CN108685604B

CN108685604B - Minimally invasive surgical instrument

Info

Publication number: CN108685604B
Application number: CN201710219942.2A
Authority: CN
Inventors: 李峥; 赵伟仁; 吴川; 陈卓礼
Original assignee: Chinese University of Hong Kong CUHK
Current assignee: Chinese University of Hong Kong CUHK
Priority date: 2017-04-06
Filing date: 2017-04-06
Publication date: 2021-10-26
Anticipated expiration: 2037-04-06
Also published as: CN108685604A

Abstract

The present application relates to a minimally invasive surgical instrument. This minimal access surgery apparatus includes handheld body, its characterized in that, minimal access surgery apparatus still includes: the holder is used for holding focal tissues; a bending rod having a flexible structure and having an end fixed to an end of the hand-held body and the other end connected to an end of the holder; and a rope set connecting the gripper and the hand-held body via the bent rod. Wherein the cord set includes a first cord set and a second cord set, the hand-held body including: a bend controller controllably bendable to pull the first set of cables to bend the flexible structure of the bending bar; and a gripper control capable of controlled pivoting to pull the second set of ropes so that the gripper grips or releases.

Description

Minimally invasive surgical instrument

Technical Field

The invention relates to a minimally invasive surgical instrument, in particular to a handheld flexible minimally invasive surgical instrument.

Background

In the minimally invasive surgery process, a doctor opens one or more small holes in the epidermis of a patient, then a minimally invasive surgical instrument is deeply inserted into the focus of the patient through the small holes, and the surgery is completed through an external control instrument. Compared with the traditional operation, the minimally invasive operation has the advantages of small wound, quick recovery of body function, shortened hospitalization time, reduced postoperative scar of patients and the like, so the minimally invasive operation is an important development direction of medical operation. However, since the minimally invasive surgery has a narrow operation space and a low degree of freedom of the minimally invasive surgical instrument, the minimally invasive surgery has high requirements on the operation technique of a doctor and also has high requirements on simplification and multiple degrees of freedom of the surgical instrument.

CN103237504A discloses a minimally invasive surgical instrument that utilizes wires, pulleys and gears to achieve the degree of freedom of the tip portion of the instrument. CN105943095A discloses a minimally invasive surgical instrument with a flexible wrist, which has a flexible mechanism at the end portion of the instrument, and can realize three degrees of freedom motion of the end portion of the instrument by controlling an operation handle and a wrist driving device. CN101732093A discloses a miniature manipulator for abdominal cavity minimally invasive surgery, which mainly meets the requirements of clamping force and functions of the tail end of the minimally invasive surgery. CN104523309A discloses an intra-abdominal traction surgical robot for minimally invasive surgery, which mainly solves the problem of interference during the existing surgery.

Therefore, a minimally invasive surgical instrument which can well solve the freedom degree and rigidity of the flexible section at the tail end and is simple to operate is needed.

Disclosure of Invention

The technical solution provided by the present application at least partially solves the technical problems described above.

According to one aspect of the present application, a minimally invasive surgical instrument is provided. The minimally invasive surgical instrument may include a hand-held body, a holder, and a curved shaft. The clamp is used for clamping focal tissues, the bending rod has a flexible structure, one end part of the bending rod is fixed at the end part of the handheld body, and the other end part of the bending rod is connected with the end part of the clamp. The minimally invasive surgical instrument further comprises a cable set connecting the holder and the hand-held body via a bent rod.

In one embodiment, the set of cords described above may include a first set of cords and a second set of cords. The hand-held body may include a bend controller and a grip controller, the bend controller controllably bendable to pull the first cable set to bend the flexible structure of the bending bar; and the grip controller is controllably pivotable to pull the second cable set so that the grip grips or releases.

In one embodiment, the holder includes a fixed jaw, and the first cord set may have a plurality of cords with respective ends fixed to the fixed jaw.

In one embodiment, the flexible structure comprises at least one bending control member, each bending control member is circumferentially provided with a plurality of holes for the plurality of ropes of the first rope group to respectively pass through, and the bending control members are connected with the end parts of the fixed pincers through spherical pairs, and the bending control members are connected with each other through the spherical pairs.

In one embodiment, the curved rod may further include: the bending control piece is arranged on the base, and the bending control piece is connected with the base through a spherical pair; and an outer tube having a through hole, one end of the outer tube being fixed to the other end of the base, the other end of the outer tube being mounted to the hand-held body. The plurality of ropes of the first rope group respectively penetrate through the hole of the base and the through hole of the outer pipe in sequence and penetrate into the handheld body.

In one embodiment, the bending controller may include: a base having a plurality of through holes; a plurality of rope reels, each of which is provided with a plurality of holes along the circumferential direction; and a plurality of baffles, which are respectively positioned in the corresponding through holes of the base. The plurality of ropes of the first rope group can sequentially pass through the holes of the plurality of rope discs and pass through the base to be fixed at the corresponding baffle.

In one embodiment, the bending controller can controllably bend to any direction in space, so that the motion trail of the bending rod is a part of the sphere of one space.

In one embodiment, the gripper further comprises a movable jaw, and the second cable set may have a fifth cable and a sixth cable, ends of the fifth cable and the sixth cable being respectively fixed to both sides of the movable jaw.

In one embodiment, a grip controller includes: a trigger having a handle and a pivotable cylindrical pivot portion, a fifth rope being fixed to an upper end of the pivot portion, and a sixth rope being fixed to a lower end of the pivot portion; and the elastic pressing block can elastically deform and abut against the trigger. The clamping controller has a first working state and a second working state, wherein in the first working state, the pivoting part pivots by buckling the handle to compress the elastic pressing block, the fifth rope is tightened, and the sixth rope is loosened to clamp the movable clamp relative to the fixed clamp; in the second working state, the pivoting part drives the fifth rope and the sixth rope to return to the original position under the action of the restoring force of the elastic pressing block by loosening the handle, so that the movable clamp is loosened relative to the fixed clamp.

In one embodiment, the hand-held body may further include: a spacing rod having a substantially rigid structure; and the limiting controller is used for controlling the length of the limiting rod entering the flexible structure of the bending rod, so that the length of the bending rod which can be bent is controlled.

In one embodiment, the restraint bar is secured to the restraint controller.

In one embodiment, the limit controller may comprise a toggle button, and when the toggle button is controlled to move towards a direction close to the bending rod, the length of the limiting rod entering the flexible structure of the bending rod is reduced, so that the length of the bending rod which can be bent is increased; when the control toggle button moves towards the direction of keeping away from the crooked pole, the length that the gag lever post got into the flexible construction of crooked pole increases to the length that crooked pole can be crooked reduces.

In one embodiment, the hand-held body comprises a shell with a plurality of grooves, when the toggle button is controlled to move to a desired position, the toggle button is placed into one of the plurality of grooves, and one of the plurality of grooves is clamped with the toggle button to form self-locking.

According to another aspect of the present application, there is provided a minimally invasive surgical instrument, which may include: the method comprises the following steps: the holder is used for holding focal tissues; a hand-held body including a bend controller; a bending rod having a flexible structure, and an end of the bending rod is fixed to an end of the hand-held body, and the other end of the bending rod is connected with an end of the holder; and a first rope group connecting the hand-held body and the holder via the bent rod. Wherein the bending controller includes a fixing rod and a plurality of through holes, each fixing rod is controllably extended and fixed into a corresponding through hole, and the tightness of the first rope set is adjusted by controlling the depth of the fixing rod extended into the corresponding through hole. A bend controller controllably bends to pull the first set of cables to bend the flexible structure of the bending bar.

In one embodiment, the fixing rod has a hollow structure. The bending controller may further include: the through holes are formed in the base; a plurality of springs, each of which is positioned in a corresponding through hole of the base, and one end of each of which is in contact with an end of a corresponding fixing rod; and a plurality of baffles, each baffle is positioned in a corresponding through hole of the base, and the baffles are contacted with the other end of the corresponding spring. The plurality of ropes of the first rope group sequentially penetrate through the base, the corresponding fixing rods and the corresponding springs and are fixed at the corresponding baffle plates.

The first cable set can be pulled to control the bending of the flexible structure of the bending rod by controlling the bending of the bending controller; the second rope group can be pulled by controlling the pivoting of the clamping controller so as to control the clamping or loosening of the clamping device; the flexible structure of the bending rod can be controlled by controlling the length of the limiting rod of the limiting controller to control the length of the bending rod, so that the problems of low degree of freedom and complex operation of the tail end of the existing minimally invasive surgery device are partially solved.

Drawings

Other features, objects, and advantages of the present application will become apparent from the following detailed description, which proceeds with reference to the accompanying drawings. The same or similar elements in different drawings are denoted by the same reference numerals. In the drawings:

FIG. 1 is a perspective view of a minimally invasive surgical instrument according to an embodiment of the present application;

FIG. 2 is a side schematic view of a hand-held body of a minimally invasive surgical instrument according to an embodiment of the present application;

FIG. 3 is a schematic view of a hand-held body of a minimally invasive surgical instrument according to an embodiment of the present application;

FIG. 4 is a schematic view of a hand-held body of a minimally invasive surgical instrument according to an embodiment of the present application with a portion of the housing removed;

FIG. 5 is a schematic view of a limit controller of a minimally invasive surgical instrument according to an embodiment of the present application;

FIG. 6 is a side schematic view of a limit controller of a minimally invasive surgical instrument according to an embodiment of the present application;

FIG. 7 is a perspective view of a position limit controller of a minimally invasive surgical instrument according to an embodiment of the present application;

FIG. 8 is a schematic view of a bend controller of a minimally invasive surgical instrument according to an embodiment of the present application;

FIG. 9 is a schematic view of the bend controller shown in FIG. 8 shown in orientation A with the end cap removed;

FIG. 10 is a cross-sectional schematic view of the bend controller taken along section line B-B in FIG. 9;

FIG. 11 is a schematic diagram of the components of a clamping controller of a minimally invasive surgical instrument according to an embodiment of the present application;

FIG. 12 is a schematic view of a curved shaft of a minimally invasive surgical instrument according to an embodiment of the present application;

FIG. 13 is a side schematic view of a curved shaft of a minimally invasive surgical instrument according to an embodiment of the present application;

FIG. 14 is a schematic view of a holder of a minimally invasive surgical instrument according to an embodiment of the present application;

FIG. 15 schematically illustrates an increase in the length of a bending section that can be produced by a bending controller controlling the bending of a bending rod as the length of a stop rod entering a flexible structure of the bending rod decreases in a minimally invasive surgical instrument according to an embodiment of the present application;

FIG. 16 is a schematic view similar to FIG. 15 showing the decrease in length of the bending segment that can be produced by the bending controller controlling the bending of the bending rod as the length of the stop rod entering the flexible structure of the bending rod increases in accordance with embodiments of the present application;

FIG. 17 is a schematic view of a motion trajectory of a bending controller and a bending rod of a minimally invasive surgical instrument according to an embodiment of the present application;

FIG. 18 is a schematic view of a clamp controller of a minimally invasive surgical instrument controlling a clamp according to an embodiment of the present application;

FIG. 19 is a schematic view of a limit controller of a minimally invasive surgical instrument controlling a limit post according to an embodiment of the present application.

Detailed Description

The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.

It will be understood that when an element or layer is referred to herein as being "on," "connected to" or "coupled to" another element or layer, it can be directly on, connected or coupled to the other element or layer or intervening elements or layers may be present. When an element is referred to as being "directly on," "directly connected to" or "directly coupled to" another element or layer, there are no intervening elements or layers present. Like numbers refer to like elements throughout the specification. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

It should be noted that the expressions first, second, etc. in this specification are used only to distinguish one feature from another feature, and do not indicate any limitation on the features. Thus, a first cord set discussed below may also be referred to as a second cord set without departing from the teachings of the present application.

Spatially relative terms such as "below," "lower," "over," "upper," and the like may be used herein for descriptive convenience to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below" may encompass both an orientation above.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, a feature that does not define a singular or plural form is also intended to include a feature of the plural form unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, do not preclude the presence or addition of one or more other features, steps, elements, components, and/or groups thereof. Furthermore, when describing embodiments of the present application, the use of "may" mean "one or more embodiments of the present application. Also, the term "exemplary" is intended to refer to an example or illustration.

As used herein, the terms "substantially," "about," and the like are used as terms of table approximation and not as terms of table degree, and are intended to account for inherent deviations in measured or calculated values that will be recognized by those of ordinary skill in the art.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

The present application is further described below in conjunction with the detailed description.

FIG. 1 is a perspective view of a minimally invasive surgical instrument according to an embodiment of the present application. In FIG. 1, a minimally invasive surgical instrument 10 for minimally invasive surgery according to one embodiment of the present application is shown.

As shown in fig. 1, a minimally invasive surgical instrument 10 according to an embodiment of the present application includes a holder 1, a curved rod 2, and a hand-held body 3. The holder 1 is used for holding a lesion tissue such as a patient. The bending rod 2 is located between the holder 1 and the hand-held body 3, wherein one end 2b of the bending rod 2 is fixed to the end 3a of the hand-held body 3, and the other end 2a of the bending rod 2 is connected to the end 1b of the holder 1. As shown in fig. 12, the bending bar 2 has a flexible structure 200 capable of bending.

As will be described in detail below, the minimally invasive surgical instrument 10 according to an embodiment of the present application may further include a cable set connecting the holder 1 and the hand-held body 3 via the bent rod 2. The cord set may include a first cord set and a second cord set, wherein the first cord set may have a plurality of cords and the second cord set may also have a plurality of cords.

As shown in fig. 4, the hand-held body 3 according to the embodiment of the present application may include a bending controller 5 and a grip controller 6. The first cable set may be pulled by controlling the bending of the bending controller 5, thereby causing the flexible structure 200 of the bending rod 2 to bend. The second cable set can be pulled by controlling the pivoting of the clamp control 6, so that the clamp 1 is controlled to be clamped or unclamped.

Referring to fig. 4, the interior of the hand-held body 3 is formed with a cavity for mounting the bending controller 5, the grip controller 6 and/or the limit controller 4.

As an example, the housing of the hand-held body 3 may include a left housing 301 and a right housing 302. Grooves are formed in the left shell 301 and the right shell 302, and after the left shell 301 and the right shell 302 are connected through threads, a plurality of cavities are formed inside the handheld body 3 and used for installing the bending controller 5, the clamping controller 6 and/or the limiting controller 4.

How to pull the second rope set by controlling the pivoting of the grip controller 6 so that the gripper 1 grips or releases will be described in detail with reference to the drawings.

As shown in fig. 14, the holder 1 of the minimally invasive surgical instrument 10 according to an embodiment of the present application may include a stationary jaw 101 and a movable jaw 102. The fixed jaw 101 and the movable jaw 102 may be fixed by a pin 103. The fixing clamp 101 is formed with a plurality of small holes in the circumferential direction, and the ends of the plurality of ropes of the first rope group are fixed by passing through the small holes in the fixing clamp 101. A plurality of small holes are also formed in the movable clamp 102, and a plurality of ropes of the second rope group are respectively fixed on two sides of the movable clamp. The plurality of apertures provided in the movable jaw 102 may be the same size as the plurality of apertures provided in the stationary jaw 101.

As shown in fig. 11, the grip controller 6 according to the embodiment of the present invention may include a trigger 604 and a spring pressing piece 606. The trigger 604 has a handle 6041 and a pivotable pivot 6042. The pivot 6042 is generally cylindrical. The cylindrical pivot 6042 of the trigger 604 may be disposed within the cavity formed by the housing of the hand held body 3. The cylindrical pivot part 6042 of the trigger 604 may have a through hole through which the pin 605 is inserted at both ends into grooves of the housing of the hand-held body 3, respectively, thereby fixing the trigger 604. The spring block 606 is capable of being elastically deformed and the spring block 606 abuts the trigger 604. The elastic pressing block 606 may also be arranged in a cavity formed by the housing of the handheld body 3, and the shape of the cavity formed by the housing of the handheld body 3 may ensure that the elastic pressing block 606 is secured by the card.

In one embodiment, the grip controller 6 further comprises a wire groove 601 and a pulley 602. The wire guide 601 may be a cylindrical boss structure with two small holes, and the wire guide 601 is fixed to the fixing base 403. The pulley 602 may be disposed in a cavity formed by the housing of the handheld body 3, and the pin 603 passes through a through hole in the center of the pulley 602 and then has both ends respectively inserted into grooves of the housing of the handheld body 3, thereby fixing the pulley 602.

As an example, the second rope set may have two ropes, a fifth rope 705 and a sixth rope 706, respectively, with the ends of the fifth rope 705 and the sixth rope 706 being fixed to both sides of the movable jaw 102, respectively. Then, the fifth rope 705 and the sixth rope 706 pass through the central through hole of the bending control member 201, the outer tube 203, and the central hole of the stopper rod 204, respectively, in this order. Then, the fifth rope 705 and the sixth rope 706 are passed out of the wire guide 601 and passed around the pulley 602, respectively. Finally, a fifth cable 705 is fixed to the upper end of the pivot portion and a sixth cable 706 is fixed to the lower end of the pivot portion.

As shown in FIG. 18, the fifth and

sixth cables

705 and 706 are pulled by controlling the pivoting of the trigger 604 of the clamp controller 6, so that the movable jaw 102 of the clamp 1 can perform clamping and unclamping actions. In use, the clamping controller 6 has a first operating condition in which the resilient block 606 is compressed by pivoting the pivot portion by pulling on the handle, the fifth cable 705 is tightened and the sixth cable 706 is loosened so that the movable clamp 102 is clamped relative to the fixed clamp 101; and in the second working state, the movable clamp 102 is released relative to the fixed clamp 101 by releasing the handle, so that under the restoring force of the elastic pressing block 606, the pivoting part drives the fifth rope 705 and the sixth rope 706 to return to the original positions.

How to pull the first rope set by controlling the bending of the bending controller 5 so that the flexible structure 200 of the bending bar 2 is bent will be described in detail with reference to the accompanying drawings.

As shown in fig. 12 to 14, the bending rod 2 according to the embodiment of the present application may include a flexible structure 200, a base 202, and an outer tube 203. The flexible structure 200 includes at least one bending control member 201, and each bending control member 201 is provided with a plurality of holes through which the plurality of strings of the first string group pass in a circumferential direction, respectively. The bending controller 201 can be connected to the end of the fixed jaw 101 by means of a spherical pair, and the bending controller 201 is also connected to another identical bending controller 201 by means of a spherical pair. The number of the bending controllers 201 may be set as desired, and a plurality of the bending controllers 201 constitute the flexible structure 200. The flexible structure 200 may be a serpentine flexible structure. The base 202 is provided with a plurality of holes in the circumferential direction, and one end 202a of the base 202 is connected to the bending controller 201 through a spherical pair. The outer tube 203 is a tubular structure having a through hole. One end 203a of the outer tube 203 is fixedly connected to the other end 202b of the base 202, and the other end 203b of the outer tube 203 is mounted to the hand-held body 3 (see fig. 4). The plurality of ropes of the first rope group respectively pass through the corresponding holes of the base 202 and the outer tube 203 in sequence and then penetrate into the handheld body 3.

In addition, the bending pole 2 according to an embodiment of the present application may further include an elastic hose 205, and the elastic hose 205 passes through the central through hole of the bending controller 201 and maintains contact with the central through hole of the bending controller 201.

As shown in fig. 8 to 10, the bending controller 5 according to the embodiment of the present application may include a base 502, a plurality of rope reels 503, and a plurality of baffles 507. The base 502 is provided with a plurality of through holes 508. A plurality of holes through which the plurality of ropes of the first rope group pass are provided in each rope reel 503 in the circumferential direction. The plurality of baffles 507 are respectively positioned in the corresponding through holes 508 of the base 502. The plurality of ropes of the first rope group sequentially pass through corresponding holes on the plurality of rope disks 503 and pass through the base 502 to be fixed on corresponding baffles 507.

In use, the bending controller 5 may also include a flexible shaft 504. The flexible shaft 504 is fixed in the inner cavity of the hand-held body 3, and the material of the flexible shaft 504 can be selected from PVC hose, for example. Through holes are processed at the approximate center of the rope disks 503, and the flexible shaft 504 sequentially passes through the through holes of the rope disks 503 and is fixed. The bottom of the base 502 may also be formed with blind holes, and the top of the flexible shaft 504 may be inserted into the blind holes of the base 502 and fixed therein. A plurality of rope reels 503 may be evenly distributed along the length of the flexible shaft 504. A plurality of holes are circumferentially formed in each of the rope disks 503, and a plurality of ropes of the first rope group sequentially pass through the holes of the plurality of rope disks and then penetrate into the base 502 through the plurality of holes in the base 502. The base 502 is formed with a plurality of through holes 508, and a plurality of fixing bars 505 are controllably extended and fixed into the corresponding through holes 508. The fixing rods 505 may be screwed into the corresponding through holes 508 by, for example, screw fitting. The ease with which the bend controller 5 is controlled to bend is adjusted by adjusting the tightness of the first set of cables by controlling the depth to which the fixing rods 505 extend into the corresponding through holes.

As one example, the bend controller 5 may further include an end cap 501, and the end cap 501 may be coupled to the base 502 by bolts.

A spring 506 may be further disposed in each through hole 508 of the base 502, one end 506a of the spring 506 being in contact with the end 505b of the corresponding fixing bar 505, and the other end 506b of the spring 506 being in contact with the baffle 507. The fixing rod 505 has a hollow structure. The plurality of ropes penetrating the base 502 respectively pass through the corresponding fixing rods 505, the corresponding springs 506 and the corresponding central holes of the baffles 507 in sequence, and are finally fixed at the central holes of the corresponding baffles 507. By providing a spring 506 between the fixing rod 505 and the stopper 507, the plurality of ropes of the first rope set are always in a tightened state.

By controlling the bending of the bending controller 5 in different directions in space, the individual ropes of the first rope set fixed to the bending controller 5 can be pulled. When the bending controller 5 bends in any direction in space, it will stretch the ropes of the first rope set to different degrees and further cause the relative lengths of the ropes of the first rope set at the flexible structure 200 to change, thereby creating bending stress at the flexible structure 200 portion of the bending rod 2 and causing the flexible structure 200 to bend.

As shown in fig. 17, since the bending controller 5 can bend in any direction in space, the motion locus of the bending rod 2 is a partial spherical surface in space.

Those skilled in the art will appreciate that the bend controller should not be limited to the configuration shown in fig. 8-10. For example, the number of cord reels 503 shown in fig. 8 is three, but in particular applications the number of cord reels 503 may be increased or decreased as desired. Also for example, in fig. 9, the number of through holes 508 is shown as four, but in a particular application, the number of through holes 508 will vary accordingly based on the number of cords in the first cord set to ensure that each cord has at least one corresponding through hole 508.

As an example, the first cord set may include four cords, a first cord 701, a second cord 702, a third cord 703, and a fourth cord 704, respectively. The respective ends of the first cable 701, the second cable 702, the third cable 703 and the fourth cable 704 are fixed to the fixed clamp 101, and then enter the handheld body 3 after passing through the small hole of the bending control member 201 and the small hole of the base 202 in sequence. Wherein four holes are uniformly arranged on each of the bending control member 201 and the base 202 along the circumferential direction. When the four ropes enter the handheld body 3, two of the ropes penetrate through the small hole in the left shell 301, and the other two ropes penetrate through the small hole in the right shell 302. The first rope 701, the second rope 702, the third rope 703 and the fourth rope 704 pass through the holes on the rope reel 503 in sequence after passing out of the left shell 301 and the right shell 302, and then pass through the base 502. After entering the interior of the base 502, each rope passes through the respective fixing rod 505, the spring 506 and the central hole of the baffle 507, and is finally fixed to the baffle 507. By controlling the bending of the bending controller 5 in different directions in space, different degrees of stretch are generated on the first, second, third and

fourth ropes

701, 702, 703, 704 and further the relative lengths of the four ropes at the flexible structure 200 are caused to vary, thereby generating bending stress at the flexible structure 200 portion of the bending rod 2 and causing the flexible structure 200 to bend.

In addition, the handheld body 3 according to the embodiment of the present application may further include a limit controller 4 and a limit lever 204. The restraint rods 204 have a generally rigid structure. The limit controller 4 is used to control the length of the limit rod 204 entering the flexible structure 200 of the bending rod 2 to further control the length the bending rod 2 is able to bend. How to control the length of the bending bar 2 that can be bent by controlling the length of the limit controller 4 entering the flexible structure 200 of the bending bar 2 will be described in detail below with reference to the drawings.

Referring to fig. 5 to 7, the limit controller 4 according to the embodiment of the present invention may include an upper cover 402, a fixing base 403, a lower cover 404, an upper rack 405, a rotating shaft 406, an upper gear 407, a toggle button 408, a lower rack 410, and a lower gear 411. Through holes are formed in the approximate centers of the upper gear 407 and the lower gear 411, and the rotating shaft 406 sequentially penetrates through the through holes of the upper gear 407 and the lower gear 411. A groove is formed on the upper gland 402, and the upper end of the rotating shaft 406 is embedded into the groove of the upper gland 402. When the upper cover 402 is placed in the internal cavity of the hand-held body 3 and fixed by, for example, the screw 401, the upper end of the rotating shaft 406 can be simultaneously pressed in the internal cavity of the hand-held body 3. Similarly, a groove is formed on the lower cover 404, and the lower end of the rotating shaft 406 is inserted into the groove of the lower cover 404. When the lower pressing cover 404 is placed in the inner cavity of the handheld body 3 and fixed by the screw 401, the lower end of the rotating shaft 406 can be pressed tightly in the inner cavity of the handheld body 3 at the same time. The upper rack 405 is located within the internal cavity of the hand-held body 3 and the upper rack 405 is in mesh with the upper gear 407. Grooves are formed in both ends of the upper rack 405, and the two T-shaped fixing seats 403 are respectively embedded into and fixed to the grooves formed in both ends of the upper rack 405. The lower rack 410 is located within the interior cavity of the hand-held body 3, and the lower rack 410 is engaged with the lower gear 411. The front end of the lower rack 410 is provided with a groove and a hole, the toggle button 408 is positioned in the groove of the lower rack 410, and the toggle button 408 is fixed on the lower rack 410 through a screw 409.

In use, when the dial knob 408 is controlled to move, the lower rack 410 connected to the dial knob 408 moves, thereby starting the rotation of the lower gear 411 engaged with the lower rack 410. Since the upper gear 407 and the lower gear 411 are both located on the rotating shaft 406, the rotation of the lower gear 411 will drive the upper gear 407 to rotate in the same direction. The rotation of the upper gear 407 further moves the upper rack 405 engaged with the upper gear 407, and the moving direction of the upper rack 405 is different from the moving direction of the control toggle button 408.

As shown in fig. 15, 16 and 19, the limiting rod 204 is fixed to the limiting controller 4, the limiting controller 4 comprises a toggle button 408, when the toggle button 408 is controlled to move towards the direction close to the bending rod 2, the length of the limiting rod 204 entering the flexible structure 200 of the bending rod 2 is reduced, and thus the length of the bending rod 2 which can be bent is increased; when the toggle button 408 is controlled to move away from the bending rod 2, the length of the limiting rod 204 entering the flexible structure 200 of the bending rod 2 increases, so that the length of the bending rod 2 that can be bent decreases.

The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as referred to in the present application is not limited to the embodiments with a specific combination of the above-mentioned features, but also covers other embodiments with any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.

Claims

1. A minimally invasive surgical instrument comprises a handheld body, a bending rod, a clamp and a rope set, and is characterized in that the handheld body comprises a bending controller, a clamp controller and a limit controller; the bending rod is of a flexible structure, one end of the bending rod is fixed at the end part of the handheld body, and the other end of the bending rod is connected with the end part of the holder; the flexible structure comprises a plurality of identical bending control pieces and elastic hoses, and the bending control pieces are connected with the elastic hoses through spherical pairs; the bending control piece can be controlled to be in an active state and a locking state; the maximum bending angle of the flexible structure is controlled by the number of bending control pieces in an active state; the clamp comprises a fixed clamp for clamping focus tissues; and the set of cords connecting the gripper and the hand-held body via the curved rod; the cord set includes a first cord set and a second cord set, the first cord set including a first cord, a second cord, a third cord, and a fourth cord, and the second cord set including a fifth cord and a sixth cord; the bending controller includes: the base is provided with a plurality of through holes along the circumferential direction and used for guiding and fixing the first rope set, and the base comprises a spring used for tensioning and locking the first rope set; a plurality of rope reels for guiding the first rope set; a plurality of fixing rods, each of which is controllably extended and fixed into a corresponding through hole, wherein the tightness of the first rope set is adjusted by controlling the depth of the fixing rods extended into the corresponding through holes; a plurality of springs, each of which is positioned in a corresponding through hole of the base, one end of each of the springs being in contact with an end of a corresponding fixing rod; a plurality of baffles, each baffle is positioned in a corresponding through hole of the base, and the baffles are contacted with the other end of the corresponding spring; a plurality of ropes of the first rope group sequentially pass through the holes of the plurality of rope discs, pass through the base and then are fixed on the corresponding baffle; and the flexible shaft is used for realizing that the bending controller bends to any direction through the deformation of the flexible shaft so as to pull the first rope group, thereby controlling the bending deformation of the flexible structure of the bending rod.

2. The minimally invasive surgical instrument of claim 1, wherein the clamp further comprises a movable jaw, the clamp controller comprising: a trigger having a handle and a pivotable cylindrical pivot portion, the fifth rope being fixed to an upper end of the pivot portion, the sixth rope being fixed to a lower end of the pivot portion; and an elastic pressing block which can elastically deform and abuts against the trigger; the clamping controller has a first working state and a second working state, wherein in the first working state, the handle is buckled, so that the pivot part pivots to compress the elastic pressing block, the fifth rope is tightened, and the sixth rope is loosened, so that the movable clamp is clamped relative to the fixed clamp, and in the second working state, the handle is loosened, so that under the action of restoring force of the elastic pressing block, the pivot part drives the fifth rope and the sixth rope to return to the original positions, so that the movable clamp is loosened relative to the fixed clamp.

3. The minimally invasive surgical instrument of claim 1, wherein the position limit controller comprises: a stop lever having a substantially rigid structure for controlling the length to which the bending lever can be bent; the motion scaling mechanism is a gear and rack mechanism; the toggle button is connected with the limiting rod through the motion scaling mechanism; when the toggle button is controlled to move towards the direction close to the bending rod, the length of the limiting rod entering the bending rod is reduced, so that the length of the bending rod capable of being bent is increased; when control toggle button moves to the direction of keeping away from crooked pole, the gag lever post gets into the length of crooked pole increases, thereby crooked pole can crooked length reduce.

4. The minimally invasive surgical instrument according to claim 3, wherein the hand-held body includes a housing with a plurality of recesses, and the toggle button is placed into one of the plurality of recesses when the toggle button is controlled to move to a desired position, and the one of the plurality of recesses is locked with the toggle button to form a self-locking.

5. The minimally invasive surgical instrument of claim 1, wherein the curved rod further comprises: the bending control piece comprises a base, a plurality of holes and a plurality of elastic pieces, wherein the base is provided with the plurality of holes along the circumferential direction, and one end part of the base is connected with the bending control piece through a spherical pair; and an outer tube having a through hole, one end of the outer tube being fixed to the other end of the base, the other end of the outer tube being mounted to the hand-held body; the plurality of ropes of the first rope group respectively penetrate through the hole of the base and the through hole of the outer pipe in sequence and penetrate into the handheld body.

6. The minimally invasive surgical instrument according to claim 3, wherein the bending control member is circumferentially provided with a plurality of holes through which the plurality of ropes of the first rope set respectively pass and a central hole through which the elastic hose, the stop lever and the second rope set pass.