CN113740097A

CN113740097A - Testing device

Info

Publication number: CN113740097A
Application number: CN202111294667.3A
Authority: CN
Inventors: 王迎智; 王干; 齐斌
Original assignee: Apeiron Surgical Beijing Co Ltd
Current assignee: Apeiron Surgical Beijing Co Ltd
Priority date: 2021-11-03
Filing date: 2021-11-03
Publication date: 2021-12-03
Anticipated expiration: 2041-11-03
Also published as: CN113740097B

Abstract

The invention discloses a testing device, which is applied to operation testing of surgical instruments. The testing device comprises a first driving assembly, a second driving assembly and a testing assembly, wherein the second driving assembly is located between the first driving assembly and the testing assembly, the testing assembly and the second driving assembly are provided with an installation space, and when the first driving assembly is in a first motion state, the pull rod drives the guide block to drive the transmission piece to move axially along the adjusting column so as to drive the end effector of the surgical instrument to clamp or open. When the first driving assembly is in the second motion state, the adjusting column drives the transmission piece to rotate around the central axis of the adjusting column through the guide block so as to drive the end effector of the surgical instrument to rotate. The rotating support of the second driving assembly rotates around the ball connecting rod to drive the guide wire to simultaneously perform compound motion along the axial direction and the radial direction of the ball connecting rod, so that the bending test of the surgical instrument is performed, and the test of the position and/or the angle of the executing end of the surgical instrument in different states is realized. The testing device is simple in structure and convenient to maintain.

Description

Testing device

Technical Field

The invention belongs to the technical field of medical instruments, and particularly relates to a testing device.

Background

Doctors typically use elongated surgical instruments for single-port and minimally invasive surgery to reduce the size of the opening in the abdomen and reduce patient trauma. For example, common surgical instruments include monopolar scissors, monopolar hooks, bipolar forceps, needle holders, dissecting forceps, serrated grasping forceps, undulating grasping forceps, applying forceps, and the like. Monopolar scissors may be used in thoracoscopic and laparoscopic procedures, and bipolar forceps may be used to grasp, manipulate, dissect and coagulate selected tissue during a surgical procedure.

Currently, it is necessary to detect whether an end effector of a surgical instrument satisfies a preset angle or a preset position in a preset state by means of a dedicated testing device, so as to ensure reliability of the surgical instrument during use.

However, the structure of the current surgical instrument testing device is complex, which causes the maintenance of the testing device to be inconvenient.

Disclosure of Invention

The embodiment of the invention aims to provide a testing device which can solve the problem that a surgical instrument testing device is complex in structure.

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

in a first aspect, an embodiment of the present invention provides a testing apparatus, which includes a first driving assembly, a second driving assembly, and a testing assembly. The testing component is positioned on one side, away from the first driving component, of the second driving component, the testing component and the second driving component are arranged at intervals to form an installation space for installing the surgical instrument, and the testing component is used for testing the position and/or the angle of the execution end of the surgical instrument in different states. The first driving assembly comprises a pull rod, an adjusting column, a guide block and a transmission piece, one end of the pull rod is connected with the guide block, one end of the transmission piece is connected with the guide block, the guide block is clamped in the adjusting column, and the axial sliding of the adjusting column can be followed. The first driving component has a first motion state and a second motion state, and when the first motion state is realized, the pull rod drives the guide block to drive the transmission piece to move along the axial direction of the adjusting column so as to drive the surgical instrument to clamp or open; when the surgical instrument is in the second motion state, the adjusting column drives the transmission piece to rotate around the central axis of the adjusting column through the guide block so as to drive the end effector of the surgical instrument to rotate. The second driving assembly comprises a rotating support, a ball head connecting rod and a guide wire, the rotating support is in spherical hinge with the ball head connecting rod, the guide wire is fixedly connected with the rotating support, the end of the guide wire is used for being connected with a surgical instrument, the adjusting column is rotatably connected with the rotating support, and the rotating support drives the guide wire to simultaneously perform composite motion along the axial direction and the radial direction of the ball head connecting rod when rotating relative to the ball head connecting rod so as to drive the end effector of the surgical instrument to bend.

In an embodiment of the invention, a testing device is provided, which comprises a first driving assembly, a second driving assembly and a testing assembly, wherein an adjusting column of the first driving assembly is rotatably connected with a rotating support, so that the first driving assembly and the second driving assembly form the driving assembly, and the driving assembly is connected with a surgical instrument. In performing the testing, the surgical instrument is positioned between the drive assembly and the testing assembly, and the surgical instrument is operated on the testing assembly. In the first driving assembly, when the pull rod drives the guide block to drive the transmission piece to move along the axial direction of the adjusting column, the first movement state of the first driving assembly is realized, and the clamping or opening operation test of the end effector of the surgical instrument can be carried out. The adjusting column drives the guide block to rotate circumferentially around the axis of the adjusting column and drives the transmission part to rotate, so that the second motion state of the first driving assembly is realized, and the rotation test of the end effector of the surgical instrument can be performed. In the second driving assembly, the ball head connecting rod is in spherical hinge with the rotating support, the guide wire is fixedly connected with the rotating support, the rotating support is operated to rotate around the ball head connecting rod, the guide wire is driven to simultaneously perform compound motion along the axial direction and the radial direction of the ball head connecting rod, and the bending test of the end effector of the surgical instrument can be performed. The testing device can be directly operated by manual operation, and a motor driving mode is replaced, so that the testing device is simpler in structure and more convenient to maintain, and the manufacturing cost and the maintenance cost are saved.

Drawings

FIG. 1 is a schematic structural diagram of a testing apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a first driving assembly provided according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of an adjusting column and a guide block provided according to an embodiment of the present invention;

FIG. 4 is a schematic illustration of the first and second drive assemblies coupled to a surgical instrument provided in accordance with an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a swivel support and a ball-end connecting rod according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of the embodiment of the present invention shown in FIG. 5 along direction A;

FIG. 7 is a schematic diagram of the routing of a guidewire provided in accordance with an embodiment of the present invention;

FIG. 8 is an enlarged schematic view of the structure of FIG. 5 at M;

fig. 9 is a schematic structural view of a tensioning assembly provided according to an embodiment of the invention;

FIG. 10 is a schematic structural view taken along direction C of FIG. 9 according to an embodiment of the present invention;

FIG. 11 is a schematic structural view of a spacing groove provided according to an embodiment of the present invention;

FIG. 12 is a schematic structural diagram of a ball-end joint provided in accordance with an embodiment of the present invention;

FIG. 13 is a schematic structural view of a connection between a sliding table and a limiting groove according to an embodiment of the present invention;

FIG. 14 is a schematic structural view of a surgical instrument provided in accordance with an embodiment of the present invention;

FIG. 15 is a schematic structural view taken along direction D of FIG. 14 according to an embodiment of the present invention;

FIG. 16 is a schematic view of a nut stem of the testing device and an abutment nut shaft of a surgical instrument provided in accordance with an embodiment of the present invention;

FIG. 17 is a schematic view of a nut post provided with a test fixture in accordance with an embodiment of the present invention connected to a docking nut shaft of a surgical instrument.

Reference numerals

21-support, 211-support body, 212-spherical shell, 2121-embedded groove, 2122-wire guide groove, 2123-first through hole, 2115-first positioning hole, 213-tensioning assembly, 2131-tensioning body, 2132-traction nut block, 2133-positioning nut, 2134-tensioning screw, 2135-limiting groove, 214-positioning column, 215-limiting block, 22-supporting shaft, 23-ball head connecting rod, 231-universal ball, 232-connecting rod shaft, 233-second through hole, 2330-pull rod, 2331-pull rod body, 234-second positioning hole, 235-sliding table, 236-locking assembly, 2360-rotary plunger, 24-connecting support, 241-quick-assembly buckle, 242-mounting plate, 25-nut column, 261-a rotary support, 2611-a control, 2612-an adjustment knob, 2613-a first cavity, 2614-a second cavity, 2615-a first mounting cavity, 2616-a second mounting cavity, 265-a control handle, 2651-a movable handle, 2652-a fixed handle, 2653-a handle body, 28-a surgical instrument, 284-a universal snake bone assembly, 286-an end effector, 281-a butt nut shaft, 2811-a first butt nut shaft, 2812-a second butt nut shaft, 301-a first drive assembly, 3011-an adjustment post, 3031-a post body, 3032-a barrier, 3012-a guide block, 3013-a driver, 3014-a first nut post, 3015-a return spring, 3016-a groove, 3017-a boss, 302-a second drive assembly, 3021-second nut post, 48-test assembly, 481-cam, 482-slide, 483-slide, 484-stop post, 837-guide wire, 8371-first guide wire, 8372-second guide wire.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described 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, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection 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 is to be understood that the data so used is interchangeable under appropriate circumstances such that embodiments of the invention may be practiced otherwise than as specifically illustrated and described herein. 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.

A testing apparatus provided in an embodiment of the present invention is described in detail below with reference to fig. 1 to 17 through specific embodiments and application scenarios thereof.

The testing device is suitable for detecting the preset angle or the preset position of the end effector of the surgical instrument in the preset state, and can solve the problems of inconvenient maintenance and high manufacturing and maintenance cost of the testing device caused by the complicated structure of the testing device in the prior art.

As shown in fig. 1, according to some embodiments of the present invention, a test apparatus of the present invention includes: a first drive assembly 301, a second drive assembly 302, and a test assembly 48.

In performing a test of end effector 286 of surgical instrument 28, test assembly 48 is mounted proximate to one end of end effector 286 of surgical instrument 28, and first drive assembly 301 and second drive assembly 302 are assembled in combination as a drive assembly, mounted at the other end of surgical instrument 28, such that surgical instrument 28 is positioned between the drive assembly and test assembly 48. From the foregoing positions of the first drive assembly 301, the second drive assembly 302, and the test assembly 48, and as shown in connection with fig. 1, the test assembly 48 is located on a side of the second drive assembly 302 facing away from the first drive assembly 301, and the test assembly 48 is spaced apart from the second drive assembly 302 to form an installation space for installing the surgical instrument 28, and the test assembly 48 is used to test the position and/or angle of the end effector 286 of the surgical instrument 28 in different states.

The first drive assembly includes tie rods 2330, adjustment posts 3011, guide blocks 3012, and transmission members 3013. As shown in fig. 1 and 2, the guide block 3012 is connected to a pull rod 2330 at one end and to a transmission component 3013 at the other end, and the pull rod 2330 is connected to a control handle 265 (fig. 1). One end of the transmission component 3013 is connected to the guide block 3012, and the other end is used to connect to the end effector 286 of the surgical instrument 28, that is, two ends of the guide block 3012 are respectively connected to the pull rod 2330 and the transmission component 3013, and the guide block 3012 is clamped in the adjustment column 3011 and can slide along the axial direction of the adjustment column 3011 under the action of the pull rod 2330.

As shown in fig. 2, end effector 286 of surgical instrument 28 may be actuated to clamp or expand as pull rod 2330 drives guide block 3012 to move drive member 3013 in the axial direction of adjustment post 3011. At this time, the first driving assembly 301 is in the first motion state. As shown in fig. 3, since the guide block 3012 is clamped in the adjustment post 3011, when the adjustment post 3011 is rotated, the adjustment post 3011 can drive the transmission component 3013 to rotate around the central axis of the adjustment post 3011 through the guide block 3012, so as to drive the end effector 286 of the surgical instrument 28 to rotate, and at this time, the first driving assembly 301 is in the second motion state.

As shown in fig. 1 and 4, second drive assembly 302 includes a swivel mount 261, a ball-end link 23, and a guide wire 837. The adjusting post 3011 is embedded in the rotary support 261 and is rotatably connected with the rotary support 261, so that the first driving assembly 301 and the second driving assembly 302 are assembled in a combined manner; the rotating support 261 is in spherical hinge with the ball head connecting rod 23, the guide wire 837 is fixedly connected with the rotating support 261, one end, far away from the rotating support 261, of the guide wire 837 is used for being connected with the surgical instrument 28, and under the action of external force, the rotating support 261 rotates relative to the ball head connecting rod 23 to drive the guide wire 837 to perform composite motion simultaneously along the axial direction and the radial direction of the ball head connecting rod 23 so as to drive the universal snake bone assembly 284 in the surgical instrument 28 to bend and further drive the end effector 286 to bend.

In particular, the testing device of the present invention is used for detecting a preset angle or a preset position of an end effector of the surgical instrument 28 in a preset state to ensure reliability of the surgical instrument 28 during use. For example, when the end effector 286 is a surgical clamp, the surgical clamp can be bent, opened, closed, and rotated by the first driving component 301 and the second driving component 302, and the testing component 48 can test the angle of the surgical clamp and whether the surgical clamp can accurately touch the lesion.

As shown in fig. 1, the transmission component 3013 of the first driving assembly 301 and the guide wire 837 of the second driving assembly 302 are connected to the surgical instrument 28 through the connecting support 24, the quick-assembling buckle 241 of the connecting support 24 is clamped to the buckle of the surgical instrument 28, so that the first driving assembly 301 and the second driving assembly 302 are connected to the surgical instrument 28, and the surgical instrument 28 can be quickly disassembled and assembled, and the reliability of the connection between the driving assembly and the surgical instrument 28 is improved, the surgical instrument 28 is located between the driving assembly and the testing assembly 48, the tail ends of the components for testing the first driving assembly 301 and the second driving assembly 302 are connected to the surgical instrument 28 through the connecting support 24, and the connection mode can be a male buckle and a female buckle, or a bolt and nut connection mode, because of the convenient disassembly and assembly of the buckle mode, the invention preferably selects the connection mode of the male buckle and the female buckle, and meanwhile, the connecting support 24 is provided with connecting parts such as buckles, bolts or flanges and the like which are matched with the surgical instrument 28, so that the surgical instrument 28 is reliably connected with the first driving assembly 301 and the second driving assembly 302, and the stability and the reliability of the test of the end effector of the surgical instrument 28 are ensured.

The first drive assembly 301 has a first state of motion that is to test the clamping or opening operation of the surgical instrument 28 and a second state of motion. As shown in fig. 2 and 3, the pull rod 2330 drives the guide block 3012 to drive the transmission component 3013 to move along the axial direction of the adjustment post 3011 to test the clamping or opening operation of the end effector 286 of the surgical instrument 28, and the pull rod 2330 may be a cylindrical rod or a square post rod, which may be solid or hollow, and only needs to satisfy the strength of the movement of the drive guide block 3012. Adjust post 3011 for hollow cylinder, the guide block 3012 inlays in adjusting the cavity of post 3011, and is fixed rather than the joint around the circumference of adjusting post 3011. Therefore, on one hand, the guide block 3012 can reciprocate along the axial direction of the adjusting column 3011 in the cavity of the adjusting column 3011, and on the other hand, when the adjusting column 3011 rotates around its own axis, the guide block 3012 and the transmission component 3013 fixedly connected to the guide block 3012 can be driven to rotate by means of the circumferential clamping relation, so as to realize the rotation of the end effector 286. Therefore, by the first driving assembly 301, it is possible to test whether the surgical instrument satisfies the preset angle or the preset position in the preset state.

As shown in fig. 1, to enable first drive assembly 301 and second drive assembly 302 to comprise a drive assembly, adjustment post 3011 is clearance fit with rotary support 261, and second drive assembly 302 is used to enable end effector 286 bend detection of surgical instrument 28. As shown in fig. 1 and 4, the second driving assembly 302 is composed of a rotating support 261, a ball connecting rod 23 and a guide wire 837, the rotating support 261 is in spherical hinge with the ball connecting rod 23, compared with the ball connecting rod 23 made of plastic, the ball connecting rod 23 made of metal has better reliability in the operation process and is not easy to damage, the ball connecting rod 23 made of metal is preferred in the present invention, the rotating support 261 is also made of metal material, universal alloy material is preferred, lightweight design is satisfied, the structure of the spherical hinge matched with the ball of the ball connecting rod 23 corresponding to the rotating support 261 can be a hemispherical groove or an arc groove with equal radius, and the present invention is not limited. The guide wire 837 may be a steel wire or a high-performance pull wire made of polyethylene, and the guide wire 837 may be fixed in the rotary support 261 by a crimping method or by a dedicated member. The guide wire 837 may include two guide wires, i.e., a first guide wire 8371 and a second guide wire 8372, each guide wire 837 includes a first end, a fixed section and a second end, which are connected in sequence, the first end and the second end are free ends of the guide wire 837, and the fixed section is a part of the guide wire 837, which is used for being fixedly connected with the rotating support 261.

When the guide wire 837 is installed, a first end of the guide wire 837 is connected with a surgical instrument, a second end of the guide wire 837 penetrates through the spherical shell 212 of the rotating support 261, the fixed section of the guide wire 837 is fixedly connected with the spherical shell 212, and the second end of the guide wire 837, which is connected with the spherical shell 212, penetrates through the spherical shell 212 in the opposite direction and is connected with the surgical instrument. The connection mode can convert one guide wire 837 into two independent traction sections through locking and fixing the fixed section, and the two independent traction sections are respectively and fixedly connected between the spherical shell 212 and the surgical instrument.

With reference to the illustrations of fig. 5 to 7, a first traction section 8371a and a second traction section 8371b of the first guide wire 8371 extend out of the hole on the spherical shell 212 to be fixedly connected with the surgical instrument, and a fixed section between the first traction section 8371a and the second traction section 8371b is fixedly connected with the spherical shell 212. A third traction section 8372a and a fourth traction section 8372b of the second guide wire 8372 extend out of the hole on the spherical shell 212 and are fixedly connected with the surgical instrument, and a fixed section between the third traction section 8372a and the fourth traction section 8372b is fixedly connected with the spherical shell 212. The first traction section 8371a and the second traction section 8371b are parallel to each other to form a first plane after passing out of the ball-type housing 212, the third traction section 8372a and the fourth traction section 8372b are parallel to each other to form a second plane after passing out of the ball-type housing 212, and the first plane and the second plane are orthogonal and vertical. In addition, in practical application, four completely independent guide wires 837 can be adopted, and with reference to the guide wire arrangement manner, one end of each guide wire 837 is fixedly connected with the spherical shell 212, and the other end is fixedly connected with a surgical instrument.

Therefore, when the rotating support 261 rotates relative to the ball head connecting rod 23 under the action of external force, the guide wire 837 can be driven to move, and the surgical instrument connected with the guide wire 837 is bent and kept at a certain azimuth angle under the supporting and connecting action of the universal snake bone component through the traction control of the guide wire 837. Illustratively, when the rotary support 261 drives the first pulling portion 8371a to move toward the first driving assembly 301, the second pulling portion 8371b moves away from the first driving assembly 301, and vice versa. Similarly, when the rotating support 261 drives the third pulling portion 8372a to move toward the first driving assembly 301, the fourth pulling portion 8372b moves away from the first driving assembly 301, and vice versa. Thus, under the traction control of the guide wire 837, the surgical instrument can be deflected and bent in four directions by using at least two mutually perpendicular axes as rotating axes.

It should be noted that the transmission component 3013 can play a role of pulling the end effector 286 and also play a role of transmitting torque to the end effector 286. Therefore, in practical application, the transmission part 3013 can select a steel wire with excellent toughness and strength, one end of the steel wire is fixed to the guide block 3012, the other end of the steel wire can be connected with a clamping part in a compression joint mode, and the structure of the clamping part is similar to that of the first nut post 3014 in the following. Through this joint is connected with another pair of joint of surgical instrument 28 tip, can realize the quick assembly disassembly of steel wire in first drive assembly 301 and surgical instrument 28, simultaneously, because the pair of joint in surgical instrument 28 links to each other through inside steel wire with end effector 286, therefore, still can transmit power to end effector 286 after the joint is connected. In addition, in consideration of the defect that the torque input end and the torque output end are not synchronous due to torsion of the steel wire when the steel wire transmits torque, and the rotation of the rotary support 261 relative to the ball-end connecting rod 23 is not hindered, a combination of a rigid shaft and a flexible steel wire can be used as the transmission component 3013, one end of the rigid shaft can be fixed with the guide block 3012, the other end of the rigid shaft can be fixed with the steel wire, the steel wire can extend from the spherical hinge position of the rotary support 261 and the ball-end connecting rod 23 to the end of the surgical instrument 28, the steel wire and the surgical instrument 28 can be connected in the same clamping connection mode as the clamping connection mode, the steel wire in the first driving assembly 301 and the surgical instrument 28 can be connected quickly, and meanwhile power can be transmitted to the tail end actuator 286 in the surgical instrument 28. Therefore, when the guide block 3012 rotates, the rigid shaft can be driven to rotate completely and synchronously to realize torque transmission, and meanwhile, the steel wire at the spherical hinge part can also meet the requirement that the rotary support 261 rotates relative to the ball head connecting rod 23. Therefore, the structure of the transmission component 3013 is not particularly limited in the embodiment of the present invention.

In the embodiment of the invention, the driving assembly consisting of the first driving assembly and the second driving assembly is connected with the surgical instrument, when the test is carried out, the surgical instrument is positioned between the driving assembly and the test assembly, and the surgical instrument is operated on the test assembly; in the first driving assembly, when the pull rod drives the guide block to drive the transmission piece to move along the axial direction of the adjusting column, the first moving state of the first driving assembly is realized, the clamping or opening operation test of the end effector of the surgical instrument can be carried out, the adjusting column drives the guide block to rotate along the circumferential direction of the adjusting column and drives the transmission piece to rotate, the second moving state of the first driving assembly is realized, and the rotation test of the end effector of the surgical instrument can be carried out; in the second driving assembly, the ball head connecting rod is in spherical hinge with the rotating support, the guide wire is fixedly connected with the rotating support, the rotating support is operated to rotate around the ball head connecting rod, the guide wire is driven to simultaneously perform compound motion along the axial direction and the radial direction of the ball head connecting rod, and the bending test of the universal snake bone assembly of the surgical instrument can be performed. The testing device can be directly operated by manual operation, and a motor driving mode is replaced, so that the testing device is simpler in structure and more convenient to maintain, and the manufacturing cost and the maintenance cost are saved.

According to some embodiments of the present invention, referring to fig. 2, the adjustment post 3011 includes a fixedly connected adjustment knob 2612 and a post body 3031.

The column body 3031 is of a hollow structure, a blocking part 3032 is convexly arranged on the inner wall of the column body 3031, and the blocking part 3032 divides the inner cavity of the column body 3031 into a first cavity 2613 and a second cavity 2614 along the axial direction. An adjustment knob 2612 is fixedly coupled to an end of the post body 3031 distal from the second cavity 2614. The guide block 3012 is engaged with the second cavity 2614 and is axially slidable with respect to the column body 3031, and the pull rod 2330 is inserted into the first cavity 2613 and the stopper portion 3032 in this order and then connected to the guide block 3012.

Specifically, as shown in fig. 2, the adjusting post 3011 is assembled with the rotary support 261 in a clearance fit manner, the adjusting post 3011 is manually rotated, and the rotary support 261 rotates relative to the adjusting post 3011. Under the action of external force, the rotating support 261 rotates relative to the ball head link 23, and simultaneously, the rotating support 261 drives a part of the guide wire 837 to perform compound motion along the axial direction and the radial direction of the ball head link 23. The adjusting post 3011 comprises an adjusting knob 2612 and a post body 3031 which are fixedly connected, the adjusting knob 2612 can be a quincuncial knob or a nut knob, and the post body 3031 is a hollow cylinder. In order to limit the axial movement stroke of the guide block 3012, a blocking portion 3032 is convexly arranged on the inner wall of the column body 3031, the blocking portion 3032 divides the inner cavity of the column body 3031 into a first cavity 2613 and a second cavity 2614 along the axial direction, and the blocking portion 3032 is provided with a through hole to communicate the first cavity 2613 with the second cavity 2614, so that the pull rod 2330 penetrates through the first cavity 2613 and then is connected with the guide block 3012 through the second cavity 2614. Specifically, a baffle perpendicular to the axis of the adjusting post 3011 may be processed on the inner wall of the post body 3031 to serve as the blocking portion 3032, and the baffle is provided with a through hole. In another structure, the inner wall of the post body 3031 may be provided with limiting tables as the blocking portions 3032, and the limiting tables have a sufficient gap for the pull rod 2330 to pass through.

According to some embodiments of the present application, referring to fig. 2 and 3, the guide block 3012 is slidable relative to the post body 3031 in an axial direction of the post body 3031, and is relatively fixed in a circumferential direction of the post body 3031. In order to realize synchronous rotation of the guide block 3012 and the adjusting column 3011, a groove 3016 is formed in the inner wall of the second cavity 2614 along the axial direction of the adjusting column 3011, and a boss 3017 is formed on the side wall of the guide block 3012; or, a boss 3017 is disposed on a sidewall of the second cavity 2614, and the guide block 3012 is provided with a groove 3016 along the axial direction of the adjusting post 3011. The boss 3017 is slidably inserted into the slot 3016 to allow the guide block 3012 to rotate synchronously with the adjustment post 3011.

Specifically, as shown in fig. 2, the inner wall of the second cavity 2614 is provided with grooves 3016 along the axial direction of the adjustment post 3011, and as shown in fig. 3, the number of the grooves 3016 is not limited. The guide block 3012 is provided with a boss 3017 matched with the groove 3016, and the section of the boss 3017 is matched with the groove 3016. The number of the grooves 3016 is preferably two, and the number of the corresponding bosses 3017 is also two, and the axes of the adjusting posts 3012 are taken as symmetry axes. The one-to-one corresponding grooves 3016 and bosses 3017 can meet the requirement for the reliability of synchronous rotation of the guide block 3012 and the adjusting column 3011, the processing difficulty is reduced, and the processing cost and the processing time are saved.

According to some embodiments of the present application, referring to fig. 1, to provide the mechanical driving force, the first driving assembly 301 further comprises a control handle 265, the control handle 265 comprising a movable handle 2651 and a fixed handle 2652 hinged to each other. Fixed handle 2652 is connected with adjusting post 3011 in a rotatable manner, and the one end of pull rod 2330 far away from adjusting post 3011 is connected with movable handle 2651, and movable handle 2651 drives guide block 3012 to move along the axial of adjusting post 3011 through pull rod 2330.

Specifically, to enable pull rod 2330 to drive guide block 3012 in an axial motion along adjustment post 3011, first drive assembly 301 further includes a control handle 265. As a component of the control handle 265, the movable handle 2651 and the fixed handle 2652 may be connected using a rotating pin so that the movable handle 2651 moves closer to or away from the fixed handle 2652.

The movable handle 2651 is provided with a clamping groove, and one end of the pull rod 2330 far away from the adjusting column 3011 is provided with a fixing ball which is embedded in the clamping groove. Or, the pull rod 2230 and the fixing ball are two parts, the fixing ball is embedded in the clamping groove, the pull rod 2330 and the fixing ball can be connected in a welding or bonding mode, a through hole can also be processed in the fixing ball, the pull rod 2330 penetrates through the through hole and is connected in a common fixing mode, such as welding, bolt connection and the like, preferably, an external thread is arranged at the connecting end of the pull rod 2330 and the movable handle 2561, and an internal thread is arranged in the through hole of the fixing ball, so that the pull rod 2330 is in threaded connection with the fixing ball, and the length of the pull rod 2330 can be adjusted through the thread. When the movable handle 2651 is operated to rotate relative to the fixed handle 2652 in a pinch state, the fixed ball drives the pull rod 2330 to move axially, so as to provide driving force for the opening test of the end effector 286 of the surgical instrument 28, and replace motor driving, so that the testing device is simple in structure and convenient to maintain, the manufacturing cost and the maintenance cost of the testing device are reduced, and the reliability and the stability of the test of the testing device are improved.

In accordance with some embodiments of the present application, referring to fig. 1, to facilitate mounting of control handle 265 with adjustment post 3011, fixed handle 2652 is comprised of support shaft 22 and handle body 2653. The supporting shaft 22 is a hollow shaft, the supporting shaft 22 is rotatably connected with the adjusting post 3011, one end of the supporting shaft 22 far away from the adjusting post 3011 is fixedly connected with the handle body 2653, and the pull rod 2330 penetrates through the supporting shaft 22 and is connected with the guide block 3012.

Specifically, in order to facilitate the installation of the fixing handle 2652 and the adjusting post 3011, a through hole is formed in the handle body 2653 along the axial direction of the adjusting post 3011, and the supporting shaft 22 is fixed in the through hole. The through hole of the handle body 2653 may be a circular through hole, or may be a square or polygonal hole, one end away from the adjusting post 3011 is determined by the shape of the through hole, preferably, the end of the support shaft 22 connected to the handle body 2653 is flattened, a jackscrew is disposed in the hole of the handle body 2653 connected to the support shaft 22, the jackscrew abuts against the support shaft 22, so that the support shaft 22 does not rotate, and the support shaft 22 can be fixed by welding or bonding. The supporting shaft 22 is a hollow shaft, and is in clearance fit with the adjusting post 3011, and the adjusting post 3011 rotates relative to the supporting shaft 22. The pull rod 2330 penetrates through the support shaft 22 and is connected with the guide block 3012, and there is enough space between the pull rod 2330 and the support shaft 22, so that the pull rod 2330 drives the guide block 2012 to move along the axial direction. The supporting shaft 22 provides sufficient supporting force for the handle body 2653, so that the fixed handle 2652 is stationary, the movable handle 2651 rotates relative to the fixed handle 2652, the pull rod 2330 is driven to move axially, the opening test of the end effector 286 can be performed, and the reliability and stability of the testing device are improved.

According to some embodiments of the present application, referring to fig. 1, the movable handle 2651 is provided with a snap groove mounted with the pull rod 2330, the pull rod 2330 comprises a pull rod body 2331 and a fixing ball which are connected to each other, the snap groove is used for embedding the fixing ball of the pull rod 2330, a first end of the pull rod body 2331 is connected with the fixing ball, and a second end is connected with the guide block 3012.

Specifically, the pull rod 2330 is composed of a pull rod body 2331 and a fixed ball, wherein an external thread is arranged at the connecting end of the pull rod body 2331 and the movable handle 2561, an internal thread hole is processed on the fixed ball, the pull rod body 2331 is in threaded connection with a steel ball, and the length of the pull rod body 2331 can be adjusted; a snap ring or a hook may be further provided at one end of the pull rod body 2331, and a hook or a snap ring is provided on the fixing ball, so that the snap ring is connected with the hook.

As shown in fig. 1, in order to connect the pull rod 2330 and the movable handle 2651, the movable handle 2651 is provided with a locking groove, and the fixing ball is inserted into the locking groove. The fixing ball is a metal ball, the clamping groove is an arc-shaped groove with equal diameter, and enough space is provided for the fixing ball to move along the clamping groove, so that the pull rod body 2331 is driven to move along the axial direction. A second end of pull rod body 2331 is coupled to guide block 3012 to drive guide block 3012 in an axial direction to provide a mechanical drive for performing a splay test of end effector 286 of surgical instrument 28. Compared with an electric testing device, the structure of the testing device is simpler, and the maintenance is convenient.

According to some embodiments of the present application, referring to fig. 1 and 5, to facilitate mounting of first drive assembly 301 and second drive assembly 302, rotary support 261 includes a first mounting cavity 2615 and a second mounting cavity 2616. First installation cavity 2615 and second installation cavity 2616 intercommunication, the one end and the rotatory support 261 ball pivot of bulb connecting rod 23 near second installation cavity 2616, adjust post 3011 and inlay and locate first installation cavity 2615 and rotate with rotatory support 261 and be connected, and the seal wire 837 is worn to locate second installation cavity 2616 and rotatory support 261 fixed connection.

Specifically, as shown in fig. 1 and 5, the rotary support 261 is formed with a first mounting cavity 2615 and a second mounting cavity 2616. The rotary support 261 is rotatably connected to the adjusting post 3011, and there is sufficient clearance between the adjusting post 3011 and the rotary support 261 to facilitate the installation of the adjusting post 3011 and the rotary support 261. the first installation cavity 2615 is preferably a cylindrical cavity body which can provide an installation space for the adjusting post 3011. The ball-end connecting rod 23 is ball-hinged with the rotating support 261, and the shape of the second mounting cavity 2616 is not particularly limited. First installation cavity 2615 and second installation cavity 2616 intercommunication, both can direct intercommunication, also can be provided with and separate the baffle, separate the baffle and seted up the through-hole. The transmission component 3013 is inserted into the rotary support 261 and connected to the surgical instrument 28. One end of the ball-end connecting rod 23 close to the second mounting cavity 2616 is in spherical hinge with the rotating support 261, and the rotating support 261 rotates relative to the ball-end connecting rod 23 to drive two sections of traction sections which are oppositely arranged along a diagonal line in the plurality of guide wires 837 to move in opposite directions, so that the bending test of the end effector 286 of the surgical instrument 28 is realized. Compared with an electric testing device, the structure of the testing device is simpler, and the maintenance is convenient.

According to some embodiments of the present application, referring to fig. 1, the rotary support 261 includes a fixedly connected control 2611 and a support 21. The control piece 2611 sets up first installation cavity 2615, and regulation post 3011 inlays and locates first installation cavity 2615 and is connected with the rotation of control piece 2611, and support 21 sets up second installation cavity 2616, and the wire 837 is worn to locate second installation cavity 2616 and support 21 fixed connection.

Specifically, as shown in fig. 1, the rotating support 261 may be composed of a control member 2611 and a support 21, which are fixedly connected, wherein the control member 2611 is a hollow cylinder, the support 21 may be a spherical shape or a square block shape, the control member 2611 and the support 21 may be fixedly connected by a bolt, or the control member 2611 and the support 21 may be connected by a screw. The control member 2611 is provided with a first mounting cavity 2615 so that the adjusting post 3011 is in clearance fit with the control member 2611, the adjusting post 3011 is embedded in the control member 2611, and the control handle 265 drives the rotary support 261 to rotate relative to the ball-end connecting rod 23. The support 21 is provided with a second mounting cavity 2616, so that the guide wire 837 has enough space to be fixed in the support 21, the control handle 265 drives the support shaft 22, the support shaft 22 drives the support 21 to rotate relative to the ball-end connecting rod 23, and the pull guide wire 837 simultaneously performs compound motion along the axial direction and the radial direction of the ball-end connecting rod 23, so that mechanical power is provided for the bending test of the end effector 286 of the surgical instrument 28, the structure of the test device is simpler, the maintenance is convenient, and the manufacturing cost and the maintenance cost are reduced.

According to some embodiments of the present application, referring to fig. 5, the holder 21 is mainly composed of a ball-type housing 212 and a holder body 211 fixedly connected. One end of the support body 211, which is far away from the spherical shell 212, is fixedly connected with the control member 2611. An embedding groove 2121 is formed in the spherical shell 212 in the direction away from the adjusting post 3011, and the ball head connecting rod 23 is embedded in the embedding groove 2121.

Specifically, the support 21 is composed of a spherical shell 212 and a support body 211, and the support body 211 and the control part 2611 are processed separately, and can be fixedly connected by welding, bolt fixing and the like, or processed integrally. One end of the spherical shell 212 is spherical, and the other end is provided with an embedding groove 2121. The ball-end connecting rod 23 is embedded in the embedding groove 2121, and the embedding groove 2121 is a hemispherical groove. The control handle 265 drives the control piece 2611 to drive the support 21 to rotate relative to the ball head connecting rod 23, and drives two sections of traction sections which are oppositely arranged along a diagonal line in the guide wires 837 to move in opposite directions, so that the bending test of the end effector 286 of the surgical instrument 28 can be performed, a motor driving mode is replaced, the test reliability and stability can be ensured, the structure of the test device is simpler, the maintenance is convenient, and the manufacturing cost and the maintenance cost are reduced.

According to some embodiments of the present application, referring to fig. 1 and 5, the ball-end link 23 includes a fixedly connected universal ball 231 and a link shaft 232. The ball-shaped housing 212 has a first through hole 2123 along an axial direction of the control member 2611, the transmission member 3013 is inserted into the first through hole 2123 and is flexibly connected to the ball-shaped housing 212, the ball-end link 23 has a second through hole 233 along the axial direction, and the second through hole 233 is communicated with the first through hole 2123. The universal ball 231 is embedded in the embedding groove 2121, and the transmission component 3013 sequentially penetrates through the first through hole 2123 and the second through hole 233, and is respectively in flexible connection with the ball-shaped housing 212 and the universal ball 231.

Specifically, as shown in fig. 1 and 5, the ball-end connecting rod 23 includes a universal ball 231 and a connecting rod shaft 232, which are fixedly connected, and the ball-end housing 212 has a first through hole 2123 along an axial direction of the control member 2611 in order to connect the transmission member 3013 to the surgical instrument 28 through the second driving assembly 302. The ball link 23 has a second through hole 233 formed along the axial direction. The shapes of the first through hole 2123 and the second through hole 233 are not limited, and it is only necessary that the transmission component 3013 can sequentially penetrate through the first through hole 2123 and the second through hole 233, and the flexible segment of the transmission component 3013 is in flexible connection with the ball-shaped housing 212 and the universal ball 231.

Universal ball 231 inlays and locates in the set groove 2121, and control handle 265 can drive swivel support 261 for universal ball 231 is rotatory through control 2611, and the motion of tractive seal wire 837 can carry out the test of surgical instruments position or angle under the predetermined state, adopts mechanical drive's mode both can ensure test reliability and stability, also makes testing arrangement's structure simpler, and it is convenient to maintain to manufacturing cost and maintenance cost have been reduced.

According to some embodiments of the present application, referring to fig. 5, 6, 8 and 9, in addition to the aforementioned components of the support 21, the support 21 further includes a tensioning assembly 213, a positioning post 214 and a locking assembly 236. The tightening assembly 213, the positioning column 214, and the locking assembly 236 are respectively and fixedly connected to one side of the spherical housing 212 close to the control member 2611, and the guide wire 837 sequentially passes through the positioning column 214 and the tightening assembly 213 to be fixedly connected to the locking assembly 236.

Specifically, as shown in fig. 5 and 6, after the guide wire 837 is fixed to the support 21, the support 261 is rotated to drive the guide wire 837, so as to provide mechanical power for the bending test of the end effector 286 of the surgical instrument 28. Referring to the schematic diagrams of fig. 5, 6, 8 and 9, the support 21 further includes a tightening assembly 213, a positioning post 214 and a locking assembly 236, and the tightening assembly 213, the positioning post 214 and the locking assembly 236 are respectively and fixedly connected to the ball-shaped housing 212. The tensioning assembly 213 and the positioning column 214 are provided with through holes for the guide wire 837 to pass through. As shown in fig. 8, the locking assembly 236 may be formed by two different square blocks or square plates fixedly connected to the ball-shaped housing 212, and when the guide wire 837 is pressed between the two square blocks or square plates, the relative positions of the two square blocks or square plates are fixed by bolts, so that the guide wire 837 is fixed. As shown in fig. 6, the positioning column 214 is provided with a through hole matching the diameter of the guide wire 837, the tensioning assembly 213 is provided with a tensioning member, the tensioning member is also provided with a through hole matching the diameter of the guide wire 837, after the guide wire 837 sequentially passes through the through hole provided by the positioning column 214 and the through hole provided by the tensioning assembly 213, the guide wire 837 is fixed to the spherical housing 212 by crimping through the locking assembly 236, meanwhile, the guide wire 837 passes through the guide wire groove 2122 to be connected with the surgical instrument 28, and the shape of the guide wire groove 2122 is not limited. The tensioning assembly 213 can provide a more suitable tension for the guide wire 837, which improves the reliability and stability of the testing device.

According to some embodiments of the present application, referring to fig. 9 and 10, the tensioning assembly 213 includes a tensioning body 2131, a traction nut block 2132, a set nut 2133, and a tensioning screw 2134. The tensioning body 2131 is provided with an open slot and a unthreaded hole, the positioning nut 2133 is coaxial with the unthreaded hole, the tensioning screw 2134 penetrates through the positioning nut 2133 and the unthreaded hole, the tensioning screw 2134 is in threaded connection with the tensioning body 2131 through the positioning nut 2133, the traction nut block 2132 is arranged in the open slot and in threaded connection with the tensioning screw 2134, the traction nut block 2132 is provided with a traction hole perpendicular to the axis of the traction nut block 2132, and the traction hole is used for penetrating through a guide wire 837.

Specifically, as shown in fig. 9 and 10, the tensioning assembly 213 is composed of a tensioning body 2131, a traction nut block 2132, a positioning nut 2133 and a tensioning screw 2134. The tensioning body 2131 is connected with the spherical shell 212 through a screw, an open slot is formed in the tensioning body 2131 towards the spherical shell 212, the traction nut block 2132 is arranged in the open slot, an unthreaded hole is formed in one end, away from the spherical shell 212, of the tensioning body 2131, the unthreaded hole is a through hole with a smooth inner wall, a hexagonal caulking groove is formed in the opening position of the unthreaded hole, the positioning nut 2133 is embedded in the caulking groove, and by means of interference fit, the fixed connection between the positioning nut 2133 and the tensioning body 2131 is achieved, and the coaxiality of the positioning nut 2133 and the unthreaded hole is guaranteed. The tensioning screw 2134 penetrates through the positioning nut 2133 and the unthreaded hole, and the tensioning screw 2134 is in threaded connection with the tensioning body 2131 through the positioning nut 2133. In another structure, a threaded hole can be directly machined in the tensioning body 2131, so that the purpose of connecting the tensioning screw 2134 with the tensioning body 2131 in a threaded manner is achieved, and details are not repeated here.

The traction nut block 2132 can be installed in the open slot and is in threaded connection with the end of the tensioning screw 2134, and a guide wire 837 penetrates through a traction hole of the traction nut block 2132. It should be noted that, after the tensioning screw 2134 is in threaded connection with the pulling nut block 2132, the tensioning screw 2134 and the pulling nut block 2132 are fastened together, and no relative rotation exists. When the tensioning screw 2134 is rotated, the tensioning screw 2134 can translate along the axis of the unthreaded hole of the tensioning body 2131, so that the traction nut block 2132 is driven to translate along the axis of the unthreaded hole, the guide wire 837 is pulled to move, the distance between the guide wire 837 and the spherical shell 212 is adjusted, the tension of the guide wire 837 is changed, the guide wire 837 is guaranteed to bear proper tension, and the service life of the guide wire 837 is prolonged and the reliability of the testing device is improved.

According to some embodiments of the present application, referring to fig. 11-13, a side of the spherical shell 212 close to the ball-end connecting rod 23 is provided with a limiting block 215 protruding from a surface of the spherical shell 212, and the limiting block 215 has a concave curved surface, and the curved surface and an inner wall of the embedding groove 2121 are located in the same spherical surface. The spherical shell 212 is provided with a limiting groove 2135 extending from the inner wall of the embedding groove 2121 to the curved surface, and the axis of the adjusting post 3011 is located in a bisecting plane perpendicular to the width direction in the limiting groove 2135. The universal ball 231 is convexly provided with a sliding table 235, and the sliding table is slidably embedded in the limit groove 235.

Specifically, as shown in fig. 11 to 13, in order to rotate the ball head link 23 relative to the ball-shaped housing 212 within a designed angular range, a limiting groove 2135 is formed in the ball-shaped housing 212, and the limiting groove 2135 is engaged with the sliding table 235 on the universal ball 231, so as to restrict the angular range of the ball head link 23.

In a specific implementation, the limiting block 215 may be formed by protruding from a side of the spherical shell 212 close to the ball-end connecting rod 23, and a side of the limiting block 215 close to the spherical shell 212 is an inward concave curved surface, and the curved surface and the inner wall of the embedding groove 2121 are located in the same spherical surface, that is, the curved surface and the spherical center of the inner wall of the embedding groove 2121 are overlapped. The limiting groove 2135 extends from the inner wall of the embedding groove 2121 to the curved surface, the extending line of the limiting groove 2135 and the axis of the adjusting post 3011 are in the same plane, and both can form a limiting plane. For example, the limiting groove 2135 may be an arc-shaped groove with a 60 ° central angle, the portion of the inner wall of the embedding groove 2121 corresponds to the 30 ° central angle, and the remaining portion of the concave curved surface of the limiting block 215 corresponds to the 30 ° central angle. When the sliding table 235 is embedded in the limiting groove 235 to slide, the limiting groove 235 can restrict the ball connecting rod 23 to rotate in the limiting plane according to the central angle range corresponding to the limiting groove 2135. In addition, based on the restraint of the side wall of the limiting groove 2135 to the sliding table 235, when the rotating support 261 is operated to rotate relative to the ball head connecting rod 23, the rotating support 261 can be limited to rotate around the axis of the rotating support 261, and the phenomenon that twist appears when the rotating support 261 drives the guide wire 837 to move can be avoided. In addition, when the sliding table 235 is a cylinder and the axis of the cylinder passes through the center of the ball head connecting rod 23, no matter where the sliding table 235 slides in the limiting groove 2135, the ball head connecting rod 23 can also rotate around the axis of the sliding table 235, so that the freedom of movement in multiple directions is realized.

According to some embodiments of the present application, referring to fig. 5, the rotary support 261 further comprises a rotary plunger 2360. The support 21 is provided with a first positioning hole 2115 along the radial direction, the universal ball 231 is provided with a second positioning hole 234 along the radial direction of the ball head connecting rod 23, the second positioning hole 234 corresponds to the first positioning hole 211, and the rotary plunger 2360 is sequentially inserted into the first positioning hole 2115 and the second positioning hole 234.

Specifically, after the surgical instrument 28 is tested, the testing device needs to be returned to the reference position; alternatively, the testing device may need to calibrate the reference position when starting the test, or the end cord of each guide wire 837 in the testing device may be maintained in the same plane when the testing device is in the reference position, so as to facilitate connection of the surgical instrument to the testing device. The reference position is that the axes of the ball-end connecting rod 23 and the rotating support 261 coincide with the axis of the adjusting column 3011. In a specific implementation, the support 21 is provided with a first positioning hole 2115 along the radial direction, the universal ball 231 is provided with a second positioning hole 234 along the radial direction of the ball-end connecting rod 23, and when the first positioning hole 2115 and the second positioning hole 234 are coaxially aligned, the axes of the ball-end connecting rod 23 and the rotating support 261 coincide with the axis of the adjusting post 3011. At this time, the rotary plunger 2360 is inserted into the first positioning hole 2115 and the second positioning hole 234 in sequence, so that the ball link 23 and the rotary support 261 are prevented from rotating relative to each other and are locked and held at the reference position.

According to some embodiments of the present application, referring to fig. 1, 14, 15, 16, and 17, to connect the drive member 3013 with the surgical instrument 28, the first drive assembly 301 further includes a first nut post 3014. The first nut post 3014 and one end of the transmission piece 3013, which is far away from the guide block 3012, are fixedly connected, the first nut post 3014 includes a first buckle and a first connection shaft, which are fixedly connected, the first connection shaft is connected between the first buckle and the transmission piece 3013, and the first buckle and the first connection shaft form a T-shaped structure. One end of first nut post 3014 is adapted to be fixedly coupled to an end of surgical instrument 28 remote from end-effector 286.

Specifically, to securely connect drive member 3013 to the surgical instrument, first drive assembly 301 further includes a first nut post 3014, as shown in fig. 1, first nut post 3014 includes a first catch and a first connecting shaft. Typically, the surgical instrument 28 is fitted with a docking nut shaft 281 at the end that is configured as a female connection snap. The first connecting shaft is a cylinder, the first buckle and the first connecting shaft can be welded or connected in an adhesive mode or can be processed into a whole, and the section of the first buckle is in an inverted T shape along the axial lead direction of the first connecting shaft. As shown in fig. 1, 14, and 15, one end of the first nut post 3014 is inserted into a first docking nut shaft 2811 of the surgical instrument 28. As shown in fig. 16 and 17, the butt-nut shaft 281 is connected to the nut post 25 by a female snap and a male snap, and the other end is connected to the end of the transmission component 3013 away from the guide block 3012 by welding or bonding, or the transmission component 3013 may be provided with a male thread, the nut post 25 may be provided with a female thread, and the transmission component 3013 and the nut post 25 may be connected by a screw. The first nut post 3014 is slidably received through a mounting hole in the mounting plate 242 in the attachment support 24 and coupled to the surgical instrument 28 such that the first nut post 3014 is axially movable. The first nut post 3014 provides a suitable connection means for the testing device to the surgical instrument 28, improving the reliability and stability of the testing device, and improving the accuracy of the testing of the surgical instrument 28.

According to some embodiments of the present application, referring to fig. 1, 14, 15, 16, and 17, to couple the guide wire 837 to the surgical instrument 28, the second drive assembly 302 further includes a second nut post 3021, the second nut post 3021 being fixedly coupled to an end of the guide wire 837 distal from the rotary support 261. The second nut post 3021 is composed of a second buckle and a second connecting shaft, the second connecting shaft is connected between the second buckle and the guide wire 837, and the second buckle and the second connecting shaft form a T-shaped structure. The second nut post 3021 is configured for fixed connection to an end of the surgical instrument 28 remote from the end effector 286.

Specifically, in order to securely connect the guide wire 837 to the surgical instrument, as shown in fig. 1, the second driving assembly 302 further includes a second nut post 3021, the second nut post 3021 includes a second snap and a first connecting shaft, and the surgical instrument 28 is generally provided with a butt nut shaft 281 at an end thereof configured as a female connecting snap. As shown in fig. 16, the second connecting shaft is a cylinder, the second buckle is fixedly connected with the second connecting shaft, and the cross section of the second buckle formed along the axial line direction of the second connecting shaft is inverted "T". As shown in fig. 1, 14 and 15, one end of the second nut post 3021 is inserted into the second docking nut shaft 2812 of the surgical instrument 28 in a docking manner, the other end of the second nut post 3021 is connected to the end of the guide wire 837 by welding or gluing, and the second nut post 3021 is connected to the surgical instrument 28 by sliding through the mounting hole of the mounting plate 242 in the connection bracket 24. As shown in fig. 16 and 17, the butt-nut shaft 281 and the nut post 25 are connected by a female snap and a male snap, which allow the second nut post 3021 to move in an axial direction. The second nut post 3021 provides a suitable connection means for the testing device to the surgical instrument 28, improving the reliability and stability of the testing device, and improving the accuracy of the testing of the surgical instrument 28.

According to some embodiments of the present application, referring to fig. 1, the first drive assembly 301 further comprises a return spring 3015. One end of the return spring 3015 is fixedly connected to one end of the first nut post 3014 away from the surgical instrument 28, and the other end of the return spring 3015 is fixedly connected to the ball-end connecting rod 23.

Specifically, during expansion of end effector 586, the motive force controlling its expansion is derived from movable handle 2651. When movable handle 2651 is pressed and movable handle 2651 pulls pull rod 2330 and guide block 3012 toward fixed handle 2652, driver 3013 can apply a pulling force to end effector 586 to expand end effector 586.

Since the driving member 3013 includes a flexible portion, if a pushing force is applied to the pull rod 2330 and the guide block 3012 by directly operating the movable handle 2651 in the reverse direction, the flexible portion of the driving member 3013 is deformed by being pressed, and therefore, it is difficult for the driving member 3013 to transmit the pushing force to the end effector 586 to reset the end effector. Therefore, the first driving assembly 301 according to the embodiment of the present invention may further include a return spring 3015, the return spring 3015 is elastically connected between the first nut post 3014 and the ball-end connecting rod 23, the return spring 3015 may be sleeved on the transmission component 3013, one end of the return spring 3015 may be in pressing contact with an end surface of the first nut post 3014, and the other end of the return spring 3015 may be in pressing contact with a supporting portion inside the connecting rod shaft 232 of the ball-end connecting rod 23, so that the return spring 3015 may apply an elastic force to the first nut post 3014 after being compressed, where the elastic force is a pushing force acting on the first nut post 3014. End effector 286 of surgical instrument 28 is opened after pull rod 2330 drives guide block 3012 and transmission member 3013 in an axial direction. Return spring 3015 is a compression spring, and return spring 3015 may provide an axial return force to driving member 3013, guide block 3012, and pull rod 2330 in the test apparatus to cause driving member 3013, guide block 3012, and pull rod 2330 to move axially back to an initial position prior to operating control handle 265 while end effector 286 of surgical instrument 28 is also in a closed state. In addition, in actual design and manufacture, the length of the first nut post 3014 can be designed to be longer, which contributes to shortening the length of the return spring 3015 and improves the operation sensitivity of return.

For example, when no force is applied to control handle 265, drive 3013, guide block 3012, and pull rod 2330 all stop at an initial position, at which time end effector 286 is in a closed, non-operational state. When force is applied to control handle 265, drive member 3013, guide block 3012, and pull rod 2330 can move end effector 286 to the open operating position. When the external force applied to the control handle 265 is removed, the first nut post 3014 is pushed to move reversely by the elastic force of the return spring 3015, and at the same time, the transmission component 3013, the guide block 3012 and the pull rod 2330 are all driven to move reversely to the initial position, so that the end effector 286 can be reset to the non-working state. Of course, it will be appreciated that the return force provided by the return spring 3015 during this return process may enable the guide block 3012 to overcome the frictional forces with the inner wall of the post body 3031. It can be seen that by providing a return spring 3015, automatic return of end effector 286 and associated moving parts can be easily achieved without manual adjustment of the return.

According to some embodiments of the present application, referring to fig. 1, the test assembly 48 includes a slider 482, a trace 481, a detection element, a slide rail 483, and a restraint post 484. The slider 482 is fixedly connected with the tracing piece 481, the slider 482 is connected with the sliding rail 483 in a sliding manner, the detection element is electrically connected with the tracing piece 481, and the limiting column 484 is fixed at the end of the sliding rail 483.

Specifically, as shown in fig. 1, the slider 482, the trace 481, the detection element, the slide rail 483, and the stopper rod 484 constitute the test assembly 48. The tracing piece 481 is similar to human tissue, the outer layer can be a plastic shell or a metal shell, the slider 482 can be a boss slider or a concave slider, and the slider 482 is fixedly connected with the tracing piece 481. The slide 482 is made of a stainless steel material or an alloy material and is machined by CNC (computer Numerical Control), and the form of the slide 483 is selected relative to the slide 482. The sliding block 482 can push the sliding block 481 to slide on the sliding rail 483 to look for lesion tissues by following the movement of the surgical instrument 28 along the human body, so that the sliding block 481 can slide on the sliding rail 483 and can not contact with the sliding rail 483. The tracing member 481 is electrically connected to the detecting element, which is selected to be a buzzer, a bell or a whistle, and when the end effector 286 of the surgical instrument 28 contacts the tracing member 481, the buzzer, the bell or the whistle gives an alarm, such as a beep, to realize the operation test of the end effector 286 of the surgical instrument 28. Limiting columns 484 are arranged at two ends of the sliding rail 483 to prevent the walking piece 481 from slipping off from the sliding rail 483. The test assembly 48 provides a carrier for testing the surgical instrument 28, improving the accuracy of the testing device.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A testing device is applied to operation testing of surgical instruments and is characterized by comprising a first driving assembly, a second driving assembly and a testing assembly;

the testing assembly is positioned on one side, facing away from the first driving assembly, of the second driving assembly, is arranged at a distance from the second driving assembly so as to form an installation space for installing a surgical instrument, and is used for testing the position and/or the angle of an end effector of the surgical instrument in different states;

the first driving assembly comprises a pull rod, an adjusting column, a guide block and a transmission piece, one end of the guide block is connected with the pull rod, the other end of the guide block is connected with the transmission piece, and the guide block is clamped in the adjusting column and can slide along the axial direction of the adjusting column under the action of the pull rod;

the first driving assembly has a first motion state and a second motion state, and in the first motion state, the pull rod drives the guide block to drive the transmission piece to move along the axial direction of the adjusting column so as to drive the end effector of the surgical instrument to clamp or open; when the surgical instrument is in the second motion state, the adjusting column drives the transmission piece to rotate around the central axis of the adjusting column through the guide block so as to drive the end effector of the surgical instrument to rotate;

the second driving assembly comprises a rotating support, a ball head connecting rod and a guide wire, the rotating support is in spherical hinge with the ball head connecting rod, the guide wire is fixedly connected with the rotating support, one end, far away from the rotating support, of the guide wire is used for being connected with the surgical instrument, the adjusting column is in rotating connection with the rotating support, and the rotating support drives the guide wire to simultaneously perform compound motion along the axial direction and the radial direction of the ball head connecting rod while rotating relative to the ball head connecting rod so as to drive the end effector of the surgical instrument to bend.

2. The testing device of claim 1, wherein the adjustment post comprises a fixedly connected adjustment knob and a post body;

the column body is of a hollow structure, a blocking part is convexly arranged on the inner wall of the column body, the blocking part axially divides the inner cavity of the column body into a first cavity and a second cavity, and the adjusting knob is fixedly connected with one end of the column body, which is far away from the second cavity;

the guide block is clamped in the second cavity and can axially slide relative to the column body, and the pull rod sequentially penetrates through the first cavity and the blocking part and then is connected with the guide block.

3. The testing device of claim 2, wherein a groove is formed in the inner wall of the second cavity in the axial direction of the adjusting column, and a boss is formed in the side wall of the guide block; or a boss is arranged on the inner wall of the second cavity, and a groove is formed in the guide block along the axial direction of the adjusting column;

the boss is slidably embedded in the groove, so that the guide block can rotate synchronously with the adjusting column.

4. The testing device as claimed in claim 1, wherein the first driving assembly further comprises a control handle, the control handle comprises a movable handle and a fixed handle hinged to each other, the fixed handle is rotatably connected to the adjusting column, one end of the pull rod away from the adjusting column is connected to the movable handle, and the movable handle drives the guide block to move along the axial direction of the adjusting column through the pull rod.

5. The testing device of claim 4, wherein the stationary handle comprises a fixedly connected support shaft and a handle body;

the back shaft is the hollow shaft, the back shaft is kept away from the one end of handle body with regulation post rotatable coupling, the pull rod is worn to locate the back shaft with the guide block is connected.

6. The testing device of claim 4, wherein the movable handle is provided with a clamping groove, and the pull rod comprises a pull rod body and a fixed ball which are connected with each other;

the fixed ball is embedded in the clamping groove, and one end of the pull rod body, which is far away from the fixed ball, is connected with the guide block.

7. The testing device of claim 1, wherein the rotating mount comprises a first mounting cavity and a second mounting cavity;

the first installation cavity is communicated with the second installation cavity, the ball head connecting rod is in spherical hinge with the second installation cavity, the adjusting column is rotatably connected with the first installation cavity, and the guide wire penetrates through the second installation cavity and is fixedly connected with the rotary support.

8. The testing device of claim 7, wherein the rotating mount comprises a fixedly connected control member and mount;

the control piece is provided with the first installation cavity, the adjusting column is embedded in the first installation cavity and is rotatably connected with the control piece, the support is provided with the second installation cavity, and the guide wire penetrates through the second installation cavity and is fixedly connected with the support.

9. The testing device of claim 8, wherein the socket comprises a fixedly connected ball-type housing and a socket body;

one end of the support body, which is far away from the spherical shell, is fixedly connected with the control piece;

the direction that the spherical shell is far away from the adjusting column is provided with an embedding groove, and the ball head connecting rod is embedded in the embedding groove.

10. The test device of claim 9, wherein the ball-end linkage comprises a fixedly connected universal ball and a linkage shaft;

the spherical shell is provided with a first through hole matched with the transmission part along the axial direction of the control part, and the ball head connecting rod is provided with a second through hole matched with the transmission part along the axial direction;

the universal ball is embedded in the embedding groove, and the transmission piece sequentially penetrates through the first through hole and the second through hole.

11. The testing device of claim 9, wherein the support further comprises a tensioning assembly, a positioning post, and a locking assembly;

the tensioning assembly, the positioning column and the locking assembly are respectively and fixedly connected to one side, close to the control piece, of the spherical shell, and the guide wire sequentially penetrates through the positioning column and the tensioning assembly to be fixedly connected with the locking assembly.

12. The testing device of claim 11, wherein the tensioning assembly comprises a tensioning body, a traction nut block, a positioning nut and a tensioning screw;

the tensioning body is provided with an open slot and a unthreaded hole, the positioning nut is coaxial with the unthreaded hole, the tensioning screw is arranged in the positioning nut and in the unthreaded hole in a penetrating manner, the tensioning screw passes through the positioning nut with the tensioning body threaded connection, the traction nut block is arranged in the open slot and in threaded connection with the tensioning screw, wherein, the traction nut block is provided with a traction hole vertical to the axis of the traction nut block, and the traction hole is used for the guide wire to be arranged in a penetrating manner.

13. The testing device according to claim 10, wherein a limiting block protruding from the surface of the spherical shell is disposed on one side of the spherical shell close to the ball-end connecting rod, the limiting block has a concave curved surface, and the curved surface and the inner wall of the embedding groove are located in the same spherical surface;

the spherical shell is provided with a limiting groove extending from the inner wall of the embedding groove to the curved surface, and the extension line of the limiting groove and the axis of the adjusting column are in the same plane;

the universal ball is convexly provided with a sliding table, and the sliding table is slidably embedded in the limiting groove.

14. The testing device of claim 10, wherein the rotating mount further comprises a rotating plunger;

the support is provided with a first positioning hole along the radial direction, the universal ball is provided with a second positioning hole along the radial direction of the ball head connecting rod, the second positioning hole corresponds to the first positioning hole, and the rotary plunger is sequentially inserted into the first positioning hole and the second positioning hole.

15. The testing device of claim 1, wherein the first drive assembly further comprises a first nut post fixedly connected to an end of the drive member distal from the guide block;

the first nut column comprises a first buckle and a first connecting shaft which are fixedly connected, the first connecting shaft is connected between the first buckle and the transmission part, and the first buckle and the first connecting shaft form a T-shaped structure;

the first nut post is used for being fixedly connected with one end, far away from the end effector, of the surgical instrument.

16. The testing device of claim 1, wherein the second drive assembly further comprises a second nut post fixedly connected to an end of the guidewire distal from the rotatable support;

the second nut column comprises a second buckle and a second connecting shaft which are fixedly connected, the second connecting shaft is connected between the second buckle and the guide wire, and the second buckle and the second connecting shaft form a T-shaped structure;

the second nut post is configured to be fixedly coupled to an end of the surgical instrument distal from the end effector.

17. The test device of claim 15, wherein the first drive assembly further comprises a return spring;

one end of the return spring is fixedly connected with one end, far away from the surgical instrument, of the first nut column, and the other end of the return spring is fixedly connected with the ball head connecting rod.

18. The test device of any one of claims 1-17, wherein the test assembly comprises a slider, a follower, a detection element, a slide rail, and a limit post;

the slider with the imitative piece fixed connection, the slider with slide rail sliding connection, detecting element with the imitative piece electricity is connected, spacing post is fixed in the tip of slide rail.