CN110051409A

CN110051409A - A kind of head assembly and surgical instrument

Info

Publication number: CN110051409A
Application number: CN201910400355.2A
Authority: CN
Inventors: 朱莫恕
Original assignee: Chengdu Wuyi Medical Devices Co Ltd
Current assignee: 5r Med Technology Chengdu Co ltd
Priority date: 2019-05-15
Filing date: 2019-05-15
Publication date: 2019-07-26
Anticipated expiration: 2039-05-15
Also published as: CN110051409B

Abstract

The invention discloses a kind of head assembly and surgical instruments, and comprising pedestal and mutually matched first jaw and the second jaw, first jaw includes the first jaw tail, and second jaw includes the second jaw tail；The pedestal includes the shaft shoulder and the first fixed arm and the second fixed arm for extending to distal end, and axis hole runs through the shaft shoulder, moves basal plane and the substantially vertical intersection of buckling surface, the first central axis of intersection and the axis hole essentially coincide；First jaw tail and the second jaw tail are sandwiched between the first fixed arm and the second fixed arm, and the first jaw tail and the first fixed arm constitute the first revolute pair, and the second jaw tail and the second fixed arm constitute the second revolute pair.

Description

A kind of head assembly and surgical instrument

Technical field

The present invention relates to Minimally Invasive Surgery instrument more particularly to a kind of hysteroscope hand-held apparatus.

Background technique

Endoscope-assistant surgery (including hard tube hysteroscope, fibrescope), i.e., using the hysteroscope hand-held apparatus lengthened, via natural chamber Road or the puncture channel of building enter patient's body, complete tissue crawl, shear, separation, blood coagulation, the operation such as suture closure.Phase For Tradtional laparotomy, main advantage is to reduce wound and mitigates ailing and accelerate to restore.In endoscope-assistant surgery, Yi Shengtong Patient organ's organ can only be often touched by instrument, can not directly be perceived with hand；In addition the visual field of endoscope-assistant surgery doctor seriously by Limit, can only observe in real time the regional area of instrument working head by endoscope and image system.Due in art the doctor visual field by Limit and shortage touch feedback, therefore for the accurate of hysteroscope hand-held apparatus (hysteroscope scissors, hysteroscope nipper, hysteroscope elastic separating plier etc.) Property, consistency is handling etc. to propose very high requirement.

Up to the present, the hysteroscope hand-held apparatus (referred to as multiplexing instrument) of reuse occupies leading market status, once Property hysteroscope hand-held apparatus (referred to as disposable instrument) clinical application for using it is relatively fewer.However many medical literatures deeply dissect There are problems, entitled Safety Evaluation of Surgical an Instruments, a for multiplexing instrument thesis submitted for the degree of Philosophy doctor(PHD)of University of The doctoral thesis of Dundee, February 2017, the cleaning of detailed overview multiplexing instrument, present in dispatching and use not Reliable uncontrollable problem, such as ion in blood of human body easily corrodes stainless steel double instrument, up to the present there is no reliably Solution.

Disposable instrument can effectively solve the problems of multiplexing instrument, however good disposable equipment cost is too high. One entitled Reducing the Cost of Laparoscopy:Reusable versus Disposable The research paper of Laparoscopic Instruments, Minimally Invasive Surgery, Volume 2014, Research shows that the application cost of disposable instrument is about 10 times for being multiplexed instrument application cost.Expensive disposable instrument adds The burden of patient has been weighed, the development of endoscope-assistant surgery is seriously hindered.Equipment cost mainly includes part manufacturing cost, is assembled into This, sterilize cost, carrying cost etc..Under the premise of guaranteeing even to optimize its functional performance, it is very difficult to reduce cost.It is wherein most tired Difficult one of challenge is how to improve the head construction of instrument.Up to the present, existing hysteroscope instrument largely uses pin riveting It connects to form cradle head.The riveting fixation of articulating pin must be very fine: first need to ensure that the rigidity of pin and hardness are enough, the Two need to ensure to rivet and securely fall off to prevent pin, and third need to ensure that the gap of pin and mating hole is reasonable, rotation that can be smooth.It closes The riveting of section pin is usually required by veteran senior skilled worker repeatedly manual repair completion, and passes through multiple authentication and confirmation, This considerably increases the manufacturing costs of instrument.Optimization design simultaneously produces that performance is close, equivalent even to surmount the one of multiplexing instrument Secondary property uses hysteroscope hand-held apparatus, while significantly reducing whole cost again, extremely difficult but significant.

Summary of the invention

Therefore, in order to solve problems in the prior art, a kind of device assembly that can effectively reduce manufacturing cost is proposed.

In one aspect of the invention, a kind of head assembly of Minimally Invasive Surgery includes pedestal and mutually matched first jaw With the second jaw；First jaw includes the first jaw tail and connects its first jaw wrist and extend to the first jaw head of distal end；It is described Second jaw includes the second jaw tail and connects its second jaw wrist and extend to the second jaw head of distal end.The pedestal include the shaft shoulder and The first fixed arm and the second fixed arm of distal end are extended to, axis hole runs through the shaft shoulder, basal plane and the substantially vertical intersection of buckling surface are moved, First central axis of its intersection and the axis hole essentially coincides.First jaw tail and the second jaw tail are sandwiched in the first fixed arm and second Between fixed arm, the first jaw tail and the first fixed arm constitute the first revolute pair, and the second jaw tail and the second fixed arm constitute second turn Dynamic pair.

In a kind of embodiment, the first, the second jaw tail is sandwiched between the first fixed arm and the second fixed arm, wherein First jaw tail and the first fixed arm constitute the first underconstrained revolute pair, and the second jaw tail and the second fixed arm constitute the second underconstrained and turn Dynamic pair.In a kind of specific embodiment, the first underconstrained revolute pair includes the first outer cylinder and the first inner cylinder；It is described The first rotation of first underconstrained revolute pair is substantially parallel with the buckling surface and substantially vertical with the movement basal plane；Institute It states the first outer cylinder and the first inner cylinder includes 2 freedom degrees, i.e., around the rotary freedom of the first rotation and edge The translation freedoms of the first rotation.Similarly, in a kind of specific scheme, the second underconstrained revolute pair includes Second outer cylinder and the second inner cylinder；The second rotation axis and the buckling surface of the second underconstrained revolute pair are substantially parallel And it is substantially vertical with the movement basal plane；Second outer cylinder and the second inner cylinder include 2 freedom degrees, i.e., around described the The rotary freedom of two rotation axis and translation freedoms along second rotation axis.

In another specific scheme, the first jaw tail includes to be linked to be the first whole inner cylinder therewith, and described first Fixed arm includes to be linked to be the first whole outer cylinder therewith, and first inner cylinder and the first outer cylinder are with contact free and without volume The mode of outer fixation constitutes the first revolute pair.Similarly, in yet another aspect, the second jaw tail is whole comprising being linked to be therewith Second inner cylinder, second fixed arm includes to be linked to be the second whole outer cylinder therewith, outside second inner cylinder and second Cylinder is constituted the second revolute pair in a manner of contact free and without additional fixation.

In another specific scheme, the first jaw tail includes to be linked to be the first whole outer cylinder therewith, and described first is solid Fixed arm includes to be linked to be the first whole inner cylinder therewith, and first inner cylinder is with the first outer cylinder with contact free and without additional The mode of fixation constitutes the first revolute pair.Similarly, in yet another aspect, the second jaw tail includes to be linked to be whole the therewith Two outer cylinders, second fixed arm include to be linked to be the second whole inner cylinder, second inner cylinder and the second column jacket therewith Face is constituted the second revolute pair in a manner of contact free and without additional fixation.

In a kind of scheme, first revolute pair is not generated except the first jaw during the Assembly And Disassembly of the second revolute pair, The additional parts of second jaw and pedestal；First jaw, the assembly or disassembly between the second jaw and pedestal three do not generate additionally Part, to reduce part manufacturing cost, assembly cost, and make component cooperation it is more accurate and compact.

In another preferred embodiment, first jaw, the second jaw and pedestal meet following relationship: Hf1 < Hw1, Hf2 < Hw2.Wherein: the spacing of the first, the second fixed arm of Hb1；Hf1 is the height of projection of first boss；Hf2 is the convex of second boss Play height；Hw1 is the thickness of the first jaw wrist；Hw2 is the thickness of the second jaw wrist.

In another preferred embodiment, the structure snd size of the pedestal of elongated shaft assembly, the first jaw, the second jaw meet such as ShiShimonoseki System: Hw1+Hw2+ δ 2=Hb1；Wherein, Hw1 is the thickness of the first jaw wrist；Hw2 is the thickness of the second jaw tail；Hb1 is the first, the The spacing of two fixed arms；δ 2 is mismachining tolerance.

In one aspect of the invention, the head part of apparatus component of a kind of Minimally Invasive Surgery includes pedestal, the first jaw, the second jaw And driving head.First jaw includes the first jaw tail, and second jaw includes the second jaw tail, and the pedestal includes the shaft shoulder and extension To the first fixed arm and the second fixed arm of distal end, axis hole runs through the shaft shoulder, moves basal plane and the substantially vertical intersection of buckling surface, hands over First central axis of line and the axis hole essentially coincides.First jaw tail and the second jaw tail are sandwiched in the first fixed arm and second and fix Between arm, the first jaw tail and the first fixed arm constitute the first revolute pair, and the second jaw tail and the second fixed arm constitute the second revolute pair. The driving head is sandwiched between the first jaw tail and the second jaw tail, and the driving head and the first jaw tail constitute the first cam pair, institute It states driving head and the second jaw tail constitutes the second cam pair.

In a kind of scheme, the driving head can be translated along central axis direction, drive generated in the first cam pair it is opposite Sliding drives to force the first revolute pair mutually to rotate and produces relative sliding to force second turn in the second cam pair Dynamic secondary mutually rotation, and then driving first jaw and second and rotation are opened or are closed up.

In a kind of scheme, first revolute pair, the second revolute pair, the first cam pair and the second cam pair can be dismantled repeatedly It resets repeatedly.In a kind of optional scheme, first revolute pair does not generate during the disassembly and refitting of the second revolute pair Except the first jaw, the additional parts of the second jaw and pedestal；The first cam pair, during the disassembly and refitting of the second cam pair not It generates and removes the first jaw, the additional parts of the second jaw and driving head.

In a kind of scheme, the driving head includes driving block and to the first driving lug and second extended outside block Drive lug；The first jaw tail includes the first driven slot, and the second jaw tail includes the second driven slot；First driving lug with The matching of first driven slot constitutes the first cam pair, and the second driving lug is matched with the second driven slot constitutes the second cam pair.

In another embodiment, first driven slot includes the first driven slot proximal openings, the head assembly There are three value intervals by the opening angle A1 of first jaw: limit subtended angle Au1, so that the first driving lug can as A1 >=Au1 It is completely disengaged with the first driven slot；Critical subtended angle Ae1, so that as A1=Ae1, the first driving lug and the first driven slot proximal end Opening aligns；Design work subtended angle Aw1, so that the first driving lug is remained with the first driven slot to be connect as A1≤Aw1 Touching.

In another embodiment, first revolute pair includes that the first outside is secondary and the first inside is secondary, outside described first Side pair includes the first cylindrical surface and the first notch, and first inside pair includes the first cylindrical portion and the first narrow body characteristics, Its size meets following relationship: Dr1 >=Df1 > Br1 >=Bf1；Wherein: Dr1 is the cross-sectional diameter on the first cylindrical surface；Br1 is The cross-sectional width of first notch；Df1 is the cross-sectional diameter of the first cylindrical portion；Bf1 is the transversal of the first narrow body characteristics Face width.

In another scheme, first jaw, the second jaw, driving head and pedestal meet following relationship: Hj1+Hj2+Hd1+ δ 1=Hb1；Wherein, Hj1 is the thickness of the first jaw tail；Hj2 is the thickness of the second jaw tail；Hd1 is the thickness for driving block；Hb1 is The spacing of the first, the second fixed arm；δ 1 is mismachining tolerance.

In another scheme, the driving head includes driving block and to the first driving lug extended outside block and the Two driving lugs；The first jaw tail includes the first secondary and annular driven slot of the first outside, and the second jaw tail includes annular The second driven slot；The secondary geometric centroid of the distal end geometric centroid of first driven slot and the first outside along buckling surface most Short distance is Lj1, and the geometric centroid of the first driving lug is Ld1 at a distance from central axis, wherein Lj1 >=Ld1.

In another specific implementation, the opening angle A1 of the first jaw includes two value intervals, design disassembly subtended angle Ac1 and design work subtended angle Aw1, wherein Ac1 > Aw1；As A1 >=Ac1, first inside pair can be from the first outside pair Abjection, as A1≤Aw1, secondary remain with the first outside pair in the first inside is contacted.

In an additional aspect of the present invention, propose that a kind of elongated shaft assembly for Minimally Invasive Surgery, the bar assembly include Aforementioned head assembly, also comprising the hollow tube being connect with pedestal, and the drive rod being connect with driving head.The hollow tube can be with It is rigid or flexible, the drive rod can be rigid or flexible.In a kind of implementation, the shaft shoulder of the pedestal Fixation wall including extending to proximal end, the distal end contraction distortion of the hollow tube and the appearance for being coated on the fixation wall.It is a kind of In implementation, the driving head is connected with drive rod with dismountable click joint, and click joint is limited in the axis Prevent the click joint from falling off in hole.

In an additional aspect of the present invention, propose that a kind of device product for Minimally Invasive Surgery, the device product include Aforementioned elongated shaft assembly, the also Handleset comprising being connect with elongated shaft assembly.The Handleset includes the first handle, the second handle And arm pivot post, first handle are connect with the hollow tube, second handle is connect with drive rod, first handle and second Handle can rotate around arm pivot post, so that the driving head be driven to do translational motion along central axis direction, and then drive It produces relative sliding that the first revolute pair is forced mutually to rotate in the first cam pair, drives in the second cam pair and produce Raw opposite sliding to force the second revolute pair mutually to rotate, thus realize the first jaw head and the second jaw head mutually rotate open or Close up.

Detailed description of the invention

In order to more fully understand essence of the invention, it is described in detail below in conjunction with attached drawing, in which:

Fig. 1 is the side schematic view of pedestal 30；

Fig. 2 is pedestal 30 by projection view distally proximally；

Fig. 3 is the side schematic view of driving head 70；

Fig. 4 is driving head 70 by projection view distally proximally；

Fig. 5 is the stereoscopic schematic diagram of the first jaw 10 (the second jaw 20)；

Fig. 6 is the head side schematic view of head assembly 2；

The inside projection view of the first jaw of Fig. 7 10a (the second jaw 20a)；

Fig. 8 is the limit subtended angle status diagram of head assembly 2a；

Fig. 9 is the critical subtended angle status diagram of head assembly 2a；

Figure 10 is the side elevational view of pedestal 30b；

Figure 11 is the limit subtended angle status diagram of head assembly 2b；

Figure 12 is the work subtended angle status diagram of head assembly 2b；

Figure 13 is the outside projection view of the first jaw 10c (the second jaw 20c)；

Figure 14 is the stereoscopic schematic diagram of the first jaw 10c (the second jaw 20c)；

Figure 15 is the assembly method schematic diagram of head assembly 2c；

Figure 16 is the distal end partial schematic diagram of head assembly 2c；

Figure 17 is the side schematic view of pedestal 30d；

Figure 18 is the 18-18 cross-sectional view of Figure 17；

Figure 19 is the stereoscopic schematic diagram of the first jaw 10d (the second jaw 20d)；

Figure 20 is the distal end partial schematic diagram of head assembly 2d；

Figure 21 is the stereoscopic schematic diagram of the first jaw 10e (the second jaw 20e)；

Figure 22 is the reversed stereoscopic schematic diagram of the first jaw 10e (the second jaw 20e) shown in Figure 21；

Figure 23 is the limit subtended angle status diagram of head assembly 2e；

Figure 24 is the side schematic view of pedestal 30e；

Figure 25 is the side schematic view of pedestal 30f；

Figure 26 is the 26-26 cross-sectional view of Figure 25；

Figure 27 is the stereoscopic schematic diagram of head assembly 2f；

Figure 28 is the stereoscopic schematic diagram of the first jaw 10g；

Figure 29 is the stereoscopic schematic diagram of head assembly 2g；

Figure 30 is the inside projection view of the first jaw 10h；

Figure 31 is the side schematic view of the first jaw 10h；

Figure 32 is the assembling schematic diagram of head assembly 2f；

Figure 33 is that the connection of pedestal and hollow tube shows that scheme is intended to；

Figure 34 is the 34-34 cross-sectional view of Figure 33；

Figure 35 is the connection scheme schematic diagram of driving head and drive rod；

Figure 36 is the schematic diagram of the asymmetric quick clamping scheme of driving head and drive rod；

Figure 37 is driving head and drive rod with the schematic diagram of riveting；

Figure 38 is the schematic diagram of the symmetrical quick clamping scheme of driving head and drive rod；

Figure 39 is the schematic diagram that driving head and drive rod T-type are quickly clamped scheme；

Figure 40 is the side schematic view of instrument 1；

In all views, identical label indicates equivalent part or component.

Specific embodiment

Disclosed herein is embodiment of the present invention, it should be understood, however, that disclosed embodiment is only of the invention Example, the present invention can be realized by different modes.Therefore, this disclosure is not to be construed to be restrictive, and It is the basis only as claim, and how uses basis of the invention as introduction those skilled in the art.

With reference to Fig. 1, for convenience of stating, the side of subsequent all Proximity operation persons is defined as proximal end, and one far from operator Side is defined as distal end.Carry out endoscope-assistant surgery when, usually using puncture cannula component (not shown) patient's body wall establish instrument into The operation path of patient's body out, various mis instruments, such as instrument 1 can be inserted by the channel that sheath assembly is formed Body cavity.It may be needed in art while use one or more sheath assemblies, and instrument 1 also needs to configure one or more according to operation It is a to carry out while operating.

Embodiment 1:

Fig. 1~6 depict a kind of head assembly 2 of typical hysteroscope hand-held apparatus 1.The head assembly 2 includes the first jaw 10, Second jaw 20, pedestal 30 and driving head 70.First jaw 10 and the second jaw 20 be mutually matched and be mounted on the pedestal 30 it Between, the driving head 70 cooperates with first jaw 10 and the second jaw 20；And the driving head 70 is mounted on the pedestal In 30, the driving head 70 can axially move and drive the first jaw 10, the mutual rotation opening movement or closure of the second jaw 20 Movement.

The structure and composition of the pedestal 30 is illustrated in detail in Fig. 1-2.The pedestal 30 includes the shaft shoulder 31 and extends to remote First fixed arm 33 and the second fixed arm 34 at end, the first, the second fixed arm form the installation space 300 that spacing is Hb1. Axis hole 32 runs through the shaft shoulder 31, moves basal plane 371 and the substantially vertical intersection of buckling surface 372, intersection and the first of the axis hole 32 Central axis 37 essentially coincides.The distal end of first fixed arm 33 includes to extend from 330 orientation movements basal plane 371 of the first mounting surface Height be Hf1 first boss 331；The distal end of second fixed arm 34 includes from 340 orientation movements base of the second mounting surface The height that face 371 extends is the second boss 341 of Hf2.The mounting surface 330, mounting surface 340 and 371 three of basal plane are big It causes parallel.In a kind of scheme, the first boss 331, second boss 341 is respectively at two sides of the buckling surface 372 and not Symmetrically；The first boss 331, second boss 341 are respectively at the two sides of the basal plane 371 and asymmetry.

The structure and composition of the driving head 70 is illustrated in detail in Fig. 3-4.The driving head 70 includes the second central axis 71, First transverse plane 711 and the first substantially vertical intersection of vertical plane 712, intersection are essentially coincided with second central axis 71.The One translational plane 74 and the second translational plane 75 are substantially parallel with the transverse plane 711 and limit driving block with a thickness of Hd1 73.First driving lug 740 is from the translational plane 74 to the 73 outside extended height Hp1 of block；Second driving lug 750 by The translational plane 75 is to the 73 outside extended height Hp2 of block.Such as Fig. 3-4, the first driving 740 geometric centroid of lug and center The distance of axis 71 is Ld1, and the second driving 750 geometric centroid of lug can be equal for Ld2, Ld1 and Ld2 at a distance from central axis 71 Or differ.In a kind of scheme, the first driving lug 740 and the second driving lug 750 are in the two sides of the vertical plane 712 And it is asymmetric；The first driving lug 740 and the second driving lug 750 are in two sides and the asymmetry of the transverse plane 711. First translational plane 74 and the second translational plane 75 proximally extend to intersect with driving neck 72.

The structure and composition of first jaw 10 and the second jaw 20 is illustrated in detail in Fig. 5.It wraps the proximal end of first jaw 10 Containing the first jaw tail 13 with a thickness of Hj1 limited by the first lateral surface 11 and the first medial surface 12.First datum hole 14 is by described One lateral surface 11 is to 13 inner recess of jaw tail, and the first driven slot 15 is from first medial surface 12 to 13 inner recess of jaw tail. First jaw wrist 16 and the first jaw tail 13 are linked to be whole and to distally extending to form the first jaw head 19.Second jaw 20 it is close End includes the second jaw tail 23 with a thickness of Hj2 limited by the second lateral surface 21 and the second medial surface 22.Second datum hole 24 is by institute The second lateral surface 21 is stated to 23 inner recess of jaw tail, and the second driven slot 25 is from second medial surface 22 to 23 inner-concave of jaw tail It falls into.Second jaw wrist 26 and the second jaw tail 23 are linked to be whole and to distally extending to form the second jaw head 29.The technology of this field Personnel are readily apparent that shown first (the second) jaw head can be elastic separating plier, nipper, scissors etc..

Fig. 6 depicts the composition and assembly relation of the head assembly 2.First jaw 10, the second jaw 20 are mounted on institute It states in pedestal 30, wherein the first mounting surface 330 matches with the first lateral surface 11, the second mounting surface 340 and the second lateral surface 21 Match.The first boss 331 and the first datum hole 14, which match, constitutes 100 (not shown) of the first revolute pair；Second is convex Platform 341 and the second datum hole 24, which match, constitutes 200 (not shown) of the second revolute pair；First revolute pair 100 and second Revolute pair 200 is not coaxial.The driving head 70 is installed in the pedestal 30, wherein the first central axis 37 and the second central axis 71 Alignment；First translational plane 74 matches with the first medial surface 12；Second translational plane 75 matches with the second medial surface 22；First drives Dynamic lug 740 and the first driven slot 15, which match, constitutes secondary 700 (not shown)s of the first cam；Second driving lug 750 with Second driven slot 25, which matches, constitutes secondary 800 (not shown)s of the second cam.The driving head 70 can be flat along central axis direction Shifting movement is forced and is produced relative sliding in the first cam pair 700 to which the first jaw 10 of driving is rotated around the first revolute pair 100；Compel The second cam pair 800 is produced relative sliding to which the second jaw 20 of driving is rotated around the second revolute pair 200.

In a kind of specific design scheme, the pedestal 30, driving head 70, the first jaw 10 and the second jaw 20 meet such as ShiShimonoseki System: Hj1 >=HP1, Hj1 >=Hf1, Hj2 >=HP2, Hj2 >=Hf2, Hj1+Hj2+Hd1+ δ 1=Hb1.Hj1 is the thickness of the first jaw tail Degree；Hj2 is the thickness of the second jaw tail；Hd1 is the thickness for driving block；Hb1 is the spacing of the first, the second fixed arm；δ 1 is to add Work error.

Embodiment 2:

Fig. 7-9 depicts another embodiment of the present invention, i.e. head assembly 2a.In Fig. 7-9 in the label of geometry and Fig. 1-6 Corresponding label is identical, indicates that the structure of identical label is substantially equivalent.All identical labels indicate in different embodiments hereinafter Its structure is substantially equivalent.The head assembly 2a includes the first jaw 10a, the second jaw 20a, pedestal 30 and driving head 70.

The structure and composition of the first jaw 10a (the second jaw 20a) is illustrated in detail in Fig. 7.The first jaw 10a (second Jaw 20a) it is similar to aforementioned first jaw, 10 (the second jaw 20) structure, the main distinction is the setting of datum hole and driven slot.Described The first jaw tail 13 of one jaw 10a includes the first datum hole 14a and the first driven slot 15a.The first datum hole 14a is comprising diameter The the first cylinder basal plane 142a and width of Dr1 is the first notch 141a of Br1, cylinder base described in the notch 141a cutaway portion Face 142a forms half-open mouth structure.The first driven slot 15a includes the first slot distal end 159a and width is the first of Ss1 Slot proximal openings 151a.The second jaw tail 23 of the second jaw 20a also includes the second datum hole 24a and the second driven slot 25a.It is described The second notch 241a that second datum hole 24a includes the second cylinder basal plane 242a that diameter is Dr2 and width is Br2, the notch Cylinder basal plane 242a described in 241a cutaway portion, forms half-open mouth structure.The second driven slot 25a includes the second slot distal end The second slot proximal openings 251a that 259a and width dimensions are Ss2.Those skilled in the art is to be understood that described Dr1 and Dr2, Dr1 and Br1, Dr2 can be equal with the numerical value of Br2 or differ.In a kind of optional scheme, described first Boss 331 includes the cylindrical body that diameter is Df1, and the second boss 341 includes the cylindrical body that diameter is Df2；Wherein Df1, Dr1, Br1 are roughly equal and Df2, Dr2, Br2 are roughly equal.

The part of the head assembly 2a cooperates, and driving and movement relation component 2 described previously are substantially equivalent, summary It says, the first boss 331 and the first datum hole 14a, which match, constitutes the first revolute pair 100a；Second boss 341 and the second datum hole 24a, which matches, constitutes the second revolute pair 200a (not shown)；First driving lug 740 and the first driven slot 15a matches Constitute the first cam secondary 700a；Second driving lug 750 and the second driven slot 25a, which match, constitutes the second cam secondary 800a (figure In be not shown), can refer to Fig. 8-9 and combine understand above, be no longer described in detail.It, will in Fig. 8 and Fig. 9 for the ease of observing and understanding The pedestal 30 has carried out (virtual) processing of perspectiveization, is indicated with two-dot chain line, later all structures indicated with double dot dash line, Indicate (virtual) processing of perspectiveization.

Understand referring now to Fig. 8-9, in a kind of specific design scheme, the first jaw 10a of the head assembly 2a (or the second jaw Opening angle A1 20a), the test method of the opening angle A1 are as follows: such as Fig. 9, cross the axis of rotation of its revolute pair and substantially The angle being parallel between the virtual plane and buckling surface of jaw head.The opening angle A1 includes three value intervals: the limit Angle Au1, critical subtended angle Ae1 and work subtended angle Aw1.

Limit subtended angle Au1: there are limit subtended angle Au1, as A1 >=Au1, the first driving lug 740 and the first driven slot 15a is completely disengaged, and the first jaw 10a can be rotated around the first revolute pair 100a and not interfered with the first driving lug 740.

Critical subtended angle Ae1: there are critical subtended angle Ae1, so that as A1=Ae1, the first driving lug 740 and first driven Slot proximal openings 151a aligns；When A1 > Ae1, the first driving lug 740 and the first driven slot 15a are detached from；When A1 < Ae1, First driving lug 740 and the first driven slot 15a, which match, constitutes the first cam secondary 700a.

Work subtended angle Aw1: there are work subtended angle Aw1, so that as A1≤Aw1, the first driving lug 740 and first driven Slot 15a remains contact.

In a kind of design scheme, Au1 > Ae1 > Aw1.In a kind of specific embodiment, 0 °≤Aw1≤40 °.

The head assembly 2a can be convenient, quickly disassembly and assembly, and does not all need to pacify during assembly or disassembly Tiny pin shaft or other tiny separate components are filled or are dismantled, therefore can largely improve the efficiency of assembly or disassembly, To which assembly cost and finished product scrappage be greatly lowered, so that the overall cost of disposable instrument be greatly lowered.Such as Fig. 8- 9, briefly, first make first boss 331 and the first datum hole 14a match constitute the first revolute pair 100a, second boss 341 with Second datum hole 24a, which matches, constitutes the second revolute pair 200a；Then the first jaw is rotated, the second jaw is set to opening angle and sets It is set to critical subtended angle Ae1, finally moving driving head 70 makes the first driving lug 740 enter the via the first slot proximal openings 151a One driven slot 15a and the first cam secondary 700a of matching composition, while the second driving lug 750 is via the second slot proximal openings 251a enters the second driven slot 25a entrance and the second cam secondary 800a of matching composition.Those skilled in the art is easy to think It arrives, limit can be increased so that the opening angle A1 of the head assembly 2a is limited in work subtended angle in use by instrument 1 The section Aw1 prevents the first jaw 10a (the second jaw 20a) in work from deviating from.

Embodiment 3:

Figure 10-12 depicts another preferred head assembly 2b.The head assembly 2b includes the first jaw 10a, the second jaw 20a, Pedestal 30b and driving head 70.0 and the structure and composition of the pedestal 30b is understood in conjunction with Fig. 1-2 referring now to figure 1.The pedestal 30b is similar to the structure and composition of the pedestal 30.Briefly, the pedestal 30b includes the shaft shoulder 31, and axis hole 32 moves base Face 371, buckling surface 372, the first fixed arm 33, the second fixed arm 34, first boss 331b and second boss 341b.

In a kind of specific scheme, the first boss 331b includes the first fixed cylindrical portion that cross-sectional diameter is Df1 Divide 333b and cross-sectional width for the first narrow body characteristics 334b of Bf1, wherein Bf1 < Df1.In a kind of optional scheme, described One cylinder fixed part 333b includes two cylindrical surfaces arranged in opposite directions, and the first narrow body characteristics include two opposite arrangements Tangent plane, however can also be formed narrow containing part cylindrical and part only comprising a tangent plane or special-shaped excision face The special-shaped cylindrical body 331b (or being abnormity prism 331b) of body.In a kind of implementation, the second boss 341b includes The second narrow body characteristics 344b that the second fixed column part 343b and cross-sectional width that cross-sectional diameter is Df2 are Bf2, wherein Bf2 < Df2.In a kind of optional scheme, the second cylinder fixed part 343b includes two cylindrical surfaces arranged in opposite directions, and The second narrow body characteristics 344b includes two tangent planes arranged in opposite directions.In a kind of preferred scheme, the first jaw 10a's The width of the diameter Dr1, the first notch 141a of first cylinder basal plane 142a are Br1, and Dr1 >=Df1 > Br1 >=Bf1；Described The width of the diameter Dr2, the second notch 241a of the second cylinder basal plane 242a of two jaw 20a are Br2, and Dr2 >=Df2 > Br2 >= Bf2。

The components matching relationship of the head assembly 2b and head assembly 2a is substantially equivalent, assembly method and disassembly side Method is also substantially equivalent, and the main distinction is the first boss 331b and the first datum hole 14a, the second boss 341b with The assembling process of the second datum hole 24a.Brief, the first narrow body characteristics 334b enters the first datum hole via the first notch 142a In 14a, the first jaw 10a of rotation rotates the first cylinder basal plane 142a and the first fixed column part 333b composition first that matches Secondary 100b；Second narrow body characteristics 344b enters in the first datum hole 24a via the second notch 241a, and the second jaw 20a of rotation makes second The fixed column part 343b of cylinder basal plane 242a and second, which matches, constitutes the second revolute pair 200b.Those skilled in the art's reference Figure 11-12 and it is readily appreciated that its assembly method and movement relation above, details are not described herein.

The head assembly 2b is more accurate compared to head assembly 2a reliable.As the first jaw 10a (second of head assembly 2a Jaw 20a) rotation to some angle when, there may be shakings between the first jaw 10a and the second jaw 20a, especially when first Between jaw 10a and the second jaw 20a without clamping tissue or shearing tissue, i.e., therebetween without reaction force or reaction force very little when, Its shaking becomes apparent.And its first jaw 10a (in operating angle section) at work of the head assembly 2b, the second jaw During 20a mutually rotates to any angle, the first cylinder basal plane 142a and first fixes column part 333b, described Cooperation between the fixed column part 343b of second cylinder basal plane 242a and second is very close, can effectively reduce the first jaw 10a, Gap in second jaw 20a motion process, obtains better operating experience.In a kind of preferred scheme, the narrow body characteristics The 334b and buckling surface 372 formation included angle A p1, the narrow body characteristics 344b and buckling surface 372 formation included angle A p2, one In kind concrete implementation scheme, 0≤Ap1≤45 °, 0≤Ap2≤45 ° are conducive to increase the first jaw 10a (second in work Jaw 20a) the dynamic fit area (dynamic Contact area) of cylinder basal plane and fixed column part when rotating at any angle, then Cooperate closer, gives operative doctor accurate feedback information in clinical application.

Embodiment 4:

Figure 13-16 depicts another head assembly 2c of the invention.The head assembly 2c includes the first jaw 10c, the second jaw 20c, pedestal 30b and driving head 70.

Figure 13-14 depicts the structure and composition of the first jaw 10c and the second jaw 20c.The first jaw 10c (second Jaw 20c) it is similar to aforementioned first jaw 10a (the second jaw 20a) structure, the main distinction is the setting of datum hole and driven slot.It is described First jaw 10c includes the first lateral surface 11, the first medial surface 12, the first jaw tail 13, the first jaw wrist 16 and the first jaw head 19.First Datum hole 14c is from first lateral surface 11 to jaw tail inner recess, and the first driven slot 15c is from first medial surface 12 to jaw Tail inner recess.The first datum hole 14c includes the first cylinder basal plane 142c that diameter is Dr1 and width is the first of Br1 to cut Mouthful 141c, cylinder basal plane 142c described in the notch 141c cutaway portion, forms half-open mouth structure.The first driven slot 15c The substantially parallel slot side of the first driven slot proximal end 151c is extended to comprising the first driven slot distal end 159c and by slot distal end. The slot proximal end 151c, slot side and slot distal end 159c constitute closed racetrack annular groove.Although the slot shown in figure Side is flat face, however is also possible to bending curve.

Second jaw 20c includes the second lateral surface 21, the second medial surface 22, the second jaw tail 23, the second jaw wrist 26 and the second jaw First 29.Second datum hole 24c is from second lateral surface 21 to jaw tail inner recess, and the second driven slot 25c is by the second medial surface 22 to jaw tail inner recess.Second datum hole 24c includes the second cylinder basal plane 242c that diameter is Dr2 and width is the second of Br2 Notch 241c, cylinder basal plane 242c described in the notch 241c cutaway portion, forms half-open mouth structure.Second driven slot 25c packet The substantially parallel slot side of the second driven slot proximal end 251c is extended to containing the second driven slot distal end 259c and by slot distal end.Institute Slot proximal end 251c is stated, slot side and slot distal end 259c constitute closed racetrack annular groove.

For the first jaw 10c with the first jaw 10a compared with, the main distinction is the first datum hole 14c and the first driven slot 15c It forms blind hole or blind slot (does not penetrate through) structure, i.e., do not penetrate the first jaw tail 13, the intensity of the jaw tail can be enhanced, and help In the sharp edges for reducing instrument appearance, reduce the accidental injury of clinical application.Those skilled in the art is to be understood that The datum hole 14c, driven slot 15c can also be part or all of penetrate the first jaw tail 13.

The composition and movement relation of head assembly 2c are understood now in conjunction with Figure 15-16.The first jaw 10c, the second jaw 20c quilt It is clipped between the first fixed arm 33 of pedestal 30c and the second fixed arm 34, the first datum hole 14c and first boss 331b constitute first Revolute pair 100c, the second datum hole 24c and second boss 341b constitute the second revolute pair 200c (not shown).First revolute pair 100c and the second revolute pair 200c be not coaxial.The driving head 70 is sandwiched between the first jaw tail 13 and the second jaw tail 23, and first The driving lug 740 of driven slot 15c and first constitutes the first cam secondary 700c (not shown)；Second driven skewed slot 25c and Two driving lugs 750 constitute the second cam secondary 800c (not shown).The driving head 70 can be translated along central axis direction and be transported It is dynamic, it forces and is produced relative sliding in the first cam secondary 700c to which the first jaw 10c of driving is rotated around the first revolute pair 100c；It forces Second cam secondary 800c produces relative sliding to which the second jaw 20c of driving is rotated around the second revolute pair 200c.

The head assembly 2c quickly can be dismantled and be assembled, and be not required to install or remove during assembly or disassembly tiny Pin shaft or other tiny separate components.The assembly method of a kind of head assembly 2c and steps are as follows:

The cooperation of the first, second jaw and driving head: S1 the first driving lug 740 is inserted into the first driven slot 15c and constitutes first Second driving lug 750 is inserted into the second driven slot 25c and constitutes the second cam secondary 800c by cam secondary 700c, rotation the first, the Two jaws make the first translational plane 74 match with the first medial surface 12, and the second translational plane 75 matches with the second medial surface 22；S2, with The cooperation of pedestal: the component installed in S1 step is fitted into together in pedestal 30b, makes the first lateral surface 11 and the first installation first The matching of face 330 and the second lateral surface 21 is matched with the second mounting surface 340, and the described first narrow body characteristics 334b is aligned described the A kerf 141c, while the second narrow body characteristics 344b is aligned the second notch 241c；Then by distally proximally translating And the first, the second jaw is rotated, so that the fixed column part 333b of the first cylinder basal plane 142c and first is matched composition first Revolute pair 100c, the second cylinder basal plane 242c and the second fixed column part 343b, which match, constitutes the second revolute pair 200c (ginseng Examine Figure 15-16 understanding).

In a kind of specific design scheme, the center of circle of the geometric centroid of slot distal end 159c and the first datum hole 14c are along fastening The shortest distance of plane is Lj1, wherein Lj1 >=Ld1.The opening of the first jaw 10c (or second jaw 20c) of the head assembly 2c Angle A 1, the opening angle A1 include two value intervals: design disassembly subtended angle Ac1 and design work subtended angle Aw1.Such as figure 15, subtended angle Ac1 is dismantled, i.e. when opening angle A1 >=Ac1, the first boss 331b deviates from that (second is convex from the first datum hole 14c Platform 341b deviates from from the second datum hole 24c).

Embodiment 5:

Figure 17-20 depicts another head assembly 2d.The head assembly 2d includes the first jaw 10d, the second jaw 20d, pedestal 30d With driving head 70.The structure and composition of the pedestal 30d is illustrated in detail in Figure 17-18.The pedestal 30d and the pedestal 30 Structure and composition is similar.Briefly, the pedestal 30d includes the shaft shoulder 31, axis hole 32, moves basal plane 371, buckling surface 372, and the One fixed arm 33, the second fixed arm 34.The distal end of first fixed arm 33 includes fixed from the first mounting surface 330 towards first First fixation hole 331d of arm inner recess；The distal end of second fixed arm 34 includes from the second mounting surface 340 towards second Second fixation hole 341d of fixed arm inner recess.I.e. with the first boss 331 of the first fixation hole 331d substitution pedestal 30, with the The second boss 341 of two fixation hole 341d substitution pedestal 30 forms new pedestal 30d.

The structure and composition of the first jaw 10d and the second jaw 20d is illustrated in detail in Figure 19.First jaw 10d (the second jaw It is 20d) similar to aforementioned first jaw, 10 (the second jaw 20) structure.Brief, the first jaw 10d includes the first lateral surface 11, in first Side 12, the first jaw tail 13, the first jaw wrist 16, the first jaw head 19 and the first driven slot 15, the first pilum 14d is by the first lateral surface 11 is raised to extension outside jaw tail.The first new jaw is formed with the first datum hole 14 that the first pilum 14d substitutes the first jaw 10 10d.The second jaw 20d includes the second lateral surface 21, the second medial surface 22, the second jaw tail 23, the second jaw wrist 26, the second jaw head 29 and second driven slot 25, the second pilum 24d from the second lateral surface 21 to jaw tail outside extend protrusion.I.e. with the second pilum 24d The second datum hole 14 for substituting the second jaw 20 forms the second new jaw 10d.

Figure 20 depicts the composition and assembly relation of the head assembly 2d.The first jaw 10d, the second jaw 20d installation In the pedestal 30d, the first mounting surface 330 matches with the first lateral surface 11, the second mounting surface 340 and the second lateral surface 21 match.The first fixation hole 331d and the first pilum 14d, which matches, constitutes the first revolute pair 100d；Second fixation hole 341d and the second pilum 24d, which matches, constitutes the second revolute pair 200d (not shown).The driving head 70 is installed to described In pedestal 30d, wherein the first central axis 37 and the alignment of the second central axis 71；First translational plane 74 and 12 phase of the first medial surface Match；Second translational plane 75 matches with the second medial surface 22；First driving lug 740 and the first driven slot 15 match composition the One cam, 700 (not shown)s of pair；Second driving lug 750 and the second driven slot 25, which match, constitutes the second cam pair 800 (not shown).

Embodiment 6:

Figure 21-24 depicts another head assembly 2e of the invention.The head assembly 2e includes the first jaw 10e and the second jaw 20e, pedestal 30e and driving head 70.Such as Figure 21-22, the first jaw 10e (the second jaw 20e) and aforementioned first jaw 10d (second Jaw 20d) structure is similar, and the main distinction is the setting of pilum and driven slot.The first jaw 10e includes the first lateral surface 11, First medial surface 12, the first jaw tail 13, the first jaw wrist 16 and the first jaw head 19.The first jaw tail 13 is also comprising by the first outside Face 11 is to the first pilum 14e extended outside jaw tail and from the first medial surface 12 to the first driven slot 15e of jaw tail inner recess. The first narrow body characteristics 141e that the first pilum 14e includes the first cylindrical matrix 142e that diameter is Dr3 and width is Br3, Br3 < Dr3.The first driven slot 15e includes the first driven slot distal end 159e and extends to the big of slot proximal end by slot distal end Cause before parallel first driven surface 155e after driven surface 153e and first, and the preceding driven surface 153e and it is described after driven surface First driven slot proximal openings 151e of the 155e formation width having a size of Ss1.

The second jaw 20e includes the second lateral surface 21, the second medial surface 22, the second jaw tail 23, the second jaw wrist 26 and the Two jaw heads 29.The second jaw tail 23 is also comprising the second pilum 24e from the second lateral surface 21 to jaw tail that extend outside from and by the Second driven slot 25e of two medial surfaces 22 to jaw tail inner recess.The second pilum 24e includes the second circle that diameter is Dr4 The the second narrow body characteristics 241e, Br4 < Dr4 that base for post body 242e and width are Br4.The second driven slot 25e include second from It dynamic slot distal end 259e and is extended to by slot distal end driven after driven surface 253e and second before substantially parallel second of slot proximal end Face 255e, and the preceding driven surface 253e and the rear second driven slot proximal end of the driven surface 255e formation width having a size of Ss2 Be open 251e.Described first (the second) driven slot does not penetrate first (the second) jaw tail, can enhance the intensity of the jaw tail, and The sharp edges for facilitating reduction instrument appearance, reduce the accidental injury of clinical application.However it can also be with complete penetration.

The structure and composition of the pedestal 30e is understood referring now to Figure 24 and in conjunction with Figure 17-18.The pedestal 30e with it is described The structure and composition of pedestal 30d is similar.Briefly, the pedestal 30e includes the shaft shoulder 31, and axis hole 32 moves basal plane 371, button Conjunction face 372, the first fixed arm 33, the second fixed arm 34, the first fixation hole 331e and the second fixation hole 341e.Described first is fixed The first notch 334e that hole 331e includes the first cylindrical surface 333e that diameter is Df3 and width is Bf3, the notch 334e are cut Part the first fixation hole 331e, forms half-open mouth structure.The second fixation hole 341e includes the second circle that diameter is Df4 Cylinder 343e and width are the second notch 344e of Bf4, and the second fixation hole 341e described in the notch 344e cutaway portion is formed Half-open mouth structure.The first fixation hole 331d of the pedestal 30d is substituted, with the first fixation hole 331e containing notch to contain notch The second fixation hole 341e substitute the second fixation hole 341d of the pedestal 30d, to constitute new pedestal 30e.It is a kind of specific Implementation in, Df3 >=Dr3 > Bf3 >=Br3, Df4 >=Dr4 > Bf4 >=Br4, the number of the Df1 and Df2, Bf1, with Bf2 Value can be equal or differs.

Referring now to Figure 23, the first jaw 10e, the second jaw 20e are sandwiched in the first fixed arm 33 and of the pedestal 30e Between two fixed arms 34, the first fixation hole 331e and the first pilum 14e constitute the first revolute pair 100e, the second fixation hole 341e with Second pilum 24e constitutes the second revolute pair 200e.First revolute pair 100e and the second revolute pair 200e be not coaxial.The driving head 70 are pressed from both sides again between the first medial surface 12 and the second medial surface 22, and the driving of the first driven skewed slot 15e and first lug 740e is constituted First cam secondary 700e (not shown)；Second driven skewed slot 25 and the second driving lug 750e constitute the second cam secondary 800e (not shown).

Approximately, in the opening angle A2 of the first jaw 10e (or second jaw 20e) of head assembly 2e, the opening angle A2 includes three value intervals: the limit subtended angle Au2, critical subtended angle Ae2 and work subtended angle Aw2.When A2 >=Au2, the first driving is convex Ear 740 is completely disengaged with the first driven slot 15e；When A2=Ae2, the first driving lug 740 and the first driven slot proximal openings 151e aligns；When A1≤Aw1, the first driving lug 740 is remained with the first driven slot 15e to be contacted.

The head assembly 2e quickly can be dismantled and be assembled, and be not required to install or remove during assembly or disassembly tiny Pin shaft or other tiny separate components.

Embodiment 7:

Figure 25-27 depicts another head assembly 2f of the invention.The head assembly 2f includes the first jaw 10a and the second jaw 20d, pedestal 30f and driving head 70.Referring now to Figure 25-26, the basic phase of structure of the pedestal 30f and the pedestal 30b (30d) Together.Briefly, the second fixation hole 341d substitutes the second boss 341b in the pedestal 30b to form new pedestal 30f. Referring now to Figure 27, the first fixed arm 33 and second that the first jaw 10a and the second jaw 20d are sandwiched in the pedestal 30f is fixed Between arm 34, the first lateral surface 11 is matched with the first mounting surface 330, and the second lateral surface 21 is matched with second mounting surface 340, First boss 331b and the first datum hole 14a constitute the first revolute pair 100b, the second fixation hole 341d and the second pilum 24d composition the Two revolute pair 200d.First revolute pair 100b and the second revolute pair 200d be not coaxial.The driving head 70 is sandwiched in the first jaw tail 13 and second between jaw tail 23, and the driving lug 740 of the first driven skewed slot 15a and first constitutes the first cam secondary 700a；Second from Dynamic skewed slot 25 and the second driving lug 750 constitute secondary 800 (not shown)s of the second cam.The head assembly 2f can be quick Disassembly and assembly, and be not required to install or remove tiny pin shaft or other tiny separate components during assembly or disassembly.

Embodiment 8:

Figure 28-29 depicts another head assembly 2g of the invention.The head assembly 2g includes the first jaw 10g, the second jaw 20g, pedestal 30g and driving head 70.The pedestal 30g is similar to the structure and composition of the pedestal 30f.Briefly, described Pedestal 30g include the shaft shoulder 31, axis hole 32, move basal plane 371, buckling surface 372, the first fixed arm 33, the second fixed arm 34, first Boss 331g and the second fixation hole 341g.The first boss 331g includes that the first fixed narrow body of column part 333b and first is special Levy 334b.Pedestal 30g and the main distinction of pedestal 30f are: the axis of the column part 333b of the pedestal 30g and described the The axis coaxle of two fixation hole 341g.

Such as Figure 28, the first jaw 10g is similar to the structure and composition of the first jaw 10a.The first jaw 10g includes first Lateral surface 11, the first medial surface 12, the first jaw tail 13, the first jaw wrist 16 and the first jaw head 19.First datum hole 14g is by described first Lateral surface 11 is to 13 inner recess of jaw tail, and the first driven slot 15g is from first medial surface 12 to 13 inner recess of jaw tail.Institute Stating the first datum hole 14g includes the first cylinder basal plane 142a and the first notch 141g.The first driven slot 15g includes first driven Slot proximal openings 151g.The structure and composition of the second jaw 20g and the second jaw 20d are substantially equivalent, and difference essentially consists in The size and positional relationship of second pilum.

Referring now to Figure 29, the first jaw 10g and the second jaw 20g are sandwiched in 33 He of the first fixed arm of the pedestal 30g Between second fixed arm 34, first boss 331g and the first datum hole 14g constitute the first revolute pair 100g, the second fixation hole 341g with Second pilum 24d constitutes the second revolute pair 200g.First revolute pair 100g and the second revolute pair 200g are coaxial.The driving head 70 By between the first jaw tail of folder and the second jaw tail, the driving lug 740 of the first driven skewed slot 15g and first constitutes the first cam pair 700g；Second driven skewed slot 25 and the second driving lug 750 constitute secondary 800 (not shown)s of the second cam.

Embodiment 9:

Figure 30-31 depicts another elongated shaft assembly 2h.The elongated shaft assembly 2h include two the first jaw 10h, pedestal 30b and Driving head 70h.Figure 30 depicts the first jaw 10h.The first jaw 10h includes the first jaw wrist 16h and connects it and extend To proximal end the first jaw tail 13h and extend to the first jaw head 19h of distal end；The first jaw wrist 16h comprising by outside first First datum hole 14h of the side 11h (not shown) to jaw wrist inner recess.The first datum hole 14h includes first that diameter is Dr1 The first notch 141h that cylinder basal plane 142h and width are Br1.The first notch 141h cuts a part of first cylinder Basal plane 142h forms a half-open mouth structure.The first jaw tail 13h includes from the first medial surface 12h to jaw tail inner recess The first driven skewed slot 15h, the first driven skewed slot 15h include the first skewed slot distal end 159h and by skewed slot distal end extend to Driven surface 155h after driven surface 153h and first before substantially parallel first of skewed slot proximal end, the driven surface 153h and it is described from Dynamic first skewed slot proximal openings 151h of the 155h formation width in face having a size of Sr1.The first jaw wrist 16h also includes the first support Face 17h.

The driving head 70h is similar to 70 structure of driving head, and the driving head 70h includes the first translational plane 74, the Two translational planes 75, drive block 73, drive neck 72, first driving lug 740h from translational plane 74 to the block 73 outside prolong Stretch, second driving lug 750h from translational plane 75 to the block 73 outside extend.The main region of driving head 70h and driving head 70 It is not that the driving of the first driving lug 740h and second lug 750d forms symmetrical structure.

Referring now to Figure 31, described two first jaw 10h are sandwiched in the first fixed arm 33 and second of the pedestal 30b Between fixed arm 34, wherein the first supporting surface 17 is mutually matched, one of them first lateral surface 11h and the first mounting surface 330 Match, another the first lateral surface 11h is matched with second mounting surface 340, first boss 331b and one of them first datum hole 14h constitutes the first revolute pair 100h (not shown), and second boss 341b and another the first datum hole 14h constitute the second rotation Secondary 200h (not shown).First revolute pair 100h and the second revolute pair 200h be not coaxial.The driving head 70h is pressed from both sides again two Between the jaw tail of a first jaw 10h, the driving of one of them first driven skewed slot 15h and first lug 740h constitutes the first cam pair 700h (not shown)；The driving of another first driven skewed slot 15h and second lug 750h constitutes the second cam secondary 800h (figure In be not shown).Equally, the elongated shaft assembly 2h can quick assembling or disassembly, and without tiny pin shaft or other tiny scattered portions Part can largely improve dress removal efficiency.

In another preferred embodiment, elongated shaft assembly include pedestal and the first matching jaw, the second jaw, structure and Size meets following relationship: Hw1+Hw2+ δ 2=Hb1；Wherein, Hw1 is the thickness of the first jaw wrist；Hw2 is the thickness of the second jaw tail Degree；Hb1 is the spacing of the first, the second fixed arm；δ 2 is mismachining tolerance.

It summarizes:

Those skilled in the art is to be understood that first different (the second) boss, first (the second) datum hole, first (the second) pilum, first (the second) fixation hole, first (the second) notch, the narrow body characteristics of first (the second) are substituted or are combined, Different design schemes is can produce.For example, the first revolute pair can be made of first boss and the first datum hole, can also be consolidated by first Determine hole and the first pilum is constituted.Based on being described above, those skilled in the art should be understood that following recapitulative language is explained State the one of invention thought of the present invention:

Generally, first revolute pair includes that the first outside is secondary (such as on the fixation hole or jaw tail on aforementioned fixed arm Datum hole) and the first inside pair (such as pilum on the boss or jaw tail on aforementioned fixed arm), similarly, the second revolute pair packet It is secondary secondary with the second inside containing the second outside.In a kind of scheme, first outside is secondary special comprising partial cylinder stationary plane and notch Sign, secondary first inside includes part cylindrical and narrow body characteristics, and the partial cylinder stationary plane and part cylindrical are constituted First revolute pair, when the first revolute pair, which is rotated to narrow body characteristics and cut-out feature, to align, the first revolute pair can be detached from, described First revolute pair can be dismantled by rotation.When the first revolute pair can be dismantled by rotation, second revolute pair is not needed Comprising narrow body characteristics and cut-out feature, disassembly still can be convenient.Certainly, the second revolute pair can also be similarly special comprising narrow body It seeks peace cut-out feature.The assembly method of component or the performance difference of refinement can be changed in various combination mode, more distinguishes technology Feature combines and replacement is also to be contemplated that.It is not exhaustive herein in order to save length.

In an additional aspect of the present invention, a kind of head assembly includes the first jaw, the second jaw and pedestal.The pedestal includes The shaft shoulder and the first fixed arm and the second fixed arm for extending to distal end, axis hole run through the shaft shoulder, move basal plane and buckling surface and substantially hang down Straight intersection, the first central axis of intersection and the axis hole essentially coincide.First jaw includes the first jaw tail, and the second jaw includes Second jaw tail；The first, the second jaw tail be sandwiched between the first fixed arm and the second fixed arm and contact free and without additional Pin shaft fix or additional fixation.

In a kind of optional embodiment, the first, the second jaw tail be sandwiched in the first fixed arm and the second fixed arm it Between, wherein the first jaw tail and the first fixed arm constitute the first underconstrained revolute pair, the second jaw tail and the second fixed arm constitute second Underconstrained revolute pair.

In a kind of specific embodiment, the first underconstrained revolute pair includes the first outer cylinder and the first inner cylinder； The first rotation of the first underconstrained revolute pair and the buckling surface are substantially parallel and substantially vertical with the movement basal plane Directly；First outer cylinder and the first inner cylinder include 2 freedom degrees, that is, surround the rotary freedom of the first rotation With the translation freedoms along the first rotation.Similarly, in a kind of specific embodiment, second underconstrained turns It is dynamic secondary comprising the second outer cylinder and the second inner cylinder；The second rotation axis and the buckling surface of the second underconstrained revolute pair It is substantially parallel and substantially vertical with the movement basal plane；Second outer cylinder and the second inner cylinder include 2 freedom degrees, that is, are enclosed Rotary freedom around second rotation axis and the translation freedoms along second rotation axis.

Two components (i.e. heretofore described fixed arm and jaw tail) of revolute pair will be usually constituted in link mechanism It is studied as rigid body, the standard rotary pair in theory of mechanisms, two components for constituting revolute pair only allow to surround the rotation of revolute pair The rotational freedom of axis, and without other freedom degrees.Standard rotary pair is largely used in Minimally Invasive Surgery instrument, which results in backgrounds It is described that " riveting of articulating pin usually requires that repeatedly manual repair is completed by veteran senior skilled worker, and by repeatedly testing Card and confirmation, this considerably increases the manufacturing costs of instrument ".

In the present invention, two components (fixed arm and jaw tail) for constituting revolute pair are studied as elastomer, allow to rotate Pair includes 2 freedom degrees, using the loading characteristic in the flexible deformation and Minimally Invasive Surgery devices work of fixed arm, realizes described the One, the second jaw tail be sandwiched between the first fixed arm and the second fixed arm and contact free and fixed without additional pin shaft or additionally Fixation.Utilize the flexible deformation adaptive ability of fixed arm, it is ensured that first (the second) underconstrained revolute pair both can securely connect Socket part fall off and can be smooth rotation.

Those skilled in the art are it should be appreciated that first (the second) boss disclosed in example 1-9, first (the second) base Column is equal to first (the second) inner cylinder, first (the second) datum hole, and first (the second) fixation hole is equal to first (the second) column jacket Face.

Those skilled in the art are it should be appreciated that the pedestal 30 (30b, 30d, 30e, 30f, 30g), the driving head There are many 70 (70h), and method manufactures, such as removes material (such as milling is considered to be worth doing) or the welding of multiple part combinations with metal bar, Or it is manufactured using 3D printing method.In order to which the manufacturing cost for reducing part by a relatively large margin is to be used in disposable instrument, preferably Metal powder injection molding (abbreviation MIM technique) or metal casting (abbreviation MC technique) or highstrenghtpiston's injection molding are (referred to as IM technique) produce the pedestal 30 (30b, 30d, 30e, 30f, 30g) and driving head 70 (70h).Especially with MIM technique into Row is produced in enormous quantities, not only meets precision and intensity requirement, but also cost per unit can be greatly lowered.Another preferred scheme, The driving head 70 (70h) slightly adaptation can be manufactured using metal plate punching.

In another aspect of the invention, a kind of elongated shaft assembly for Minimally Invasive Surgery, the elongated shaft assembly are provided Further include the hollow tube being connect with the pedestal of the head assembly comprising any one aforementioned head assembly, and with aforementioned head The drive rod of the driving head connection of parts.In a kind of scheme, such as Figure 32-33, hollow tube 40 includes 41 and Guan Jinduan of pipe distal end 49 and the tube wall 45 that extends therebetween, the tube wall 45 limit the central through hole 46 substantially concentric with the axis hole 32, the pipe Distally 41 are connected with the shaft shoulder 31.Those skilled in the art be to be understood that the pedestal 30 (30b, 30e, 30f, 30g, 30h) with the hollow tube 40 a variety of connection types can be used, including but not limited to weld, be threadedly coupled, glue bonding etc. Deng.As shown in Figure 33-34, it is preferred that the shaft shoulder 31 further includes the fixation wall 35 for extending to proximal end.In a kind of optional scheme The outer surface of the fixation wall 35 further includes one or more depressed area 351, and/or one or more boss 353；So And the outer surface of the fixation wall 35 is also possible to the plane or curved surface of smooth no convex-concave structure.In a kind of optional scheme, institute It states hollow tube 40 to manufacture using thermoplastic material, then (can be heated auxiliary using glue bonding way or interference fit type Help assembly), or the outer surface for using quadric injection mould method that the pipe distal end 41 of the hollow tube 40 is coated on to the fixation wall 35 (as shown in figure 33).The pedestal, i.e., be put into designed injection mold by the quadric injection mould method in advance, then is molded described Hollow tube 40 makes it be linked to be entirety.In another optional scheme, the hollow tube 40 is (such as stainless using metal material manufacture Steel material), 41 sets of the pipe of the hollow tube 40 distal end is made in the outer surface of the fixation wall 35 and using extrusion deformation method The hollow tube 40 is connected with the fixation wall 35, for example, by using stamping tool or hydraulic tool in the pipe distal end 41 Periphery application extruding force forces the pipe distal end 41, and internally contraction distortion connects it with the fixation wall 35.

In a kind of scheme, such as Figure 35-39, drive rod 80 includes bar distal end 81 and bar proximal end 89 and the bar part extended therebetween 85, the bar proximal end 89 includes the annular grooving 88 of substantially vertical drive rod axis, the bar distal end 81 and the driving neck 72 are connected, and the axis of the drive rod 80 is substantially overlapped with second central axis 71.Those skilled in the art should can To understand, there are many connection methods for the driving head 70 (70a, 70e, 70f) and the drive rod 80, including but not limited to weld It connects, is threadedly coupled, machine riveting (as shown in figure 37) etc..Such as Figure 36, it is preferred that the driving head 70 (70a, 70e, 70f) Using the click joint of manufacture and quick assembling easy to process between the drive rod 80.In a kind of implementation, the drive Dynamic neck 72 further includes the one or more pin threads 723 and female thread 721 for extending to proximal end, and the bar distal end 81 includes pin thread 813 With female thread 811.Such as Figure 36, the pin thread 723 is matched with the female thread 811, and the female thread 721 matches shape with the pin thread 813 At click joint 810, the click joint 810 is designed to that peripheral dimension is substantially equal to the internal diameter of the axis hole 32 and in elongated shaft In component operation, the click joint 810 is limited in always in the axis hole 32, to effectively prevent the click joint 810 It falls off.The click joint 810 that Figure 36 describes is made of asymmetric pin thread and female thread, however can also be by symmetrical pin thread and mother Button composition (as shown in figure 38).In another implementation, the click joint 810 is welded and fixed or glue is solid using additional Fixed, then the click joint 810 is not necessarily limited in the axis hole 32.As shown in figure 39, in another embodiment, institute The driving neck 72 for stating driving head 70 includes semi-enclosed T-slot 720c, and bar distal end 81 includes matched ring Shape grooving 84, the T-slot 720c and the annular grooving 84, which match, constitutes T connector 840.

In another aspect of the invention, a kind of hand-held apparatus for Minimally Invasive Surgery is provided, comprising it is aforementioned any one Elongated shaft assembly further includes the runner 3 connecting with elongated shaft assembly, first handle 4 and second handle 5.As shown in figure 40, a kind of In implementation, it further includes the hollow tube 40 being connected with its pedestal that hand-held apparatus 1, which includes any one aforementioned head assembly, And the drive rod 80 being connected with its driving head, the pipe proximal end 49 are connect with runner 3 and first handle 4 simultaneously, the bar Proximal end 89 is connected with second handle 5, and the first handle 4 and second handle 5 cooperate and can rotate around arm pivot post, makes It obtains drive rod 80 and hollow tube 40 generates axial relative movement, and then force the driving head axially movable, and then make first It is produced relative sliding in cam pair (the second cam pair), and then drives the first jaw (the second jaw) around (the second rotation of the first revolute pair It is secondary) rotation, realize the opening and closing action of the first jaw and the second jaw.In another design scheme, the instrument 1 is also comprising packet The insulation tube of 40 appearance of hollow tube is overlayed on, metal electrode is connected via conductive reed with hollow tube or drive rod, when described When metal electrode component is connect with high frequency electrosurgical equipment, instrument 1 can be used for coagulation of performing the operation, the operation such as cutting.

Although the elongated shaft assembly described in Figure 35-40 be it is rigid, the hollow tube 40 and drive rod 80 can be with It is substituted using flexible material or compliant mechanism, then overall flexibility is presented in the bar portion component of the elongated shaft assembly, and instrument can be used for Single hole is through operation on umbilicus, prostatectomy, operation on bronchus or digestive system operation.Up to the present the prior art has disclosed The a variety of Handlesets for being used for Minimally Invasive Surgery, to it, slightly adaptability change may be incorporated for connecting and driving institute of the present invention The elongated shaft assembly stated, is no longer described in detail.Many different embodiments and example of the invention are had shown and described.Ability One those of ordinary skill in domain, without departing from the scope of the invention, by it is suitably modified can be to the method and device Tool makes adaptive improvement.Several kinds of amendment schemes are referred, for those skilled in the art, other amendment sides Case is also to be contemplated that.Therefore the scope of the present invention should be according to accessory claim, while being understood not to by illustrating The particular content of the structure that book and attached drawing show and record, material or behavior is limited.

Claims

1. a kind of head assembly includes pedestal and mutually matched first jaw and the second jaw, which is characterized in that the first jaw packet Containing the first jaw tail, second jaw includes the second jaw tail；The pedestal include the shaft shoulder and extend to distal end the first fixed arm and Second fixed arm, axis hole is in the shaft shoulder, movement basal plane and the substantially vertical intersection of buckling surface, intersection and the first of the axis hole Mandrel essentially coincides；First jaw tail and the second jaw tail are sandwiched between the first fixed arm and the second fixed arm, the first jaw tail and One fixed arm constitutes the first revolute pair, the second jaw tail and the second fixed arm the second revolute pair of composition, and first revolute pair is by the One outer cylinder and the first inner cylinder constitute underconstrained revolute pair, and second revolute pair is by the second outer cylinder and the second inner cylinder structure At underconstrained revolute pair.

2. head assembly as described in claim 1, first revolute pair includes the rotation freedom around first rotation Degree and along first rotation translation freedoms；Second revolute pair include around the second rotation axis rotary freedom and Along the translation freedoms of second rotation axis.

3. head assembly as described in claim 1, which is characterized in that the first jaw tail includes to be linked to be whole first therewith Inner cylinder, first fixed arm include to be linked to be the first whole outer cylinder, first inner cylinder and the first outer cylinder therewith The first revolute pair is constituted in a manner of contact free and without additional fixation.

4. head assembly as described in claim 1, which is characterized in that the first jaw tail includes to be linked to be whole first therewith Outer cylinder, first fixed arm include to be linked to be the first whole inner cylinder, first inner cylinder and the first outer cylinder therewith The first revolute pair is constituted in a manner of contact free and without additional fixation.

5. head assembly as described in claim 1, which is characterized in that first revolute pair, the assembly of the second revolute pair with It is not generated in disassembly process except the first jaw, the additional parts of the second jaw and pedestal.

6. head assembly as described in claim 1, which is characterized in that first jaw, between the second jaw and pedestal three Assembly or disassembly does not generate additional part.

7. head assembly as described in claim 1, which is characterized in that first jaw, the second jaw and pedestal meet such as ShiShimonoseki System:

Hf1 < Hw1, Hf2 < Hw2；

Wherein: the spacing of the first, the second fixed arm of Hb1；

Hf1 is the height of projection of first boss；

Hf2 is the height of projection of second boss；

Hw1 is the thickness of the first jaw wrist；

Hw2 is the thickness of the second jaw wrist.

8. head assembly as claimed in claim 7, which is characterized in that the pedestal, the first jaw, the structure snd size of the second jaw Meet following relationship: Hw1+Hw2+ δ 2=Hb1；

Wherein, Hw1 is the thickness of the first jaw wrist；

Hw2 is the thickness of the second jaw tail；

Hb1 is the spacing of the first, the second fixed arm；

δ 2 is mismachining tolerance.

9. a kind of elongated shaft assembly for Minimally Invasive Surgery, which is characterized in that the elongated shaft assembly is appointed comprising claim 1-8 Head assembly described in one, also comprising being sandwiched in the driving head between the first jaw tail and the second jaw tail and being connect with driving head Drive rod, hollow tube connect with the pedestal shaft shoulder；The hollow tube can be rigid or flexible, and the drive rod can be It is rigidity or flexible.

10. a kind of surgical instrument for Minimally Invasive Surgery, which is characterized in that the surgical kit is containing as claimed in claim 9 Elongated shaft assembly, also comprising the Handleset connecting with elongated shaft assembly, the Handleset includes the first handle, the second handle and hand Handle shaft, first handle are connect with the hollow tube, and second handle is connect with drive rod, and first handle and the second handle can It rotates around arm pivot post, so that the driving head be driven to do translational motion along central axis direction, and then drives first Produce relative sliding in cam pair to forcing the first revolute pair mutually to rotate, drive produced relative sliding in the second cam pair from And the second revolute pair is forced mutually to rotate, to realize that the first jaw head and the second jaw head mutually rotate opening or close up.