior bore of the body 210 and be fixed inside the body 210 in the manner shown in fig. 16B, so as to achieve the same steering manner as the structure shown in fig. 4 and 5, and thus achieve the steering manner shown in fig. 13.

According to another embodiment, as shown in fig. 17A, 17B, 17C, 18 and 19, the manipulating device 300 of the present invention comprises a body 310, a transmission member 340 passing through the body 310, a control member 320 fixed to one end of the transmission member 340 and adjacent to the first end 312 of the body 310, an actuating member 330 fixed to the other end of the transmission member 340 and adjacent to the second end 316 of the body 310, a support 360 fixed to the first end 312 of the body 310, and a support 370 pivotably connected to the support 360, so as to be pivotably connected to a handle 380 of the support 370.

As shown in fig. 18 and 19, the holder 360 has a holder base 362 and a pair of holder posts 364 extending from the base 362. A first holder shaft hole 366 is formed at an end of each holder post 364. The bracket 370 has a hollow core 372, a pair of first and second bracket axle holes 376 and 378 that are symmetrically spaced about the core 372. The handle 380 has a handle base 382 and a pair of handle struts 384 extending from the handle base 382. A second abutment axle hole 388 is formed at the end of each handle strut 384.

The pair of first carriage shaft holes 376 are arranged in the lateral direction, i.e., the X direction shown in fig. 18 and 19. The pair of second bracket shaft holes 378 are arranged in a lateral direction orthogonal to the lateral direction, i.e., the Y direction shown in fig. 18 and 19. The bracket 370 is pivotably connected to the mount 360 by a first bracket axle hole 376, a first mount axle hole 366, and a pair of first pivots 356 along the X-direction, i.e., the bracket 370 is pivotable relative to the mount 360 about the pair of first pivots 356.

The handle 380 is pivotally connected to the bracket 370 through the second bracket axle aperture 388, the second bracket axle aperture 376, and the pair of second pivots 358 in the Y-direction, i.e., the handle 380 is pivotable relative to the bracket 370 about the pair of second pivots 358.

The body 310 is fixed relative to the support 360. The first end 312 of the body 310 is positioned between a pair of standoff posts 364. The actuator 320 is fixed relative to the handle 380. The actuator 380 is positioned between a pair of second support posts 384. The driving member 340 connected between the body 310 and the control member 320 is suspended in the hollow core 372 of the bracket.

According to the structure of the present embodiment, as shown in fig. 20, 21 and 22, the handle 380 drives the bracket 370 to pivot relative to the body 310 about the pair of first pivots 356, and drives the control member 320 to rotate relative to the body 310. The rotation of the control member 320 in turn causes the transmission member 340 to displace relative to the body 310. Displacement of the transmission 340 relative to the body 310 causes the actuating member 330 and the surgical instrument 390 mounted to the actuating member 330 to rotate in a direction that is the same as or opposite to the pivoting direction of the handle 380, thereby effecting displacement manipulation of the surgical instrument 390 in the Y-Z plane, as shown at 21.

Similarly, pivoting of the handle 380 relative to the body 310 about the pair of second pivots 358 causes the control member 320 to rotate relative to the body 310. The rotation of the control member 320 causes the transmission member 340 to displace relative to the body 310. The displacement of the transmission member 340 relative to the body 310 drives the actuating member 330 and the surgical instrument 390 mounted on the actuating member 330 to rotate in the same direction or in the opposite direction to the pivoting direction of the handle 380, so as to achieve displacement manipulation of the surgical instrument 390 in the X-Z plane, as shown in fig. 22.

The combination of independent pivoting of the handle 380 relative to the body 310 about the pair of first pivots 356 and the pair of second pivots 358 allows for manipulation of the surgical instrument 390 in any orientation in X-Y-Z space.

Fig. 23 is a control diagram of a control device 400 according to another embodiment of the present invention. As shown in fig. 23, the control device 400 includes a body 410, a transmission member 440 penetrating the body 410, a control member 420 fixed to one end of the transmission member 440, an actuating member 430 fixed to the other end of the transmission member 440, a support 460 fixed to a first end of the body 410, a bracket 470 pivotably connected to the support 460, a handle 480 pivotably connected to the bracket 470, and a grip 450 fixed to the body 410. One end of the grip 450 is secured to the support 460 in the longitudinal direction Z +/Z-and around at least a portion of the periphery of the body 410. The handle 450 may also include two gripping portions 452 for assisting in holding the manipulation device 400 and controlling the opening and closing of the surgical clamp 490 mounted to the effector 430. In the example shown in fig. 23, the first end 412 and the second end 416 of the body 410 face in opposite directions, e.g., as shown in fig. 23, the first end 412 of the body 410 faces in the rear direction Z of the manipulation device 400, and the second end 416 of the body 410 faces in the front direction Z + of the manipulation device 400. In use, the operator's thumb can manipulate the manipulation device 400 from the longitudinal rear of the handle 480 as shown in fig. 23, thereby achieving the orientation change control of the effector 430 and the surgical clamp 490 at the front end of the body 410.

Fig. 24 is a control diagram of a control device 500 according to another embodiment of the present invention. As shown in fig. 23, the control device 500 includes a body 510, a transmission member 540 disposed through the body 510, a control member 520 fixed to one end of the transmission member 540, an actuating member 530 fixed to the other end of the transmission member 540, a support 560 fixed to a first end of the body 510, a bracket 570 pivotably connected to the support 560, a handle 580 pivotably connected to the bracket 570, and a grip 550 fixed to the body 510. One end of the grip 570 is secured to the support 560 in the longitudinal direction Z +/Z-and surrounds at least a portion of the outer periphery of the body 510. In the example shown in fig. 24, the second end 516 of the body 510 is directed in the front direction Z + of the manipulation device 500. By the U-shaped bending of the body 510, the first end 512 of the body 510 faces in the same direction as the second end 516, i.e. the first end 512 and the second end 516 of the body 510 both face in the front direction Z + of the manipulation device 500. The control device 500 with such a structure is suitable for a user to hold the grip 510 with the palm, the index finger, the middle finger, the ring finger and the little finger, and the user can control the handle 580 with the thumb to realize the direction change control of the actuator 530 and the surgical clamp 590 at the front end of the body 510.

Fig. 25 is a control diagram of a control device 600 according to another embodiment of the present invention. As shown in fig. 25, the control device 600 includes a body 610, a transmission member 640 disposed through the body 610, a control member 620 fixed to one end of the transmission member 640, an actuating member 630 fixed to the other end of the transmission member 640, a support 660 fixed to a first end of the body 610, a bracket 670 pivotably connected to the support 660, a handle 680 pivotably connected to the bracket 670, and a grip 650 fixed to the body 610. One end of the grip 650 is fixed to the seat 660 along the longitudinal direction Z +/Z-and surrounds at least a portion of the outer circumference of the body 610. In the example shown in fig. 25, the second end 616 of the body 610 is deflected downward at an acute angle from the front direction Z + toward the manipulation device 600, but still substantially toward the front direction Z + of the manipulation device 600. By the U-shaped bending of the body 610, the first end 612 of the body 610 is directed in substantially the same direction as the second end 616, i.e. the first end 612 of the body 610 is also directed in the front direction Z + of the manipulation device 600. The manipulating device 600 with such a structure is suitable for a user to fix the wrist on the wrist strap 652, and the user can hold the manipulating handle 680 to control the orientation change of the executing element 630 and the surgical clamp 690 at the front end of the main body 610.

For the sake of brevity, all possible permutations and/or combinations of the above-described features of the embodiments are not described, however, as long as there is no contradiction between these permutations and/or combinations of features, they should be understood to be covered by the scope of the present description. The foregoing examples merely represent several embodiments of the present invention, and the detailed and detailed description thereof is not intended to be construed to limit the scope of the invention. It is to be understood that various modifications, substitutions, additions, deletions, and the like may be made to the various embodiments and features therein without departing from the spirit and principles of the present application.

Claims

1. A steering device, comprising:

a body;

a transmission member movably disposed through the body, a first end of the transmission member extending from the first end of the body to the outside of the body, a second end of the transmission member extending from the second end of the body to the outside of the body,

the actuating piece is fixed at the first end of the transmission piece; and

and the control piece is fixed at the second end of the transmission piece, wherein the transmission piece is driven to move relative to the body by the displacement of the control piece relative to the body, and the execution piece is driven to move relative to the body by the displacement of the transmission piece relative to the body.

2. The manipulation device of claim 1, wherein the body has a channel extending in a longitudinal direction between the first and second ends of the body, the transmission member being movably disposed through the channel.

3. The manipulation device according to claim 2, wherein the channel comprises a first channel, a second channel, a third channel and a fourth channel, the transmission members comprise a first transmission member, a second transmission member, a third transmission member and a fourth transmission member, and the first transmission member, the second transmission member, the third transmission member and the fourth transmission member are movably disposed through the first channel, the second channel, the third channel and the fourth channel, respectively.

4. The manipulating device according to claim 2, wherein the passage includes a first opening at the first end of the body, a second opening at the second end of the body, and an intermediate section between the first end and the second end, and the transmission members include a first transmission member, a second transmission member, a third transmission member, and a fourth transmission member that extend out of the body through the first opening and the second opening, respectively.

5. The manipulating device according to claim 4, further comprising a first sleeve, a second sleeve, a third sleeve and a fourth sleeve fixed to the body, wherein the first transmission member, the second transmission member, the third transmission member and the fourth transmission member are movably disposed through the first sleeve, the second sleeve, the third sleeve and the fourth sleeve, respectively.

6. The manipulation device of claim 4, wherein the first opening comprises a first lateral left opening, a first lateral right opening, and a first lateral right opening; the second opening comprises a second transverse left opening, a second lateral left opening, a second transverse right opening and a second lateral right opening; the first transmission piece penetrates out of the body from the first transverse left opening and the second transverse left opening, the second transmission piece penetrates out of the body from the first side left opening and the second side left opening, the third transmission piece penetrates out of the body from the first transverse right opening and the second transverse right opening, and the fourth transmission piece penetrates out of the body from the first side right opening and the second side right opening.

7. The manipulation device of claim 4, wherein the first opening comprises a first lateral left opening, a first lateral right opening, and a first lateral right opening; the second opening comprises a second transverse left opening, a second lateral left opening, a second transverse right opening and a second lateral right opening; the first transmission piece penetrates out of the body from the first transverse left opening and the second transverse right opening, the second transmission piece penetrates out of the body from the first side left opening and the second side right opening, the third transmission piece penetrates out of the body from the first transverse right opening and the second transverse left opening, and the fourth transmission piece penetrates out of the body from the first side right opening and the second side left opening.

8. The manipulating device according to claim 3 or 4, further comprising a holder fixed to the second end of the body, a bracket pivotally connected to the holder, and a handle pivotally connected to the bracket, wherein the control member is fixed to the handle.

9. The manipulation device of claim 8, wherein said frame is pivotally connected to said support base by a first pivot and said handle is pivotally connected to said frame by a second pivot, said second pivot being orthogonal to said first pivot.

10. The manipulation device of claim 9, wherein the holder has a hollow core, the control member is spaced from the body, and a transmission member between the control member and the body passes through the hollow core of the holder.

11. The manipulating device according to claim 10, wherein rotation of the holder about the first pivot causes at least one of the first transmission member, the second transmission member, the third transmission member and the fourth transmission member to be displaced along the body.

12. The manipulating device according to claim 10, wherein rotation of the handle about the second pivot causes at least one of the first transmission member, the second transmission member, the third transmission member and the fourth transmission member to be displaced along the body.

13. The manipulation device of claim 1, further comprising a sleeve secured to the body, wherein the transmission member is movably disposed through the sleeve.

14. The manipulation device of claim 1, wherein the first end of the body faces in a first axial direction of the body and the second end of the body faces in a second axial direction of the body, the second axial direction being opposite the first axial direction.

15. The manipulation device of claim 1, wherein the first end of the body faces a first axial direction of the body and the second end of the body faces a second axial direction of the body, the second axial direction being the same as the first axial direction.