CN113940757B

CN113940757B - Adjusting component, laparoscopic surgery instrument and soft tissue robot

Info

Publication number: CN113940757B
Application number: CN202111559336.8A
Authority: CN
Inventors: 王迎智; 曹其冲; 张二虎
Original assignee: Jixian Artificial Intelligence Co Ltd
Current assignee: Jixian Artificial Intelligence Co Ltd
Priority date: 2021-12-20
Filing date: 2021-12-20
Publication date: 2022-03-08
Anticipated expiration: 2041-12-20
Also published as: CN113940757A

Abstract

The application discloses adjusting part, laparoscopic surgery apparatus and soft tissue robot belongs to laparoscopic surgery apparatus technical field. The adjusting assembly is used for adjusting the drawing ratio of the steel wire and comprises a fixing piece, a moving piece and a locking piece, wherein the fixing piece is fixed at a preset position, the moving piece is movably connected with the fixing piece, and the locking piece is connected with the moving piece; the movable part is used for being connected with the steel wire to draw the steel wire to adjust the drawing proportion of the steel wire, so that the bending range of the flexible channel is changed, the flexible channel is matched with the plurality of steel wires, the drawing of the plurality of steel wires drives the flexible channel to be bent, the locking part is used for locking the position of the movable part, and the locking position can be adjusted. The problem of the flexible channel's among the prior art bending range is limited can be solved.

Description

Adjusting component, laparoscopic surgery instrument and soft tissue robot

Technical Field

The application belongs to the technical field of laparoscopic surgery instruments, and particularly relates to an adjusting assembly, a laparoscopic surgery instrument and a soft tissue robot.

Background

The laparoscopic surgery is that a small incision is formed on a patient, then a corresponding flexible channel is inserted, and all the subsequent operations are carried out through the flexible channel; and then the same steps as the open surgery are completed by a special lengthened surgical instrument with the assistance of a display instrument, so that the same surgical effect is achieved.

However, there is a problem that the surgeon operates the surgical instrument through the flexible channel into the abdomen during use. Because the abdominal space is small, the bending of the whole flexible channel and the control of the operating handle are more demanding during the operation. However, the bending of the flexible channel can only ensure basic operation, the bending range of the flexible channel is limited, and the requirement of a doctor for controlling the flexible channel more finely by using an operation handle cannot be met.

Disclosure of Invention

An object of the embodiment of the application is to provide an adjusting component, a laparoscopic surgical instrument and a soft tissue robot, which can solve the problem of the limited bending range of a flexible channel in the prior art.

In order to solve the technical problem, the present application is implemented as follows:

in a first aspect, an embodiment of the present application provides an adjusting component for adjusting a drawing ratio of a steel wire, where the adjusting component includes a fixing member, a moving member, and a locking member, the fixing member is fixed at a preset position, the moving member is movably connected with the fixing member, and the locking member is connected with the moving member. The moving part is used for being connected with the steel wire to the tractive proportion of steel wire is adjusted to the tractive steel wire, and then changes flexible channel's bending range, and flexible channel sets up with a plurality of steel wire cooperations, and the tractive of a plurality of steel wires drives flexible channel and bends, and the locking piece is used for locking the position of moving part, and the latched position is adjustable.

In a second aspect, embodiments of the present application provide a laparoscopic surgical instrument including an adjustment assembly as described above.

In a third aspect, embodiments of the present application provide a soft tissue robot including an adjustment assembly as described above.

In this application embodiment, the setting of adjusting part is used for adjusting the tractive proportion of steel wire, specifically through the tractive proportion to the steel wire after adjusting, and then changes the bending range of flexible passageway. Specifically, the setting of mounting can be as the regulation benchmark of adjusting part, and the moving part can be connected with the steel wire through direct or indirect mode, under the relative activity of moving part and mounting, can be through the pulling steel wire of moving part pulling and adjust the tractive proportion of steel wire, and then change the bending range of flexible passageway. The locking piece can be arranged to lock the relative positions of the movable piece and the fixed piece, so that the adjusted drawing ratio can be maintained, and the flexible channel can be kept in the required bending range. After the locking position of the locking piece is adjustable, the drawing proportion of the steel wire can be adjusted according to requirements. The embodiment of the application has the advantages that the bending range of the flexible channel is adjustable, and the pulling proportion of the steel wire after adjustment can be maintained.

Drawings

FIG. 1 is a sectional view of a telescopic rod of an adjusting assembly in a first gear in the embodiment of the present application;

FIG. 2 is a schematic structural diagram of the telescopic rod of the embodiment of the present application after the locking pin and the locking groove are locked when the telescopic rod is in the first gear;

FIG. 3 is a sectional view of the embodiment of the present application showing the locking pin and the locking groove locked when the telescopic rod is in the first gear position;

FIG. 4 is a schematic structural diagram of the telescopic rod in the embodiment of the present application after the locking pin and the locking groove are unlocked in the gear shifting process;

FIG. 5 is a sectional view of the embodiment of the present application after the locking pin and the locking groove are unlocked during the shift of the telescopic rod;

FIG. 6 is a sectional view of the telescopic rod of the adjusting assembly of the embodiment of the present application in the second gear position;

FIG. 7 is a schematic structural diagram of the telescopic rod of the embodiment of the present application after the locking pin and the locking groove are locked when the telescopic rod is in the second gear;

FIG. 8 is a sectional view of the telescopic rod of the adjusting assembly of the embodiment of the present application in the third gear position;

FIG. 9 is a schematic structural diagram of the telescopic rod of the embodiment of the present application after the locking pin and the locking groove are locked when the telescopic rod is in the third gear;

FIG. 10 is a schematic view of the structure of a laparoscopic surgical instrument of an embodiment of the present application;

FIG. 11 is a schematic view showing the configuration of the laparoscopic surgical instrument adjusted by means of the manipulating handle according to the embodiment of the present application.

Description of reference numerals:

600. an adjustment assembly; 610. a fixing member; 611. a movable cavity; 612. a locking groove; 620. a movable member; 621. a pulling pin; 630. a locking member; 631. a telescopic rod; 632. a locking pin; 633. an elastic member; 634. a blocking member; 640. a steel wire; 650. an operating handle; 653. a gimbal structure; 6531. a gimbal mount; 6532. a steel ball mounting part; 6533. a steel ball structure; 6534. a pulling groove; 656. a flexible channel.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. 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 application.

The terms first, second and the like in the description and in the claims of the present application 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 application may be practiced in sequences other than those illustrated or described herein, and that the terms "first," "second," and the like are generally used herein in a generic sense and do not limit the number of terms, e.g., the first term can be one or more than one. 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 adjusting assembly, the laparoscopic surgical instrument and the soft tissue robot provided by the embodiments of the present application are described in detail through specific embodiments and application scenarios thereof with reference to the accompanying drawings.

Referring to fig. 1 to 9, an embodiment of the present application provides an adjusting assembly 600 for adjusting a drawing ratio of a steel wire 640, the adjusting assembly 600 includes a fixed member 610, a movable member 620, and a locking member 630, the fixed member 610 is fixed at a predetermined position, the movable member 620 is movably connected to the fixed member 610, and the locking member 630 is connected to the movable member 620;

wherein, moving part 620 is used for being connected with steel wire 640 to the tractive proportion of tractive steel wire 640 regulation steel wire 640, and then change the bending range of flexible channel 656, flexible channel 656 sets up with a plurality of steel wire 640 cooperation, and the tractive of a plurality of steel wires 640 drives flexible channel 656 and bends, and locking piece 630 is used for locking moving part 620's position, and the latched position is adjustable.

In the embodiment of the present application, the adjustment assembly 600 is configured to adjust the pulling ratio of the steel wire 640, and in particular, to change the bending range of the flexible channel 656 after the pulling ratio of the steel wire 640 is adjusted. Specifically, the fixed member 610 is provided as an adjustment reference for the adjustment assembly 600, the movable member 620 may be connected to the steel wire 640 directly or indirectly, and under the relative movement of the movable member 620 and the fixed member 610, the movable member 620 may pull the steel wire 640 and adjust the pulling ratio of the steel wire 640, thereby changing the bending range of the flexible channel 656. The locking member 630 is configured to lock the relative positions of moveable member 620 and stationary member 610 such that the adjusted draw ratio is maintained to maintain the flexible channel 656 within a desired range of flexure. After the locking position of the locking member 630 is adjustable, the pulling ratio of the wire 640 may be adjusted as desired. The embodiment of the present application has the beneficial effects that the bending range of the flexible channel 656 is adjustable, and the post-adjustment draw ratio of the steel wire 640 can be maintained.

It should be noted that the adjustment assembly 600 of the present application may provide the wire 640 with a plurality of pull ratios, which may be considered as a plurality of shift positions, each shift position corresponding to a pull ratio, each pull ratio corresponding to a bending range of the flexible channel 656. Under the corresponding pulling proportion, the bending range of the flexible channel 656 will be locked, and after the bending range of the flexible channel 656 cannot meet the surgical requirements, the pulling proportion is switched as required.

It should be noted that the flexible channel 656 is configured to cooperate with a surgical instrument that may extend at least partially into the end of the flexible channel 656, and that the surgical instrument may be delivered to a location corresponding to a surgical procedure by flexing the flexible channel 656. The range of curvature of the flexible channel 656 may refer to the range of motion of the end to which the surgical instrument is mounted.

Optionally, in the embodiment of the present application, a movable cavity 611 is disposed in the fixed member 610, the movable member 620 is movably connected to the fixed member 610 through the movable cavity 611, and the movement of the movable member 620 relative to the fixed member 610 can pull the steel wire 640 and change the pulling ratio of the steel wire 640;

the locking member 630 has at least two locking positions, and the position of the movable member 620 relative to the stationary member 610 is different at different locking positions, and the corresponding pulling ratio is different.

In the present embodiment, movable lumen 611 is provided to facilitate relative movement between stationary member 610 and moveable member 620, and movable lumen 611 may provide a tighter connection between stationary member 610 and moveable member 620. When the locking member 630 has at least two locking positions, the adjustment assembly 600 may be enabled to adjust at least two pull ratios, i.e., may have at least two gear positions. 2, 3, 4, 5, 6 gears and the like can be set as required, so that the traction ratio adjustment under different operation scenes is realized. Even a stepless gear shifting locking piece 630 can be arranged according to the requirement, and the adjustment of more gears can be realized by adopting structures such as a ratchet mechanism and the like.

It should be noted that, the fixing member 610 may be set to be a shaft-like fixing structure as required, and the movable cavity 611 is correspondingly opened on the movable member 620, as long as the relative movement between the fixing member 610 and the movable member 620 can be realized, and the steel wire 640 can be pulled and the pulling ratio of the steel wire 640 can be changed.

Optionally, in the embodiment of the present application, the movable cavity 611 is a cylindrical cavity, and the movable member 620 is slidably connected to the fixed member 610 and located in the cylindrical cavity; or;

the movable chamber 611 is a cylindrical chamber, and the movable member 620 is rotatably connected to the fixed member 610 and is located in the cylindrical chamber.

In the embodiment of the present application, the movable cavity 611 may be configured as a cylindrical cavity or a cylindrical cavity according to the above-mentioned manner. When a columnar cavity is adopted, the movable part 620 and the fixing part 610 can be connected in a sliding manner, the movable part 620 and the fixing part 610 can adjust the steel wire 640 in a relative sliding manner, specifically, the movable part 620 slides relative to the fixing part 610, the movable part 620 pulls the steel wire 640 in the sliding process, further, the pulling proportion of the steel wire 640 is changed, the bending range of the flexible pipeline is changed, the sliding track of the movable part 620 can be selected as required, the linear track can be adopted, the nonlinear track can also be adopted, and the locking of the pulling proportion needs to be matched through the locking part 630. When the cylindrical cavity is adopted, the movable part 620 and the fixing part 610 can be connected in a rotating mode, the movable part 620 and the fixing part 610 can adjust the steel wire 640 in a relative rotating mode, specifically, the movable part 620 rotates relative to the fixing part 610, the movable part 620 pulls the steel wire 640 in the rotating process, the pulling proportion of the steel wire 640 is further changed, the bending range of the flexible pipeline is changed, the rotating angle of the movable part 620 can be selected as required, for example, the horizontal plane or the vertical plane or other planes can be used as the angle reference, different rotating angles correspond to different pulling proportions, and the locking of the pulling proportions needs to be matched through the locking part 630.

Optionally, in the embodiment of the present application, the locking member 630 includes a telescopic rod 631 and a locking pin 632, the telescopic rod 631 is slidably connected to the movable member 620, and the locking pin 632 is fixedly connected to the telescopic rod 631;

be provided with two at least locking grooves 612 on the mounting 610, locking groove 612 and locking pin 632 looks adaptation, wherein, telescopic link 631 drives locking pin 632 and is close to or keeps away from moving part 620, and telescopic link 631 can drive locking pin 632 and lock in the locking groove 612 that corresponds, and the tractive proportion that different locking grooves 612 correspond is different.

In the embodiment of the present application, the telescopic rod 631 is configured to achieve a telescopic function, and the locking pin 632 is configured to achieve locking of the moveable element 620, specifically locking the moveable element 620 on the fixed element 610, so as to maintain the current pulling ratio. The locking pin 632 may change positions as the telescopic bar 631 extends and contracts. The locking groove 612 is configured for use with the locking pin 632 and the at least two locking grooves 612 may be configured for at least two locking positions, each corresponding to a draw ratio of one of the wires 640. The telescopic rod 631 can drive the locking pin 632 to approach or depart from the moveable member 620, so that the locking pin 632 can have an active position and a plurality of locking positions in the process that the locking pin 632 approaches or departs from the moveable member 620; when the locking pin 632 is in the movable position, the locking function is lost, the movable element 620 can move relative to the fixed element 610, and the pulling ratio of the steel wire 640 can be changed by adjusting the relative positions of the movable element 620 and the fixed element 610; when the locking pin 632 is in the locking position, the locking function is maintained, the movable member 620 cannot move relative to the fixed member 610, and different pulling ratios can be adjusted by adjusting the locking pin 632 to different locking positions.

Optionally, in the embodiment of the present application, the movable member 620 is provided with a mounting hole, and the telescopic rod 631 is slidably connected to the mounting hole;

the telescopic rod 631 has a locking state and an active state, and the telescopic rod 631 can be switched between the locking state and the active state, in the locking state, the locking pin 632 is located in the locking groove 612, and the moveable member 620 is fixed relative to the fixed member 610; in the active state, the locking pin 632 is disengaged from the locking groove 612, and the movable member 620 is movable relative to the fixed member 610.

In the embodiment of the present application, the installation hole is provided for installing the telescopic rod 631, and the telescopic rod 631 can slide in the installation hole. The telescopic rod 631 has a locking state and a movable state, and is specifically realized by the matching of the locking pin 632 and the plurality of locking grooves 612, in the locking state, the locking pin 632 is located in a corresponding one of the locking grooves 612, and by the matching of the locking pin 632 and the locking grooves 612, the movable element 620 and the fixed element 610 can be relatively fixed, and the pulling proportion of the steel wire 640 is locked; in the movable state, the locking pin 632 is driven by the telescopic rod 631 to disengage from the locking groove 612, at this time, the movable member 620 and the fixed member 610 can move relatively, the locking pin 632 is also in the movable position, the locking function is lost, and the pulling ratio of the steel wire 640 can be changed by adjusting the relative positions of the movable member 620 and the fixed member 610.

Optionally, in the embodiment of the present application, the mounting hole is a through hole, a first end of the mounting hole is blocked by the blocking piece 634, and a second end of the mounting hole is contracted inward and forms a step seam allowance;

the telescopic bar 631 comprises a sliding connection part and a locking part, the sectional area of the sliding connection part is larger than that of the locking part, the sliding connection part is located in the mounting hole, the step seam allowance limits the sliding connection part and prevents the telescopic bar 631 from being separated from the mounting hole, and the locking pin 632 is mounted on the locking part;

an elastic element 633 is disposed between the telescopic rod 631 and the blocking element 634, and the elastic element 633 drives the locking portion to move in a direction away from the movable element 620 and pushes the locking pin 632 to the locking groove 612.

In the embodiment of the application, the installation hole is formed as the through hole, so that the telescopic rod 631 can be conveniently assembled and stretched, the plugging piece 634 is arranged to plug one side of the installation table, the telescopic rod 631 can only stretch in a single direction, and the step seam allowance is arranged to prevent the telescopic rod 631 from separating from the installation hole. Specifically, the sliding connection portion in the telescopic rod 631 is always located in the mounting hole, the sliding connection portion can slide along the inner wall of the mounting hole, the locking portion can stretch and retract along the mounting hole under the driving of the sliding connection portion, the locking pin 632 is installed on the locking portion, the locking pin 632 can shift between the locking position and the moving position along with the stretching and retracting of the stretching portion, and then the moving member 620 is driven to switch between the locking state and the moving state. The elastic element 633 is arranged to reset the telescopic rod 631, and particularly, the reset position can be set to a position where the locking pin 632 is matched with the locking groove 612, so that the movable element 620 can be locked quickly after the telescopic rod 631 moves. The reset direction and distance of the elastic element 633 are required to be selected according to actual needs, and finally the locking pin 632 is put into the corresponding locking groove 612, and the elastic element 633 is pushed or pulled according to actual needs.

Optionally, in the embodiment of the present application, the elastic member 633 is at least one of a spring and a leaf spring, or a combination of both.

In the embodiment of the present application, the elastic member 633 may be at least one of a spring and a spring plate or a combination of the two as required. Taking the spring as an example, the first end of the spring may be connected to the blocking piece 634, the second end of the spring may be connected to the sliding connection portion in the telescopic rod 631, the spring is specifically located in the installation hole, the spring is used to push the sliding connection portion and drive the locking pin 632 on the locking portion to reset, and the two ends of the spring may be connected through a fixed connection or abutted.

Optionally, in the embodiment of the present application, three locking grooves 612 are provided, and the three locking grooves 612 are communicated with each other and form a structure shaped like a Chinese character 'wang'.

In the embodiment of the present application, the above-mentioned structure illustrates a case when the locking grooves 612 are provided in three, the three locking grooves 612 may be communicated with each other and form a structure shaped like a "king", and the communication part in the middle of the structure shaped like a "king" is a position for the telescopic rod 631 to pass through. What "king" font structure corresponds is that three shelves are adjusted, also can set up locking groove 612 as required into two, and two locking grooves 612 can communicate each other and form "worker" font structure, "worker" font structure correspond is that two shelves are adjusted. Other numbers of gears may be provided as desired.

It should be noted that the extension rod 631 of the present application can extend to a longer position, which facilitates the control of the extension rod 631, such as pushing and pulling or pulling the extension rod 631. For example, the locking pin 632 can be unlocked by pressing the elastic member 633 and overcoming the elastic force of the elastic member 631, and then the locking position of the locking pin 632 can be changed by keeping the pressed state and moving the telescopic rod 631, so as to achieve the effect of adjusting the pulling ratio of the wire 640.

Alternatively, in embodiments of the present application, adjustment assembly 600 is mounted to gimbal structure 653, and wire 640 is fixedly attached to gimbal structure 653;

the universal joint structure 653 comprises a universal joint mounting base 6531, a steel ball mounting portion 6532 and a steel ball structure 6533, the universal joint mounting base 6531 is used for bearing the steel ball mounting portion 6532, and the steel ball mounting portion 6532 is movably connected to the universal joint mounting base 6531; the steel ball structure 6533 is arranged on the steel ball mounting part 6532, and the steel wire 640 is fixedly connected with the steel ball structure 6533;

the fixed member 610 is relatively fixed with the universal joint mounting seat 6531, the movable member 620 is movably connected with the steel ball mounting portion 6532, the movement of the movable member 620 drives the steel ball mounting portion 6532 to be close to or far away from the universal joint mounting seat 6531, and the steel ball mounting portion 6532 pulls the steel wire 640 and changes the pulling proportion of the steel wire 640.

In the present embodiment, the provision of gimbal structure 653 is a means for mounting and assisting in the adjustment of adjustment assembly 600. The wires 640 are fixedly connected to a gimbal structure 653, the gimbal structure 653 may cooperate with an operating handle 650 (described in detail below) to pull the wires 640, and different operating directions of the operating handle 650 will produce different pulling effects, for example, when there are four wires 640 in one flexible channel 656, the linkage pulling of the four wires 640 will change the bending direction and the bending angle of the flexible channel 656, and the wires 640 can be pulled and the bending direction and the bending angle of the flexible channel 656 can be changed by operating the operating handle 650 in different directions. Specifically, the universal joint mounting seat 6531 is provided for bearing a steel ball mounting portion 6532, the steel ball mounting portion 6532 can be movably connected to the universal joint mounting seat 6531, a steel ball structure 6533 is mounted on the steel ball mounting portion 6532, and the steel wire 640 is fixedly connected with the steel ball structure 6533; the adjusting assembly 600 can drive the steel ball structure 6533 to move by the movable steel ball mounting portion 6532, and further drive the steel wire 640 on the steel ball structure 6533, so as to change the drawing ratio of the steel wire 640. The fixed member 610 and the gimbal mounting base 6531 are relatively fixed, so that the relative stability of the fixed member 610 can be ensured, after the movable member 620 is movably connected with the steel ball mounting portion 6532, the steel ball mounting portion 6532 can be driven to move relative to the gimbal mounting base 6531 through the relative movement of the movable member 620 and the fixed member 610, and thus the movement of the movable member 620 can drive the steel ball mounting portion 6532 to approach or leave the gimbal mounting base 6531. Because the steel wire 640 is fixedly connected with the steel ball structure 6533, the steel ball structure 6533 is mounted on the steel ball mounting portion 6532, the steel ball mounting portion 6532 pulls the steel ball, and indirectly pulls the steel wire 640 to change the pulling proportion of the steel wire 640, thereby realizing the adjustment of the bending range of the flexible channel 656.

Optionally, in the embodiment of the present application, a sliding connection hole is provided on the gimbal mounting seat 6531, and the steel ball mounting portion 6532 is at least partially located in the sliding connection hole;

the steel ball mounting portion 6532 is connected with the sliding connection hole in a sliding mode, one end, far away from the sliding connection hole, of the steel ball mounting portion 6532 is connected with the movable piece 620, and the movable piece 620 drives the steel ball mounting portion 6532 to slide along the sliding connection hole;

the steel wire 640 forms the pulling assembly with the steel ball structure 6533 cooperation, is provided with a plurality of pulling assemblies on the flexible channel 656, and the flexible channel 656 is crooked to the pulling drive of a plurality of pulling assemblies.

In the embodiment of the present application, the arrangement of the sliding connection hole is used for enabling the steel ball mounting portion 6532 to be slidably connected to the universal joint mounting base 6531, the steel ball mounting portion 6532 can slide along the sliding connection hole under the traction of the movable member 620, and the steel ball mounting portion 6532 can drive the steel ball structure 6533 to move and indirectly pull the steel wire 640, so as to adjust the traction ratio of the steel wire 640. The steel wire 640 and the steel ball structure 6533 cooperate to form a pulling assembly which can pull and drive the flexible channel 656. The cooperative arrangement of the plurality of pulling assemblies may cause the flexible channel 656 to bend in a desired direction and angle.

Optionally, in an embodiment of the present application, a limiting step or a limiting protrusion is disposed on an outer side of the steel ball mounting portion 6532, and the limiting step or the limiting protrusion is used for limiting a sliding range of the steel ball mounting portion 6532 relative to the sliding connection hole.

In the embodiment of the present application, the limiting step or the limiting protrusion is provided to limit and position the sliding range of the steel ball mounting portion 6532, so that the connection stability of the steel ball mounting seat can be improved. The limiting step or the limiting protrusion can be used as a positioning structure for the initial drawing proportion of the steel wire 640, and can also realize the tightening of the steel wire 640.

Optionally, in the embodiment of the present application, the moving member 620 is provided with a pulling pin 621, the steel ball mounting portion 6532 is provided with a pulling groove 6534, the pulling pin 621 is provided in the pulling groove 6534, a space is provided in the pulling groove 6534, the space is used for keeping the pulling direction of the pulling pin 621 in the axial direction of the sliding connection hole, and the pulling pin 621 abuts against the groove wall of the pulling groove 6534.

In this embodiment, the pulling pin 621 is used to link the moving member 620 and the steel ring installation portion, so that the moving member 620 can move to drive the steel ball installation portion 6532, and further indirectly pull the steel wire 640 through the steel ball. The arrangement of the pulling groove 6534 can avoid the situation that the movable member 620 and the steel ball mounting portion 6532 are locked, and can allow the pulling pin 621 to deviate in the moving process, so that the pulling direction of the pulling pin 621 is kept in the axial direction of the sliding connection hole, the pulling pin 621 can abut against the groove wall of the pulling groove 6534 in the pulling process, and the force generated by the movable member 620 is converted into the pulling force on the steel ball mounting seat.

Referring to fig. 10 and 11, embodiments of the present application also provide a laparoscopic surgical instrument including an adjustment assembly 600 as described above.

In the embodiment of the present application, the laparoscopic surgical instrument with the adjustment assembly 600 can adjust the bending range of the flexible channel 656, maintain the adjusted pulling ratio of the steel wire 640, and improve the surgical precision, so that the surgery can be performed more precisely and accurately. The adjustment assembly 600 is configured to adjust the draw ratio of the wire 640, and in particular, to adjust the draw ratio of the wire 640, thereby changing the bending range of the flexible channel 656. Specifically, the fixed member 610 is provided as an adjustment reference for the adjustment assembly 600, the movable member 620 may be connected to the steel wire 640 directly or indirectly, and under the relative movement of the movable member 620 and the fixed member 610, the movable member 620 may pull the steel wire 640 and adjust the pulling ratio of the steel wire 640, thereby changing the bending range of the flexible channel 656. The locking member 630 is configured to lock the relative positions of moveable member 620 and stationary member 610 such that the adjusted draw ratio is maintained to maintain the flexible channel 656 within a desired range of flexure. After the locking position of the locking member 630 is adjustable, the pulling ratio of the wire 640 may be adjusted as desired. The embodiment of the present application has the beneficial effects that the bending range of the flexible channel 656 is adjustable, and the post-adjustment draw ratio of the steel wire 640 can be maintained.

Optionally, in an embodiment of the present application, the laparoscopic surgical instrument further comprises an operating handle 650, a gimbal structure 653, and a flexible channel 656, the operating handle 650 being connected to the wire 640, the wire 640 being mounted to the gimbal structure 653 and at least partially disposed within the flexible channel 656;

the relative movement of the operating handle 650 and the gimbal structure 653 can pull the wire 640 and cause the flexible channel 656 to bend, and the adjustment assembly 600 is used to change the bending range of the flexible channel 656;

wherein the number of gimbal structures 653 is the same as the number of wires 640, and the number of operating handles 650 is the same as the number of flexible channels 656.

In the present embodiment, the provision of gimbal structure 653 is a means for mounting and assisting in the adjustment of adjustment assembly 600. The steel wires 640 are fixedly connected to the gimbal structure 653, the gimbal structure 653 may cooperate with the operating handle 650 to pull the steel wires 640, different operation directions of the operating handle 650 will produce different pulling effects, for example, when four steel wires 640 are provided in one flexible channel 656, the linkage pulling of the four steel wires 640 will change the bending direction and the bending angle of the flexible channel 656, and the steel wires 640 can be pulled and the bending direction and the bending angle of the flexible channel 656 can be changed by operating the operating handle 650 in different directions. Specifically, the universal joint mounting seat 6531 is provided for bearing a steel ball mounting portion 6532, the steel ball mounting portion 6532 can be movably connected to the universal joint mounting seat 6531, a steel ball structure 6533 is mounted on the steel ball mounting portion 6532, and the steel wire 640 is fixedly connected with the steel ball structure 6533; the adjusting assembly 600 can drive the steel ball structure 6533 to move by the movable steel ball mounting portion 6532, and further drive the steel wire 640 on the steel ball structure 6533, so as to change the drawing ratio of the steel wire 640. The fixed member 610 and the gimbal mounting base 6531 are relatively fixed, so that the relative stability of the fixed member 610 can be ensured, after the movable member 620 is movably connected with the steel ball mounting portion 6532, the steel ball mounting portion 6532 can be driven to move relative to the gimbal mounting base 6531 through the relative movement of the movable member 620 and the fixed member 610, and thus the movement of the movable member 620 can drive the steel ball mounting portion 6532 to approach or leave the gimbal mounting base 6531. Because the steel wire 640 is fixedly connected with the steel ball structure 6533, the steel ball structure 6533 is mounted on the steel ball mounting portion 6532, the steel ball mounting portion 6532 pulls the steel ball, and indirectly pulls the steel wire 640 to change the pulling proportion of the steel wire 640, thereby realizing the adjustment of the bending range of the flexible channel 656. The four steel wires 640 are only exemplary, and do not represent that only four steel wires 640 can be provided in the present application.

It should be noted that the laparoscopic surgical instrument may include two manipulation handles 650 and two flexible channels 656, and the manipulation handles 650 and the flexible channels 656 correspond to each other, and the number of other components of the laparoscopic surgical instrument is adaptively changed. The two manipulation handles 650 and the two flexible channels 656 can further improve the surgical precision and reduce the surgical difficulty, and can enable the ends of the two flexible channels 656 in the laparoscopic surgical instrument to be respectively provided with a surgical instrument, or enable the two flexible channels 656 to be linked like a human hand.

Embodiments of the present application also provide a soft tissue robot including an adjustment assembly 600 as described above.

In the embodiment of the present application, the soft tissue robot having the adjusting assembly 600 can adjust the bending range of the flexible channel 656, maintain the adjusted drawing ratio of the steel wire 640, improve the precision of the operation, and make the operation more precise and accurate. The adjustment assembly 600 is configured to adjust the draw ratio of the wire 640, and in particular, to adjust the draw ratio of the wire 640, thereby changing the bending range of the flexible channel 656. Specifically, the fixed member 610 is provided as an adjustment reference for the adjustment assembly 600, the movable member 620 may be connected to the steel wire 640 directly or indirectly, and under the relative movement of the movable member 620 and the fixed member 610, the movable member 620 may pull the steel wire 640 and adjust the pulling ratio of the steel wire 640, thereby changing the bending range of the flexible channel 656. The locking member 630 is configured to lock the relative positions of moveable member 620 and stationary member 610 such that the adjusted draw ratio is maintained to maintain the flexible channel 656 within a desired range of flexure. After the locking position of the locking member 630 is adjustable, the pulling ratio of the wire 640 may be adjusted as desired. The embodiment of the present application has the beneficial effects that the bending range of the flexible channel 656 is adjustable, and the post-adjustment draw ratio of the steel wire 640 can be maintained.

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 the embodiments of the present application is not limited to performing the functions in the order illustrated or discussed, but may include performing the 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 embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. An adjusting assembly for adjusting the drawing ratio of a steel wire (640), wherein the adjusting assembly (600) comprises a fixed member (610), a movable member (620) and a locking member (630), the fixed member (610) is fixed at a preset position, the movable member (620) is movably connected with the fixed member (610), and the locking member (630) is connected with the movable member (620);

the movable piece (620) is used for being connected with the steel wire (640) to pull the steel wire (640) to adjust the pulling proportion of the steel wire (640) so as to change the bending range of a flexible channel (656), the flexible channel (656) is matched with a plurality of steel wires (640), the flexible channel (656) is driven by the pulling of the steel wires (640) to bend, the locking piece (630) is used for locking the position of the movable piece (620), and the locking position can be adjusted;

the adjusting assembly (600) is mounted on a universal joint structure (653), and the steel wire (640) is fixedly connected to the universal joint structure (653);

the universal joint structure (653) comprises a universal joint mounting seat (6531), a steel ball mounting part (6532) and a steel ball structure (6533), the universal joint mounting seat (6531) is used for bearing the steel ball mounting part (6532), and the steel ball mounting part (6532) is movably connected to the universal joint mounting seat (6531); the steel ball structure (6533) is mounted on the steel ball mounting part (6532), and the steel wire (640) is fixedly connected with the steel ball structure (6533);

fixing member (610) with universal joint mount pad (6531) relatively fixed, moving part (620) with steel ball installation department (6532) swing joint, the activity of moving part (620) drives steel ball installation department (6532) are close to or keep away from universal joint mount pad (6531), steel ball installation department (6532) tractive steel wire (640) and change the tractive proportion of steel wire (640).

2. The adjustment assembly according to claim 1, characterized in that a movable cavity (611) is provided in the fixed member (610), the movable member (620) is movably connected to the fixed member (610) via the movable cavity (611), and the movement of the movable member (620) relative to the fixed member (610) can pull the steel wire (640) and change the pull ratio of the steel wire (640);

the locking piece (630) has at least two locking positions, and under different locking positions, the position of the movable piece (620) relative to the fixed piece (610) is different, and the corresponding pulling proportion is different.

3. The adjustment assembly of claim 2, wherein the movable chamber (611) is a cylindrical chamber, and the movable member (620) is slidably connected to the stationary member (610) and is located within the cylindrical chamber; or;

the movable cavity (611) is a cylindrical cavity, and the movable piece (620) is rotatably connected to the fixed piece (610) and is positioned in the cylindrical cavity.

4. The adjustment assembly according to any of claims 1-3, characterized in that the locking member (630) comprises a telescopic rod (631) and a locking pin (632), the telescopic rod (631) being slidably connected to the moveable member (620), the locking pin (632) being fixedly connected to the telescopic rod (631);

be provided with two at least locking grooves (612) on mounting (610), locking groove (612) with locking pin (632) looks adaptation, wherein, telescopic link (631) drive locking pin (632) are close to or keep away from moving part (620), just telescopic link (631) can drive locking pin (632) are locked and are corresponded locking groove (612) are interior, and are different locking groove (612) correspond the tractive proportion is different.

5. The adjustment assembly according to claim 4, wherein the movable member (620) has a mounting hole, and the telescopic rod (631) is slidably connected to the mounting hole;

the telescopic rod (631) has a locking state and an active state, the telescopic rod (631) being switchable between the locking state and the active state, in the locking state, the locking pin (632) being in the locking groove (612), the moveable member (620) being fixed relative to the stationary member (610); in the active state, the locking pin (632) is disengaged from the locking groove (612), and the movable member (620) and the fixed member (610) are relatively movable.

6. The adjustment assembly of claim 4, characterized in that said locking grooves (612) are provided in three, three said locking grooves (612) being in communication with each other and forming a "king" configuration.

7. The adjustment assembly of claim 5, wherein the mounting hole is a through hole, a first end of the mounting hole being closed off by a closure (634), a second end of the mounting hole being inwardly constricted and forming a stepped spigot;

the telescopic rod (631) comprises a sliding connection part and a locking part, the cross-sectional area of the sliding connection part is larger than that of the locking part, the sliding connection part is positioned in the mounting hole, the step spigot limits the sliding connection part and prevents the telescopic rod (631) from being separated from the mounting hole, and the locking pin (632) is mounted on the locking part;

an elastic piece (633) is arranged between the telescopic rod (631) and the blocking piece (634), and the elastic piece (633) drives the locking portion to move towards the direction away from the movable piece (620) and pushes the locking pin (632) to the locking groove (612).

8. The adjustment assembly of claim 7, wherein the resilient member (633) is at least one of a spring, a leaf spring, or a combination of both.

9. The adjustment assembly of claim 1, wherein the gimbal mount (6531) is provided with a sliding connection aperture therein, the ball mount (6532) being at least partially within the sliding connection aperture;

the steel ball mounting part (6532) is connected with the sliding connecting hole in a sliding mode, one end, far away from the sliding connecting hole, of the steel ball mounting part (6532) is connected with the moving part (620), and the moving part (620) drives the steel ball mounting part (6532) to slide along the sliding connecting hole;

the steel wire (640) and the steel ball structure (6533) are matched to form a pulling assembly, a plurality of pulling assemblies are arranged on the flexible channel (656), and the flexible channel (656) is driven to bend by the pulling of the plurality of pulling assemblies.

10. The adjustment assembly according to claim 9, characterized in that the outer side of the steel ball mounting part (6532) is provided with a limiting step or a limiting protrusion for limiting the sliding range of the steel ball mounting part (6532) relative to the sliding connection hole.

11. The adjusting assembly according to claim 9, wherein a pulling pin (621) is disposed on the movable member (620), a pulling groove (6534) is disposed on the steel ball mounting portion (6532), the pulling pin (621) is disposed in the pulling groove (6534), an abdicating space is disposed in the pulling groove (6534), the abdicating space is used for keeping the pulling direction of the pulling pin (621) in the axial direction of the sliding connection hole, and the pulling pin (621) abuts against a groove wall of the pulling groove (6534).

12. A laparoscopic surgical instrument, comprising an adjustment assembly according to any one of claims 1 to 8.

13. The laparoscopic surgical instrument of claim 12, further comprising an operating handle (650), a gimbal structure (653) and a flexible channel (656), said operating handle (650) being connected to said steel wire (640), said steel wire (640) being mounted to said gimbal structure (653) and at least partially disposed within said flexible channel (656);

the relative movement of the operating handle (650) and the gimbal structure (653) can pull the steel wire (640) and drive the flexible channel (656) to bend, and the adjusting assembly (600) is used for changing the bending range of the flexible channel (656);

wherein the number of gimbal structures (653) is the same as the number of wires (640), and the number of operating handles (650) is the same as the number of flexible channels (656).

14. A soft tissue robot comprising an adjustment assembly as claimed in any one of claims 1 to 8.