CN113951990A

CN113951990A - Minimally invasive surgery slender shaft assembly with driving head

Info

Publication number: CN113951990A
Application number: CN202111251346.5A
Authority: CN
Inventors: 朱莫恕
Original assignee: 5r Med Technology Chengdu Co ltd
Current assignee: 5r Med Technology Chengdu Co ltd
Priority date: 2019-05-15
Filing date: 2019-05-15
Publication date: 2022-01-21
Anticipated expiration: 2039-05-15
Also published as: CN114191039B; CN110025359B; CN114191039A; CN113951990B; CN110025359A

Abstract

The invention discloses a minimally invasive surgery slender shaft assembly with a driving head, which comprises a base, a first jaw, a second jaw and the driving head, wherein the first jaw, the second jaw and the driving head are matched with the base; the driving head is clamped between the first jaw tail and the second jaw tail, the driving head and the first jaw tail form a first cam pair, and the driving head and the second jaw tail form a second cam pair; the first revolute pair comprises a first outer side pair and a first inner side pair, and the second revolute pair comprises a second outer side pair and a second inner side pair.

Description

Minimally invasive surgery slender shaft assembly with driving head

The application is named as: an elongated shaft assembly and surgical instrument for use in minimally invasive surgery, having application as follows: 15.05 and 2019, and the application number is: divisional application of invention patent application of 201910400368. X.

Technical Field

The invention relates to a surgical instrument, in particular to a minimally invasive surgery elongated shaft assembly with a driving head.

Background

Endoscopic surgery (including hard tube endoscope and fiber endoscope) is that elongated endoscopic hand-held instruments are adopted to enter the body of a patient through a natural cavity or a constructed puncture channel to complete operations of tissue grasping, shearing, separating, blood coagulation, suture closure and the like. The main advantages over traditional open surgery are reduced trauma and pain and accelerated recovery. In the endoscopic surgery, a doctor usually can only touch internal organs of a patient by means of instruments and cannot directly sense the internal organs by hands; in addition, the visual field of the endoscopic surgery doctor is severely limited, and the local area of the working head of the instrument can be observed only by means of an endoscope and an image system. Because the visual field of the doctor is limited in the operation and the tactile feedback is lacked, the method provides high requirements on the aspects of the accuracy, the consistency, the controllability and the like of the endoscope handheld instruments (endoscope scissors, endoscope grasping forceps, endoscope separating forceps and the like).

So far, the reusable endoscope hand-held instrument (multiplexing instrument for short) has the market leading position, and the disposable endoscope hand-held instrument (disposable instrument for short) has relatively few clinical applications. However, many medical documents deeply analyze the problems of the multiplexing apparatus, and a doctor's paper with the title of Safety Evaluation of scientific Instruments, a thesis submitted for the degree of Safety of the device of the duration of the device of the February 2017, which details the unreliable controllability problems in the cleaning, distribution and use of the multiplexing apparatus, such as the fact that the ions in the blood of the human body are very corrosive to the stainless steel multiplexing apparatus, has not been reliable solution so far.

The disposable instrument can effectively solve a plurality of problems of the multiplexing instrument, but the cost of the high-quality disposable instrument is too high. A study paper on Reusable convertible dispersible fibrous Instruments, Minimaty Invasive Surgery, Volume 2014, showed that the Cost of applying Disposable devices was about 10 times the Cost of applying multiplexing devices. The high cost of disposable instruments places a burden on the patient and severely hinders the development of endoscopic surgery. The equipment cost mainly comprises the manufacturing cost, the assembly cost, the sterilization cost, the storage and transportation cost and the like of parts. On the premise of ensuring and even optimizing the functional performance, the cost is very difficult to reduce. One of the most difficult challenges is to improve the head structure of the instrument. To date, a large number of existing endoscopic instruments use pins to rivet to form rotary joints. The riveting of the knuckle pin must be very fine: the first rigidity and the hardness that need to ensure the pin are enough, and the second needs to ensure to rivet firmly in order to prevent that the pin from coming off, and the third needs to ensure that the clearance of pin and matching hole is reasonable, can be in the same direction as smooth rotation. Riveting of the knuckle pin typically requires multiple manual repairs by highly experienced and sophisticated technicians, and multiple verifications and validations, which significantly increases the manufacturing costs of the instrument. Optimally designing and manufacturing the disposable endoscope hand-held instrument with the performance similar to or even superior to that of a multiplexing instrument, and simultaneously remarkably reducing the overall cost, which is very difficult but has great significance.

Disclosure of Invention

Accordingly, to address the problems presented, a mounting base, an elongated shaft assembly, and a surgical instrument are provided that are effective in reducing manufacturing costs.

In yet another aspect of the invention, an elongate shaft assembly is provided that includes a base and mating first and second jaws and a drive head. The base includes a shoulder and first and second retaining arms extending to a distal end. The first jaw comprises a first jaw tail, a first jaw wrist connected with the first jaw tail and a first jaw head extending to a far end; the second jaw comprises a second jaw tail, a second jaw wrist connected with the second jaw tail, and a second jaw head extending to a distal end. The first jaw tail and the second jaw tail are clamped between the first fixing arm and the second fixing arm, the first jaw tail and the first fixing arm form a first rotating pair, and the second jaw tail and the second fixing arm form a second rotating pair; the driving head is clamped between the first jaw tail and the second jaw tail, the driving head and the first jaw tail form a first cam pair, and the driving head and the second jaw tail form a second cam pair. The driving head can translate along the direction of the central shaft, drives the first cam pair to slide relatively to force the first rotating pair to rotate mutually, and drives the second cam pair to slide relatively to force the second rotating pair to rotate mutually.

In one embodiment, the first revolute pair comprises a first outer pair and a first inner pair, and the second revolute pair comprises a second outer pair and a second inner pair.

In one embodiment, the first outer pair comprises a partial cylindrical mounting surface and a cut-out feature, the first inner pair comprises a partial cylinder and a narrow body feature, the partial cylindrical mounting surface and the partial cylinder form a first rotating pair, and the first rotating pair is disengageable when the first rotating pair is rotated to align the narrow body feature with the cut-out feature.

In yet another specific aspect, the elongate shaft assembly includes an extreme state, a critical state, and an operating state, and satisfies the following relationship: le1 is more than Lu1, Lw1 is less than or equal to Le 1;

lu1 is the driving head limit displacement, Le1 is the driving head critical displacement, and Lw1 is the driving head working displacement.

In one embodiment, the first and second jaw tails are sandwiched between the first and second fixed arms and are free to contact without additional pinning or additional securing means. In a further embodiment, the drive head is clamped between the first and second jaw tails and is in free contact without additional securing measures.

In yet another specific embodiment, the first jaw, the second jaw, the drive head and the base satisfy the following relationship: hw1+ Hj2+ δ 2 — Hb 1;

wherein: hw1 is the thickness dimension of the first jaw wrist, Hj2 is the thickness of the second jaw tail, delta 2 is the machining error, and Hb1 is the distance between the first fixing arm and the second fixing arm of the base.

In another specific embodiment, when the working opening angle Awork of the elongated shaft assembly is greater than or equal to 0 degrees and less than or equal to 60 degrees, the first jaw wrist is always in contact with the second jaw tail, the second jaw wrist is always in contact with the first jaw tail, and the first jaw wrist (the second jaw wrist) is designed to avoid the axial movement track of the driving head.

In a further embodiment, the drive head is clamped between the first and second jaw tail and is freely in contact without additional pinning or additional securing measures.

In yet another specific embodiment, the first jaw, the second jaw, the drive head and the base satisfy the following relationship: hj1+ Hj2+ Hd1+ δ 1 — Hb 1; wherein: hj1 is the thickness of the first jaw tail; hj2 is the thickness of the second jaw tail; hd1 is the thickness of the drive block; hb1 is the pitch of the first and second fixing arms, and δ 1 is the machining tolerance.

In a further specific embodiment, the first jaw tail comprises an annular first driven groove, and the driving head comprises a first driving lug, the first driving lug and the first driven groove are matched to form a first cam pair, and the following geometrical relationship is satisfied: lj1 is more than or equal to Ld 1; wherein Lj1 is the shortest distance between the geometric centroid of the far end of the first driven groove and the first secondary rotating axis along the buckling surface, and Ld1 is the shortest distance between the axial lead of the first driving lug and the central shaft.

In a further specific embodiment, the first jaw tail comprises a first driven groove and a first driven groove proximal opening forming a first driven groove open at a proximal end, and the drive head comprises a first drive lug, the first drive lug and the first driven groove mating forming a first cam pair. The elongated shaft assembly comprises three states, namely an extreme state, a critical state and a working state, wherein the first driving lug is completely separated from the first driven groove in the extreme state; in a critical state, the first driving lug is aligned with the proximal opening of the first driven groove; when the cam is in a working state, the first driving lug is matched with the first driven groove to form a first cam pair.

In another specific embodiment, the base comprises a shaft shoulder, and a first fixing arm and a second fixing arm which extend to the far end, wherein the shaft hole penetrates through the shaft shoulder, the motion base plane and the buckling plane are approximately perpendicularly intersected, and the intersection line of the motion base plane and the buckling plane is basically coincident with a first central axis of the shaft hole; the far end of the first fixing arm comprises a first boss extending from the first mounting surface to the movement base surface or a first fixing hole recessed from the first mounting surface to the inside of the fixing arm; the far end of the second fixing arm comprises a second boss extending from the second mounting surface to the movement base surface or a second fixing hole recessed from the second mounting surface to the inside of the fixing arm; the first boss or the first fixing hole is used for installing the first jaw and forming a first rotating pair capable of being quickly disassembled with the first jaw; the second boss or the second fixing hole is used for installing the second jaw and forming a second revolute pair which can be quickly disassembled with the second jaw.

In one version, the susceptor includes a first boss including a first stationary cylindrical portion having a cross-sectional diameter Df1 and a first narrow body feature having a cross-sectional width Bf1, where Bf1 < Df 1. The first cylindrical portion is used for connecting the first jaw to form a first rotating pair. The first narrow body feature enables the first jaw to be rotatably assembled into the base at a certain angle to form a first rotating pair with the first boss, and meanwhile, the first jaw can be rotatably disassembled at a certain angle to separate the first rotating pair.

In another scheme, the first narrow body feature and the fastening surface form an included angle Ap1, and Ap1 is greater than or equal to 0 and less than or equal to 45 degrees. The dynamic matching area (dynamic contact area) of the first rotating pair can be increased when the first jaw rotates to any angle in work.

In another embodiment, the base comprises a first boss and a second boss, an extension height Hf1 of the first boss, an extension height Hf2 of the second boss, and a spacing Hb1 between the first fixing arm and the second fixing arm, wherein Hf1 < 0.5 × Hb1, and Hf2 < 0.5 × Hb 1.

In yet another aspect, the diameter of the shaft bore Cd1, the minimum distance between the first boss and the second boss L1, wherein Cd1 < L1.

In another embodiment, the base further comprises a first reinforcing arm extending from the shoulder to the vicinity of the first boss and integrally connected to the first fixing arm, and a second reinforcing arm extending from the shoulder to the vicinity of the second boss and integrally connected to the second fixing arm, and having a height Hr 2; and the spacing Hb1 between the first fixed arm and the second fixed arm is equal to or less than 0.5 Hb1 of Hr1, and equal to or less than 0.5 Hb1 of Hr 2. The first reinforcing arm improves the deformation rigidity of the first fixing arm, so that the fixing is firmer, the deformation in application is smaller, and the movement of the instrument is smoother and more accurate.

In another scheme, the first reinforcing arm and the second reinforcing arm have proper length h, so that the first fixing arm and the second fixing arm have enough elasticity and enough rigidity, the first fixing arm and the second fixing arm do not need extra fixing measures, and only depend on the elasticity of the first fixing arm and the second fixing arm to give enough fixing force to a part installed between the first fixing arm and the second fixing arm, so that the fixed object is prevented from falling off, and the fixing force is prevented from being too large to hinder the flexible movement of the fixed object.

In yet another aspect of the present invention, a static tube assembly is provided comprising any one of the bases described above and a hollow tube connected thereto, the hollow tube comprising a tube distal end and a tube proximal end and a tube wall extending therebetween, the tube distal end being connected to the shoulder.

In one implementation scheme, the base of the static pipe assembly is manufactured by metal powder injection molding, and the base is connected with the hollow pipe in a welding mode.

In another implementation, the shoulder of the stationary tube assembly includes a fixed wall extending to a proximal end, the base is made by metal powder injection molding, the hollow tube is made of a thermoplastic material, and the distal end of the hollow tube is coated on the outer surface of the fixed wall by glue bonding or by thermal interference fit or by secondary injection.

In yet another embodiment, the shoulder of the static tube assembly comprises a fixed wall extending to a proximal end, the outer surface of the fixed wall further comprises one or more recesses and/or one or more protrusions, the base is made by metal powder injection molding, the hollow tube is made of metal material, and the distal end of the hollow tube is wrapped on the outer surface of the fixed wall and connected with the fixed wall by mechanical external force extrusion deformation.

In another implementation scheme, the base of the static pipe assembly and the first jaw form a first rotating pair capable of being quickly assembled and disassembled, and the base and the second jaw form a second rotating pair capable of being quickly assembled and disassembled, and no additional part is generated in the disassembling and reassembling processes of the first rotating pair and the second rotating pair.

In yet another implementation, the susceptor includes both a first boss and a second boss, wherein the first boss includes a first stationary cylindrical portion having a cross-sectional diameter Df1 and a first narrow body feature having a cross-sectional width Bf1, wherein Bf1 < Df 1; the first cylindrical portion is used for connecting the first jaw to form a first rotating pair.

In yet another implementation, the base includes both a first securing hole and a second securing hole, wherein the first securing hole includes a first cylindrical surface having a diameter Df3 and a first cutout having a width Bf3, wherein Bf3 < Df 3; the first cylindrical surface is used for connecting the first jaw to form a first rotating pair.

In yet another aspect of the invention, a surgical instrument for minimally invasive surgery is provided, comprising the aforementioned elongated shaft assembly, and further comprising a handle assembly coupled to the elongated rigid assembly.

Drawings

For a fuller understanding of the nature of the present invention, reference should be made to the following detailed description taken together with the accompanying figures in which:

FIG. 1 is a side schematic view of a base 30;

FIG. 2 is a distal to proximal projection view of the base 30;

FIG. 3 is a side schematic view of the base 30 a;

FIG. 4 is a side schematic view of the base 30 b;

FIG. 5 is a cross-sectional view taken from 5-5 of FIG. 4;

FIG. 6 is a side schematic view of the base 30 c;

FIG. 7 is a side schematic view of the base 30 d;

FIG. 8 is a cross-sectional view of 8-8 of FIG. 7;

FIG. 9 is a side schematic view of the base 30 e;

FIG. 10 is a distal-to-proximal projection view of the base 30 e;

FIG. 11 is a distal-to-proximal projection view of the base 30 f;

FIG. 12 is a cross-sectional view taken at 12-12 of FIG. 11;

FIG. 13 is a side schematic view of the base 30 g;

FIG. 14 is a distal-to-proximal projection view of the base 30 g;

FIG. 15 is a cross-sectional view of 15-15 of FIG. 13;

FIG. 16 is a side schematic view of the base 30 h;

FIG. 17 is a distal-to-proximal projection view of the base 30 h;

FIG. 18 is a side schematic view of the susceptor 30 i;

FIG. 19 is a cross-sectional view of 19-19 of FIG. 18;

FIG. 20 is a cross-sectional view 20-20 of FIG. 19;

FIG. 21 is a side schematic view of the still pipe assembly 4;

FIG. 22 is a cross-sectional view 22-22 of FIG. 21;

FIG. 23 is a side schematic view of the moving rod assembly 5;

FIG. 24 is a distal to proximal projection of the moving rod assembly 5;

FIG. 25 is a perspective view of the working jaw 10;

FIG. 26 is a perspective view of the working jaw 20;

FIG. 27 is a schematic view of a critical state of the elongate shaft assembly 2;

FIG. 28 is a partial perspective view of the head of the elongate shaft assembly 2;

FIG. 29 is a partial side elevational view of the head of the elongated shaft assembly 2;

FIG. 30 is a perspective view of the working jaw 20 a;

FIG. 31 is an inside projection view of the first jaw 10b (second jaw 20 b);

FIG. 32 is a projection view of the first jaw 10b (the second jaw 20b) perpendicular to the occlusal surface;

FIG. 33 is a schematic illustration of the method of assembly of the elongated shaft assembly 2 b;

FIG. 34 is a partial side elevational view of the head of the elongate shaft assembly 2 b;

FIG. 35 is a partial perspective view (from a proximal to a distal perspective) of the head of the elongate shaft assembly 2 b;

FIG. 36 is a partial perspective view (from a distal to a proximal perspective) of the head of the elongate shaft assembly 2 b;

FIG. 37 is a partial perspective view of the head of the elongate shaft assembly 2c (base hidden);

FIG. 38 is a side elevational view of the elongated shaft assembly illustrated in FIG. 37 (with the base shown);

FIG. 39 is a cross-sectional view 39-39 of FIG. 38;

FIG. 40 is a cross-sectional view 40-40 of FIG. 38;

FIG. 41 is a cross-sectional view 41-41 of FIG. 38;

FIG. 42 is a side schematic view of the handle of the instrument 1;

like reference numerals refer to like parts or components throughout the several views.

Detailed Description

Embodiments of the present invention are disclosed herein, however, it is to be understood that the disclosed embodiments are merely exemplary of the invention, which can be embodied in various forms. Therefore, the disclosure herein is not to be interpreted as limiting, but merely as a basis for the claims and as a basis for teaching one skilled in the art how to employ the present invention.

Referring to fig. 1, for convenience, the side next to the operator is defined as the proximal side, and the side further away from the operator is defined as the distal side. For laparoscopic procedures, a piercing cannula assembly (not shown) is typically used to establish surgical access to and from the body of the patient through the body cavity of the patient through which various minimally invasive instruments, such as instrument 1, may be inserted. One or more cannula assemblies may be used simultaneously during the procedure, and the instrument 1 may be configured to operate simultaneously with one or more other cannula assemblies depending on the surgical needs.

A typical endoscopic hand piece 1 comprises a base 30. Fig. 1-2 depict the structure and composition of the base 30 in detail. The base 30 comprises a shoulder 31 and a first fixing arm 33 and a second fixing arm 34 extending to the distal end, the first and second fixing arms forming a mounting space 300 with a distance Hb 1. The axle hole 32 penetrates through the shoulder 31, and the sport base plane 371 and the fastening plane 372 are approximately perpendicularly intersected, and the intersection line of the sport base plane and the fastening plane is basically coincident with the first central axis 37 of the axle hole 32. The distal end of the first fixing arm 33 includes a first boss 331 of height Hf1 extending from the first mounting surface 330 toward the movement base surface 371; the distal end of said second fixing arm 34 comprises a second boss 341 of height Hf2 extending from the second mounting surface 340 towards the movement base 371. The mounting surface 330, the mounting surface 340 and the base surface 371 are substantially parallel. In one embodiment, Hf1+ Hf2 < Hb 1.

In another embodiment, the first protrusion 331 and the second protrusion 341 are respectively disposed on two sides of the fastening surface 372 and are asymmetric; the first boss 331 and the second boss 341 are located on two sides of the base plane 371 and are asymmetric.

In yet another example, the diameter Cd1 of the shaft hole 32, and the minimum distance L1 between the first boss 331 and the second boss 341, where Cd1 < L1.

Fig. 3 depicts yet another susceptor 30a of the present invention. The geometric structures in fig. 3 are numbered the same as the corresponding numbers in fig. 1-2, indicating that the structures with the same numbers are substantially identical. The same reference numerals in the different embodiments below indicate substantially identical structures. The base 30a is similar in construction to the base 30, with the primary difference being the boss arrangement. Briefly, the base 30a includes a shoulder 31, a shaft hole 32, a motion base 371, a snap surface 372, a first fixing arm 33, and a second fixing arm 34. The distal end of the first fixing arm 33 of the base 30a includes a first boss 331a extending from the first mounting surface 330 toward the movement base surface 371; the distal end of the second fixing arm 34 of the base 30a includes a second boss 341a extending from the second mounting surface 340 toward the movement base surface 371. That is, the first boss 331a is substituted for the first boss 331 of the susceptor 30, and the first boss 341a is substituted for the second boss 341 of the susceptor 30, thereby constituting a new susceptor 30 a.

In one particular version, the first boss 331a includes a first stationary cylindrical portion 333a having a cross-sectional diameter Df1 and a first narrow body feature 334a having a cross-sectional width Bf1, where Bf1 < Df 1. In an alternative, the first cylindrical fixing portion 333a comprises two oppositely arranged cylindrical surfaces, and the first narrow feature comprises two oppositely arranged tangential planes, but may also comprise only one tangential plane or a shaped cut-out surface, forming a shaped cylinder 331a (or referred to as a shaped prism 331a) comprising a partial cylinder and a partial narrow body. In one implementation, the second boss 341a includes a second stationary cylindrical portion 343a having a cross-sectional diameter Df2 and a second narrow body feature 344a having a cross-sectional width Bf2, where Bf2 < Df 2. In an alternative, the second cylindrical fixing portion 343a comprises two oppositely disposed cylindrical surfaces, and the second narrow feature 344a comprises two oppositely disposed tangential planes, but may also comprise a tangential plane or a shaped cutaway surface, forming a shaped cylinder 341a (or a shaped prism 341a) comprising a partial cylinder and a partial narrow body.

In a preferred embodiment, the narrow body feature 334a forms an included angle Ap1 with the fastening surface 372, and the narrow body feature 344a forms an included angle Ap2 with the fastening surface 372, in a specific implementation, 0 ≦ Ap1 ≦ 45 °, and 0 ≦ Ap2 ≦ 45 °.

Fig. 4-5 depict yet another susceptor 30b of the present invention. The base 30b is similar in construction to the base 30, with the primary difference being the boss arrangement. Briefly, the base 30b includes a shoulder 31, a shaft hole 32, a motion base 371, a snap surface 372, a first fixing arm 33, and a second fixing arm 34. The distal end of the first fixing arm 33 of the base 30b includes a first fixing hole 331b recessed from the first mounting surface 330 toward the inside of the fixing arm; the distal end of the second fixing arm 34 of the base 30b includes a second fixing hole 341b recessed from the second mounting surface 340 toward the inside of the fixing arm. That is, the first boss 331 of the base 30 is replaced with the first fixing hole 331b, and the second boss 341 of the base 30 is replaced with the second fixing hole 341b, thereby constituting a new base 30 b.

Fig. 6 depicts yet another susceptor 30c of the present invention. The base 30c is similar in structure to the base 30, and is mainly different in the arrangement of the fixing holes. Briefly, the base 30c includes a shoulder 31, a shaft hole 32, a motion base 371, a snap surface 372, a first fixing arm 33, and a second fixing arm 34. The distal end of the first fixing arm 33 of the base 30c includes a first fixing hole 331c recessed from the first mounting surface 330 toward the inside of the fixing arm; the distal end of the second fixing arm 34 of the base 30c includes a second fixing hole 341c recessed from the second mounting surface 340 toward the inside of the fixing arm. The first fixing hole 331c includes a first cylindrical surface 333c having a diameter Df3 and a first notch 334c having a width Bf3, the notch 334c cutting a portion of the first fixing hole 331c to form a half-open structure, Bf3 < Df 3. The second fixing hole 341c includes a second cylindrical surface 343c having a diameter Df4 and a second slit 344c having a width Bf4, the slit 344c cutting a portion of the second fixing hole 341c to form a half-open structure, Bf4 < Df 4. That is, the first fixing hole 331b of the base 30b is replaced with a first fixing hole 331c having a cutout, and the second fixing hole 341b of the base 30b is replaced with a second fixing hole 341c having a cutout, thereby constituting a new base 30 c.

Fig. 7-8 depict yet another susceptor 30d of the present invention. The base 30d is similar in structure to the base 30, and is mainly different in the arrangement of the fixing holes. Briefly, the base 30d includes a shoulder 31, a shaft hole 32, a motion base 371, a snap surface 372, a first fixing arm 33, and a second fixing arm 34. The distal end of the first fixing arm 33 of the base 30c includes a first boss 331a extending from the first mounting surface 330 toward the movement base surface 371; the distal end of the second fixing arm 34 of the base 30c includes a second fixing hole 341b recessed from the second mounting surface 340 toward the inside of the fixing arm. That is, the second bosses 341a of the base 30a are replaced with the second fixing holes 341b, thereby constituting a new base 30 d.

Fig. 9-10 depict yet another susceptor 30e of the present invention. The base 30e is similar in structure to the base 30, and is mainly different in the arrangement of the fixing holes. Briefly, the base 30e includes a shoulder 31, a shaft hole 32, a motion base 371, a snap surface 372, a first fixing arm 33, and a second fixing arm 34. The distal end of the first fixing arm 33 of the base 30c includes a first fixing hole 331c recessed from the first mounting surface 330 toward the inside of the fixing arm; the distal end of the second fixing arm 34 of the base 30c includes a second boss 341 extending from the second mounting surface 340 toward the movement base surface 371. That is, the second boss 341 replaces the second fixing hole 341c of the base 30c, thereby constituting a new base 30 e.

Fig. 11 to 12 depict another base 30f of the present invention, the base 30f has substantially the same structure as the base 30d except that the first projection 331a and the second fixing hole 341b of the base 30 are respectively disposed on both sides of the movement base 371 and have symmetrical positional relationship (the axes of the first projection 331a and the second fixing hole 341b are coaxial).

Fig. 13-15 depict yet another pedestal 30g of the present invention, the pedestal 30g being similar in structure to the pedestal 30 a. Briefly, the base 30c includes a shoulder 31, a shaft hole 32, a motion base 371, a snap surface 372, a first fixing arm 33, a second fixing arm 34, a first protrusion 331a and a second protrusion 341 a. The base 30g further includes a first reinforcing arm 339g of height Hr1 extending from the shoulder 31 to adjacent the first projection 331a and integrally connected to the first retaining arm 33, and a second reinforcing arm 349g of height Hr2 extending from the shoulder 31 to adjacent the second projection 341a and integrally connected to the second retaining arm 34. The first and second reinforcing arms can improve the deformation rigidity of the first and second fixing arms to a large extent. In one embodiment, the first reinforcing arm 339g and the second reinforcing arm 349g are disposed on opposite sides of the fastening surface 372 and are asymmetric. In a specific scheme, Hr1 is not more than 0.5 Hb1, Hr2 is not more than 0.5 Hb1, and the arrangement can not only improve the deformation rigidity of the first fixing arm and the second fixing arm to a greater extent, but also simplify the manufacturing process of the base 30g and greatly reduce the manufacturing cost of parts.

Fig. 16-17 depict yet another pedestal 30h of the present invention, the pedestal 30h being similar in structure to the pedestal 30 g. Briefly, the base 30c includes a shoulder 31, a shaft hole 32, a motion base 371, a snap surface 372, a first fixing arm 33, and a second fixing arm 34. The distal end of the first fixing arm 33 includes a first prism 331h formed by a first cylindrical surface 332h and a plurality of side flat surfaces 333h, and the intersection line of the first cylindrical surface 332h and the plurality of side flat surfaces 333h is on the same virtual cylindrical surface. The distal end of the second fixed arm 34 includes a second prism 341h formed by a second cylindrical surface 342h and a plurality of side planes 343h, and the intersection line of the second cylindrical surface 342h and the plurality of side planes 343h is on the same virtual cylindrical surface. The base 30g further includes a first reinforcing arm 339h of height Hr1 extending from the shoulder 31 to adjacent the first prism 331h and integrally connected to the first retaining arm 33, and a second reinforcing arm 349h of height Hr2 extending from the shoulder 31 to adjacent the second boss 341a and integrally connected to the second retaining arm 34. The first and second reinforcing arms can improve the deformation rigidity of the first and second fixing arms to a large extent. In one embodiment, the first reinforcing arm 339g and the second reinforcing arm 349g are disposed on opposite sides of the fastening surface 372 and are asymmetric. In a specific scheme, Hb1 is more than Hr1 and more than 0.5 Hb1, Hb1 is more than Hr2 and more than 0.5 Hb1, and the arrangement can not only improve the deformation rigidity of the first fixing arm and the second fixing arm to a greater extent, but also simplify the manufacturing process of the base 30h and greatly reduce the manufacturing cost of parts. The base 30h is more simplified in the manufacturing process than the base 30g, and the first and second arms thereof are more rigid in deformation.

It will be appreciated by those skilled in the art from the disclosure of the present invention and the accompanying description provided above that the

bases

30,30b,30c,30d,30e,30f can be supplemented with first and second reinforcement arms that are identical or similar to the base 30 g; the

bases

30b,30c may be augmented with first and second stiffening arms that are the same or similar to the base 30 h; the rigidity of deformation of the first and second fixing arms is improved to a large extent without increasing the manufacturing cost of the base.

Fig. 18-20 depict yet another susceptor 30i of the present invention, the susceptor 30i being similar in structure to the susceptor 30 g. Briefly, the base 30c includes a shoulder 31, a shaft hole 32, a motion base 371, a locking surface 372, a first fixing arm 33, a second fixing arm 34, a first protrusion 331, and a second protrusion 341. The base 30i further includes a first reinforcing arm 339i of height Hr1 extending from the shoulder 31 to adjacent the first projection 331 and integrally connected to the first retaining arm 33, and a second reinforcing arm 349i of height Hr2 extending from the shoulder 31 to adjacent the second projection 341 and integrally connected to the second retaining arm 34. The first and second reinforcing arms can improve the deformation rigidity of the first and second fixing arms to a large extent.

In one design, the first stiffening arm 339i includes a first position-defining cylindrical portion 337i and the second stiffening arm 349i includes a second position-defining cylindrical portion 347i, the first and second position-defining cylindrical portions shown in fig. 19-20 being of the same diameter as the axial bore 32, although the diameter of the

cylindrical portions

337i, 347i can also be smaller than the diameter of the axial bore 32.

In one embodiment, the first reinforcing arm 339i (the second reinforcing arm 349i) has a sufficient length h, so that the first fixing arm 33 and the second fixing arm 34 have sufficient elasticity and sufficient rigidity, and the first fixing arm and the second fixing arm do not need additional fixing measures, and only rely on the elasticity of the first fixing arm and the second fixing arm to give enough fixing force to a part installed between the first fixing arm and the second fixing arm, so that the fixed object is prevented from falling off, and the fixing force is prevented from being too large to block the flexible movement of the fixed object. The specific value can be obtained by finite element method calculation and experimental verification.

The base 30(30a,30b,30c,30D,30e,30f,30g,30h,30i) may be manufactured by a variety of methods, such as removing material from a metal bar (e.g., milling chips) or welding a plurality of pieces together, or by 3D printing. In order to reduce the manufacturing cost of the parts to a greater extent for use in disposable devices, the base is preferably produced by Powder Metal Injection Molding (hereinafter MIM) or Metal casting (hereinafter MC process) or high strength plastic Injection Molding (hereinafter IM process). MIM is a novel powder metallurgy forming technology formed by introducing modern plastic injection molding technology into the field of powder metallurgy. Briefly, metal powder (for example, 17-4PH, SUS316, SUS440 stainless steel metal powder, etc.) is prepared, then solid powder is uniformly mixed with organic binder, then the mixture is injected into a die cavity by an injection molding machine in a heating and plasticizing state for solidification molding, then the binder in a molded blank is removed by a chemical or thermal decomposition method, and finally the final product is obtained by sintering and densification. The MIM process is adopted for mass production, so that the requirements on precision and strength are met, and the cost of a single piece is greatly reduced. It will be appreciated by those skilled in the art that the die of the base 30(30a,30b,30c,30g,30h,30i) is less expensive to manufacture and the parts are more efficient to produce when manufactured using the MIM process.

Referring to fig. 21-22, a static tube assembly 4 comprises a base of any of the foregoing and a hollow tube 40 connected thereto, the hollow tube 40 comprising a tube distal end 41 and a tube proximal end 49 and a tube wall 45 extending therebetween, the tube wall 45 defining a central through bore 46 substantially concentric with the axial bore 32, the tube distal end 41 being connected to the shoulder 31. It will be appreciated by those skilled in the art that the base and the hollow tube 40 may be attached by a variety of means including, but not limited to, welding, threading, gluing, and the like. As shown in fig. 22, the shoulder 31 preferably further includes a retaining wall 35 extending proximally. In an alternative embodiment, the outer surface of the fixing wall 35 further comprises one or more recessed portions 351, and/or one or more raised portions 353; however, the outer surface of the fixing wall 35 may be a smooth plane or curved surface without a convex-concave structure. In one embodiment, the hollow tube 40 is made of a thermoplastic material, and then the distal end 41 of the hollow tube 40 is coated on the outer surface of the fixing wall 35 by glue bonding, interference fit (heat-assisted assembly is possible), or two-shot molding (as shown in fig. 22). The secondary injection molding method is to put the base into a designed injection mold in advance, and then inject the hollow tube 40 to connect it into a whole. In another alternative, the hollow tube 40 is made of a metal material (e.g., stainless steel material), the distal end 41 of the hollow tube 40 is sleeved on the outer surface of the fixing wall 35 and the hollow tube 40 is connected to the fixing wall 35 by pressing, for example, a pressing tool or a hydraulic tool is used to apply a pressing force on the outer circumference of the distal end 41 of the tube to force the distal end 41 of the tube to contract inwardly and deform so as to connect to the fixing wall 35.

Referring to fig. 23-24, a travel rod assembly 5 includes a drive head 70 and a drive rod 80 connected thereto. The drive head 70 comprises a second central axis 71, and a virtual first transverse plane 711 and a virtual first longitudinal plane 712 substantially perpendicularly intersect, the intersection line of which substantially coincides with the second central axis 71. The first and second translation planes 74, 75 are substantially parallel to the longitudinal plane 712 and define a drive block 73 having a thickness Hd 1. The first drive lug 740 extends from the translation surface 74 to a height Hp1 outside the block 73; the second drive lug 750 extends from the translation surface 75 to a height Hp2 outside the block 73. The geometric center of first drive lug 740 is spaced from central axis 71 by distance Ld1, the geometric center of second drive lug 750 is spaced from central axis 71 by distance Ld2, and Ld1 and Ld2 may be equal or different. In one aspect, the first drive lug 740 and the second drive lug 750 are located on opposite sides of the longitudinal plane 712 and are asymmetric; the first drive lug 740 and the second drive lug 750 are located on opposite sides of the transverse plane 711 and are asymmetrical. The first and second translation surfaces 74, 75 extend proximally to intersect the drive neck 72, and the lug 740 (or lug 750) is located at the shortest distance Ldx1 from the drive neck 72 in the axial direction. The drive rod 80 includes a rod distal end 81 and a rod proximal end 89 with a rod portion 85 extending therebetween, the rod proximal end 89 including an annular slot 88 substantially perpendicular to the drive rod axis, the rod distal end 81 being connected to the drive neck 72, the axis of the drive rod 80 being substantially coincident with the second central axis 71.

Referring to fig. 25 and 29, a working jaw 10 whose proximal end comprises a first jaw tail 13 of thickness Hj1 defined by a first outer side 11 and a first inner side 12. The first base hole 14 is recessed from the first outer side surface 11 toward the inside of the jaw tail 13, and the first driven groove 15 is recessed from the first inner side surface 12 toward the inside of the jaw tail 13. A first wrist 16 is integral with the first tail 13 and extends distally to form a first jaw head 19. The first base hole 14 includes a first cylindrical base surface 142 having a diameter Dr1 and a first cutout 141 having a width Br1, the cutout 141 cutting away a portion of the cylindrical base surface 142 to form a semi-open structure. In an alternative, Br1 < Dr 1. The first follower slot 15 includes a first follower slot proximal opening 151 having a width dimension Ss 1. The first follower groove 15 shown in fig. 25 does not extend through the first lateral surface 11, but can extend completely through the jaw tail 13; the first base hole 14 shown in fig. 25 extends completely through the jaw tail 13 and may or may not extend through to the first inner side 12.

Referring to fig. 26 and 29, a working jaw 20 has a proximal end comprising a second jaw tail 23 of thickness Hj2 defined by a second outer lateral surface 21 and a second inner lateral surface 22. The second base pillar 24 is protruded from the second outer side surface 21 to the outside of the jaw tail, and the second driven groove 25 is recessed from the second inner side surface 22 to the inside of the jaw tail 23. The second wrist 26 is integrally connected to the second tail 23 and extends distally to form a second jaw head 29.

Referring to fig. 27-29, an elongated shaft assembly 2 includes a static tube assembly consisting of a base 30d and a hollow tube 40, a moving rod assembly 5, a working jaw 10 and a working jaw 20. Wherein the first and

second tangs

13, 23 are sandwiched between the first and second retaining

arms

33, 34 of the base 30d, the first mounting surface 330 mates with the first outer side 11, and the second mounting surface 340 mates with the second outer side 21. The first boss 331a is matched with the first base hole 14 to form a first rotating pair 100; the second fixing hole 341b is matched with the second base cylinder 24 to form the second revolute pair 200.

The drive head 70 is sandwiched between the first and second jaw tails with the first translation surface 74 mating with the first inner side 12; the second translation surface 75 mates with the second inner side 22; the first driving lug 740 is matched with the first driven groove 15 to form a first cam pair 700; the second driving lug 750 is matched with the second driven groove 25 to form a second cam set 800 (not shown). The driving head 70 is movable in translation in the axial direction, forcing the first driving lug 740 and the first driven slot 15 into relative movement so as to drive the first jaw 10 in rotation about the first revolute pair 100; the second driving lug 750 and the second driven groove 25 move relatively to each other to drive the second jaw 20 to rotate around the second revolute pair 200.

Referring now to fig. 27-29, in yet another embodiment, the elongated shaft assembly 2 includes three states, an extreme state, a critical state and an operating state, and the driver head 70 includes three states, namely, an extreme displacement Lu1, a critical displacement Le1 and an operating displacement Lw1 (displacement measurement: shortest distance of the first drive lug 740 from the first boss 331a in the axial direction). In fig. 27 to 28, the base 30d is subjected to a see-through (virtual) process and is indicated by a two-dot chain line, and the see-through (virtual) process is shown in any of the following configurations indicated by two-dot chain lines.

The limiting state is as follows: lu1 < Ldx1, in which the first cam pairs are disengageable from each other in the extreme state, i.e. the working jaw 10 can be rotated about the first rotation pair to disengage the first drive lug 740 completely from the first driven groove 15, and the jaw tail is shaped and dimensioned so that it does not interfere with the drive neck 72 during rotation, which state is called the extreme state.

Critical state: le1 < Lu1, the working jaw can be rotated about the first revolute pair 100 to align the first drive lug 740 with the first driven slot proximal opening 151 a. In such critical condition, when the driving head 70 is moved from the proximal end to the distal end, the lug 740 is completely disengaged from the driven groove 15, i.e. the limit condition is reached; when the drive head 70 is moved distally to proximally, the lugs 740 engage the follower grooves 15 and transition to the operative configuration.

The working state is as follows: lw1 ≦ Le1, and the first driving lug 740 enters the first driven groove 15 through the first driven groove proximal opening 151 and mates therewith to form the first cam set 700. In the working state, when the driving head 70 is moved from the proximal end to the distal end, the first cam pair 700 (the second cam pair 800) slides relative to each other, so as to push the working jaws 10 (the working jaws 20) to open or close around the revolute pair.

The slender shaft assembly 2 can be quickly disassembled and assembled, and fine pin shafts or other fine scattered parts do not need to be assembled or disassembled in the assembling and disassembling process, so that the assembling and disassembling efficiency can be greatly improved, the assembling cost and the rejection rate of finished products are greatly reduced, and the overall cost of disposable instruments is greatly reduced. The assembly method is simple, firstly, the driving head 70 is placed in the base 30d, the working jaw 20 is firstly installed, the second driving lug 750 is adjusted to be matched with the second driven groove 25 to form the second cam pair 800, and the second fixing hole 341b is matched with the second base column 24 to form the second revolute pair 200; the drive head is then placed into the extreme displacement Lu1, the first narrow body feature 334a is inserted in alignment with the first notch 141, rotated to mate the first stationary cylindrical portion 333a with the first cylindrical base surface 142 to form the first revolute pair 100, and finally the working jaw 10 is rotated and the drive head 70 is moved to cause the first drive lug 740 to enter the first driven slot 15 via the first driven slot proximal opening 151 and mate therewith to form the first cam pair 700. The method of disassembly of the elongated shaft assembly 2 is the reverse of the assembly method described above and will be readily understood by those skilled in the art in view of the text and will not be described in detail. An additional limiting mechanism can be added, so that the instrument 1 can limit the displacement of the driving head 70 to a working displacement Lw1 which is less than or equal to Le1 in the using process, and the working jaw can be effectively prevented from being separated out in the using process. In the simplest case, the hollow tube 40 and the drive rod 80 are reasonably arranged in length, so that when the elongate shaft assembly 2 and the handle assembly are assembled into a whole, the limit of the handle assembly ensures that Lw1 is not less than Le 1. Other stop mechanisms are also conceivable to those skilled in the art, having the idea of the invention.

Yet another elongate shaft assembly 2a (not shown) includes a base 30e, a drive head 70, a working jaw 10a and a working jaw 20 a. Fig. 30 depicts a further working jaw 20a, which working jaw 20a is structurally similar to the working jaw 20, differing only by the provision of a base pillar and a driven groove, in brief the second tail 23 of the working jaw 20a comprising a second base pillar 24a extending from the second outer side 21 to the outside of the tail and a second driven groove 25a recessed from the second inner side 22 to the inside of the tail. The second base pillar 24a includes a second cylindrical base 242a having a diameter Dr4 and a second narrow body feature 241a having a width Br4, Br4 < Dr 4. The second follower slot 25a includes a second follower slot proximal opening 251 a. A further working jaw 10a (not shown in the figures) is similar to the working jaw 10, differing only in the arrangement of the base hole and the driven groove, in brief the first base hole 14a of the working jaw 10a does not comprise a first incision, and the first driven groove 15a of the working jaw 10a does not comprise a driven groove proximal opening.

The elongate shaft assembly 2a also includes an extreme condition, a critical condition and an operative condition. The assembly and disassembly process does not need to install or disassemble tiny pin shafts or other tiny scattered parts. Briefly, the driving head 70 is first placed in the base 30e, the working jaw 10 is first installed, and the first driving lug 740 is adjusted to match the first driven groove 15a to form the first cam pair 700a and the first boss 331 is adjusted to match the first base hole 14a to form the first rotating pair 100 a; the drive head is then displaced to its maximum, the second narrow body feature 241a is inserted in alignment with the second cutout 344c, rotated to mate the second cylindrical base 242a with the second cylindrical surface 343c to form the second revolute pair 200a, and finally the working jaws 20 are rotated and the drive head 70 is moved to cause the second drive lug 750 to enter the second driven slot 25 through the second driven slot proximal opening 251a and mate therewith to form the second cam pair 800 a. The method of disassembly of the elongate shaft assembly 2a is the reverse of the assembly method described above and will be readily understood by those skilled in the art in conjunction with the drawings and will not be described in detail.

It will be appreciated by those skilled in the art that various alternatives or combinations of first (second) bosses, first (second) base holes, first (second) base posts, first (second) fixing holes, first (second) cutouts, and first (second) narrow body features may be substituted or combined to create different designs. For example, the first rotating pair may be composed of the first boss and the first base hole, and may also be composed of the first fixing hole and the first base pillar. The foregoing embodiments have been set forth in several combinations and, based on the foregoing description, it should be appreciated by those skilled in the art that the following general language sets forth one of the concepts of the invention:

in summary, the first revolute pair includes a first outer pair (e.g. the fixing hole on the fixing arm or the base hole on the jaw tail) and a first inner pair (e.g. the boss on the fixing arm or the base post on the jaw tail), and similarly, the second revolute pair includes a second outer pair and a second inner pair. In one arrangement, the first outer pair comprises a partial cylindrical mounting surface and a cut-out feature, the first inner pair comprises a partial cylindrical body and a narrow body feature, the partial cylindrical mounting surface and the partial cylindrical body comprise a first revolute pair, and when the first revolute pair is rotated to align the narrow body feature and the cut-out feature, the first revolute pair can be disengaged and rotationally disassembled. When the first revolute pair can be rotationally disassembled, the second revolute pair does not need to contain the narrow body feature and the cut-out feature, and still can be conveniently disassembled. Of course, the second revolute pair may likewise include a narrow body feature and a cut-out feature. Different combinations may change the assembly method of the components or the refined performance differences, and further combinations and substitutions of the distinguishing technical features are also conceivable. For economy of space, it is not exhaustive here.

The function (advantageous effect) of the base according to the present invention should be easily understood by those skilled in the art after understanding the inventive concept described above. The base is used for connecting (mounting) the first jaw and the second jaw. The base 30a (30d, 30f) includes a first boss including a first stationary cylindrical portion having a cross-sectional diameter Df1 and a first narrow body feature having a cross-sectional width Bf1, where Bf1 < Df 1. The first cylindrical part is used for connecting the first jaw to form a first rotating pair, the first narrow body characteristic enables the first jaw to be rotatably assembled into the base at a certain angle to form the first rotating pair with the first boss, and meanwhile, the first jaw can be rotatably disassembled at a certain angle to enable the first rotating pair to be separated.

In a preferable scheme, the first narrow feature and the buckling surface form an included angle Ap1, wherein Ap1 is greater than or equal to 0 and less than or equal to 45 degrees, and during the process that the first jaw rotates to any angle in work, the dynamic matching area (dynamic contact area) of the first rotating pair can be increased, so that the matching is tighter and smoother, and more accurate feedback information is provided for an operator in clinical application.

The base 30c (30e) includes a first securing hole having a first cylindrical surface with a diameter Df3 and a first cutout with a width Bf3, wherein Bf3 < Df 3. Similarly, the first cylindrical surface is used for connecting the first jaw to form a first rotating pair, the first notch enables the first jaw to be rotatably assembled into the base at a certain specific angle to form the first rotating pair with the first fixing hole, and meanwhile, the first jaw can be rotatably disassembled at a certain specific angle to enable the first rotating pair to be separated. When the first revolute pair can be rotatably assembled or disassembled, the second revolute pair does not need to contain the narrow body feature and the cut-out feature, and can still be conveniently disassembled.

In connection with the foregoing, it is understood that the geometry of the aforementioned seats 30a (30d, 30e,30 f) participates in constituting a first inner or a first outer pair of first revolute pairs. The first outer pair comprises a partial cylindrical fixing surface and a notch feature, the first inner pair comprises a partial cylinder and a narrow body feature, the partial cylindrical fixing surface and the partial cylinder form a first rotating pair, when the first rotating pair rotates to align the narrow body feature and the notch feature, the first rotating pair can be separated, and the first rotating pair can be rotatably disassembled. When the first revolute pair can be rotationally disassembled, the second revolute pair does not need to contain the narrow body feature and the cut-out feature, and still can be conveniently disassembled. When the base 30a (30d, 30e,30 f) is used to form a surgical instrument (a head assembly or an elongated shaft assembly of a surgical instrument), it can be quickly disassembled and assembled without the need to install or disassemble tiny pins or other tiny discrete components during the assembly and disassembly process. Therefore, the problem that the riveting of the knuckle pin is usually finished by multiple times of manual repair by experienced advanced technicians and multiple times of verification and confirmation, which greatly increases the manufacturing cost of the device, is solved, the consistency of disposable products is improved, and the manufacturing cost is greatly reduced.

It should be understood by those skilled in the art that the base 30a (30d, 30f) has a relatively lower cost for manufacturing parts than the base 30c (30e), but the base 30a (30d, 30f) has a higher strength and a larger dynamic fit area (dynamic contact area) of the first rotating pair and a better experience in use on the premise of the same size.

Fig. 31-34 depict yet another elongate shaft assembly 2b of the present invention. The elongated shaft assembly 2b includes a first jaw 10b, a second jaw 20b, a base 30g, and a hollow tube 40 and a moving rod assembly 5 connected thereto.

Fig. 31-32 depict in detail the structure and composition of the first jaw 10b and the second jaw 20 b. The first jaw 10b (second jaw 20b) is similar to the working jaw 10 (working jaw 20) described above, with the main difference being the arrangement of the jaw wrist, base hole and driven slot. Briefly, the first jaw 10b includes a first outer side 11, a first inner side 12, a first jaw tail 13, a first jaw wrist 16, and a first jaw head 19. The first base hole 14b is recessed from the first outer side surface 11 toward the inside of the jaw tail 13, and the first driven groove 15b is recessed from the first inner side surface 12 toward the inside of the jaw tail 13. The first base hole 14b includes a first cylindrical base surface 142b having a diameter Dr1 and a first cutout 141b having a width Br1, the cutout 141b cutting a portion of the cylindrical base surface 142b to form a semi-open structure. The first follower slot 15b includes a first follower slot distal end 159b and generally parallel slot sides extending from the slot distal end to a first follower slot proximal end 151 b. The proximal groove end 151b, the groove sides and the distal groove end 159b form a closed race-track type annular groove. Although the groove sides are shown as straight surfaces, curved surfaces are also possible. The first jaw arm 16b comprises a first support surface 17 b.

The second jaw 20b includes a second outer side 21, a second inner side 22, a second jaw tail 23, a second jaw wrist 26, and a second jaw head 29. The second base hole 24b is recessed inwardly of the jaw tail 23 from the second outer side surface 21, and the second follower groove 25b is recessed inwardly of the jaw tail 23 from the second inner side surface 22. The second base hole 24b includes a second cylindrical base surface 242b having a diameter Dr2 and a second cutout 241b having a width Br2, the cutout 241b cutting a portion of the cylindrical base surface 242b to form a half-open structure. The second driven slot 25b includes a second driven slot distal end 259b and generally parallel slot sides extending from the slot distal end to the second driven slot proximal end 251 b. The proximal end 251b, sides and distal end 259b of the groove form a closed race-track type annular groove. The second jaw arm 26b includes a second bearing surface 27 b.

Referring now to fig. 33-34, the first jaw 10b, the second jaw 20b are sandwiched between the first securing arm 33 and the second securing arm 34 of the base 30 g; the first outer side 11 is matched with the first mounting surface 330, the second outer side 21 is matched with the second mounting surface 340, the first supporting surface 17b is matched with the second inner side 22, and the second supporting surface 27b is matched with the first inner side 12; the first boss 331a and the first base hole 14b constitute a first revolute pair 100b, and the second boss 341a and the second base hole 24b constitute a second revolute pair 200 b.

The driving head 70 is clamped between the first jaw tail 13b and the second jaw tail 23b, between the first inner side surface 12d and the second inner side surface 22d, and the first driven chute 15b and the first driving lug 740 form a first cam pair 700 b; the second driven chute 25b and the second driving lug 750 constitute a second cam set 800 b. The movement and drive relationship will be readily understood by those skilled in the art in conjunction with the foregoing. In brief, when the driving head 70 moves along the axis, the first cam pair 700b slides relatively, causing the first jaw 10b to open or close rotationally about the first revolute pair 100 b. The interaction between the drive head 70 and the second jaw 20b is similar and will not be described in detail.

The slender shaft assembly 2b can be quickly disassembled and assembled, and fine pin shafts or other fine scattered parts do not need to be assembled or disassembled in the assembling and disassembling process. The assembling method and the steps of the slender shaft component 2b are as follows:

s1, the first jaw, the second jaw and the moving rod component 5 are matched: inserting the first drive lug 740 into the first driven slot 15b to form a first cam set 700b and the second drive lug 750 into the second driven slot 25b to form a second cam set 800b, and rotating the first and second jaws to match the first translation surface 74 to the first inner side 12 and the second translation surface 75 to the second inner side 22;

s2, matching with the base: loading the assembled components from step S1 into a base 30g together by first mating the first outer side 11 with the first mounting surface 330 and the second outer side 21 with the second mounting surface 340 and aligning the first narrow body feature 334a with the first cutout 141b and the second narrow body feature 344a with the second cutout 241 b; the first and second jaws are then translated and rotated such that the first cylindrical base surface 142b mates with the first stationary cylindrical portion 333a to form a first revolute pair 100b and the second cylindrical base surface 242b mates with the second stationary cylindrical portion 343a to form a second revolute pair 200b (as understood with reference to fig. 33-34).

In one specific design, the shortest distance between the geometric centroid of the slot distal end 159b and the center of the first base hole 14b along the snap plane is Lj1, where Lj1 ≧ Ld 1. Similarly, in the elongate shaft assembly 2b, the drive head 70 includes three states, an extreme state, a critical state and an operating state, and the drive head 70 includes an extreme displacement Lu2 (when the first narrow body feature 334a is completely disengaged from the first notch 141 b), a critical displacement Le2 (when the first narrow body feature 334a is aligned with the first notch 141 b) and an operating displacement Lw2 (when the first cylindrical base surface 142b is mated with the first stationary cylindrical portion 333 a) to form the first revolute pair 100 b). The slender shaft assembly 2b can be disassembled and assembled quickly, and fine pin shafts or other fine scattered parts do not need to be assembled or disassembled in the assembling and disassembling process. Compared with the slender shaft assembly 2 (2a), the first cam pair and the second cam pair are formed by closed runway-type annular grooves, so that the strength of the jaw tail can be enhanced, sharp corners on the appearance of the instrument can be reduced, and accidental injury in clinical application can be reduced.

In yet another aspect of the invention, an elongate shaft assembly includes a first jaw, a second jaw, and a base. The base comprises a shaft shoulder, a first fixing arm and a second fixing arm, the first fixing arm and the second fixing arm extend to the far end, the shaft hole penetrates through the shaft shoulder, the motion base surface and the buckling surface are approximately vertically intersected, and the intersection line of the motion base surface and the buckling surface is basically overlapped with a first central shaft of the shaft hole. The first jaw comprises a first jaw tail and the second jaw comprises a second jaw tail; the first and second jaw tails are sandwiched between the first and second fixed arms and are free to contact without additional pinning or additional securing means.

In an alternative embodiment, the first and second tangs are sandwiched between the first and second fixed arms, wherein the first tang and the first fixed arm form a first under-constrained revolute pair and the second tang and the second fixed arm form a second under-constrained revolute pair.

In a specific embodiment, the first under-constrained revolute pair comprises a first outer cylindrical surface and a first inner cylindrical surface; the first rotation axis of the first under-constrained revolute pair is approximately parallel to the fastening plane and approximately perpendicular to the motion base plane; the first outer and inner cylinders contain 2 degrees of freedom, namely rotational freedom about the first axis of rotation and translational freedom along the first axis of rotation. Similarly, in a specific embodiment, the second under-constrained revolute pair comprises a second outer cylindrical surface and a second inner cylindrical surface; the second rotation axis of the second under-constrained revolute pair is substantially parallel to the fastening plane and substantially perpendicular to the motion base plane; the second outer and inner cylinders contain 2 degrees of freedom, namely a rotational degree of freedom about the second axis of rotation and a translational degree of freedom along the second axis of rotation.

The two members constituting the revolute pair (i.e., the fixed arm and the jaw tail described in the present invention) are generally studied as rigid bodies in the linkage mechanics, and the two members constituting the revolute pair allow only a rotational degree of freedom about the rotational axis of the revolute pair without other degrees of freedom in the mechanics. The extensive use of standard revolute pairs in minimally invasive surgical instruments has led to the fact that the "riveting of the articulation pins" described in the background is usually done by multiple manual repairs, verified and confirmed by highly experienced technicians, which greatly increases the manufacturing costs of the instruments.

In the invention, two components (the fixing arm and the jaw tail) forming the revolute pair are taken as elastic bodies for research, the revolute pair is allowed to have 2 degrees of freedom, and the first jaw tail and the second jaw tail are clamped between the first fixing arm and the second fixing arm and are in free contact without additional pin shaft fixing or additional fixing measures by utilizing the elastic deformation of the fixing arm and the stress characteristics of a minimally invasive surgical instrument in working. By utilizing the elastic deformation self-adaptive capacity of the fixed arm, the first (second) under-constrained revolute pair can ensure that the connection part can firmly fall off and can smoothly rotate.

In one embodiment, the first jaw, the second jaw, the drive head and the base satisfy the following relationship: hj1+ Hj2+ Hd1+ δ 1 — Hb 1;

wherein: hj1 is the thickness of the first jaw tail; hj2 is the thickness of the second jaw tail; hd1 is the thickness of the drive block; hb1 is the pitch of the first and second fixing arms, and δ 1 is the machining tolerance.

With continued reference to fig. 31-34, in yet another particular design, the dimensions of the first jaw wrist 16b satisfy the following relationship: hw1+ Hj2+ δ 2 ═ Hb1, where: hw1 is the thickness dimension of the first jaw arm 16b, Hj2 is the thickness of the second jaw tail 23b, δ 2 is the machining tolerance, and Hb1 is the distance between the first and second fixing arms of the base.

With continued reference to fig. 31-34, in yet another particular design, the dimensions of the second jaw wrist 26b satisfy the following relationship: hw2+ Hj1+ δ 3 ═ Hb1, where: hw2 is the thickness dimension of the second jaw arm 26b, Hj1 is the thickness of the first jaw tail 13b, δ is the machining tolerance, and Hb1 is the distance between the first and second fixing arms of the base.

Referring now to FIGS. 34-36, in yet another specific embodiment, the elongated shaft assembly 2b has an operational opening angle Awork, typically 0 ° ≦ Awork ≦ 80 °, the first wrist 16b (first wrist 26b) is contoured such that the first support surface 17b is always in contact with the second inner side surface 22, the second support surface 27b is always in contact with the first inner side surface 12, and the first wrist 16b (second wrist 26) is contoured to avoid the axial movement path of the drive head 70 within the operational opening angle Awork of the elongated shaft assembly 2b, i.e., the first wrist 16b (second wrist 26) and the drive head 70 do not interfere with each other during operation of the elongated shaft assembly 2 b. The reasonable arrangement of the first jaw wrist and the second jaw wrist is beneficial to increasing the dynamic matching area (dynamic contact area) between the first jaw and the second jaw and the base when the first jaw and the second jaw rotate to any angle in work, so that the movement or swing of the first jaw and the second jaw in work is reduced, the matching is tighter and smoother, and more accurate feedback information is given to an operator in clinical application.

Those skilled in the art will readily appreciate the benefits of the base 30g (30h, 30i) with respect to understanding that the present invention is "quick to disassemble and assemble, and does not require the installation or disassembly of tiny pins or other tiny loose parts during the assembly and disassembly" herein. The first reinforcing arm with the height of Hr1 of the base 30g (30h) can greatly improve the deformation rigidity of the first fixing arm, and when a part base 30g (30h) is machined and manufactured, the first reinforcing arm is beneficial to improving the machining deformation resistance; when the base 30g (30h) is used to construct a surgical instrument (a head assembly or an elongated shaft assembly of a surgical instrument), it can be quickly disassembled and assembled without the need to install or disassemble tiny pins or other tiny scattered parts during the assembly and disassembly processes, and the first reinforcing arm improves the deformation rigidity of the first fixing arm so that the fixation is firmer and the deformation in application is smaller, the instrument movement is smoother and more accurate, and more accurate feedback information is given to surgeons during clinical application. When Hr1 is less than or equal to 0.5 Hb1, the arrangement can simplify the mold design and the subsequent processing process of the MIM manufacturing method of the base 30g to a greater extent, and greatly reduce the manufacturing cost of parts.

37-41 depict yet another elongate shaft assembly 2c of the present invention. The elongated shaft assembly 2c includes a first jaw 10c, a second jaw 20c, a base 30i, and a hollow tube 40 and a moving rod assembly 5 connected thereto.

The base 30i is hidden from view in fig. 37 for ease of viewing, as will be appreciated in conjunction with fig. 18 and 38. The first jaw 10c comprises a first wrist 16c and a first tail 13c extending to a proximal end and a first jaw head 19c extending to a distal end, the distal end of the first tail comprising a first base aperture 14c and the proximal end of the first tail comprising a first driven slot 15 c. The first jaw 19c includes a first bent blade 191c and a first blade 195 c. The second jaw 20c includes a second wrist 26c and a second tail 23c extending to a proximal end and a second jaw head 29c extending to a distal end, the distal end of the second tail including a second base aperture 24c and the proximal end including a second driven slot 25 c. The second jaw 29c includes a second curved blade 291c and a second cutting edge 295 c.

The first jaw 10c, the second jaw 20c are sandwiched between a first fixing arm 33 and a second fixing arm 34 of the base 30 i; the first blade 195c is in contact with the second blade 295 c; the first boss 331 and the first base hole 14c constitute a first revolute pair 100c, and the second boss 341 and the second base hole 24c constitute a second revolute pair 200 c. The drive head 70 is clamped between the first jaw tail 13b and the second jaw tail 23b, and the first driven groove 15c and the first drive lug 740 form a first cam pair 700 c; the second driven groove 25c and the second driving lug 750 constitute a second cam set 800 c. The movement and drive relationship will be readily understood by those skilled in the art in conjunction with the foregoing. In brief, when the driving head 70 moves along the axis, the first cam pair 700c slides relatively, causing the first jaw 10c to open or close rotationally about the first revolute pair 100 c; the second cam pair 800c slides relatively to open or close the second jaw 20c around the second revolute pair 200 c; thereby driving the first cutting edge 195c and the second cutting edge 295c to slide with each other, and realizing the shearing function.

Referring to fig. 38-39 in combination, the first boss 331 and the first base hole 14c form a first under-constrained revolute pair 100c, and the second boss 341 and the second base hole 24c form a second under-constrained revolute pair 200 c. First and second under-constrained revolute pairs have translational freedom along the revolute pair's axis of rotation, so that when the scissors tip of an elongated shaft assembly 2c is sheared, the first and second fixed arms are elastically deformable and adaptively adjustable, thereby achieving a sharp and light operational (shearing) experience.

The first reinforcing arm 339i (the second reinforcing arm 349i) of the base 30i has a sufficient proper length h, so that the first fixing arm 33 and the second fixing arm 34 have sufficient elasticity and sufficient rigidity, and the first fixing arm and the second fixing arm do not need additional fixing measures, and only rely on the elasticity of the first fixing arm and the second fixing arm to give enough fixing force to a part installed between the first fixing arm and the second fixing arm, so that the fixed object is prevented from falling off, and the fixing force is prevented from being too large to block the flexible movement of the fixed object. The length of the first reinforcing arm and the length of the second reinforcing arm are influenced by various factors such as material type, material hardness, geometric structure, design interference and the like, and can be obtained by adopting finite element method calculation and experimental verification.

It should be readily apparent to those skilled in the art that the foregoing base may be used in the field of endoscopic surgical instruments, fiberoptic surgical instruments, microsurgical instruments, and the like. The instruments of the types can be divided into bending separation forceps, bending scissors, gallbladder forceps, fine tooth grasping forceps, stomach grasping forceps, intestine grasping forceps, crocodile forceps and the like according to different forms and functions, and any base of the invention can be used to be compatible with various forceps heads or scissors blades by slightly modifying the existing instruments, thereby greatly improving the cost. Preferably, the base manufactured by the MIM process is standardized and can be independently sold to different manufacturers for use together, so that the part cost and the assembly cost of the instrument are reduced to a greater extent, and the rapid development of the minimally invasive surgery is promoted.

In another aspect of the invention, there is provided a hand-held instrument for use in minimally invasive surgery comprising an elongate shaft assembly of any of the preceding claims, and further comprising a rotatable wheel 3 connected to the elongate shaft assembly, a first handle 4 and a second handle 5. As shown in fig. 41 to 42, in one implementation, the handheld device 1 includes any one of the foregoing elongated shaft assemblies, the elongated shaft assembly is connected to the rotating wheel 3 and the first handle 4 at the same time, the rod proximal end 89 is connected to the second handle 5, and the first handle 4 and the second handle 5 are engaged with each other and can rotate around the handle rotating shaft, so that the driving rod 80 and the hollow tube 40 generate axial relative movement, and the driving head is further forced to move axially, and further the first cam pair (the second cam pair) generates relative sliding, and further the first jaw (the second jaw) is driven to rotate around the first rotating pair (the second rotating pair), and opening and closing actions of the first jaw and the second jaw are realized. In another embodiment, the instrument 1 further comprises an insulating tube covering the outer surface of the hollow tube 40, the metal electrode is connected to the hollow tube or the driving rod via a conductive spring, and when the metal electrode assembly is connected to the high-frequency electrosurgical device, the instrument 1 can be used for performing electrocoagulation, electrosection, and the like. The hollow tube 40 and drive rod 80 can be implemented using flexible materials or flexible mechanisms, such that the shaft assembly of the elongated shaft assembly exhibits overall flexibility and the instrument can be used for single-bore transumbilical, urological, bronchial or digestive procedures.

US patents US5489290, US5947996, US6340365, US7931667, US8551077, US8926599 and the like disclose various quick connect and disconnect mechanisms of the elongate shaft assembly to the handle which, with slight adaptations, may be used in the connection between the elongate shaft assembly and the handle of the present invention. The prior art to date has disclosed a wide variety of handle assemblies for minimally invasive surgery, with minor adaptations for connecting and driving the elongate shaft assembly of the present invention, and will not be described in detail. Many different embodiments and examples of the invention have been shown and described. One of ordinary skill in the art can adapt the methods and apparatus described herein by making appropriate modifications without departing from the scope of the invention. Several modifications have been mentioned, and other modifications will occur to those skilled in the art. The scope of the invention should, therefore, be determined with reference to the appended claims, and not be construed as limited to the details of structure, materials, or acts shown and described in the specification and drawings.

Claims

1. A minimally invasive surgery slender shaft assembly with a driving head comprises a base and a first jaw matched with the base, a second jaw and the driving head, wherein the first jaw tail comprises a first driven groove and a first driven groove, the proximal end opening of the first driven groove forms a first driven groove with an open proximal end, the driving head comprises a first driving lug, the first driving lug and the first driven groove are matched to form a first cam pair, the slender shaft assembly comprises an extreme state, a critical state and a working state, and the first driving lug is completely separated from the first driven groove in the extreme state; in a critical state, the first driving lug is aligned with the proximal opening of the first driven groove; when the cam is in a working state, the first driving lug is matched with the first driven groove to form a first cam pair.

2. The minimally invasive surgical elongated shaft assembly of claim 1, wherein the base includes a shoulder and first and second securing arms extending to distal ends, wherein the shaft aperture extends through the shoulder, and wherein the motion base and the snap surface intersect substantially perpendicularly and substantially coincident with a first central axis of the shaft aperture; the far end of the first fixing arm comprises a first boss extending from the first mounting surface to the movement base surface or a first fixing hole recessed from the first mounting surface to the inside of the fixing arm; the far end of the second fixing arm comprises a second boss extending from the second mounting surface to the movement base surface or a second fixing hole recessed from the second mounting surface to the inside of the fixing arm; the first boss or the first fixing hole is used for installing the first jaw and forming a first rotating pair capable of being quickly disassembled with the first jaw; the second boss or the second fixing hole is used for installing the second jaw and forming a second revolute pair which can be quickly disassembled with the second jaw.

3. The minimally invasive surgical elongate shaft assembly of claim 1, wherein the base includes a first boss including a first stationary cylindrical portion having a cross-sectional diameter Df1 and a first narrow body feature having a cross-sectional width Bf1, wherein Bf1 < Df1, the first cylindrical portion configured to connect the first jaw to form a first revolute pair, the first narrow body feature enabling the first jaw to rotatably fit into the base at a particular angle to form a first revolute pair with the first boss, and wherein the first jaw can rotatably detach at a particular angle to disengage the first revolute pair.

4. The minimally invasive surgical elongated shaft assembly of claim 3, wherein the first narrow body feature forms an angle Ap1 with the fastening surface, the angle Ap1 is 0-45 degrees, and the dynamic fit area of the first revolute pair is increased when the first jaw rotates to any angle during operation.

5. The minimally invasive surgical elongate shaft assembly of claim 3, wherein the base comprises both the first boss and the second boss, an extension height Hf1 of the first boss, an extension height Hf2 of the second boss, and a spacing Hb1 of the first and second retaining arms, wherein Hf1 < 0.5 Hb1, Hf2 < 0.5 Hb 1.

6. The minimally invasive surgical elongate shaft assembly of claim 2, wherein the diameter of the shaft bore Cd1, the minimum distance between the first boss and the second boss L1, wherein Cd1 < L1.

7. The minimally invasive surgical elongate shaft assembly of claim 1, wherein the base further comprises a first stiffening arm extending from the shoulder to adjacent the first boss and integrally connected to the first securing arm and having a height Hr1, and a second stiffening arm extending from the shoulder to adjacent the second boss and integrally connected to the second securing arm and having a height Hr 2; the distance Hb1 between the first fixing arm and the second fixing arm is Hb1, wherein Hr1 is not less than 0.5 Hb1, Hr2 is not less than 0.5 Hb1, and the first reinforcing arm improves the deformation rigidity of the first fixing arm, so that the fixing is firmer, the deformation in application is smaller, and the movement of the instrument is smoother and more accurate.

8. The minimally invasive surgery elongated shaft assembly according to claim 7, wherein the first reinforcing arm and the second reinforcing arm are provided with proper length h, so that the first fixing arm and the second fixing arm are provided with enough elasticity and enough rigidity, the first fixing arm and the second fixing arm do not need extra fixing measures, and only the elasticity of the first fixing arm and the second fixing arm is relied on to give enough fixing force to a part installed between the first fixing arm and the second fixing arm, so that the fixed object is prevented from falling off, and the fixing force is prevented from being too large to block the flexible movement of the fixed object.

9. A static tube assembly comprising the minimally invasive surgical elongate shaft assembly of any one of claims 1-8, the base and a hollow tube connected thereto, the hollow tube comprising a distal tube end and a proximal tube end and a tube wall extending therebetween, the distal tube end being connected to the shoulder.

10. The static tube assembly as claimed in claim 9, wherein the base of the static tube assembly is manufactured by metal powder injection molding, and the base and the hollow tube are connected by welding.