CN114010242B

CN114010242B - Surgical instrument and surgical system

Info

Publication number: CN114010242B
Application number: CN202210000882.6A
Authority: CN
Inventors: 王迎智; 齐斌; 王干
Original assignee: Apeiron Surgical Beijing Co Ltd
Current assignee: Apeiron Surgical Beijing Co Ltd
Priority date: 2022-01-04
Filing date: 2022-01-04
Publication date: 2022-03-29
Anticipated expiration: 2042-01-04
Also published as: CN114010242A

Abstract

The invention relates to the technical field of medical instruments, in particular to a surgical instrument and a surgical system. The surgical instrument comprises a traction rope, a universal snake bone assembly, an abdominal component, a control rod assembly and a control handle, wherein the universal snake bone assembly, the abdominal component, the control rod assembly and the control handle are sequentially connected with one end of the traction rope; the control handle comprises a first shell, a shell bulge is formed on the first shell, the shell bulge is arranged around the periphery of the spherical hinge, and the outer wall of the shell bulge is formed into a partial spherical surface; the haulage rope is walked around the bellied outside of casing and is connected with control handle, and when control lever subassembly rotated with control handle relatively, the haulage rope contacted with the bellied outer wall of casing, and the haulage rope drove the bending of universal snake bone subassembly. The surgical instrument of the invention ensures that the space motion of the universal snake bone component tends to be stable when the universal snake bone component swings, thereby solving the problem of jumping.

Description

Surgical instrument and surgical system

Technical Field

The invention relates to the technical field of medical instruments, in particular to a surgical instrument and a surgical system.

Background

The minimally invasive surgery is a surgery performed by using modern surgical instruments such as a laparoscope, a thoracoscope and the like and related equipment, and has the advantages of small wound, light pain and quick recovery. The surgical instrument generally comprises a universal snake bone component and a traction rope, wherein the universal snake bone component is connected with the traction rope, and the traction rope pulls the universal snake bone component to be bent so as to process focuses at different angles, acquire information at different angles and the like. In the prior art, in the traction rope drawing process, the length of the traction rope can be changed in a non-linear mode, so that the universal snake bone component is unstable in motion, and the problem of jumping occurs.

Disclosure of Invention

Therefore, the invention provides a surgical instrument, which solves or partially solves the problem that the length of a traction rope changes in a nonlinear way in the traction rope pulling process in the prior art.

In order to achieve the purpose, the technical scheme of the invention is realized as follows:

a surgical instrument comprises a traction rope, a universal snake bone assembly, an abdominal component, a control rod assembly and a control handle, wherein the universal snake bone assembly, the abdominal component, the control rod assembly and the control handle are sequentially connected with one another; the control handle comprises a first shell, a shell bulge is formed on the first shell, the shell bulge is arranged around the periphery of the spherical hinge, and the outer wall of the shell bulge is formed into a partial spherical surface; the haulage rope is walked around the bellied outside of casing and is connected with control handle, and when control lever subassembly rotated with control handle relatively, the haulage rope contacted with the bellied outer wall of casing, and the haulage rope drove the bending of universal snake bone subassembly.

Optionally, the outer wall of the protrusion of the housing forms a circular truncated cone-like structure, the area of the upper bottom surface of the circular truncated cone-like structure is smaller than that of the lower bottom surface, and the lower bottom surface of the circular truncated cone-like structure is connected with the first housing.

Optionally, the housing protrusion and the pulling rope are provided in plurality, and the housing protrusion and the pulling rope are arranged in a one-to-one correspondence manner.

Optionally, the first housing is formed with a housing through hole, the other end of the traction rope penetrates through the housing through hole to be connected with the first housing, and the housing through hole is located at an end portion where the housing protrusion is connected with the first housing and located in the middle of the end portion.

Optionally, the housing through hole is arc-shaped, and the housing through hole and the outer wall of the housing protrusion are located on the same spherical surface.

Optionally, the control lever assembly comprises a second housing formed with a bulbous protrusion; the first shell forms a spherical inner cavity, and the end part of the shell bulge is arranged around the spherical inner cavity; the spherical protrusion is inserted into the spherical cavity to rotatably couple the control lever assembly and the control handle.

Optionally, the surgical instrument further comprises a finger-buckle assembly, a middle traction piece, a power supply piece and a tong head, and the control rod assembly comprises a driving assembly; one end of the middle traction piece is connected with the tong head, and the other end of the middle traction piece penetrates through the universal snake bone assembly and the abdomen entering assembly to be connected with the driving assembly; the finger buckle assembly comprises a fixed seat, a rotating seat, two reeds and two conductive columns, wherein the fixed seat is respectively connected with the first shell and the two reeds; when the rotary base rotates to be connected with the conductive columns in a one-to-one correspondence mode, the conductive columns, the reeds, the driving assembly and the power supply part form a series circuit, the power supply part provides electric energy for the driving assembly, and the driving assembly rotates to drive the middle traction part to rotate so that the clamp heads rotate.

Optionally, the two reeds and the two conductive pillars are arranged at intervals to enclose an annular structure.

Optionally, the middle part of the reed is connected with the fixing base, and the two ends of the reed are provided with a bending part which is bent towards the direction far away from the fixing base, and the bending part is suitable for being in contact with the conductive column.

Optionally, the rotating seat is located on one side of the fixed seat away from the first housing.

Optionally, a connecting column is formed in the middle of the rotating seat, and the two conductive columns are arranged in parallel with the connecting column and located on two sides of the connecting column; the fixing seat is provided with a fixing seat hole and two through grooves, the connecting column penetrates through the fixing seat hole to connect the rotating seat with the fixing seat, and the conductive column is suitable for being in contact with the reed after penetrating through the corresponding through grooves.

Optionally, the driving assembly comprises a driving motor, a first gear and a second gear, an output shaft of the driving motor is connected with the first gear, the first gear is meshed with the second gear, and the middle part of the second gear is connected with the middle traction part.

Optionally, the power supply element is a battery, and the battery is arranged in the second housing.

Optionally, the finger-buckle assembly further comprises two finger buckles, and the two finger buckles are connected with the rotating seat and respectively located at two sides of the first shell; the first shell is suitable for grasping, the two finger fasteners are suitable for fingers to extend into, and the finger fasteners rotate to enable the rotating seat to rotate.

Optionally, the finger fasteners are hinged with the rotating base, and guide parts are formed on the finger fasteners and located between the two finger fasteners; the other end of the middle traction piece passes through the spherical bulge and the spherical inner cavity to be connected with the two guide parts; the finger fasteners rotate to pull the middle traction piece to move, and the middle traction piece moves to enable the tong heads to be opened or closed.

Optionally, the two guide parts are parallel and have a gap therebetween, and the guide parts are formed with guide grooves; the finger buckle assembly further comprises a pulling block, guide posts are formed at two ends of the pulling block, the middle of the pulling block is connected with the other end of the middle traction piece, the pulling block is located in the gap, and the guide posts are inserted into the corresponding guide grooves.

Optionally, the pull block is provided with an installation column facing the middle traction part, a clamping groove which is sunken into the installation column is formed in the side wall of the installation column, the clamping groove is a variable cross-section groove, the pull block comprises a first section of groove, a second section of groove and a third section of groove which are sequentially connected in the direction away from the pull block, the first section of groove is of a spherical structure, the distance between the two groove walls of the second section of groove is shortened, and the two groove walls of the third section of groove are outwards expanded; the other end of the middle traction piece is spherical, the other end of the middle traction piece is matched with the first section of groove, and the middle traction piece is matched with the second section of groove.

Optionally, a spring sleeve is sleeved outside the middle traction piece, a first spring sleeve stopper is arranged in the first housing, the first spring sleeve stopper is arranged close to the pull block, a second spring sleeve stopper is arranged in the second housing, the second spring sleeve stopper is arranged close to the driving assembly, and two ends of the spring sleeve are respectively in contact with the first spring sleeve stopper and the second spring sleeve stopper.

Optionally, the first housing forms a cylindrical portion, the cylindrical portion is formed with an insertion through hole, the fixing base is connected with an end portion of the cylindrical portion, the pulling block is arranged in the cylindrical portion, and the guide portion penetrates through the insertion through hole and is inserted into the cylindrical portion.

According to the surgical instrument, when the control rod assembly and the control handle rotate relatively, the traction rope is in contact with the outer wall of the protrusion of the shell, the outer wall of the protrusion of the shell can guide the movement path of the traction rope, and the traction rope is guided by the spherical surface of the traction rope through the protrusion of the shell, so that the traction rope is linearly changed along with the path change of the spherical surface in the traction rope process, and the universal snake bone assembly is stable in spatial movement when swinging, so that the jumping problem is solved.

Another object of the present invention is to provide a surgical system to solve or partially solve the problem of the non-linear change of the length of the pulling rope during the pulling process of the pulling rope in the conventional surgical system.

a surgical system comprises a base, a cantilever and the surgical instrument, wherein the base is connected with the cantilever, and the cantilever is connected with the surgical instrument.

The advantages of the surgical system and the surgical instruments are the same as those of the surgical instruments, and are not described herein again.

The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic, perspective view of a surgical instrument according to the present invention;

FIG. 2 is a front view of the surgical instrument of the present invention;

FIG. 3 is a schematic view of the structure at A in FIG. 2;

FIG. 4 is a schematic structural diagram of a first housing according to the present invention;

FIG. 5 is a schematic structural view of the cross-sectional view of FIG. 4;

FIG. 6 is a schematic view of the structure at G of FIG. 4;

FIG. 7 is a schematic structural view of the cross-sectional view of FIG. 6;

FIG. 8 is a schematic structural view of the front view of FIG. 6;

FIG. 9 is a first schematic structural view of the junction of the first housing and the second housing of the present invention;

FIG. 10 is a second schematic structural view of the junction of the first housing and the second housing of the present invention;

FIG. 11 is a schematic structural view of a cross-sectional view at E in FIG. 1;

FIG. 12 is a schematic view of the second housing shown in FIG. 1 with a portion removed at F;

FIG. 13 is a schematic view of a portion of the construction of the finger tab assembly of the present invention;

FIG. 14 is a schematic structural view of the exploded view of FIG. 13;

FIG. 15 is a schematic structural view of the top view of FIG. 13;

FIG. 16 is a schematic structural view of a finger tab assembly of the present invention;

FIG. 17 is a schematic view of the structure of the present invention at the central pulling element and pulling block;

FIG. 18 is a schematic view of a prior art configuration in which the pull-cord is pulled directly from the end face of the first housing without the housing protrusion;

FIG. 19 is a schematic illustration of the use of the pull-cord of FIG. 18 in calculating different angular slopes;

fig. 20 is a schematic structural view of the tensioning mechanism of the present invention.

Description of reference numerals:

2620-a pull cord; 2621-middle pulling element; 2622-spring housing; 2623-a first spring sleeve stop; 2624-second spring sleeve stop;

263-finger snap assembly; 2631-fixed seat; 2632-a swivel; 2633-reed; 2634-conductive pillars; 2635-finger fasteners; 2636-pull block; 2637-attachment screws; 2638-fixed seat holes; 2639-through slot; 2640-connecting column; 2641-fold section; 2642-a guide; 2643-guide grooves; 2644-guide posts; 2645-mounting posts; 2646-first stage slot; 2647-second segment groove; 2648-third stage slot;

265-control handle; 2651-a first housing; 2652-housing boss; 2653-spherical lumen; 2654-cylindrical portion; 2655-housing through hole; 2656 — plug-in through holes;

267-a lever assembly; 2671-a second housing; 2672-spherical protrusions; 2673-a power supply; 2674-a drive assembly; 2675-a potentiometer; 2676 — a drive motor; 2677 — a first gear; 2678-second gear; 2679-a mounting plate; 2680-tensioning screw; 2681-tensioning spring;

282-an abdominal component; 284-universal snake bone component; 286-tong head.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

As shown in fig. 1 and 17, an embodiment of the present invention discloses a surgical instrument, which comprises a pulling rope 2620, and a universal snake bone assembly 284, an abdominal component 282, a control rod assembly 267 and a control handle 265 which are connected in sequence, wherein one end of the pulling rope 2620 is connected with the universal snake bone assembly 284, the other end of the pulling rope passes through the abdominal component 282 and the control rod assembly 267 in sequence to be connected with the control handle 265, and the control rod assembly 267 is rotatably connected with the control handle 265 through a ball joint; the control handle 265 includes a first housing 2651, the first housing 2651 is formed with a housing protrusion 2652, the housing protrusion 2652 is disposed around an outer circumference of the spherical hinge, and an outer wall of the housing protrusion 2652 is formed as a partial spherical surface; the pulling string 2620 goes around the outer side of the housing protrusion 2652 and is connected to the control handle 265, when the control lever assembly 267 rotates relative to the control handle 265, the pulling string 2620 contacts the outer wall of the housing protrusion 2652, and the pulling string 2620 pulls the universal snake assembly 284 to bend.

Specifically, as shown in fig. 1 and 2, the surgical instrument further includes a forceps head 286, and the forceps head 286 is rotated and clamped to treat a lesion at different angles. The gimbal snake assembly 284 swings in flexion to allow the forcep head 286 to swing and reach a desired position to meet the operator's operational needs. The abdominal assembly 282 is used to connect the universal snake assembly 284 and the control rod assembly 267, and the abdominal assembly 282 has a set length to meet the length requirement for insertion into the body. The lever assembly 267 and the control handle 265 are used to drive the universal snake assembly 284 in oscillation.

In the surgical instrument provided by the embodiment of the invention, when the control lever assembly 267 and the control handle 265 rotate relatively, the pulling rope 2620 is in contact with the outer wall of the housing protrusion 2652, the outer wall of the housing protrusion 2652 can guide the movement path of the pulling rope 2620, and by increasing the spherical guide of the housing protrusion 2652 on the pulling rope 2620, the pulling rope 2620 changes linearly along with the path of the spherical surface in the process of pulling the pulling rope 2620, so that the space movement of the universal snake bone assembly 284 tends to be stable when swinging, thereby solving the jumping problem.

As shown in fig. 6 to 10, in an embodiment, the outer walls of the housing protrusions 2652 enclose a truncated cone-like structure, an area of an upper bottom surface of the truncated cone-like structure is smaller than an area of a lower bottom surface, and the lower bottom surface of the truncated cone-like structure is connected to the first housing 2651.

The geometric body formed by the curved surfaces formed by rotating the other sides by taking the straight line of the right trapezoid perpendicular to the waist as a rotating shaft is called a circular table. The rotating shaft is called the shaft of the circular truncated cone, the circular surface formed by the rotation of the upper and lower bottoms of the right trapezoid is called the upper and lower bottom surfaces of the circular truncated cone, and the curved surface formed by the rotation of the other waist is called the side surface of the circular truncated cone. In the embodiment of the present invention, the outer wall of the housing protrusion 2652 encloses a circular truncated cone-like structure, and compared with the circular truncated cone structure, the other waist of the circular truncated cone-like structure is circular arc-shaped, the side surface of the circular truncated cone-like structure is a partial spherical surface, and the spherical center of the outer wall of the housing protrusion 2652 is located at the first housing 2651.

To reduce friction between the pull string 2620 and the housing protrusion 2652 and to facilitate smooth pulling of the pull string 2620, the outer wall of the housing protrusion 2652 is rounded at the end away from the first housing 2651.

As shown in fig. 4, 6, and 8, in an embodiment, the housing protrusion 2652 and the pulling string 2620 are provided in plural numbers, and the housing protrusion 2652 and the pulling string 2620 are provided in a one-to-one correspondence.

As shown in fig. 4, 6, and 8, the housing protrusion 2652 and the pull string 2620 each have four. The housing protrusion 2652 is provided in a segmented manner, which can reduce the weight.

It is understood that, in practical applications, the number of the housing protrusions 2652 and the pulling string 2620 may be adjusted accordingly to meet different requirements, and the embodiment of the invention is not limited thereto.

As shown in fig. 6 and 8, in an embodiment, the first housing 2651 is formed with a housing through hole 2655, the other end of the pulling string 2620 passes through the housing through hole 2655 to be connected to the first housing 2651, and the housing through hole 2655 is located at an end portion where the housing protrusion 2652 is connected to the first housing 2651 and is located at a middle portion of the end portion.

As shown in FIG. 8, the housing through-hole 2655 is located at the middle of the end of the housing projection 2652 to ensure that the pull string 2620 contacts the outer wall of the housing projection 2652 when the lever assembly 267 is rotated relative to the control handle 265. Limited by the length and stroke of the pulling rope 2620 and the requirement for the swinging motion of the universal snake bone assembly 284, when the control lever assembly 267 rotates relative to the control handle 265, the contact area between the pulling rope 2620 and the housing protrusion 2652 is located in the Y area.

As shown in fig. 7, 9 and 10, in an embodiment, the housing through hole 2655 is arc-shaped, and the housing through hole 2655 and the outer wall of the housing protrusion 2652 are located on the same spherical surface.

As shown in fig. 8 and 10, one end of the housing through hole 2655 is located at an end of the housing protrusion 2652 connected to the first housing 2651, and the other end of the housing through hole 2655 extends in a direction away from the housing protrusion 2652. The housing through hole 2655 is located on the M side, where the following M-side spherical surface refers to a spherical surface where the housing through hole 2655 is located, the housing protrusion 2652 is located on the N side, and the N-side spherical surface is a spherical surface where the outer wall of the housing protrusion 2652 is located.

As shown in fig. 10, the pulling rope 2620 is led out of the first housing 2651 through the M-side spherical surface and then led to the lever assembly 267 through the N-side spherical surface from the connection between the pulling rope 2620 and the first housing 2651. When the control lever assembly 267 rotates relative to the control handle 265, the pull rope 2620 moves along a spherical surface throughout the stroke range. Wherein, M side sphere constitutes and sends back the structural region, and N side sphere constitutes and pulls out the structural region, and haulage rope 2620 is in the stroke scope, and haulage rope 2620 pulls all the time on the sphere, and haulage rope 2620 length is linear change, avoids not setting up the direct tractive of terminal surface by first casing 2651 when protruding 2652 of casing, causes the nonlinear change of haulage rope 2620 to lead to universal snake bone subassembly 284 to appear beating the problem.

As shown in fig. 9, when the lever assembly 267 and the control handle 265 rotate relatively, the movement stroke of the pulling rope 2620 is the arc length L passing along the spherical surface, and when the movement central angle N is, the movement stroke L = N × pi × R/180 of the pulling rope 2620, and the arc length of the N-side hemisphere is the maximum stroke of the pulling wire which changes linearly.

The haulage rope 2620 moves along the arc surface, and the change of haulage rope 2620 length is derived:

angle of operation n, then radian

；

Since the function is a direct proportional function, the ratio can be directly obtained

Ratio of

；

Arc length

Length of arc

；

Can push away

；

Then

The change of the arc length is the same slope change and is linearly related, so the length of the pulling rope 2620 is linearly changed.

As shown in fig. 18 and 19, when the housing protrusion 2652 is not provided at the upper portion of the first housing 2651, the pulling string 2620 is directly pulled by the end surface of the first housing 2651, and the length change of the pulling string 2620 is derived as follows:

from the cosine function:

degree of arc

；

The control rod assembly 267 and the control handle 265 rotate relatively by an angle n, and different angles correspond to different included angles AC and AB

(ii) a Then

At an angle

Length of the pulling rope 2620:

；

at an angle

Length of the pulling rope 2620:

；

at an angle

Length of the pulling rope 2620:

；

the ratio can be obtained:

；

the ratio can be obtained:

；

substituting example data

；

，

，

，

And the deviation is large.

In summary, the change in the length of the pulling rope 2620 is not linear.

As shown in fig. 9-11, in one embodiment, the control lever assembly 267 includes a second housing 2671, the second housing 2671 being formed with a bulbous protrusion 2672; the first housing 2651 defines a spherical cavity 2653, and ends of the housing protrusions 2652 are disposed around the spherical cavity 2653; ball projection 2672 is inserted into ball cavity 2653 to rotatably couple control rod assembly 267 and control handle 265.

The ball-shaped protrusion 2672 is inserted into the ball-shaped cavity 2653 to rotatably connect the lever assembly 267 and the control handle 265, and the lever assembly 267 and the control handle 265 are rotatably connected by a ball hinge. The connecting mode has the advantage of smooth rotation.

As shown in fig. 9 to 11, the spherical surface of the outer wall of the housing through hole 2655 and the housing protrusion 2652 is wrapped around the spherical cavity 2653.

As shown in fig. 13-15, in one embodiment, the surgical device further includes a finger assembly 263, a middle pulling member 2621, a power supply member 2673 and a forceps head 286, and the control lever assembly 267 includes a driving assembly 2674; one end of the middle pulling member 2621 is connected to the pincer 286, and the other end is connected to the driving member 2674 through the universal snake bone assembly 284 and the abdominal assembly 282; the finger-buckling assembly 263 includes a fixed seat 2631, a rotating seat 2632, two reeds 2633 and two conductive posts 2634, the fixed seat 2631 is connected to the first housing 2651 and the two reeds 2633 respectively, the rotating seat 2632 is rotatably connected to the fixed seat 2631 and connected to the two conductive posts 2634, the two reeds 2633 are connected to the positive and negative terminals of the driving assembly 2674 respectively, and the two conductive posts 2634 are connected to the positive and negative terminals of the power supply 2673 respectively; the rotating base 2632 rotates, when the conductive posts 2634 are connected to the reeds 2633 in a one-to-one correspondence manner, the conductive posts 2634, the reeds 2633, the driving assembly 2674 and the power supply 2673 form a serial circuit, the power supply 2673 provides electric energy for the driving assembly 2674, and the driving assembly 2674 rotates to drive the middle traction piece 2621 to rotate so that the binding clip 286 rotates.

An operator can rotate the rotating seat 2632 to form a serial loop with the conductive post 2634, the reed 2633, the driving assembly 2674 and the power supply part 2673, so that the driving assembly 2674 rotates to drive the middle traction part 2621 to rotate the tong head 286, and the operation is simple and convenient.

As shown in fig. 14, the connection screws 2637 are connected to the reeds 2633 and the conductive columns 2634 in a one-to-one correspondence, the connection screws 2637 are used for wiring to electrically connect the reeds 2633 to the driving assembly 2674, and the conductive columns 2634 are electrically connected to the power supply part 2673.

In another embodiment, the two reeds 2633 are respectively connected to the positive electrode and the negative electrode of the power element 2673, and the two conductive posts 2634 are respectively connected to the positive end and the negative end of the driving assembly 2674. The connection structure and connection manner of the spring 2633 and the conductive post 2634 are not limited in the embodiment of the present invention, as long as the conductive post 2634, the spring 2633, the driving assembly 2674, and the power supply element 2673 form a series circuit.

In another embodiment, a potentiometer 2675 is further provided, and the potentiometer 2675 can form a series circuit with the conductive post 2634, the reed 2633, the driving assembly 2674 and the power supply element 2673. The potentiometer 2675 is coupled to a speed adjustable switch to control the speed of the jaw 286.

As shown in fig. 13-15, in one embodiment, two reeds 2633 and two conductive posts 2634 are spaced apart to enclose an annular structure.

An operator rotates the rotating seat 2632 to rotate forward or backward, so that the reeds 2633 and the conductive posts are connected in a one-to-one correspondence manner, and the driving assembly 2674 can rotate forward or backward, so that the middle traction part 2621 rotates forward or backward to drive the tong head 286 to rotate forward or backward.

As shown in fig. 13 to fig. 15, in an embodiment, a middle portion of the spring 2633 is connected to the fixing base 2631, two ends of the spring 2633 are formed with a bending portion 2641 bending toward a direction away from the fixing base 2631, and the bending portion 2641 is adapted to contact the conductive pillar 2634.

The bending portion 2641 can increase a contact area between the spring 2633 and the conductive post 2634 to ensure that the spring 2633 and the conductive post 2634 are electrically connected firmly.

As shown in fig. 2 and 16, in an embodiment, the rotating seat 2632 is located on a side of the fixed seat 2631 away from the first housing 2651.

As shown in fig. 13 to 15, in an embodiment, a connection post 2640 is formed in the middle of the rotating base 2632, and two conductive posts 2634 are disposed in parallel with the connection post 2640 and located at two sides of the connection post 2640; the fixing base 2631 is formed with a fixing base hole 2638 and two through slots 2639, the connecting column 2640 passes through the fixing base hole 2638 to connect the rotating base 2632 and the fixing base 2631, and the conductive column 2634 passes through the corresponding through slot 2639 and is adapted to contact with the spring plate 2633.

As shown in fig. 1 and 12, in an embodiment, the driving assembly 2674 includes a driving motor 2676, a first gear 2677 and a second gear 2678, an output shaft of the driving motor 2676 is connected to the first gear 2677, the first gear 2677 is engaged with the second gear 2678, and a middle portion of the second gear 2678 is connected to the middle drawing member 2621.

As shown in fig. 12, in an embodiment, the power element 2673 is a battery, and the battery is disposed in the second housing 2671.

As shown in fig. 1 and 16, in an embodiment, the finger tab assembly 263 further includes two finger tabs 2635, and the two finger tabs 2635 are connected to the rotating base 2632 and respectively located at two sides of the first housing 2651; the first housing 2651 is adapted to be grasped, the two finger tabs 2635 are adapted to be inserted by fingers, and the rotation of the finger tabs 2635 rotates the rotary seat 2632.

The first housing 2651 is adapted to be grasped, the two finger tabs 2635 are adapted to be inserted by fingers, and the structure of the finger tabs 2635 to rotate the rotary seat 2632 facilitates the operation of the surgical instrument by the operator.

As shown in fig. 16, in an embodiment, the finger tabs 2635 are hinged to the rotating base 2632, the finger tabs 2635 are formed with guide portions 2642, and the guide portions 2642 are located between the two finger tabs 2635; the other end of the middle pulling element 2621 passes through the spherical protrusion 2672 and the spherical cavity 2653 to connect to the two guiding portions 2642; rotation of the finger tabs 2635 pulls the middle pulling member 2621 to move, and the middle pulling member 2621 moves to open or close the jaws 286.

As shown in fig. 16, in an embodiment, two guide portions 2642 are parallel with a gap therebetween, and the guide portions 2642 are formed with guide grooves 2643; the finger fastening assembly 263 further includes a pulling block 2636, wherein guide posts 2644 are formed at both ends of the pulling block 2636, the middle portion of the pulling block 2636 is connected to the other end of the middle pulling member 2621, the pulling block 2636 is located at the gap, and the guide posts 2644 are inserted into the corresponding guide grooves 2643.

The finger tabs 2635 rotate to pull the guide slots 2643, the guide slots 2643 move to make the pulling block 2636 move toward the fixing seat 2631 or away from the fixing seat 2631, and the pulling block 2636 moves to pull the middle pulling part 2621 to move to make the jaws 286 open or close.

As shown in fig. 17, in an embodiment, the pulling block 2636 is formed with a mounting post 2645 facing the middle pulling element 2621, a side wall of the mounting post 2645 is formed with a snap groove recessed into the mounting post 2645, the snap groove is a groove with a variable cross section, and includes a first section of groove 2646, a second section of groove 2647 and a third section of groove 2648 connected in sequence in a direction away from the pulling block 2636, the first section of groove 2646 is in a spherical structure, a distance between two groove walls of the second section of groove 2647 is shortened, and two groove walls of the third section of groove 2648 are outwardly expanded; the other end of the middle pulling member 2621 is spherical, the other end of the middle pulling member 2621 is fitted into the first section groove 2646, and the middle pulling member 2621 is fitted into the second section groove 2647.

During the use, middle part is drawn piece 2621 and is the taut state, and middle part is drawn the piece 2621 other end and is passed the notch and imbed the joint inslot, and the middle part is drawn the other end of piece 2621 and is located first section groove 2646, because the distance between two cell walls of second section groove 2647 shortens, and second section groove 2647 prevents that the other end that the middle part was drawn piece 2621 shifts out to the direction of keeping away from pulling block 2636 in first section groove 2646, and then guarantees the stable connection of joint groove and middle part drawing piece 2621.

As shown in fig. 11 and 16, in an embodiment, a spring cover 2622 is sleeved outside the middle pulling element 2621, a first spring cover stopper 2623 is disposed in the first housing 2651, the first spring cover stopper 2623 is disposed near the pulling block 2636, a second spring cover stopper 2624 is disposed in the second housing 2671, the second spring cover stopper 2624 is disposed near the driving assembly 2674, and two ends of the spring cover 2622 are respectively in contact with the first spring cover stopper 2623 and the second spring cover stopper 2624.

The spring housing 2622 has a length such that the middle pulling member 2621 moves within the spring housing to ensure the pull-out and return stroke and to ensure that pulling the middle pulling member 2621 opens or closes the binding clip 286.

As shown in fig. 4 and 5, in an embodiment, the first housing 2651 forms a cylindrical portion 2654, the cylindrical portion 2654 forms an insertion through hole 2656, the fixing base 2631 is connected to an end of the cylindrical portion 2654, the pulling block 2636 is disposed in the cylindrical portion 2654, and the guiding portion 2642 is inserted into the cylindrical portion 2654 through the insertion through hole 2656. The cylindrical portion 2654 provides an installation space for the finger assembly 263.

As shown in fig. 20, a tension mechanism is further disposed in the lever assembly 267, a mounting plate 2679 extending into the second housing 2671 is formed in the second housing 2671, and the mounting plate 2679 is connected to the tension mechanism. The tensioning mechanism includes a tensioning screw 2680 and a tensioning spring 2681, the tensioning spring 2681 is located between the two mounting plates 2679, and two ends of the tensioning spring 2681 are fixedly connected to the two mounting plates 2679 through the tensioning screw 2680. By controlling the screwing-in depth of the tension screw 2680, the tension spring 2681 bends, the pulling rope 2620 penetrates through the tension spring 2681, and then the pulling rope 2620 bends and deforms along with the tension spring 2681 in a certain space length, so that the length of the pulling rope 2620 is increased, and the pulling rope 2620 is tensioned.

In practical use of the surgical instrument provided by the embodiment of the invention, an operator operates the surgical instrument in a convenient posture. For example, as shown in fig. 2, the first housing 2651 is held in a single hand, the thumb is inserted into one of the finger tabs 2635, and the index or middle finger, etc. is inserted into one of the finger tabs 2635.

According to the surgical instrument provided by the embodiment of the invention, the control handle 265 is rotated, the pulling rope 2620 moves to pull the universal snake bone component 284 to swing, and the universal snake bone component 284 swings to drive the forceps head 286 to swing. An operator rotates the finger tab 2635 in forward or reverse direction to rotate the driving assembly 2674 in forward or reverse direction, so that the middle pulling member 2621 rotates in forward or reverse direction to drive the pincer 286 in forward or reverse direction. The finger tabs 2635 rotate relative to the rotary base 2632, and the guide slots in the finger tabs 2635 move to pull the middle pulling member 2621 to move, so as to clamp the pincer 286.

According to the surgical instrument provided by the embodiment of the invention, the universal snake bone component 284 and the forceps head 286 can be operated by one hand, and the surgical instrument has the advantage of high operation efficiency; the automatic material feeding device has an automatic function, a relatively simple structure and low material cost; moreover, the portable solar water heater has the advantages of being strong in reliability, safe, controllable, light, convenient and fast, internally provided with a power supply and convenient to carry to complete work.

The invention further discloses a surgical system which comprises a base, a cantilever and the surgical instrument of the embodiment, wherein the base is connected with the cantilever, and the cantilever is connected with the surgical instrument.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.

Claims

1. The surgical instrument is characterized by comprising a pulling rope (2620), a universal snake bone assembly (284), an abdominal entering assembly (282), a control rod assembly (267) and a control handle (265), wherein the pulling rope (2620) is connected with the universal snake bone assembly (284) at one end, the other end of the pulling rope penetrates through the abdominal entering assembly (282) and the control rod assembly (267) in sequence to be connected with the control handle (265), and the control rod assembly (267) is rotatably connected with the control handle (265) through a ball hinge;

the control handle (265) comprises a first housing (2651), the first housing (2651) is formed with a housing projection (2652), the housing projection (2652) is arranged around the periphery of the spherical hinge, and the outer wall of the housing projection (2652) is formed into a partial spherical surface;

the pulling rope (2620) bypasses the outer side of the housing protrusion (2652) and is connected with the control handle (265), when the control rod assembly (267) and the control handle (265) rotate relatively, the pulling rope (2620) is in contact with the outer wall of the housing protrusion (2652), and the pulling rope (2620) pulls the universal snake bone assembly (284) to bend;

the surgical instrument further comprises a finger buckle assembly (263), a middle traction piece (2621), a power supply piece (2673) and a tong head (286), wherein the control rod assembly (267) comprises a driving assembly (2674);

one end of the middle traction component (2621) is connected with the tong head (286), and the other end of the middle traction component passes through the universal snake bone component (284) and the abdomen entering component (282) and is connected with the driving component (2674);

the finger buckle assembly (263) comprises a fixed seat (2631), a rotating seat (2632), two reeds (2633) and two conductive columns (2634), wherein the fixed seat (2631) is respectively connected with the first shell (2651) and the two reeds (2633), the rotating seat (2632) is rotatably connected with the fixed seat (2631) and is connected with the two conductive columns (2634), the two reeds (2633) are respectively connected with the positive end and the negative end of the driving assembly (2674), and the two conductive columns (2634) are respectively connected with the positive electrode and the negative electrode of the power supply (2673);

the rotary seat (2632) rotates, when the conductive posts (2634) are connected with the reeds (2633) in a one-to-one correspondence manner, the conductive posts (2634), the reeds (2633), the driving assembly (2674) and the power supply part (2673) form a series circuit, the power supply part (2673) provides electric energy for the driving assembly (2674), and the driving assembly (2674) rotates to drive the middle traction part (2621) to rotate so that the clamp head (286) rotates.

2. The surgical instrument of claim 1, wherein outer walls of the housing protrusions (2652) enclose a frustum-like structure having an upper bottom surface with an area smaller than an area of a lower bottom surface, the lower bottom surface of the frustum-like structure being connected to the first housing (2651).

3. The surgical instrument according to claim 1 or 2, wherein each of the housing protrusion (2652) and the pulling string (2620) has a plurality of protrusions, and the housing protrusions (2652) are disposed in one-to-one correspondence with the pulling string (2620).

4. The surgical instrument according to claim 3, wherein the first housing (2651) is formed with a housing through-hole (2655), and the other end of the pulling string (2620) passes through the housing through-hole (2655) to be connected to the first housing (2651), and the housing through-hole (2655) is located at an end portion where the housing protrusion (2652) is connected to the first housing (2651) and at a middle portion thereof.

5. The surgical instrument of claim 4, wherein the housing through hole (2655) is arcuate, and the housing through hole (2655) and the outer wall of the housing protrusion (2652) are located on the same spherical surface.

6. A surgical instrument according to claim 5,

the control lever assembly (267) includes a second housing (2671), the second housing (2671) being formed with a spherical protrusion (2672);

the first housing (2651) forming a spherical cavity (2653), the ends of the housing protrusions (2652) being disposed about the spherical cavity (2653);

the spherical protrusion (2672) is inserted into the spherical cavity (2653) to rotatably connect the control lever assembly (267) and the control handle (265).

7. A surgical instrument as recited in claim 1, wherein two of the reeds (2633) and two of the conductive posts (2634) are spaced apart to define an annular configuration.

8. The surgical instrument according to claim 1, wherein a middle portion of the spring (2633) is connected to the fixing base (2631), two ends of the spring (2633) are formed with bending portions (2641) bending in a direction away from the fixing base (2631), and the bending portions (2641) are adapted to contact with the conductive posts (2634).

9. A surgical instrument according to any one of claims 1, 2, 7 and 8, characterized in that the rotary seat (2632) is located on a side of the fixed seat (2631) remote from the first housing (2651).

10. The surgical instrument according to claim 1, wherein the rotating seat (2632) is formed with an attachment post (2640) at a middle portion thereof, and two conductive posts (2634) are disposed in parallel with the attachment post (2640) and located at both sides of the attachment post (2640);

the fixed seat (2631) is formed with a fixed seat hole (2638) and two through grooves (2639), the connecting column (2640) passes through the fixed seat hole (2638) to connect the rotating seat (2632) and the fixed seat (2631), and the conductive column (2634) is suitable for contacting with the reed (2633) after passing through the corresponding through groove (2639).

11. A surgical instrument according to claim 1, wherein the drive assembly (2674) comprises a drive motor (2676), a first gear (2677) and a second gear (2678), an output shaft of the drive motor (2676) being connected to the first gear (2677), the first gear (2677) and the second gear (2678) being in mesh, a middle portion of the second gear (2678) being connected to the middle traction member (2621).

12. A surgical instrument according to claim 6, wherein the power supply element (2673) is a battery, the battery being provided in the second housing (2671).

13. The surgical instrument according to claim 6, wherein the finger assembly (263) further comprises two finger tabs (2635), the two finger tabs (2635) being connected to the rotary base (2632) and located on two sides of the first housing (2651);

the first housing (2651) is suitable for gripping, the two finger tabs (2635) are suitable for the insertion of fingers, and the rotation of the finger tabs (2635) rotates the rotating base (2632).

14. A surgical instrument according to claim 13, wherein the finger grips (2635) are hinged to the rotary base (2632), the finger grips (2635) being formed with guide portions (2642), the guide portions (2642) being located between the two finger grips (2635);

the other end of the middle pulling element (2621) passes through the spherical bulge (2672) and the spherical inner cavity (2653) to be connected with the two guide parts (2642);

the finger buckle (2635) rotates to pull the middle traction piece (2621) to move, and the middle traction piece (2621) moves to enable the tong head (286) to be opened or closed.

15. A surgical instrument according to claim 14,

the two guide parts (2642) are parallel and have a gap therebetween, and the guide parts (2642) are formed with guide grooves (2643);

the finger buckle assembly (263) further comprises a pulling block (2636), guide posts (2644) are formed at two ends of the pulling block (2636), the middle part of the pulling block (2636) is connected with the other end of the middle traction part (2621), the pulling block (2636) is located at the gap, and the guide posts (2644) are inserted into the corresponding guide grooves (2643).

16. The surgical instrument according to claim 15, wherein the pull block (2636) is formed with a mounting post (2645) facing the middle pulling member (2621), a side wall of the mounting post (2645) is formed with a snap groove recessed into the mounting post (2645), the snap groove is a variable cross-section groove, and comprises a first section groove (2646), a second section groove (2647) and a third section groove (2648) connected in sequence in a direction away from the pull block (2636), the first section groove (2646) is of a spherical structure, a distance between two groove walls of the second section groove (2647) is shortened, and two groove walls of the third section groove (2648) are outwardly expanded;

the other end of middle part pulling piece (2621) is the sphere, the other end of middle part pulling piece (2621) with first section groove (2646) adaptation, middle part pulling piece (2621) with second section groove (2647) adaptation.

17. The surgical instrument according to claim 15, wherein a spring sleeve (2622) is sleeved on the outer side of the middle pulling member (2621), a first spring sleeve stopper (2623) is disposed in the first housing (2651), the first spring sleeve stopper (2623) is disposed near the pull block (2636), a second spring sleeve stopper (2624) is disposed in the second housing (2671), the second spring sleeve stopper (2624) is disposed near the driving assembly (2674), and two ends of the spring sleeve (2622) are respectively in contact with the first spring sleeve stopper (2623) and the second spring sleeve stopper (2624).

18. The surgical instrument according to claim 15, wherein the first housing (2651) forms a cylindrical portion (2654), the cylindrical portion (2654) is formed with an insertion through hole (2656), the fixing base (2631) is connected to an end portion of the cylindrical portion (2654), the pulling block (2636) is provided in the cylindrical portion (2654), and the guide portion (2642) is inserted into the cylindrical portion (2654) through the insertion through hole (2656).

19. A surgical system comprising a base, a cantilever, and the surgical instrument of any one of claims 1-18, the base being connected to the cantilever, and the cantilever being connected to the surgical instrument.