CN113693646B

CN113693646B - Control handle, instrument and minimally invasive surgery robot

Info

Publication number: CN113693646B
Application number: CN202111264224.XA
Authority: CN
Inventors: 王迎智; 李浩泽; 齐斌
Original assignee: Apeiron Surgical Beijing Co Ltd
Current assignee: Apeiron Surgical Beijing Co Ltd
Priority date: 2021-10-28
Filing date: 2021-10-28
Publication date: 2021-12-28
Anticipated expiration: 2041-10-28
Also published as: WO2023071995A1; CN113693646A

Abstract

The invention discloses a control handle, an instrument and a minimally invasive surgery robot.A movable handle is connected with a sliding mechanism through a linkage mechanism, one end of the sliding mechanism is connected with a connecting structure, and the connecting structure is detachably connected with a terminal tool; the movable handle is movably connected with the linkage mechanism so as to have a working state and a tool replacing state, in the working state, the tail end tool is kept connected with the connecting structure, the movable handle is far away from or close to the fixed handle, and when the movable handle moves to a maximum working opening angle relative to the fixed handle, the movable handle is abutted against the handle body so as to limit the maximum working opening angle; under the state of replacing the tool, the movable handle moves relative to the linkage mechanism so as to be separated from the leaning against of the handle body, the movable handle continues to move to the unlocking position of the replacing tool in the direction away from the fixed handle, the linkage mechanism drives the sliding mechanism to move relative to the handle body so as to drive the connecting structure to be exposed out of the handle body, and the tail end tool is disassembled and assembled through the connecting structure.

Description

Control handle, instrument and minimally invasive surgery robot

Technical Field

The invention belongs to the field of robot surgical tools, and particularly relates to a control handle, an instrument and a minimally invasive surgical robot.

Background

With the development of science and technology and the increasing intellectualization, the robot is increasingly popularized to perform operations. In the prior art, a surgical robot can be used for laparoscopic surgery, in which case, the surgeon's hands may not touch the patient, and the surgical robot may be controlled to perform laparoscopic surgery by inputting a corresponding control command to the surgical robot. Specifically, the surgical robot can include control handle and surgical tool, and the surgical tool with can pass through surgical robot's aseptic passageway, get into human abdominal cavity, control handle and surgical tool are connected, can control surgical tool and carry out specific operation. In general, a laparoscopic surgery may be performed with various surgical operations such as cutting, incising, pulling, suturing, and suction, and accordingly, various surgical tools may be used.

However, in the process of performing laparoscopic surgery by using the conventional surgical robot, the process of replacing surgical tools is complicated, the replacing speed is slow, and the effect of performing laparoscopic surgery by using the surgical robot is easily affected.

Disclosure of Invention

The embodiment of the invention aims to provide a control handle, an instrument and a minimally invasive surgical robot, which can solve the problems that the surgical operation of the robot is easily influenced due to the fact that the surgical tool is complex in replacement process and low in replacement speed in the prior art.

In order to solve the technical problem, the invention is realized as follows:

in a first aspect, embodiments of the present invention provide a control handle for controlling an end tool, comprising: a handle body, a movable handle, a fixed handle, a linkage mechanism, a sliding mechanism and a connecting structure for mounting the end tool, wherein the sliding mechanism and the linkage mechanism are both movably connected with the handle body,

the movable handle is connected with the sliding mechanism through the linkage mechanism, one end of the sliding mechanism, which is far away from the linkage mechanism, is connected with the connecting structure, and the connecting structure is detachably connected with the end tool;

the movable handle is movably connected with the linkage mechanism so as to have a working state and a tool replacing state, in the working state, the terminal tool is kept connected with the connecting structure, the movable handle is far away from or close to the fixed handle, and when the movable handle moves to a maximum working opening angle relative to the fixed handle, the movable handle abuts against the handle body so as to limit the maximum working opening angle; in the tool replacing state, the movable handle moves relative to the linkage mechanism so as to be separated from the abutting of the movable handle and the handle body, the movable handle continues to move to the unlocking position of the tool replacing direction far away from the fixed handle, the sliding mechanism is driven to move relative to the handle body through the linkage mechanism so as to drive the connecting structure to be exposed out of the handle body, and the tail end tool is disassembled and assembled through the connecting structure.

Optionally, the control handle further comprises: a button assembly, the linkage mechanism including a first linkage rod;

the top end of the first linkage rod is rotatably connected with the handle body, the movable handle is movably connected with the first linkage rod through the button assembly, and the button assembly is movably connected with the first linkage rod;

the button assembly is provided with a locking state and an unlocking state, in the locking state, the movable handle is locked on the first linkage rod, and the movable handle can be switched to the working state; in the unlocking state, the movable handle moves relative to the first linkage rod and is opened so as to be separated from the abutting of the handle body and moves to the unlocking position of the tool replacing position, so that the movable handle can be switched to the tool replacing state.

Optionally, a first mounting hole is formed in the movable handle, a second mounting hole is formed in the lower end of the first linkage rod, and the second mounting hole is a long strip-shaped structure extending along the length direction of the first linkage rod;

the button assembly penetrates through the first mounting hole and the second mounting hole and is used for connecting the movable handle and the linkage mechanism; the button assembly is unlockable and lockably slidably engaged with the second mounting hole to have a first position and a second position;

when the button assembly slides to the first position together with the movable handle, the button assembly is locked with the second mounting hole, and the button assembly is switched to the locked state; when the button assembly slides to the second position together with the movable handle, the button assembly is unlocked from the second mounting hole, and the button assembly is switched to the unlocked state.

Optionally, the second mounting hole includes a round hole and a long slot hole, the round hole is disposed at the top of the long slot hole, an inner diameter of the round hole is larger than a width of the long slot hole, the button assembly is located at the first position when penetrating through the round hole, and the button assembly is located at the second position when penetrating through the long slot hole.

Optionally, the button assembly comprises: round pin axle and elastic component, the round pin axle includes: the first shaft section and the second shaft section are sequentially connected, and the outer diameter of the second shaft section is larger than that of the first shaft section;

the first shaft section and the second shaft section are respectively arranged in the first mounting hole and the second mounting hole in a penetrating manner, the elastic piece is sleeved on the first shaft section, and two ends of the elastic piece respectively abut against the movable handle and the first linkage rod;

the outer diameter of the second shaft section is larger than the width of the long slotted hole, and the outer diameter of the first shaft section is smaller than the width of the long slotted hole;

when the button assembly is in the locking state, the elastic piece is in a compression state, and the second shaft section penetrates through the round hole; when the button assembly is in an unlocking state, the elastic piece is continuously compressed, so that the second shaft section penetrates through the round hole, and the first shaft section penetrates through the long slotted hole.

Optionally, a clamping groove for embedding the first linkage rod is formed in the movable handle, so that the first mounting hole is communicated with the second mounting hole;

the button assembly further includes: the pin shaft cap and the locking head; the pin shaft cap is connected with one end of the first shaft section, which is far away from the second shaft section, the locking head is connected with one end of the second shaft section, which is far away from the first shaft section, and the movable handle and the first linkage rod are arranged between the pin shaft cap and the locking head;

wherein the outer diameters of the pin shaft cap and the locking head are both larger than the inner diameter of the first mounting hole;

when the button assembly is in the locking state, the locking head abuts against the movable handle; when the button assembly is in the unlocking state, the locking head and the movable handle are arranged at intervals.

Optionally, the sliding mechanism includes a slider assembly and a transmission rod, and two ends of the slider assembly are respectively connected with the transmission rod and the first linkage rod;

the handle body is provided with a sliding groove, and the sliding block assembly is connected to the sliding groove in a sliding mode;

the control handle further comprises an extension sleeve, the extension sleeve is connected with the handle body, the transmission rod is telescopically arranged in the extension sleeve in a penetrating mode, and one end, far away from the sliding block assembly, of the transmission rod is connected with the connecting structure;

when the movable handle is in the tool replacing state, the first linkage rod drives the sliding block assembly to slide along the sliding groove, and the sliding block assembly drives the connecting structure to be exposed out of the extension sleeve through the transmission rod.

Optionally, the linkage mechanism further comprises a second linkage rod, the first linkage rod comprising a first hinge and a second hinge;

the first hinged part is hinged to the handle body, the second hinged part is hinged to one end of the second linkage rod, and the other end of the second linkage rod is hinged to the sliding block assembly.

Optionally, a limiting column is arranged on the first linkage rod, and a first limiting groove is correspondingly arranged on the movable handle;

under the condition that the movable handle is switched to the working state, the limiting column is clamped in the first limiting groove.

Optionally, the control handle further comprises: and the ratchet mechanism is movably connected with the handle body and is matched with the sliding block assembly so as to lock or unlock the angle of the movable handle relative to the fixed handle.

Optionally, the sliding block assembly comprises a sliding block and a rack connecting piece which are fixedly connected, and two ends of the rack connecting piece are respectively connected with the transmission rod and the sliding block;

the rack connecting piece faces one side of the ratchet mechanism is provided with a rack portion, and the ratchet mechanism comprises: the handle comprises a driving piece, a first rotating shaft, a torsion spring and ratchet teeth, wherein the driving piece is connected with the first rotating shaft, the first rotating shaft is movably connected to the handle body, the ratchet teeth are rotatably connected to the first rotating shaft, the torsion spring is sleeved on the first rotating shaft, and two ends of the torsion spring are respectively abutted to the ratchet teeth and the handle body;

the ratchet mechanism includes: the driving piece can drive the ratchet teeth to move towards the rack part through the first rotating shaft in the connection state, so that the ratchet teeth are meshed with the rack part, and the angle of the movable handle relative to the fixed handle can be locked under the action of the torsion spring; in the separated state, the driving piece can drive the ratchet teeth to move away from the rack portion through the first rotating shaft, so that the ratchet teeth are separated from the rack portion, and the angle of the movable handle relative to the fixed handle can be unlocked.

Optionally, be provided with spacing arch on the handle body, the driving piece accessible first axis of rotation drives the motion of ratchet tooth, the ratchet tooth with when spacing protruding butt, the ratchet tooth is followed spacing protruding slip, so that the ratchet tooth with rack portion meshing is connected or is separated, and the lockable or the adjustment the activity handle is relative the angle of fixed handle.

Optionally, the ratchet mechanism comprises: the handle comprises a handle body, a first rotating shaft, a second rotating shaft, a third rotating shaft and a connecting piece, wherein the first rotating shaft is movably connected to the handle body;

the connecting piece respectively with the second axis of rotation with first axis of rotation is connected, the driving piece connect in the second axis of rotation, just the driving piece rotate connect in the third axis of rotation the driving piece winds third axis of rotation pivoted in-process, accessible the second axis of rotation drives the connecting piece motion, the first axis of rotation of motion accessible of connecting piece drives the motion of ratchet tooth.

Optionally, the handle body is provided with a second elongated limiting groove and a third elongated limiting groove, and the second elongated limiting groove and the third elongated limiting groove are arranged along the length direction of the rack portion to the ratchet teeth;

the first rotating shaft slides along the groove wall of the second limiting groove, and the second rotating shaft slides along the groove wall of the third limiting groove.

In a second aspect, embodiments of the present invention provide an apparatus comprising a tip tool and a control handle as described above, the control handle being removably attachable to the tip tool.

Optionally, one end of the connecting structure of the control handle, which faces away from the sliding mechanism, is provided with a mounting groove for mounting the end tool.

Optionally, an opening for installing the end tool is formed in the top of the installation groove, the installation groove comprises a spherical groove and a U-shaped groove which are connected in sequence, and the width of the U-shaped groove is smaller than the diameter of the spherical groove;

the tail end tool is provided with a connecting rod and a connector which are connected with each other, and the outer diameter of the connector is larger than that of the connecting rod;

connector detachably inlays to be located in the spherical groove of class, connecting rod detachably inlays to be located the U-shaped inslot.

In a third aspect, the embodiment of the invention provides a minimally invasive surgery robot, which comprises the above-mentioned instrument,

and a control adapter for detecting whether the instrument enters an operating state, an energy adapter for providing energy to the instrument and a multifunctional channel device for providing a channel for the instrument;

the tail end tool of the apparatus sequentially penetrates through the control adapter, the energy adapter and the multifunctional channel device.

In the embodiment of the invention, the movable handle is connected with the linkage mechanism, the linkage mechanism is connected with the sliding mechanism, and the connection structure is connected with the sliding mechanism, so that when the movable handle is switched to a tool replacement state, the movable handle can drive the sliding mechanism to move along the handle body through the linkage mechanism, and the sliding mechanism can drive the connection structure to be exposed out of the handle body, so that the tail end tool can be disassembled and assembled through the connection structure, the tail end tool can be replaced conveniently, the tail end tool replacement operation process is simple, the replacement speed is high, and the surgical operation of a robot is facilitated.

Drawings

FIG. 1 is a schematic structural view of a control handle in an embodiment of the present invention;

FIG. 2 is a schematic structural view of another control handle in an embodiment of the present invention;

FIG. 3 is a schematic view of a movable handle in an embodiment of the present invention;

FIG. 4 is a schematic view of a first linkage rod in an embodiment of the present invention;

FIG. 5 is a schematic structural view of a button assembly in an embodiment of the present invention;

FIG. 6 is a schematic view of another movable handle in an embodiment of the present invention;

FIG. 7 is an enlarged schematic view of the structure at A in FIG. 6 according to an embodiment of the present invention;

FIG. 8 is a schematic view, partially in section, of a control handle in an embodiment of the present invention;

FIG. 9 is a schematic view of an embodiment of the present invention showing a swing handle in an unclamped state;

FIG. 10 is a schematic view of a movable handle of an embodiment of the present invention in a grip configuration;

FIG. 11 is a schematic view of an embodiment of the present invention showing a movable handle in a tool change position;

FIG. 12 is a schematic structural view of a ratchet mechanism in an embodiment of the present invention;

FIG. 13 is a schematic structural view of a handle body in an embodiment of the present invention;

FIG. 14 is a partial schematic structural view of a control handle in an embodiment of the present invention;

FIG. 15 is a partial schematic view of yet another control handle in accordance with an embodiment of the present invention;

fig. 16 is a schematic view of an end tool in an embodiment of the invention.

Description of reference numerals:

421-end tool, 4211-connector, 4212-connecting rod, 4213-first thread structure, 427-control handle, 4271-handle body, 711-limit projection, 712-sliding groove, 714-second limit groove, 715-third limit groove, 4272-movable handle, 721-first mounting hole, 722-first limit groove, 723-clamping groove, 4273-linkage mechanism, 731-second mounting hole, 7311-round hole, 7312-long slotted hole, 732-first linkage rod, 7321-first articulation part, 7322-second articulation part, 7323-limit column, 733-second linkage rod, 4274-sliding mechanism, 741-sliding block component, 7411-sliding block, 7412-rack connecting piece, 74121-rack part, 742-transmission rod, 4275-connecting structure, 743-mounting groove, 7431-spherical groove, 7432-U-shaped groove, 4276-button component, 744-pin shaft, 7441-first shaft section, 7442-second shaft section, 745-elastic component, 746-pin shaft cap, 747-locking head, 7443-third shaft section, 7444-fourth shaft section, 4278-fixed handle, 4279-extension sleeve, 751-second thread structure, 428-ratchet mechanism, 4281-first rotating shaft, 4282-torsion spring, 4283-ratchet tooth, 4284-driving component, 4285-second rotating shaft, 4286-third rotating shaft and 4287-connecting component.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.

The terms first, second and the like in the description and in the claims of the present invention are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the invention may be practiced other than those illustrated or described herein, and that the objects identified as "first," "second," etc. are generally a class of objects and do not limit the number of objects, e.g., a first object may be one or more. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.

The control handle, the instrument and the minimally invasive surgery robot provided by the embodiment of the invention are described in detail by combining the accompanying drawings 1 to 16 and through specific embodiments and application scenarios thereof.

Referring to fig. 1, which shows a schematic structural diagram of a control handle according to an embodiment of the present invention, and referring to fig. 2, which shows a schematic structural diagram of another control handle according to an embodiment of the present invention, in conjunction with fig. 1, 2 and 9, the control handle 427 according to an embodiment of the present invention may be used for controlling the end tool 421, and specifically may include: the handle comprises a handle body 4271, a movable handle 4272, a linkage mechanism 4273, a sliding mechanism 4274 and a connecting structure 4275 for mounting the tail end tool 421, wherein the sliding mechanism 4274 and the linkage mechanism 4273 are both movably connected to the handle body 4271, the movable handle 4272 is connected with the sliding mechanism 4274 through the linkage mechanism 4273, one end, far away from the linkage mechanism 4273, of the sliding mechanism 4274 is connected with the connecting structure 4275, and the connecting structure 4275 is detachably connected with the tail end tool 421; wherein the movable handle 4272 is movably connected with the linkage 4273 to have an operating state and a tool-changing state, in the operating state, the end tool 421 is kept connected with the connecting structure 4275, the movable handle 4272 can be far away from or close to the fixed handle 4278, and when the movable handle 4272 moves to a maximum working opening angle relative to the fixed handle 4278, the movable handle 4272 abuts against the handle body 4271 to limit the maximum working opening angle; in the tool replacing state, the movable handle 4272 moves relative to the linkage 4273 to disengage from the abutting of the handle body 4271, and continues to move in a direction away from the fixed handle 4278 to an unlocking position of the tool replacing state, and the linkage 4273 drives the sliding mechanism 4274 to move relative to the handle body 4271, so as to drive the connecting structure 4275 to be exposed out of the handle body 4271, and the end tool 421 can be detached through the connecting structure 4275.

In the embodiment of the present invention, the movable handle 4272 is connected to the linkage mechanism 4273, the linkage mechanism 4273 is connected to the sliding mechanism 4274, and the connection structure 4275 is connected to the sliding mechanism 4274, so that when the movable handle 4272 is switched to the tool replacement state, the movable handle 4272 can drive the sliding mechanism 4274 to move along the handle body 4271 through the linkage mechanism 4273, and the sliding mechanism 4274 can drive the connection structure 4275 to be exposed out of the handle body 4271, so as to disassemble and assemble the end tool 421 through the connection structure 4275, thereby facilitating the replacement of the end tool 421, making the process of the replacement operation of the end tool 421 simpler, the replacement speed quicker, and facilitating the surgical operation of the robot.

The end tool 421 in the embodiment of the present invention may be a tool for performing a surgical operation by a surgical robot, the control handle 427 may be an assisting prop for operating the end tool 421 by the surgical robot, and the end tool 421 may include, but is not limited to: scissors, cutters, forceps, and suture needles.

In the embodiment of the present invention, a receiving cavity may be provided in the handle body 4271, and may be used for arranging the link mechanism 4273, the sliding mechanism 4274 and the connecting structure 4275, and the link mechanism 4273, the sliding mechanism 4274 and the connecting structure 4275 may move in the receiving cavity. Specifically, the sliding mechanism 4274 may be slidably connected to the handle body 4271 and may drive the connecting structure 4275 to slide along the handle body 4271, so as to facilitate replacement and installation of the end tool 421 under the condition that the connecting structure 4275 is exposed out of the handle body 4271.

Specifically, the working state of the movable handle 4272 may include a gripping state and an unclamping state, as shown in fig. 9 and 10, the movable handle 4272 is in the working state, as shown in fig. 9, the movable handle 4272 is in the unclamping state, the movable handle 4272 abuts against the handle body 4271, the handle body 4271 may block a maximum opening angle of the movable handle 4272, the movable handle 4272 is prevented from being accidentally switched to a tool replacement state, and the end tool 421 is prevented from being accidentally dropped off in the surgical process. As shown in fig. 10, the movable handle 4272 is in a gripping state, in an operating state, the movable handle 4272 is movable between the gripping state and a maximum opening angle, since the movable handle 4272 is connected with the linkage 4273, the linkage 4273 is connected with the sliding mechanism 4274, the sliding mechanism 4274 is connected with the connection structure 4275, the connection structure 4275 can mount the end tool 421, the end tool 421 can be controlled by operating the movable handle 4272, and the operation robot can conveniently operate the end tool 421 through the movable handle 4272 to perform an operation.

Specifically, the movable handle 4272 moves relative to the linkage mechanism 4273 and can be converted into a tool replacement state, so that the movable handle 4272 can move freely and is not limited by the handle body 4271, and in the moving process of the movable handle 4272, the linkage mechanism 4273 and the sliding mechanism 4274 can drive the connecting structure 4275 to be exposed out of the handle body 4271, so that the end tool 421 can be conveniently installed on the connecting structure 4275, or the end tool 421 can be detached from the connecting structure 4275, and the end tool 421 can be conveniently installed and replaced. As shown in fig. 11, the movable knob 4272 is pushed in the arrow direction, the link 4273 moves in the arrow direction together with the movable knob 4272, the slide mechanism 4274 moves in the arrow direction together with the link 4273, and the connection structure 4275 moves in the arrow direction together with the slide mechanism 4274 and is exposed to the handle body 4271.

Specifically, the maximum working opening angle is an included angle between the movable handle 4272 and the fixed handle 4278 when the movable handle 4272 abuts against the handle body 4271, and specifically, an angle value of ϴ shown in fig. 1 is the maximum working opening angle.

Alternatively, the movable handle 4272 may be a ring-shaped structural member. In practical applications, the movable handle 4272 is a ring-shaped structure, which facilitates to hold the movable handle 4272 so as to move the movable handle 4272 away from or close to the fixed handle 4278.

As shown in fig. 3, the ring portion of the movable knob 4272 may be an insertion portion operated by a human hand, and after inserting a finger, the movable knob 4272 may be pushed forward or backward.

Optionally, the control handle 427 may further include: button assembly 4276, linkage 4273 comprises first linkage bar 732; the top end of the first linkage rod 732 is rotatably connected with a handle body 4271, a movable handle 4272 is movably connected with the first linkage rod 732 through a button assembly 4276, and the button assembly 4276 is movably connected with the first linkage rod 732; the button assembly 4276 has a locked state in which the movable handle 4272 is locked to the first linkage bar 732 and the movable handle 4272 is switchable to an operating state and an unlocked state; in the unlocked state, the movable handle 4272 is movable relative to the first linkage 732 and opened to be out of abutment with the handle body 4271, and moved to the tool-replacement unlocked position to enable the movable handle 4272 to be switched to the tool-replacement state.

In the embodiment of the present invention, the button assembly 4276 can be switched between a locked state and an unlocked state, and the relative state between the movable handle 4272 and the first linkage bar 732 can be adjusted by the button assembly 4276, so that the movable handle 4272 can be conveniently adjusted to a working state or a tool replacement state, and the operation is convenient and quick.

As shown in fig. 9 and 10, the button assembly 4276 is adjusted to a locking state, the movable handle 4272 can be adjusted to an operating state, the movable handle 4272 can be close to or far away from the fixed handle 4278, and the included angle between the movable handle 4272 and the fixed handle 4278 does not exceed the maximum operating opening angle. As shown in fig. 11, the button assembly 4276 is adjusted to the unlocked state, the movable handle 4272 can be adjusted to the tool replacement state, and the included angle between the movable handle 4272 and the fixed handle 4278 can exceed the maximum working opening angle, so that the movable handle 4272 drives the connecting mechanism to be exposed out of the handle body 4271 through the first linkage rod 732 and the sliding mechanism 4274, and the end tool 421 is disassembled.

Optionally, the movable handle 4272 may be provided with a first mounting hole 721, the first linkage bar 732 may be provided with a second mounting hole 731, and the second mounting hole 731 is an elongated structure extending along the length direction of the first linkage bar 732; the button assembly 4276 may be disposed through the first mounting hole 721 and the second mounting hole 731, and may be used to connect the movable handle 4272 and the linkage 4273; the button assembly 4276 is unlockably and lockably slidably engaged with the second mounting hole 731 to have a first position and a second position; when the button assembly 4276 slides to the first position together with the movable handle 4272, the button assembly 4276 may be switched to the locked state; when the button assembly 4276 is slid to the second position along with the movable knob 4272, the button assembly 4276 may be switched to the unlocked state.

In the embodiment of the present invention, the button assembly 4276 is inserted into the first installation hole 721 and the second installation hole 731, and can connect the movable handle 4272 and the first linkage bar 732, and the button assembly 4276 can be switched between the first position and the second position by sliding along the second installation hole 731, and when the button assembly 4276 is switched to the first position, it can be switched to the locking state, so that the movable handle 4272 can be switched to the working state; when the button assembly 4276 slides to the second position, the unlocking state can be switched, and the movable handle 4272 can be switched to the tool replacing state conveniently. In the embodiment of the invention, the use state of the movable handle 4272 can be adjusted by adjusting the position of the button assembly 4276, which is convenient.

Specifically, the first mounting hole 721 may be a through hole, and the button assembly 4276 may be freely movable within the first mounting hole 721, and specifically, the button assembly 4276 may be freely movable in a center line direction of the first mounting hole 721. The second mounting hole 731 may be a through hole, and the button assembly 4276 may be freely movable in the second mounting hole 731, and specifically, the button assembly 4276 may be freely movable in the length direction and the thickness direction of the second mounting hole 731. Further, the position of the button assembly 4276 may be adjusted by pressing the button assembly 4276.

Further, the first mounting hole 721 may be a circular hole, a square hole, or an irregular hole, and the first mounting hole 721 may be adapted to the structure of the button assembly 4276, and may be specifically arranged according to the structure of the button assembly 4276, which is not specifically limited in this embodiment of the invention.

As shown in fig. 4, the second mounting hole 731 may include a circular hole 7311 and an elongated slot 7312, the circular hole 7311 may be disposed on the top of the elongated slot 7312, and the inner diameter of the circular hole 7311 may be greater than the width of the elongated slot 7312, and the button assembly 4276 may be located at the first position when it is inserted into the circular hole 7311, and the button assembly 4276 may be located at the second position when it is inserted into the elongated slot 7312.

In the embodiment of the present invention, the inner diameter of the circular hole 7311 is larger than the width of the long slot hole 7312, so that the sizes of the circular hole 7311 and the long slot hole 7312 are not the same, and since the button assembly 4276 can be located at the first position when penetrating through the circular hole 7311, and the button assembly 4276 can be located at the second position when penetrating through the long slot hole 7312, the button assembly 4276 can be conveniently switched between positions.

Specifically, the direction from the circular hole 7311 to the long slot hole 7312 may be the length direction of the second mounting hole 731, the axial direction of the circular hole 7311 is the thickness direction of the second mounting hole 731, the width direction of the second mounting hole 731 is perpendicular to the length direction and the thickness direction, respectively, and the width direction of the long slot hole 7312 is the same as the width direction of the second mounting hole 731.

As shown in fig. 2, the circular hole 7311 may be disposed close to the handle body 4271, the long slot hole 7312 may be disposed far from the handle body 4271, and the diameter of the circular hole 7311 may be larger than the width of the long slot hole 7312. Specifically, the long slot 7312 may have a long strip structure.

As shown in fig. 5, the button assembly 4276 may include: pin 744 and elastic component 745, pin 744 includes: a first shaft segment 7441 and a second shaft segment 7442 connected in series, the second shaft segment 7442 may have an outer diameter greater than the outer diameter of the first shaft segment 7441; the first shaft segment 7441 and the second shaft segment 7442 may be respectively inserted into the first mounting hole 721 and the second mounting hole 731, the elastic member 745 may be sleeved on the first shaft segment 7441, and two ends of the elastic member 745 may respectively abut against the movable handle 4272 and the first linkage bar 732; the outer diameter of the second shaft segment 7442 may be greater than the width of the elongated slot aperture 7312 and the outer diameter of the first shaft segment 7441 may be less than the width of the elongated slot aperture 7312; when the button assembly 4276 is in the locked state, the elastic member 745 can be in the compressed state, and the second shaft segment 7442 can be inserted through the circular hole 7311; when the button assembly 4276 is in the unlocked state, the elastic member 745 may continue to be compressed, so that the second shaft segment 7442 may pass through the circular hole 7311, and the first shaft segment 7441 may pass through the long slot hole 7312.

In the embodiment of the present invention, the elastic member 745 is sleeved on the first shaft segment 7441, and both ends thereof respectively abut against the movable handle 4272 and the first linkage rod 732. The outer diameter of the second shaft segment 7442 is greater than the width of the long slot hole 7312, so that the second shaft segment 7442 can only penetrate through the circular hole 7311, the outer diameter of the first shaft segment 7441 is less than the width of the long slot hole 7312, so that the first shaft segment 7441 can penetrate through the circular hole 7311 and the long slot hole 7312, and thus, the compression state of the elastic member 745 can be adjusted, so that the first shaft segment 7441 or the second shaft segment 7442 can be adjusted to penetrate through the circular hole 7311, and the use state of the button assembly 4276 can be conveniently switched.

Specifically, the elastic member 745 may be a structure such as a tension spring or a torsion spring, which is not particularly limited in the embodiment of the present invention.

Specifically, the outer diameters of the first and

second shaft segments

7441 and 7442 may each be smaller than the inner diameter of the first mounting hole 721 to facilitate the first and

second shaft segments

7441 and 7442 to be inserted through the first mounting hole 721.

Specifically, the round hole 7311 is disposed close to the handle body 4271, and when the second shaft segment 7442 is inserted into the round hole 7311, the button assembly 4276 may be switched to the locking state, the movable handle 4272 may be switched to the working state, and the handle body 4271 may limit the movable range of the movable handle 4272, thereby preventing the movable handle 4272 from being switched to the tool replacement state.

Specifically, the long slot 7312 is disposed away from the handle body 4271, as shown in fig. 11, when the first shaft segment 7441 is inserted into the circular hole 7311, the first shaft segment 7441 can slide into the long slot 7312 from the circular hole 7311, the button assembly 4276 can be switched to the unlocking state, the movable handle 4272 can be switched to the tool replacing state, and the movable handle 4272 can freely move relative to the handle body 4271, so as to adjust the position of the movable handle 4272, and thus the end tool 421 can be disassembled and assembled.

As shown in fig. 5, the outer diameter of the second shaft segment 7442 may be larger than the width of the long slot hole 7312 and smaller than the inner diameter of the round hole 7311, and the second shaft segment 7442 may be inserted into the round hole 7311 but cannot be inserted into the long slot hole 7312, so that the button assembly 4276 may be stably maintained in the locked state. The outer diameter of the first shaft segment 7441 may be smaller than the width of the long slot 7312, and when a pressure is applied to the first shaft segment 7441, the elastic member 745 is compressed, the first shaft segment 7441 may be inserted into the circular hole 7311, and then slid into the long slot 7312 from the circular hole 7311, and under the action of the second shaft segment 7442 and the elastic member 745, the first shaft segment 7441 may be inserted into the long slot 7312, so that the button assembly 4276 may be stably maintained in an unlocked state.

As shown in fig. 6, a clamping groove 723 for embedding the first linkage rod 732 may be disposed on the movable handle 4272, so that the first installation hole 721 communicates with the second installation hole 731; as shown in fig. 5, the button assembly 4276 may further include: pin cap 746 and locking head 747; the pin cap 746 may be coupled to an end of the first shaft segment 7441 remote from the second shaft segment 7442, the locking head 747 may be coupled to an end of the second shaft segment 7442 remote from the first shaft segment 7441, and the swing handle 4272 and the first linkage bar 732 may be disposed between the pin cap 746 and the locking head 747; the outer diameters of the pin cap 746 and the locking head 747 may be larger than the inner diameter of the first mounting hole 721; when the button assembly 4276 is in a locking state, the locking head 747 can abut against the movable handle 4272; the locking head 747 may be spaced from the movable handle 4272 when the button assembly 4276 is in the unlocked state.

In the embodiment of the invention, the movable handle 4272 and the linkage mechanism 4273 are arranged between the pin shaft cap 746 and the locking head 747, the first linkage rod 732 is embedded in the clamping groove 723 on the movable handle 4272, so that the pin shaft cap 746 and the locking head 747 are respectively abutted against two sides of the movable handle 4272, and because the outer diameters of the pin shaft cap 746 and the locking head 747 are both larger than the inner diameter of the first mounting hole 721, the pin shaft cap 746 and the locking head 747 can play a role in blocking, the first shaft segment 7441 and the second shaft segment 7442 can be prevented from falling off from the first mounting hole 721, and the stability of connection between the movable handle 4272 and the linkage mechanism 4273 is improved.

As shown in fig. 5, the pin 744 may further include a third shaft segment 7443, one end of the third shaft segment 7443 may be connected to the pin cap 746, the other end may be connected to the first shaft segment 7441, and the third shaft segment 7443 may be inserted into the first mounting hole 721; the outer diameter of the third shaft segment 7443 may be less than the inner diameter of the first mounting hole 721 and may be greater than the width of the elongated slot aperture 7312. The pin 744 may further include a fourth shaft segment 7444, one end of the fourth shaft segment 7444 may be connected to the second shaft segment 7442, the other end may be connected to the locking head 747, and the fourth shaft segment 7444 may be inserted into the first mounting hole 721; the outer diameter of the fourth shaft section 7444 may be smaller than the inner diameter of the first mounting hole 721.

Specifically, the pin cap 746, the first shaft segment 7441, the second shaft segment 7442, the third shaft segment 7443, and the fourth shaft segment 7444 may be of an integral structure, and the locking head 747 may be provided with a through hole, which may be in interference fit with the fourth shaft segment 7444.

As shown in fig. 2, the slide mechanism 4274 may include: a slider assembly 741 and a transmission rod 742, the slider assembly 741 being connectable to the first linkage rod 732; the handle body 4271 can be provided with a sliding groove 712, and the sliding block component 741 can be slidably connected to the sliding groove 712; the control handle 427 can further include an extension sleeve 4279, the extension sleeve 4279 can be coupled to the handle body 4271, as shown in fig. 8 and 15, the drive rod 742 can be telescopically disposed through the extension sleeve 4279, and an end of the drive rod 742 distal from the slider assembly 741 can be coupled to the coupling structure 4275; when the movable handle 4272 is in a tool changing state, the first linkage rod 732 can drive the sliding block component 741 to slide along the sliding slot 712, and the sliding block component 741 can drive the connecting structure 4275 to be exposed out of the extension sleeve 4279 through the transmission rod 742.

In the embodiment of the present invention, the slider assembly 741 may be slidably connected to the sliding groove 712, which may improve the stability of the slider assembly 741 sliding along the handle body 4271. The driving rod 742 can extend and retract in the extension sleeve 4279 and can drive the connecting structure 4275 to be exposed out of the extension sleeve 4279, so that the end tool 421 can be detached. Moreover, the extension sleeve 4279 is connected with the handle body 4271, so that the length of the control handle 427 can be increased, the operation length of the end tool 421 can be further increased, and the operation is facilitated.

Specifically, the slider assembly 741 can only slide in the sliding groove 712, and the motion track of the slider assembly 741 can be limited.

Specifically, the sliding mechanism 4274 may be fixed with the link mechanism 4273 by a pin, in this case, a pin may be used instead of the slider assembly 741, that is, the sliding connection of the sliding mechanism 4274 with the handle body 4271 may be realized by sliding the pin in the sliding groove 712.

Alternatively, the linkage 4273 may comprise: a second linkage rod 733, the first linkage rod 732 comprising a first hinge 7321 and a second hinge 7322; the first hinge part 7321 may be hinged to the handle body 4271, the second hinge part 7322 may be hinged to one end of the second link rod 733, and the other end of the second link rod 733 may be hinged to the slider assembly 741.

In the embodiment of the present invention, the first hinge portion 7321 of the first linkage bar 732 is hinged to the handle body 4271, so that the stability and reliability of the movement of the first linkage bar 732 relative to the handle can be improved; the second hinge part 7322 of the first linkage bar 732 is hinged to the second linkage bar 733, so that the stability and reliability of the movement of the second linkage bar 733 driven by the first linkage bar 732 can be improved; the second linkage rod 733 is hinged to the slider component 741, so that stability and reliability of the second linkage rod 733 for driving the slider component 741 to move can be improved.

As shown in fig. 2, when the first linkage rod 732 moves outwards along with the movable handle 4272, the second linkage rod 733 moves outwards along with the first linkage rod 732, the slider assembly 741 moves outwards along with the second linkage rod 733, the transmission rod 742 can move outwards along with the slider assembly 741, and the connection structure 4275 can be exposed out of the extension sleeve 4279 along with the transmission rod 742.

Specifically, the first linkage rod 732 and the handle body 4271 may be hinged by a pin, the first linkage rod 732 and the second linkage rod 733 may be hinged by a pin, and the second linkage rod 733 and the slider assembly 741 may be hinged by a pin.

As shown in fig. 3 and 4, a limiting post 7323 is disposed on the first linkage bar 732, and a first limiting groove 722 is correspondingly disposed on the movable handle 4272; when the movable handle 4272 is switched to the working state, the position-limiting post 7323 may be engaged with the first position-limiting groove 722. In the embodiment of the present invention, when the movable handle 4272 is in the working state, the stability of the connection between the movable handle 4272 and the first linkage bar 732 can be further improved, so that the movable handle 4272 drives the first linkage bar 732 to move.

Specifically, in the process of fig. 9 to 10, the movable handle 4272 gradually approaches the fixed handle 4278, and since the limiting post 7323 is clamped in the first limiting groove 722, the movable handle 4272 can drive the first linkage rod 732 to move.

Specifically, the fixed knob 4278 may be bent along the handle body 4271, and when the movable knob 4272 is in an operating state, a preset included angle ϴ may be formed between the movable knob 4272 and the fixed knob 4278, and the preset included angle ϴ may be smaller than 90 °, so as to facilitate application of a gripping force to the movable knob 4272, so that the movable knob 4272 approaches the fixed knob 4278.

Specifically, in practical applications, the end tool 421 may be a clamp such as a pair of pliers or scissors, and the movable handle 4272 is grasped so that the movable handle 4272 is close to the fixed handle 4278, so as to operate the pliers and the scissors to perform a surgical operation such as clamping or cutting.

As shown in fig. 12, the control handle 427 may further include: a ratchet mechanism 428 movably connected with the handle body 4271, the ratchet mechanism 428 being engageable with the slider assembly 741 to lock or unlock the angle of the movable knob 4272 relative to the fixed knob 4278.

In the embodiment of the invention, the ratchet mechanism 428 is matched with the slide block assembly 741, so that the angle of the movable handle 4272 relative to the fixed handle 4278 can be locked, the movable handle 4272 can be prevented from moving relative to the fixed handle 4278 due to fatigue in the operation process, and the safety in the operation process is improved. Furthermore, the ratchet mechanism 428, in cooperation with the slider assembly 741, may also unlock the angle of the movable knob 4272 relative to the fixed knob 4278, facilitating adjustment of the position of the movable knob 4272.

Specifically, when the movable handle 4272 is in the working state, the ratchet mechanism 428 and the slider assembly 741 can be used in cooperation to lock the angle of the movable handle 4272 relative to the fixed handle 4278, so as to avoid the change of the use state of the end tool 421 during the operation and improve the safety of the operation. When the movable handle 4272 needs to be switched to the tool replacement state, the ratchet mechanism 428 and the slider assembly 741 can be used to unlock the angle of the movable handle 4272 relative to the fixed handle 4278 in order to adjust the position of the movable handle 4272.

As shown in fig. 12, the slider assembly 741 may include a slider 7411 and a rack connector 7412 fixedly connected, and both ends of the rack connector 7412 may be connected to a transmission rod 742 and the slider 7411, respectively; the rack attachment 7412 is provided with a rack portion 74121 on a side facing the ratchet mechanism 428, the ratchet mechanism 428 comprising: the handle comprises a driving piece 4284, a first rotating shaft 4281, a torsion spring 4282 and ratchet teeth 4283, wherein the driving piece 4284 is connected with the first rotating shaft 4281, the first rotating shaft 4281 is movably connected with a handle body 4271, the ratchet teeth 4283 can be rotatably connected with the first rotating shaft 4281, the torsion spring 4282 can be sleeved on the first rotating shaft 4281, and two ends of the torsion spring 4282 can be respectively abutted against the ratchet teeth 4283 and the handle body 4271; ratchet mechanism 428 may include: a connection state in which the driver 4284 can drive the ratchet teeth 4283 to move towards the rack portion 74121 through the first rotation shaft 4281, so that the ratchet teeth 4283 can be meshed with the rack portion 74121, and the angle of the movable handle 4272 relative to the fixed handle 4278 can be locked under the action of the torsion spring 4282; in the disengaged state, the driver 4284 can drive the ratchet teeth 4283 to move away from the rack portion 74121 through the first rotation shaft 4281, so that the ratchet teeth 4283 and the rack portion 74121 are disengaged, and the angle of the movable knob 4272 relative to the fixed knob 4278 can be unlocked.

In the embodiment of the present invention, the rack connector 7412 of the slider assembly 741 is provided with the rack portion 74121, the ratchet mechanism 428 includes the ratchet teeth 4283, the driver 4284 can drive the ratchet teeth 4283 to move towards the rack portion 74121 or away from the rack portion 74121 through the first rotation shaft 4281, so that the ratchet teeth 4283 can be engaged with or disengaged from the rack portion 74121, and the slider assembly 741 can be engaged with the ratchet mechanism 428.

Specifically, since the torsion spring 4282 is sleeved on the first rotating shaft 4281 and the ratchet teeth 4283 are rotatably connected to the first rotating shaft 4281, when the driving force of the driving member 4284 on the first rotating shaft 4281 is eliminated under the torsion force of the torsion spring 4282, the ratchet teeth 4283 can always keep meshed connection with the rack portion 74121, the angle of the movable handle 4272 relative to the fixed handle 4278 can be locked, and the use state of the end tool 421 can be prevented from being changed.

As shown in fig. 13, the handle body 4271 is provided with a limit projection 711, the driving member 4284 can drive the ratchet teeth 4283 to move through the first rotation shaft 4281, and when the ratchet teeth 4283 abut against the limit projection 711, the ratchet teeth 4283 can slide along the limit projection 711, so that the ratchet teeth 4283 can be engaged with or disengaged from the rack portion 74121, and the angle of the movable handle 4272 relative to the fixed handle 4278 can be locked or adjusted.

Specifically, the transmission rod 742 and the rack connector 7412 may be directly connected to each other, or the transmission rod 742 and the rack connector 7412 may be connected to each other through a connecting rod, which is not particularly limited in the embodiments of the present invention.

In the embodiment of the invention, under the action of the torsion spring 4282 and the limiting protrusion 711, the ratchet teeth 4283 can be conveniently adjusted to be meshed with or separated from the rack portion 74121, and further, the angle of the movable handle 4272 relative to the fixed handle 4278 can be conveniently adjusted.

Specifically, when the angle of the movable knob 4272 relative to the handle body 4271 needs to be unlocked for the ratchet mechanism 428, the driving member 4284 can drive the first rotating shaft 4281 to rotate, and when the first rotating shaft 4281 drives the ratchet teeth 4283 to move to abut against the limit projection 711, the limit projection 711 can generate acting force on the ratchet teeth 4283 to counteract the elastic force of the torsion spring 4282, so that the moving direction of the ratchet teeth 4283 is changed, and the ratchet teeth 4283 move downwards along the limit projection 711 and are separated from the rack portion 74121. When it is desired that the ratchet mechanism 428 locks the angle of the movable knob 4272 with respect to the knob body 4271, the driving member 4284 can drive the first rotating shaft 4281 to move upward along the stopper protrusion 711, so that the ratchet teeth 4283 and the rack portion 74121 are engaged.

Optionally, ratchet mechanism 428 may include: the handle comprises a second rotating shaft 4285, a third rotating shaft 4286 and a connecting piece 4287, wherein the second rotating shaft 4285 can be movably connected with the handle body 4271, and the third rotating shaft 4286 can be fixedly connected with the handle body 4271; the coupling member 4287 may be coupled to the second rotation shaft 4285 and the first rotation shaft 4281, respectively, the driving member 4284 may be coupled to the second rotation shaft 4285, and the driving member 4284 may be rotatably coupled to the third rotation shaft 4286, and during the rotation of the driving member 4284 about the third rotation shaft 4286, the coupling member 4287 may be driven to move by the second rotation shaft 4285, and the movement of the coupling member 4287 may drive the ratchet teeth 4283 to move by the first rotation shaft 4281.

In the embodiment of the invention, the connecting member 4287 is respectively connected with the first rotating shaft 4281 and the second rotating shaft 4285, the driving member 4284 is connected with the second rotating shaft 4285, the first rotating shaft 4281 is connected with the ratchet teeth 4283, and under the action of the first rotating shaft 4281, the connecting member 4287 and the second rotating shaft 4285, the driving member 4284 and the ratchet teeth 4283 can be linked, so that the driving member 4284 can drive the ratchet teeth 4283 to move.

As shown in fig. 12, a side of the ratchet teeth 4283 facing away from the rack portion 74121 may be provided with a boss portion, and one end of the torsion spring 4282 may abut against the boss portion and the other end may abut against the third rotational shaft 4286.

Alternatively, the handle body 4271 may be provided with a second limiting groove 714 and a third limiting groove 715, and the length directions of the second limiting groove 714 and the third limiting groove 715 may be arranged along the direction from the rack portion 74121 to the ratchet teeth 4283; the first rotation shaft 4281 may slide along a groove wall of the second stopper groove 714, and the second rotation shaft 4285 may slide along a groove wall of the third stopper groove 715.

In the embodiment of the present invention, the first rotation shaft 4281 may move in the second limit groove 714, so that the second limit groove 714 may limit the moving range of the first rotation shaft 4281, and stability and reliability of the movable connection of the first rotation shaft 4281 to the handle body 4271 may be improved. The second rotating shaft 4285 can move in the third limiting groove 715, so that the third limiting groove 715 can limit the moving range of the second rotating shaft 4285, and the stability and reliability of the second rotating shaft 4285 movably connected to the handle body 4271 can be improved.

The control handle provided by the embodiment of the invention at least comprises the following advantages:

In a second aspect, the present embodiment also discloses an apparatus, which may comprise an end tool 421 and the control handle 427, wherein the control handle 427 may be detachably connected to the end tool 421.

Specifically, the control handle 427 includes a connection structure 4275, and the end tool 421 may be detachably connected to the connection structure 4275. The end tool 421 has a connector 4211 for detachable connection with the connection structure 4275 at one end and a tool such as scissors, forceps, or pliers for performing a surgical operation at the other end.

As shown in fig. 14 and 15, an end of the connecting structure 4275 of the control handle 427 facing away from the sliding mechanism 4274 may be provided with a mounting groove 743 for mounting the end tool 421. In practice, mounting slots 743 are provided on the coupling structures 4275 to facilitate securing the end tool 421 to the coupling structures 4275.

Specifically, the sliding mechanism 4274 includes a transmission rod 742, and one end of the connection structure 4275 is connected to the transmission rod 742, and the other end is provided with a mounting groove 743. The driving rod 742 is telescopically inserted into the extension sleeve 4279, and can drive the connecting structure 4275 to be exposed out of the extension sleeve 4279, so that the end tool 421 can be conveniently installed in or detached from the installation groove 743.

As shown in fig. 15, the top of the mounting groove 743 may be provided with an opening for mounting the end tool 421, the mounting groove 743 may include a ball-like groove 7431 and a U-shaped groove 7432 connected in sequence, and the width of the U-shaped groove 7432 may be smaller than the diameter of the ball-like groove 7431; as shown in fig. 16, the end tool 421 may be provided with a connecting rod 4212 and a connector 4211 connected to each other, and the outer diameter of the connector 4211 may be larger than that of the connecting rod 4212; the connector 4211 is detachably inserted into the ball-like groove 7431, and the connecting rod 4212 is detachably inserted into the U-shaped groove 7432.

In the embodiment of the present invention, since the diameter of the ball-like groove 7431 is larger than the width of the U-shaped groove 7432, the connector 4211 is embedded in the ball-like groove 7431, and the connecting rod 4212 is embedded in the U-shaped groove 7432, so that the end tool 421 can be fixed in the mounting groove 743. Moreover, the connector 4211 can be detached from the ball-like groove 7431, and the connecting rod 4212 can be detached from the U-shaped groove 7432, so that the end tool 421 can be replaced easily.

Specifically, the top of the mounting groove 743 may be provided with an opening, and the connector 4211 may put in or take out the spheroidal groove 7431 from the opening; the connecting rod 4212 can be put in or taken out of the U-shaped groove 7432 from the opening.

Specifically, the ball-like groove 7431 may be a groove that is approximately spherical, including only a portion of a sphere, the size of the connector 4211 is adapted to the size of the ball-like groove 7431, and the shape of the connector 4211 may be spherical or ball-like.

Specifically, the size of the connecting rod 4212 is adapted to the size of the U-shaped groove 7432, and the connecting rod 4212 may be a cylindrical structure or a cubic structure.

As shown in fig. 15 and 16, the end tool 421 may be provided with a first thread structure 4213, the inner wall of the extension sleeve 4279 of the control handle 427 may be provided with a corresponding second thread structure 751, and after the connector 4211 is embedded in the spherical groove 7431 and the connecting rod 4212 is embedded in the U-shaped groove 7432, the first thread structure 4213 and the second thread structure 751 are screwed to complete the connection between the end tool 421 and the control handle 427.

The instrument of the embodiment of the invention at least comprises the following advantages:

In a third aspect, the embodiment of the invention also discloses a minimally invasive surgery robot, which can comprise the instrument, a control adapter for detecting whether the instrument enters a working state, an energy adapter for providing energy for the instrument and a multifunctional channel device for providing a channel for the instrument; the end tool of the instrument can be sequentially arranged through the control adapter, the energy adapter and the multifunctional channel device.

In particular, the control adapter may detect the presence of a surgeon and may also provide support for the control handle of the instrument. The energy adapter may provide a rotational and mono-or bi-polar energy source for the instrument. The multifunctional channel device can be directed to the abdominal cavity of the human body, so that the end tool can enter the abdominal cavity of the human body after passing through the multifunctional channel device.

The minimally invasive surgery robot provided by the embodiment of the invention at least has the following advantages:

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Further, it should be noted that the scope of the methods and apparatus of embodiments of the present invention is not limited to performing functions in the order illustrated or discussed, but may include performing functions in a substantially simultaneous manner or in a reverse order based on the functions involved, e.g., the methods described may be performed in an order different than that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.

While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A control handle for controlling a tip tool, comprising: a handle body (4271), a movable handle (4272), a fixed handle (4278), a linkage mechanism (4273), a sliding mechanism (4274) and a connecting structure (4275) for installing the tail end tool (421), wherein the sliding mechanism (4274) and the linkage mechanism (4273) are both movably connected to the handle body (4271),

the movable handle (4272) is connected with the sliding mechanism (4274) through the linkage mechanism (4273), one end of the sliding mechanism (4274) far away from the linkage mechanism (4273) is connected with the connecting structure (4275), and the connecting structure (4275) is detachably connected with the end tool (421);

wherein the movable handle (4272) is movably connected with the linkage mechanism (4273) to have an operating state in which the end tool (421) remains connected with the connecting structure (4275) and a tool change state in which the movable handle (4272) is away from or close to the fixed handle (4278) and the movable handle (4272) abuts against the handle body (4271) to limit the maximum operating opening angle when the movable handle (4272) moves to the maximum operating opening angle relative to the fixed handle (4278); in the tool replacing state, the movable handle (4272) moves relative to the linkage mechanism (4273) to be separated from abutting against the handle body (4271), the movable handle continues to move in the direction away from the fixed handle (4278) to the tool replacing unlocking position, the linkage mechanism (4273) drives the sliding mechanism (4274) to move relative to the handle body (4271) so as to drive the connecting structure (4275) to be exposed out of the handle body (4271), and the tail end tool (421) is dismounted through the connecting structure (4275).

2. The control handle according to claim 1, wherein the control handle (427) further comprises: a button assembly (4276), the linkage mechanism (4273) comprising a first linkage rod (732);

the top end of the first linkage rod (732) is rotationally connected with the handle body (4271), the movable handle (4272) is movably connected with the first linkage rod (732) through the button assembly (4276), and the button assembly (4276) is movably connected with the first linkage rod (732);

the button assembly (4276) has a locked state in which the movable handle (4272) is locked to the first linkage (732) and an unlocked state in which the movable handle (4272) is switchable to the active state; in the unlocked state, the movable handle (4272) is movable relative to the first linkage (732) and opens to disengage from abutment with the handle body (4271) and moves to an unlocked position of the replacement tool to enable the movable handle (4272) to switch to the replacement tool state.

3. The control handle according to claim 2, wherein the movable handle (4272) is provided with a first mounting hole (721), the lower end of the first linkage rod (732) is provided with a second mounting hole (731), and the second mounting hole (731) is an elongated structure extending along the length direction of the first linkage rod (732);

the button assembly (4276) is arranged in the first mounting hole (721) and the second mounting hole (731) in a penetrating mode and used for connecting the movable handle (4272) and the linkage mechanism (4273); the button assembly (4276) is unlockably and lockably slidably engaged with the second mounting hole (731) to have a first position and a second position;

when the button assembly (4276) is slid to the first position together with the movable handle (4272), the button assembly (4276) is locked with the second mounting hole (731), and the button assembly (4276) is switched to the locked state; when the button assembly (4276) is slid to the second position together with the movable handle (4272), the button assembly (4276) is unlocked from the second mounting hole (731), and the button assembly (4276) is switched to the unlocked state.

4. The control handle according to claim 3, wherein the second mounting hole (731) comprises a circular hole (7311) and an elongated slot hole (7312), the circular hole (7311) is disposed at the top of the elongated slot hole (7312), and the inner diameter of the circular hole (7311) is larger than the width of the elongated slot hole (7312), the button assembly (4276) is located at the first position when it is inserted into the circular hole (7311), and the button assembly (4276) is located at the second position when it is inserted into the elongated slot hole (7312).

5. The control handle according to claim 4, wherein the button assembly (4276) comprises: a pin (744) and a resilient member (745), the pin (744) comprising: a first shaft segment (7441) and a second shaft segment (7442) connected in series, the second shaft segment (7442) having an outer diameter greater than the outer diameter of the first shaft segment (7441);

the first shaft section (7441) and the second shaft section (7442) are respectively arranged in the first mounting hole (721) and the second mounting hole (731) in a penetrating manner, the elastic piece (745) is sleeved on the first shaft section (7441), and two ends of the elastic piece (745) are respectively abutted against the movable handle (4272) and the first linkage rod (732);

the second shaft segment (7442) has an outer diameter greater than the width of the elongated slot aperture (7312), the first shaft segment (7441) has an outer diameter less than the width of the elongated slot aperture (7312);

when the button assembly (4276) is in the locking state, the elastic member (745) is in a compressed state, and the second shaft section (7442) is arranged in the round hole (7311); when the button assembly (4276) is in an unlocked state, the elastic member (745) continues to be compressed, so that the second shaft section (7442) passes through the round hole (7311), and the first shaft section (7441) is arranged in the long slotted hole (7312) in a penetrating manner.

6. The control handle according to claim 5, wherein the movable handle (4272) is provided with a clamping groove (723) for embedding the first linkage rod (732) so as to communicate the first mounting hole (721) with the second mounting hole (731);

the button assembly (4276) further comprises: the pin cap (746) and locking head (747); the pin shaft cap (746) is connected with one end of the first shaft section (7441) far away from the second shaft section (7442), the locking head (747) is connected with one end of the second shaft section (7442) far away from the first shaft section (7441), and the movable handle (4272) and the first linkage rod (732) are arranged between the pin shaft cap (746) and the locking head (747);

wherein the pin cap (746) and the locking head (747) each have an outer diameter greater than an inner diameter of the first mounting hole (721);

when the button assembly (4276) is in the locked state, the locking head (747) abuts against the movable handle (4272); the locking head (747) is spaced from the movable handle (4272) when the button assembly (4276) is in the unlocked state.

7. The control handle according to claim 2, wherein the sliding mechanism (4274) comprises a slider assembly (741) and a transmission rod (742), wherein both ends of the slider assembly (741) are respectively connected with the transmission rod (742) and the first linkage rod (732);

a sliding groove (712) is formed in the handle body (4271), and the sliding block assembly (741) is connected to the sliding groove (712) in a sliding mode;

the control handle (427) further comprises an extension sleeve (4279), the extension sleeve (4279) is connected with the handle body (4271), the transmission rod (742) is telescopically arranged on the extension sleeve (4279), and one end, away from the slide block assembly (741), of the transmission rod (742) is connected with the connecting structure (4275);

when the movable handle (4272) is in the tool replacement state, the first linkage rod (732) drives the slider assembly (741) to slide along the sliding groove (712), and the slider assembly (741) drives the connecting structure (4275) to be exposed out of the extension sleeve (4279) through the transmission rod (742).

8. The control handle according to claim 7, wherein the linkage mechanism (4273) further comprises a second linkage rod (733), the first linkage rod (732) comprising a first articulation (7321) and a second articulation (7322);

the first hinge part (7321) is hinged to the handle body (4271), the second hinge part (7322) is hinged to one end of the second linkage rod (733), and the other end of the second linkage rod (733) is hinged to the slider assembly (741).

9. The control handle according to claim 2, wherein the first linkage rod (732) is provided with a limiting column (7323), and the movable handle (4272) is correspondingly provided with a first limiting groove (722);

when the movable handle (4272) is switched to the working state, the limiting column (7323) is clamped in the first limiting groove (722).

10. The control handle of claim 7, further comprising: a ratchet mechanism (428) movably connected with the handle body (4271), the ratchet mechanism (428) cooperating with the slider assembly (741) to lock or unlock an angle of the movable handle (4272) with respect to the fixed handle (4278).

11. The control handle according to claim 10, wherein the slider assembly (741) comprises a fixedly connected slider (7411) and a rack connector (7412), both ends of the rack connector (7412) being connected with the transmission rod (742) and the slider (7411), respectively;

the rack attachment (7412) is provided with a rack portion (74121) on a side facing the ratchet mechanism (428), the ratchet mechanism (428) comprising: the handle comprises a driving piece (4284), a first rotating shaft (4281), a torsion spring (4282) and ratchet teeth (4283), wherein the driving piece (4284) is connected with the first rotating shaft (4281), the first rotating shaft (4281) is movably connected with the handle body (4271), the ratchet teeth (4283) are rotatably connected with the first rotating shaft (4281), the torsion spring (4282) is sleeved on the first rotating shaft (4281), and two ends of the torsion spring (4282) are respectively abutted against the ratchet teeth (4283) and the handle body (4271);

the ratchet mechanism (428) includes: a connection state and a disconnection state, in the connection state, the driving piece (4284) can drive the ratchet teeth (4283) to move towards the rack part (74121) through the first rotating shaft (4281), so that the ratchet teeth (4283) and the rack part (74121) are meshed and connected, and the angle of the movable handle (4272) relative to the fixed handle (4278) can be locked under the action of the torsion spring (4282); in the disengaged state, the drive member (4284) can drive the ratchet teeth (4283) to move away from the rack portion (74121) by the first rotating shaft (4281) to disengage the ratchet teeth (4283) and the rack portion (74121), and the angle of the movable handle (4272) relative to the fixed handle (4278) can be unlocked.

12. The control handle according to claim 11, wherein a limit protrusion (711) is provided on the handle body (4271), the driving member (4284) can drive the ratchet teeth (4283) to move by the first rotating shaft (4281), and when the ratchet teeth (4283) abut against the limit protrusion (711), the ratchet teeth (4283) slide along the limit protrusion (711) to engage or disengage the ratchet teeth (4283) with or from the rack portion (74121), so that the angle of the movable handle (4272) relative to the fixed handle (4278) can be locked or adjusted.

13. The control handle according to claim 11, wherein the ratchet mechanism (428) comprises: the handle comprises a second rotating shaft (4285), a third rotating shaft (4286) and a connecting piece (4287), wherein the second rotating shaft (4285) is movably connected to the handle body (4271), and the third rotating shaft (4286) is fixedly connected to the handle body (4271);

the connecting piece (4287) is respectively connected with the second rotating shaft (4285) and the first rotating shaft (4281), the driving piece (4284) is connected with the second rotating shaft (4285), the driving piece (4284) is rotationally connected with the third rotating shaft (4286), in the process that the driving piece (4284) rotates around the third rotating shaft (4286), the connecting piece (4287) can be driven by the second rotating shaft (4285) to move, and the ratchet teeth (4283) can be driven by the movement of the connecting piece (4287) through the first rotating shaft (4281).

14. The control handle according to claim 13, wherein the handle body (4271) is provided with a second elongated limit groove (714) and a third elongated limit groove (715), and the second and third limit grooves (714, 715) are arranged in a direction from the rack portion (74121) to the ratchet teeth (4283) in a length direction thereof;

the first rotating shaft (4281) slides along the groove wall of the second limiting groove (714), and the second rotating shaft (4285) slides along the groove wall of the third limiting groove (715).

15. An apparatus, comprising a tip tool (421) and a control handle (427) according to any of claims 1-14, wherein said control handle (427) is removably connected to said tip tool (421).

16. The device according to claim 15, characterized in that the end of the connection structure (4275) of the control handle facing away from the sliding mechanism (4274) is provided with a mounting slot (743) for mounting the tip tool (421).

17. The apparatus according to claim 16, wherein the top of the mounting groove is provided with an opening for mounting the tip tool (421), the mounting groove (743) comprises a ball-like groove (7431) and a U-shaped groove (7432) which are connected in sequence, the width of the U-shaped groove (7432) is smaller than the diameter of the ball-like groove (7431);

a connecting rod (4212) and a connecting head (4211) which are connected with each other are arranged on the tail end tool (421), and the outer diameter of the connecting head (4211) is larger than that of the connecting rod (4212);

the connector (4211) is detachably embedded in the similar spherical groove (7431), and the connecting rod (4212) is detachably embedded in the U-shaped groove (7432).

18. A minimally invasive surgical robot comprising the instrument of any one of claims 15-17, and a control adapter for detecting whether the instrument is in an operative state, an energy adapter for providing energy to the instrument, and a multi-functional tunneler for providing access to the instrument;

the tail end tool (421) of the apparatus sequentially penetrates through the control adapter, the energy adapter and the multifunctional channel device.