CN111820961A - Minimally invasive surgical instrument - Google Patents
Minimally invasive surgical instrument Download PDFInfo
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- CN111820961A CN111820961A CN202010684267.2A CN202010684267A CN111820961A CN 111820961 A CN111820961 A CN 111820961A CN 202010684267 A CN202010684267 A CN 202010684267A CN 111820961 A CN111820961 A CN 111820961A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 504
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 230000009471 action Effects 0.000 claims abstract description 10
- 230000008859 change Effects 0.000 claims description 2
- 239000000470 constituent Substances 0.000 claims 1
- 238000004659 sterilization and disinfection Methods 0.000 abstract description 14
- 230000001954 sterilising effect Effects 0.000 abstract description 6
- 238000004804 winding Methods 0.000 description 16
- 239000000758 substrate Substances 0.000 description 15
- 230000000875 corresponding effect Effects 0.000 description 12
- 210000000707 wrist Anatomy 0.000 description 7
- 238000002324 minimally invasive surgery Methods 0.000 description 4
- 210000005224 forefinger Anatomy 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 210000003813 thumb Anatomy 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000012084 abdominal surgery Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 210000001835 viscera Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0023—Surgical instruments, devices or methods, e.g. tourniquets disposable
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00477—Coupling
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00982—General structural features
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Abstract
The invention relates to a minimally invasive surgical instrument which comprises a main controller, an actuator and a split connector, wherein the split connector comprises a main transmission mechanism and a slave transmission mechanism. The main transmission mechanism comprises a main transmission base body and a main transmission assembly, the main transmission base body can be fixedly connected with a main controller which outputs execution actions, and the main transmission assembly can be in transmission connection with the main controller. The slave transmission mechanism comprises a slave transmission base and a slave transmission assembly, the slave transmission base can be fixedly connected with an actuator for receiving and executing actions, and the slave transmission assembly can also be in transmission connection with the actuator. The main drive base member cooperates with the follow transmission base member detachable, and when the main drive base member cooperated with the follow transmission base member, the main drive subassembly was connected with the follow transmission subassembly transmission. According to the minimally invasive surgical instrument, the split connector allows the main controller and the actuator to be separated after use and respectively carries out disinfection and sterilization and other treatment with corresponding specifications, so that the disinfection cost of the minimally invasive surgical instrument is effectively saved.
Description
Technical Field
The invention relates to the technical field of minimally invasive surgery, in particular to a minimally invasive surgical instrument.
Background
The minimally invasive surgery is that a surgeon cuts 2-4 small incisions with the diameter of 5mm-10mm on the body surface of a patient, and the surgical instruments extend into the patient through the small incisions to assist visual monitoring equipment and smart surgical instruments in diagnosing or treating focus parts. Compared with the traditional open type operation, the minimally invasive operation has the advantages of small operation incision, less bleeding, small postoperative scar, quick recovery time and the like, so that the pain of a patient is greatly reduced. Minimally invasive surgery is currently used in a wide variety of fields of surgery, such as neurosurgery, brain surgery, urology, thoraco-abdominal surgery, gynecology, and urology.
The common minimally invasive surgical instruments mostly comprise a proximal controller, a connecting rod and a distal actuator (in a jaw type, a scissor type, a hook type and a puncture type), and the middle of the connecting rod is threaded through to achieve the effect that the proximal controller can operate the distal actuator. The different types of distal end actuators are respectively used for completing the surgical operations of cutting, clamping, suturing, lifting, dissociating and the like of the visceral organs. However, the common minimally invasive surgical instrument is a system which can not be disassembled quickly, and can be used as a disposable product or reused after being sterilized integrally. The cost of the disposable minimally invasive surgical instrument is high, and the cost of the integrally sterilized minimally invasive surgical instrument is still high due to the fact that a plurality of sterilizing devices are used, the time consumption is long, and the sterilization is difficult.
Disclosure of Invention
Therefore, it is necessary to provide a minimally invasive surgical instrument which can reduce the use cost of the minimally invasive surgical instrument, aiming at the problem of high use cost of a common minimally invasive surgical instrument.
A minimally invasive surgical instrument comprises a main controller, an actuator and a split connector, wherein the split connector is arranged between the main controller and the actuator; the split connector includes:
the main transmission mechanism comprises a main transmission base body and a main transmission assembly, wherein the main transmission base body can be fixedly connected with a main controller which outputs execution actions, the main transmission assembly is arranged on the main transmission base body, and the main transmission assembly can also be in transmission connection with the main controller;
the slave transmission mechanism comprises a slave transmission base and a slave transmission assembly, the slave transmission base can be fixedly connected with an actuator for receiving and executing actions, the slave transmission assembly is arranged on the slave transmission base, and the slave transmission assembly can also be in transmission connection with the actuator;
the main transmission base body is detachably matched with the auxiliary transmission base body, and when the main transmission base body is matched with the auxiliary transmission base body, the main transmission assembly is in transmission connection with the auxiliary transmission assembly.
In one embodiment, the main transmission assembly comprises a first main transmission part and a second main transmission part, the first main transmission part and the second main transmission part are fixedly connected, the first main transmission part and the second main transmission part are arranged on the main transmission base body, and the first main transmission part can be in transmission connection with a main controller; the slave transmission assembly comprises a first slave transmission part and a second slave transmission part, the first slave transmission part and the second slave transmission part are fixedly connected, the first slave transmission part and the second slave transmission part are arranged on the slave transmission base, and the first slave transmission part can be in transmission connection with an actuator; when the main transmission base body is matched with the auxiliary transmission base body, the second main transmission part is in transmission connection with the second auxiliary transmission part.
In one embodiment, the type of the first master transmission part and/or the first slave transmission part comprises a reel, a sprocket or a pulley; the first main transmission part is in transmission connection with the main controller through a control cable, a control chain or a control belt, and the first main transmission part allows the control cable, the control chain or the control belt to wind or bypass; the first slave transmission part is in transmission connection with the actuator through an execution cable, an execution chain or an execution belt, and the first slave transmission part allows the execution cable, the execution chain or the execution belt to be wound or wound.
In one embodiment, the type of the second master transmission part and the second slave transmission part comprises a gear, and the second master transmission part and the second slave transmission part form a gear pair; when the main transmission base body is matched with the auxiliary transmission base body, the second main transmission part is meshed with the second auxiliary transmission part for transmission.
In one embodiment, the second master transmission part comprises a polygonal shaft (or a polygonal groove), the second slave transmission part comprises a polygonal groove (or a polygonal shaft), and when the master transmission base body is matched with the slave transmission base body, the second master transmission part is in plug-in fit with the second slave transmission part.
In one embodiment, the first main transmission part and the second main transmission part realize the pitch and/or yaw of the actuator when being matched with the first slave transmission part and the second slave transmission part for transmission; the master transmission assembly further comprises a master closing part, the master closing part is arranged on the master transmission base body and can be in transmission connection with a master controller, the slave transmission assembly further comprises a slave closing part, the slave closing part is arranged on the slave transmission base body and is in transmission connection with an actuator, and when the master transmission base body is matched with the slave transmission base body, the master closing part is in transmission connection with the slave closing part; when the main closing part acts under the driving of the main controller, the main closing part drives the auxiliary closing part to act so as to control the closing of the actuator.
In one embodiment, the main closing part is connected with a main controller through a main closing cable, and the main closing part is arranged on the main closing base body in a sliding mode; the slave closing part is connected with the actuator through a slave closing cable, and a closing pin shaft is arranged on the slave transmission base body and allows the extension direction to be changed after the slave closing cable is wound close to one end of the slave closing part.
In one embodiment, the main closing part comprises a main closing slider and a main resetting piece, the main closing slider is slidably arranged on the main closing base body, the main closing slider is fixedly connected with a handle in a main controller through a main closing cable, and the main resetting piece is arranged between the main transmission base body and the main closing slider; the slave closing part comprises a slave closing block, the slave closing block can be fixedly connected with one end of a slave closing cable far away from an actuator, and when the master transmission base is matched with the slave transmission base, the master closing slide is abutted with the slave closing block; when the main closing sliding block moves under the pulling of the main closing cable, the main closing sliding block drives the auxiliary closing sliding block to move along the direction of tensioning the auxiliary closing cable, meanwhile, the main closing sliding block compresses the main resetting piece, and the main resetting piece pushes the main closing sliding block along the direction of releasing the auxiliary closing cable.
In one embodiment, the slave transmission mechanism further comprises an expanding part, the expanding part is in transmission connection with the actuator, and the expanding part keeps the actuator in an expanding state when acting alone.
In one embodiment, the main transmission assembly comprises four sets of the first main transmission parts and the second main transmission parts, and the four first main transmission parts are respectively connected with a main control transmission; the slave transmission assembly comprises four groups of first slave transmission parts and second slave transmission parts, and the four first slave transmission parts are respectively in transmission connection with an actuator; the four second main transmission parts are respectively in transmission connection with one corresponding second slave transmission part, and the four groups of first main transmission parts, the four groups of second main transmission parts, the four groups of first slave transmission parts and the four groups of second slave transmission parts are respectively used for driving the actuator to realize pitch, left deflection or right deflection.
In one embodiment, the main transmission base body and the auxiliary transmission base body are both shells, and the main transmission base body and the auxiliary transmission base body are respectively surrounded to form a cavity with an opening; the main transmission assembly and the auxiliary transmission assembly are respectively arranged in the corresponding cavities, and when the main transmission base body is matched with the auxiliary transmission base body, the main transmission assembly is in transmission connection with the auxiliary transmission assembly at the opening corresponding to the cavity.
In one embodiment, the main transmission base and the auxiliary transmission base are detachably and fixedly connected through a snap connection and/or a threaded connection.
In one embodiment, the split connector further comprises a first jaw and a second jaw, the first jaw and the second jaw are respectively and rotatably arranged on the slave transmission base body, and the first jaw and the second jaw can clamp the master transmission base body; the first clamping jaw and the rotating shaft of the second clamping jaw are respectively provided with a torsion spring, and the first clamping jaw and the second clamping jaw are driven by the torsion springs to be clamped downwards so as to rotate in the direction of the main transmission base body.
In one embodiment, the split connector further comprises a third jaw and a fourth jaw, two ends of the third jaw and two ends of the fourth jaw are respectively a clamping end and a pressing end, the middle part of the third jaw and the middle part of the fourth jaw are respectively rotatably arranged on the driven transmission base body, torsion springs are respectively arranged at rotating shafts of the third jaw and the fourth jaw, and the clamping end of the third jaw and the clamping end of the fourth jaw are driven by the torsion springs to mutually approach each other and form a clamping groove; the main transmission base body is provided with a positioning rod, and when the main transmission base body is matched with the auxiliary transmission base body, the positioning rod is clamped into a clamping groove formed by the clamping end of the third clamping jaw and the clamping end of the fourth clamping jaw; when the pressing end of the third jaw and the pressing end of the fourth jaw are pressed, the clamping end of the third jaw and the clamping end of the fourth jaw are far away from each other, and the third jaw and the fourth jaw release the positioning rod.
In one embodiment, the pressing end of the third jaw is an inclined surface, the pressing end of the fourth jaw is also an inclined surface, and the pressing ends of the third jaw and the fourth jaw form a V-shaped surface; when the main transmission base body is matched with the auxiliary transmission base body, the positioning rod pushes the V-shaped surface to move along the direction away from each other, and the positioning rod is clamped into the clamping groove.
In one embodiment, the minimally invasive surgical instrument further comprises a connecting rod in a hollow structure, one end of the connecting rod is connected with the actuator, and the other end of the connecting rod is fixedly connected with the driven transmission base; the main controller and the main transmission mechanism and the actuator and the driven transmission structure are respectively connected through cables, and the cable between the actuator and the driven transmission structure passes through the connecting rod; the driven transmission base body is fixedly connected with the connecting rod through a connecting piece or is fixedly connected through integral forming; the main transmission base body and the main controller are fixedly connected through a connecting piece, or the main transmission base body and the tail end of the main controller are integrally formed.
In one embodiment, the types of actuators include clamp, scissor, hook, and puncture; the main control unit comprises a wrist, a handle and a frame, wherein the wrist is respectively connected with one end of the frame and the handle, the main transmission base body is far away from the frame, the other end of the wrist is integrally formed, and at least part of a cable between the main transmission mechanism penetrates through the frame.
According to the minimally invasive surgical instrument, the split connector can be in transmission connection with the main controller and the actuator respectively to achieve the transmission function between the main controller and the actuator, and meanwhile, the main transmission mechanism and the auxiliary transmission mechanism in the split connector are detachably matched to allow the main controller and the actuator to be separated. The split connector provided by the invention not only allows the main controller to be matched with different types of actuators for use, but also can respectively carry out disinfection and sterilization and other treatment with corresponding specifications on the main controller and the actuators after use, thereby effectively saving the disinfection cost of minimally invasive surgical instruments and reducing the disinfection difficulty of the minimally invasive surgical instruments.
Drawings
FIG. 1 is a schematic perspective view of a minimally invasive surgical instrument according to an embodiment of the present invention;
FIG. 2 is a schematic view of an assembly structure of a main controller and a main transmission mechanism according to an embodiment of the present invention;
FIG. 3 is an enlarged schematic view of a main transmission mechanism according to an embodiment of the present invention;
FIG. 4 is an enlarged structural view of a slave transmission mechanism according to an embodiment of the present invention;
FIG. 5 is a schematic view of an assembly structure of a master closing part and a slave closing part according to an embodiment of the present invention;
FIG. 6 is a schematic plan view of a minimally invasive surgical instrument according to an embodiment of the invention;
FIG. 7 is a schematic illustration of a main drive mechanism provided in accordance with another embodiment of the present invention;
FIG. 8 is a schematic view of a slave drive mechanism provided in accordance with another embodiment of the present invention;
fig. 9 is a schematic diagram of a first perspective structure of a split connector according to another embodiment of the present invention;
FIG. 10 is a schematic view of an assembly structure of a split connector according to another embodiment of the present invention;
fig. 11 is a schematic second perspective view of a split connector according to another embodiment of the present invention.
Wherein: 10. a main controller; 110. a wrist portion; 120. a handle; 130. a frame; 20. an actuator; 30. a connecting rod; 40. a split connector; 400. a main transmission mechanism; 410. a main drive base; 411. a first buckle; 412. a second buckle; 413. positioning a rod; 420. a main winding gear; 430. a male thread wheel; 440. a main closing part; 441. a main closing slider; 442. a main reset member; 443. a closing protrusion; 450. a control cable; 460. a main closing cable; 500. a slave transmission mechanism; 510. from the drive base; 511. a first jaw; 512. a second jaw; 513. a third jaw; 514. a fourth jaw; 515. clamping the end; 516. a button; 517. a card slot; 518. closing the pin shaft; 519. opening the pin shaft; 520. a slave winding gear; 530. a female head reel; 540. from the closing die; 541. closing the groove; 550. from the closing cable; 560. opening the spring; 570. an actuation cable; 580. the cable is splayed.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
Minimally invasive surgical instruments are the primary tools for performing minimally invasive surgery and generally include proximal master controllers and distal actuators. The proximal master controller can allow a doctor to operate, the proximal master controller is in transmission connection with the distal actuator, and the distal actuator can perform corresponding actions according to the operating actions of the doctor, such as cutting, clamping, suturing, lifting, dissociating and the like. The invention provides a split connector, which can realize the fixed connection between a near-end main controller and a far-end actuator to enable the near-end main controller and the far-end actuator to be integrated, and meanwhile, the split connector can realize the transmission connection between the near-end main controller and the far-end actuator to ensure that the far-end actuator executes corresponding actions under the control of the near-end main controller. It can be understood that the split connector provided by the invention can be applied to minimally invasive surgical instruments and can also be applied to any other structure which is butted by rigid parts and internally contains flexible parts for transmission connection. The following description will be given only by taking an application of the split connector to a minimally invasive surgical instrument as an example, and it is understood that the split connector described in the following embodiments can be applied to other application scenarios as long as the split connector is adaptively deformed.
As shown in fig. 1-4, an embodiment of the present invention provides a minimally invasive surgical instrument, which includes a master controller 10, an actuator 20, and a split connector 40, wherein the split connector 40 is disposed between the master controller 10 and the actuator 20. The split connector 40 includes a master transmission 400 and a slave transmission 500. The main transmission mechanism 400 comprises a main transmission base body 410 and a main transmission assembly, wherein the main transmission base body 410 can be fixedly connected with the main controller 10 which outputs to execute actions, the main transmission assembly is arranged on the main transmission base body 410, and the main transmission assembly can also be in transmission connection with the main controller 10. The slave transmission mechanism 500 includes a slave transmission base 510 and a slave transmission assembly, the slave transmission base 510 can be fixedly connected with the actuator 20 for receiving and executing actions, the slave transmission assembly is arranged on the slave transmission base 510, and the slave transmission assembly can also be in transmission connection with the actuator 20. The main transmission base body 410 is detachably matched with the auxiliary transmission base body 510, and when the main transmission base body 410 is matched with the auxiliary transmission base body 510, the main transmission assembly is in transmission connection with the auxiliary transmission assembly.
In the split connector 40 in the minimally invasive surgical instrument, the split connector 40 can be in transmission connection with the master controller 10 and the actuator 20 respectively to realize a transmission function between the master controller 10 and the actuator 20, and meanwhile, the detachable matching relationship between the master transmission mechanism 400 and the slave transmission mechanism 500 in the split connector 40 also allows the master controller 10 and the actuator 20 to be separated. The split connector 40 provided by the invention not only allows the main controller 10 to be matched with different types of actuators 20 for use, but also can respectively carry out disinfection and sterilization and other treatment with corresponding specifications on the main controller 10 and the actuators 20 after use, thereby effectively saving the disinfection cost of minimally invasive surgical instruments and reducing the disinfection difficulty of the minimally invasive surgical instruments.
Optionally, the main transmission base 410 is fixedly connected with the main controller 10 directly or through an intermediate connector, and similarly, the sub transmission base 510 is fixedly connected with the actuator 20 or through an intermediate connector. In one implementation, as shown in fig. 1, 3-4 and 6, the main controller 10 includes a wrist 110, a handle 120 and a frame 130, the wrist 110 is connected to one end of the frame 130 and the handle 120, respectively, and the main transmission substrate 410 is integrally formed with the other end of the frame 130 away from the wrist 110. Further, the minimally invasive surgical instrument further comprises a connecting rod 30 in a hollow structure, one end of the connecting rod 30 is connected with the actuator 20, the other end of the connecting rod 30 is fixedly connected with the driven base 510, and the interior of the connecting rod 30 allows the driving to be connected with the actuator 20 and the driven assembly to penetrate through. The connecting rod 30 is effective to increase the distance between the master controller 10 and the actuator 20, allowing the surgeon to have a larger operating space. When the multifunctional connecting rod 30 and the frame 130 are used, the connecting rod 30 and the frame 130 can be connected through the split connector 40, and after the multifunctional connecting rod 30 and the frame 130 are used, the connecting rod 30 and the frame 130 can be conveniently separated, so that subsequent disinfection or replacement of different types of actuators 20 is facilitated.
The sequential transmission between the master controller 10, the master transmission assembly, the slave transmission assembly and the actuator 20 ensures that the actuator 20 acts under the control of the master controller 10. In an embodiment of the present invention, the main transmission assembly includes a first main transmission part and a second main transmission part, the first main transmission part and the second main transmission part are fixedly connected, the first main transmission part and the second main transmission part are disposed on the main transmission base 410, and the first main transmission part can be in transmission connection with the main controller 10. The slave transmission assembly comprises a first slave transmission part and a second slave transmission part, the first slave transmission part and the second slave transmission part are fixedly connected, the first slave transmission part and the second slave transmission part are arranged on the slave transmission base 510, and the first slave transmission part can be in transmission connection with the actuator 20. When the master transmission base 410 is mated with the slave transmission base 510, the second master transmission portion is in transmission connection with the second slave transmission portion. In the present embodiment, the master controller 10, the first master transmission unit, the second slave transmission unit, the first slave transmission unit, and the actuator 20 are sequentially connected in a transmission manner. Optionally, the first main transmission part and the second main transmission part, and the first slave transmission part and the second slave transmission part are fixedly connected through fixing parts, or the first main transmission part and the second main transmission part, and the first slave transmission part and the second slave transmission part are respectively of an integrally formed structure.
In the above embodiment, the first master transmission part, the second slave transmission part and the first slave transmission part cooperate to realize the transmission connection between the master controller 10 and the actuator 20, and have the advantages of stable structure and convenient disassembly. As another possible implementation manner, the transmission connection between the first main transmission part and the second main transmission part, and between the first slave transmission part and the second slave transmission part may also be implemented by other manners. It will be appreciated that in the above embodiment, when the master transmission base 410 is separated from the slave transmission base 510, the second master transmission part and the second slave transmission part are also separated, so as to facilitate the corresponding subsequent processes (such as sterilization, etc.) of the master controller 10 and the actuator 20, respectively.
In an embodiment of the invention, the type of the first master transmission part and/or the first slave transmission part comprises a reel, a sprocket or a pulley, and correspondingly, the first master transmission part and the master controller 10 are drivingly connected by a control cable 450, a control chain or a control belt, and the first master transmission part allows the control cable 450, the control chain or the control belt to be wound or bypassed. The first slave transmission part is in transmission connection with the actuator 20 through the actuation cable 570, actuation chain or actuation belt, and the first slave transmission part allows the actuation cable 570, actuation chain or actuation belt to be wound or wound around. Cable, chain and belt type transmissions are all effective to achieve the transmission connection between the first master transmission and the master controller 10 and between the first slave transmission and the actuator 20. 2-4, the first master transmission part and the master controller 10 are in transmission connection through a control cable 450, and the first slave transmission part and the actuator 20 are in transmission connection through an execution cable 570, and correspondingly, the first master transmission part and the first slave transmission part are reels respectively. The cable-type transmission can simplify the structural form of the first master transmission part and the first slave transmission part. Further, the control cable 450 and the actuation cable 570 are flexible cables, such as steel wires, ropes, and the like, respectively.
In an embodiment of the present invention, as shown in fig. 3-4, the types of the second master transmission part and the second slave transmission part include gears, and the second master transmission part and the second slave transmission part constitute a gear pair; when the master transmission base 410 is matched with the slave transmission base 510, the second master transmission part is meshed with the second slave transmission part for transmission. The gear transmission can be convenient for realize quick meshing and separation, and has good interchangeability. When the first master transmission part and the first slave transmission part are reels, respectively, the first master transmission part and the second master transmission part form a master winding gear 420, and the master winding gear 420 is rotatably mounted on the master transmission base 410. The first driven part and the second driven part form a driven wire winding gear 520, and the driven wire winding gear 520 is rotatably mounted on the driven transmission base body 510. The main winding gear 420 is connected to the main controller 10 via a control cable 450, and the slave winding gear 520 is connected to the actuator 20 via an actuator cable 570. Main winding gear 420 and slave winding gear 520 realize meshing transmission when main transmission substrate 410 is matched with slave transmission substrate 510, and main winding gear 420 and slave winding gear 520 realize separation when main transmission substrate 410 is separated from slave transmission substrate 510.
In another embodiment of the present invention, the second master driving part includes a polygonal shaft (or polygonal groove), the second slave driving part includes a polygonal groove (or polygonal shaft), and the second master driving part is inserted into the second slave driving part when the master driving base 410 is mated with the slave driving base 510. The polygonal shaft and mating polygonal slot (e.g., hexagonal) configuration can also facilitate drive engagement and disengagement between the second master drive component and the second slave drive component. As shown in fig. 7 to 8, when the first master transmission part and the first slave transmission part are reels, respectively, the first master transmission part and the second master transmission part form a male capstan 430 (or a female capstan 530), and the male capstan 430 (or the female capstan 530) is rotatably mounted on the master transmission base 410. The first driven part and the second driven part form a female head pulley 530 (or a male head pulley 430), and the female head pulley 530 (or the male head pulley 430) is rotatably installed on the driven base body 510. Male capstan 430 (or female capstan 530) is connected to master controller 10 via control cable 450, and female capstan 530 (or male capstan 430) is connected to actuator 20 via actuator cable 570. When the main transmission substrate 410 is matched with the auxiliary transmission substrate 510, the male head pulley 430 and the female head pulley 530 realize matched transmission, and when the main transmission substrate 410 is separated from the auxiliary transmission substrate 510, the male head pulley 430 and the female head pulley 530 realize separation.
In one embodiment of the present invention, the first master transmission part and the second master transmission part cooperate with the first slave transmission part and the second slave transmission part to realize the pitch and/or yaw of the actuator 20. The ability of the implement 20 to pitch and/or yaw may effectively enhance the versatility and adaptability of the implement 20 to actual operating conditions. Further, as shown in fig. 3-5, the main transmission assembly includes four sets of first main transmission parts and second main transmission parts, and the four first main transmission parts are respectively connected with the main control transmission; the slave transmission assembly comprises four groups of first slave transmission parts and second slave transmission parts, and the four first slave transmission parts are respectively in transmission connection with the actuator 20. The four second main transmission parts are respectively in transmission connection with one corresponding second slave transmission part, and the four groups of first main transmission parts and second main transmission parts and the four groups of first slave transmission parts and second slave transmission parts are respectively used for driving the actuator 20 to realize pitch, left deflection or right deflection.
2-4, the master transmission assembly includes four master winding gears 420, the slave transmission assembly also includes four slave winding gears 520, the four master winding gears 420 and the four slave winding gears 520 cooperate to realize transmission, and the auxiliary control cable 450 and the execution cable 570 realize the control of the main controller 10 to the pitch, yaw or yaw of the actuator 20. As another way to realize this, as shown in fig. 7-8, the master transmission assembly includes four male reels 430, the slave transmission assembly also includes four female reels 530, the four male reels 430 and the four female reels 530 are in one-to-one correspondence to realize transmission, and the control cable 450 and the execution cable 570 are used to realize the control of the main controller 10 for the pitch, yaw or yaw of the actuator 20. It should be noted that the pitch and the pitch in this embodiment are performed by rotating the actuator 20 around the same pitch axis in different directions, the yaw and the yaw are performed by rotating the actuator 20 around the same yaw axis in different directions, and the pitch axis, the yaw axis, and the connecting rod 30 are perpendicular to each other.
In an embodiment of the present invention, as shown in fig. 3 to 5, the master transmission assembly further includes a master closing portion 440, the master closing portion 440 is disposed on the master transmission base 410, the master closing portion 440 is capable of being in transmission connection with the master controller 10, the slave transmission assembly further includes a slave closing portion, the slave closing portion is disposed on the slave transmission base 510, the slave closing portion is in transmission connection with the actuator 20, and when the master transmission base 410 is engaged with the slave transmission base 510, the master closing portion 440 is in transmission connection with the slave closing portion; when the master closing part 440 is actuated by the master controller 10, the master closing part 440 actuates the slave closing part to control the closing of the actuator 20. The cooperation of the master and slave closures 440 and 440 can allow the master controller 10 to control the actuator 20 to perform a closing motion. Alternatively, the transmission connection between the master closer 440 and the master controller 10, and between the slave closer and the master controller, may be by means of cables, chains or belts. In an implementation manner, the main closing portion 440 is connected to the main controller 10 through a main closing cable 460, and the main closing portion 440 is slidably disposed on the main closing base. A closure pin 518 is provided from the drive base 510 by a connection from the closure cable 550 between the slave closure portion and the actuator 20, the closure pin 518 allowing the direction of extension to be changed after the slave closure cable 550 has been bypassed near the end of the slave closure portion. The master closure portion 440, when slid, pushes the slave closure portions in a synchronized motion, thereby stretching the slave closure cables 550 to effect closure of the actuator 20.
Further, as shown in fig. 3 to 5, the main closing portion 440 includes a main closing slider 441 and a main reset piece 442, the main closing slider 441 is slidably disposed on the main closing base, the main closing slider 441 is fixedly connected to the handle 120 of the main controller 10 by a main closing cable 460, and the main reset piece 442 is disposed between the main transmission base 410 and the main closing slider 441. The slave closing portion includes a slave closing block 540, the slave closing block 540 is fixedly connected to an end of the slave closing cable 550 away from the actuator 20, and the master closing slider 441 abuts against the slave closing block 540 when the master actuator base 410 is mated with the slave actuator base 510. When the main closing slider 441 is pulled by the main closing cable 460, the main closing slider 441 drives the auxiliary closing slider to move in a direction of pulling the auxiliary closing cable 550, and simultaneously, the main closing slider 441 compresses the main restoring member 442, and the main restoring member 442 pushes the main closing slider 441 in a direction of releasing the auxiliary closing cable 550. The main reset member 442 is configured to reset the main closure slider 441 and allow the actuator 20 to open when the tension in the main closure cable 460 is lost. Alternatively, the main restoring member 442 may be a spring or elastic rubber, etc. Further, a closing protrusion 443 is provided on the master closing slider 441, and when the master driving base 410 is engaged with the slave driving base 510 by opening and closing the closing groove 541 on the slave closing block 540, the closing protrusion 443 on the master closing slider 441 is engaged with the closing groove 541 on the slave closing block 540. The closing protrusion 443 and the closing groove 541 can enhance the stability of the connection between the slave closing slider and the master closing slider 441.
In one embodiment of the present invention, as shown in fig. 4, the slave transmission mechanism 500 further comprises a splaying portion, the splaying portion is in transmission connection with the actuator 20, and the splaying portion keeps the actuator 20 in a splayed state when acting alone. The opening portion can drive the actuator 20 in the closed state to perform an opening operation. In one implementation, the expanding portion includes an expanding spring 560, an expanding pin 519 is disposed on the driven base 510, one end of the expanding spring 560 is fixedly connected to the driven base 510, the other end (free end) of the expanding spring 560 is connected to the actuator 20 via an expanding cable 580, and the expanding cable 580 is fixedly connected to the free end of the expanding spring 560 after passing around the expanding pin 519. When the actuator 20 is in the closed state, the expanding spring 560 is under tension, and when the tension of the main closing cable 460 is removed, the main restoring member 442 pushes the main closing slider 441 to restore, and the expanding spring 560 restores at least partial elastic deformation to drive the actuator 20 to expand.
In an embodiment of the present invention, as shown in fig. 1, 4, 7-8 and 10, the main transmission substrate 410 and the sub transmission substrate 510 are both in the form of a housing, and the main transmission substrate 410 and the sub transmission substrate 510 respectively enclose a cavity having an opening. The main transmission component and the auxiliary transmission component are respectively arranged in the corresponding cavities, and when the main transmission base body 410 is matched with the auxiliary transmission base body 510, the main transmission component and the auxiliary transmission component are in transmission connection at the openings of the corresponding cavities. The housing-type master and slave drive bases 410, 510 enable protection of the master and slave drive assemblies while also reducing the weight of the split connector 40. Further, the main transmission base 410 and the sub transmission base 510 are detachably and fixedly connected through a snap connection and/or a threaded connection. Both ways can realize the detachable and fixed connection between the master transmission base 410 and the slave transmission base 510, and have the advantages of stable connection and repeated use.
As one way of realization, as shown in fig. 4 and 6, the split connector 40 further comprises a first jaw 511 and a second jaw 512, the first jaw 511 and the second jaw 512 are respectively rotatably disposed on the slave transmission base body 510, and the first jaw 511 and the second jaw 512 can clamp the master transmission base body 410 in a vertical direction; torsion springs are respectively arranged at rotating shafts of the first jaw 511 and the second jaw 512, and the first jaw 511 and the second jaw 512 rotate towards the direction of clamping the main transmission base body 410 under the driving of the corresponding torsion springs. The first pawl 511 is engageable with a first catch 411 on the main transmission base 410, and the second pawl 512 is engageable with a second catch 412 on the main transmission base 410. When it is desired to quickly disassemble the device, the two jaws can be opened by grasping the connecting rod 30 with the hand, grasping the second jaw 512 with the thumb and pushing the first jaw 511 with the forefinger, and moving down to separate the four pairs of wire gears and the main closing slider 441 from the auxiliary closing block 540. It should be noted that disassembly and assembly is preferably performed when implement 20 is pitched to a 0 ° and the opening angle is maximized, which ensures the same conditions of use after each instrument change. Alternatively, the first jaw 511 and the second jaw 512 may also grip the main transmission base 410 in a non-perpendicular direction, for example, the first jaw 511 and the second jaw 512 may have a crossing angle of 30 °, 45 °, 60 °, 75 °, or 120 °.
In a normal state, the first jaw 511 is rotated counterclockwise by the torsion spring, and the second jaw 512 is rotated clockwise by the torsion spring. When a hand grasps the connecting rod 30, the thumb grasps the second jaw 512, the forefinger grasps the first jaw 511, so that the two jaws are opened, the detachable box is close to the interface of the frame 130, the thumb and the forefinger are released after the four pairs of gears and the two joints are matched, the first jaw 511 and the second jaw 512 can automatically rotate under the action of the torsion springs to respectively buckle the first buckle 411 and the second buckle 412, and the buckled parts are as shown in fig. 6.
As another way to realize the above, as shown in fig. 9 to 11, the split connector 40 further includes a third jaw 513 and a fourth jaw 514, two ends of the third jaw 513 and the fourth jaw 514 are respectively a clamping end 515 and a pressing end, a middle portion of the third jaw 513 and a middle portion of the fourth jaw 514 are respectively rotatably disposed on the driven base 510, torsion springs are respectively disposed at rotating shafts of the third jaw 513 and the fourth jaw 514, and the clamping end 515 of the third jaw 513 and the clamping end 515 of the fourth jaw 514 are driven by the torsion springs to approach each other and form a clamping slot 517. The main transmission base body 410 is provided with a positioning rod 413, and when the main transmission base body 410 is matched with the auxiliary transmission base body 510, the positioning rod 413 is clamped into a clamping groove 517 formed by a clamping end 515 of the third clamping jaw 513 and a clamping end 515 of the fourth clamping jaw 514. When the pressing end of the third jaw 513 and the pressing end of the fourth jaw 514 are pressed, the gripping end 515 of the third jaw 513 and the gripping end 515 of the fourth jaw 514 move away from each other, and the third jaw 513 and the fourth jaw 514 release the positioning rod 413. Correspondingly, a positioning groove is formed in the transmission base body 510, and the positioning groove can avoid the positioning rod 413 in the process that the positioning rod 413 is clamped in. Further, the bodies of the third jaw 513 and the fourth jaw 514 are disposed inside the driven base 510, the pressing ends of the third jaw 513 and the fourth jaw 514 are provided with buttons 516, and the buttons 516 pass through the driven base 510 to the outside. The operator presses the pressing ends of the third jaw 513 and the fourth jaw 514 by pressing the button 516.
Further, as shown in fig. 9 to 11, the pressing end of the third jaw 513 is inclined, the pressing end of the fourth jaw 514 is also inclined, and the pressing ends of the third jaw 513 and the fourth jaw 514 form a V-shaped surface. When the main transmission substrate 410 is matched with the auxiliary transmission substrate 510, the positioning rod 413 pushes the V-shaped surface to move in the direction away from each other, and the positioning rod 413 is clamped into the clamping groove 517. The third and fourth pawls 513, 514 are provided to facilitate direct engagement and stable connection between the master and slave drive bases 410, 510 by an operator.
In an embodiment of the present invention, as shown in fig. 1 and 6, the master controller 10 and the master transmission mechanism 400 and the actuator 20 and the slave transmission mechanism are connected by cables, respectively, and the cables between the actuator 20 and the slave transmission mechanism pass through the connecting rod 30. The transmission base 510 and the connecting rod 30 are fixedly connected through a connecting piece or integrally formed. The main transmission base 410 is fixedly connected with the main controller 10 through a connecting piece, or the main transmission base 410 is integrally formed with the end of the main controller 10. Further, types of actuators 20 include forceps, scissors, hooks, and punctures. The cables between the main controller 10 and the main transmission 400 pass at least partially through the frame 130.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (14)
1. A minimally invasive surgical instrument, comprising a main controller (10), an actuator (20) and a split connector (40), wherein the split connector (40) is arranged between the main controller (10) and the actuator (20); the split connector (40) comprises:
the main transmission mechanism (400) comprises a main transmission base body (410) and a main transmission assembly, the main transmission base body (410) can be fixedly connected with the main controller (10) which outputs to execute actions, the main transmission assembly is arranged on the main transmission base body (410), and the main transmission assembly can also be in transmission connection with the main controller (10);
the slave transmission mechanism (500) comprises a slave transmission base (510) and a slave transmission assembly, the slave transmission base (510) can be fixedly connected with the actuator (20) for receiving and executing actions, the slave transmission assembly is arranged on the slave transmission base (510), and the slave transmission assembly can also be in transmission connection with the actuator (20);
the main transmission base body (410) is detachably matched with the auxiliary transmission base body (510), and when the main transmission base body (410) is matched with the auxiliary transmission base body (510), the main transmission assembly is in transmission connection with the auxiliary transmission assembly.
2. The minimally invasive surgical instrument according to claim 1, wherein the main transmission assembly comprises a first main transmission part and a second main transmission part, the first main transmission part and the second main transmission part are fixedly connected, the first main transmission part and the second main transmission part are arranged on the main transmission base body (410), and the first main transmission part can be in transmission connection with the main controller (10); the slave transmission assembly comprises a first slave transmission part and a second slave transmission part, the first slave transmission part and the second slave transmission part are fixedly connected, the first slave transmission part and the second slave transmission part are arranged on the slave transmission base body (510), and the first slave transmission part can be in transmission connection with the actuator (20); when the main transmission base body (410) is matched with the auxiliary transmission base body (510), the second main transmission part is in transmission connection with the second auxiliary transmission part.
3. The minimally invasive surgical instrument according to claim 2, wherein the types of the second master transmission portion and the second slave transmission portion include gears, the constituent gear pairs of the second master transmission portion and the second slave transmission portion; when the main transmission base body (410) is matched with the auxiliary transmission base body (510), the second main transmission part is meshed with the second auxiliary transmission part for transmission.
4. The minimally invasive surgical instrument according to claim 2, wherein the second master transmission part comprises a polygonal shaft or a polygonal groove, the second slave transmission part comprises a polygonal groove or a polygonal shaft, and the second master transmission part and the second slave transmission part are in plug fit when the master transmission base (410) and the slave transmission base (510) are matched.
5. The minimally invasive surgical instrument according to claim 2, wherein the first and second master transmission portions cooperate with the first and second slave transmission portions to transmit and pitch and/or yaw the actuator (20);
the main transmission assembly further comprises a main closing part (440), the main closing part (440) is arranged on the main transmission base body (410), the main closing part (440) can be in transmission connection with the main controller (10), the slave transmission assembly further comprises a slave closing part, the slave closing part is arranged on the slave transmission base body (510), the slave closing part is in transmission connection with the actuator (20), and when the main transmission base body (410) is matched with the slave transmission base body (510), the main closing part (440) is in transmission connection with the slave closing part; when the main closing part (440) acts under the driving of the main controller (10), the main closing part (440) drives the auxiliary closing part to act so as to control the closing of the actuator (20).
6. Minimally invasive surgical instrument according to claim 5, characterized in that the main closing part (440) is connected with the main controller (10) through a main closing cable (460), and the main closing part (440) is slidably arranged on the main closing base; the slave closing part is connected with the actuator (20) through a slave closing cable (550), a closing pin shaft (518) is arranged on the slave transmission base body (510), and the closing pin shaft (518) allows the slave closing cable (550) to change the extending direction after being wound near one end of the slave closing part.
7. The minimally invasive surgical instrument according to claim 6, characterized in that the main closing portion (440) comprises a main closing slider (441) and a main resetting member (442), the main closing slider (441) is slidably disposed on the main closing base, the main closing slider (441) is fixedly connected with a handle (120) in the main controller (10) through the main closing cable (460), and the main resetting member (442) is disposed between the main transmission base (410) and the main closing slider (441); the slave closing part comprises a slave closing block (540), the slave closing block (540) can be fixedly connected with one end of the slave closing cable (550) far away from the actuator (20), and when the master transmission base body (410) is matched with the slave transmission base body (510), the master closing slider (441) is abutted with the slave closing block (540); when the main closing sliding block (441) acts under the pulling of the main closing cable (460), the main closing sliding block (441) drives the auxiliary closing sliding block to move along the direction of tensioning the auxiliary closing cable (550), meanwhile, the main closing sliding block (441) compresses the main resetting piece (442), and the main resetting piece (442) pushes the main closing sliding block (441) along the direction of releasing the auxiliary closing cable (550).
8. Minimally invasive surgical instrument according to claim 5, characterized in that the slave transmission mechanism (500) further comprises a splaying portion in transmission connection with the actuator (20), which splaying portion, when acting alone, keeps the actuator (20) in an splayed state.
9. The minimally invasive surgical instrument according to claim 2, wherein the main transmission assembly includes four sets of the first main transmission part and the second main transmission part, and the four first main transmission parts are respectively connected with a main control transmission; the slave transmission assembly comprises four groups of first slave transmission parts and second slave transmission parts, and the four first slave transmission parts are respectively in transmission connection with the actuator (20); the four second main transmission parts are respectively in transmission connection with one corresponding second slave transmission part, and the four groups of first main transmission parts, the four groups of second main transmission parts, the four groups of first slave transmission parts and the four groups of second slave transmission parts are respectively used for driving the actuator (20) to realize pitch, left deflection or right deflection.
10. The minimally invasive surgical instrument according to any one of claims 1 to 9, wherein the master transmission base (410) and the slave transmission base (510) are both in the form of a housing, and the master transmission base (410) and the slave transmission base (510) are respectively enclosed to form a cavity with an opening; the main transmission assembly and the slave transmission assembly are respectively arranged in the corresponding cavities, and when the main transmission base body (410) is matched with the slave transmission base body (510), the main transmission assembly and the slave transmission assembly are in transmission connection at the openings corresponding to the cavities; the main transmission base body (410) and the auxiliary transmission base body (510) are in detachable fixed connection through a snap connection and/or a threaded connection.
11. Minimally invasive surgical instrument according to claim 10, characterized in that the split connector (40) further comprises a first jaw (511) and a second jaw (512), the first jaw (511) and the second jaw (512) are respectively rotatably arranged on the slave transmission base body (510), and the first jaw (511) and the second jaw (512) can clamp the master transmission base body (410); torsion springs are respectively arranged at rotating shafts of the first clamping jaw (511) and the second clamping jaw (512), and the first clamping jaw (511) and the second clamping jaw (512) are driven by the torsion springs to clamp the main transmission base body (410) to rotate in the direction.
12. The minimally invasive surgical instrument according to claim 10, wherein the split connector (40) further comprises a third jaw (513) and a fourth jaw (514), the two ends of the third jaw (513) and the fourth jaw (514) are respectively a clamping end (515) and a pressing end, the middle parts of the third jaw (513) and the fourth jaw (514) are respectively and rotatably arranged on the driven base body (510), torsion springs are respectively arranged at rotating shafts of the third jaw (513) and the fourth jaw (514), the clamping ends (515) of the third jaw (513) and the clamping ends (515) of the fourth jaw (514) are driven by the torsion springs to mutually approach and form a clamping slot (517); a positioning rod (413) is arranged on the main transmission base body (410), and when the main transmission base body (410) is matched with the auxiliary transmission base body (510), the positioning rod (413) is clamped into a clamping groove (517) formed by the clamping end (515) of the third clamping jaw (513) and the clamping end (515) of the fourth clamping jaw (514); when the pressing end of the third jaw (513) and the pressing end of the fourth jaw (514) are pressed, the gripping end (515) of the third jaw (513) and the gripping end (515) of the fourth jaw (514) are moved away from each other, the third jaw (513) and the fourth jaw (514) releasing the positioning rod (413).
13. The minimally invasive surgical instrument according to claim 12, characterized in that the pressing end of the third jaw (513) is inclined and the pressing end of the fourth jaw (514) is also inclined, the pressing ends of the third jaw (513) and the fourth jaw (514) forming a V-shaped face; when the main transmission base body (410) is matched with the auxiliary transmission base body (510), the positioning rod (413) pushes the V-shaped surface to move along the direction away from each other, and the positioning rod (413) is clamped into the clamping groove (517).
14. The minimally invasive surgical instrument according to any one of claims 1 to 9, further comprising a connecting rod (30) of a hollow structure, wherein one end of the connecting rod (30) is connected with the actuator (20), and the other end of the connecting rod (30) is fixedly connected with the driven transmission base (510); the main controller (10) and the main transmission mechanism (400) and the actuator (20) and the driven transmission structure are respectively connected through cables, and the cables between the actuator (20) and the driven transmission structure penetrate through the connecting rod (30); the auxiliary transmission base body (510) is fixedly connected with the connecting rod (30) through a connecting piece or integrally formed; the main transmission base body (410) and the main controller (10) are fixedly connected through a connecting piece, or the main transmission base body (410) and the tail end of the main controller (10) are integrally formed.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010684267.2A CN111820961A (en) | 2020-07-16 | 2020-07-16 | Minimally invasive surgical instrument |
| EP21821155.5A EP4166094A1 (en) | 2020-06-12 | 2021-06-11 | Wrist attachment assembly, control handle, serial movement mechanism, and minimally invasive surgical instrument |
| US18/009,735 US20230293200A1 (en) | 2020-06-12 | 2021-06-11 | Attachment assembly, control handle, series motion mechanism, and minimally invasive surgical instrument |
| PCT/CN2021/099803 WO2021249550A1 (en) | 2020-06-12 | 2021-06-11 | Wrist attachment assembly, control handle, serial movement mechanism, and minimally invasive surgical instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010684267.2A CN111820961A (en) | 2020-07-16 | 2020-07-16 | Minimally invasive surgical instrument |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111820961A true CN111820961A (en) | 2020-10-27 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010684267.2A Pending CN111820961A (en) | 2020-06-12 | 2020-07-16 | Minimally invasive surgical instrument |
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| Country | Link |
|---|---|
| CN (1) | CN111820961A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021249550A1 (en) * | 2020-06-12 | 2021-12-16 | 武汉联影智融医疗科技有限公司 | Wrist attachment assembly, control handle, serial movement mechanism, and minimally invasive surgical instrument |
-
2020
- 2020-07-16 CN CN202010684267.2A patent/CN111820961A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021249550A1 (en) * | 2020-06-12 | 2021-12-16 | 武汉联影智融医疗科技有限公司 | Wrist attachment assembly, control handle, serial movement mechanism, and minimally invasive surgical instrument |
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