CN114027983B

CN114027983B - Universal snake bone component, surgical instrument and split type surgical device

Info

Publication number: CN114027983B
Application number: CN202210007777.5A
Authority: CN
Inventors: 王迎智; 齐斌; 于帅涛
Original assignee: Apeiron Surgical Beijing Co Ltd
Current assignee: Apeiron Surgical Beijing Co Ltd
Priority date: 2022-01-06
Filing date: 2022-01-06
Publication date: 2022-04-12
Anticipated expiration: 2042-01-06
Also published as: WO2023130872A1; CN114027983A

Abstract

The embodiment of the invention provides a universal snake bone component, a surgical instrument and a split type surgical device. Each snake bone of the universal snake bone component is disc-shaped, each snake bone comprises a first surface and a second surface which are opposite, the first surface comprises a first inclined surface and a second inclined surface which are symmetrical, and a convex structure is arranged between the first inclined surface and the second inclined surface; the second surface comprises a third inclined surface and a fourth inclined surface which are symmetrical, a groove structure is arranged between the third inclined surface and the fourth inclined surface, the inclination direction of the first inclined surface is the same as that of the third inclined surface, and the inclination direction of the second inclined surface is the same as that of the fourth inclined surface; two adjacent snake bones are connected through the first surface and the second surface, the convex structures are embedded into the groove structures, and the snake bones are positioned between the front ends of the vertebrae and the back ends of the vertebrae. Therefore, the universal snake bone component can be bent in all directions, and the process of operation is not limited by the bending direction.

Description

Universal snake bone component, surgical instrument and split type surgical device

Technical Field

The invention relates to the technical field of surgical robots, in particular to a universal snake bone component, a surgical instrument and a split type surgical device.

Background

With the development of science and technology, surgical instruments are increasingly applied to clinical operations to further relieve the pain of patients. Among them, surgical instruments are common in the application of medical surgery due to the convenience of their use.

At present, because the surgical instrument of the one-way universal binding clip assembly is limited by the operating freedom degree and the moving range of the instrument clamp bending mechanism, the surgical instrument can only rotate in one way and has a small rotating angle, the operation of large-amplitude shoulder or elbow torsion can still be avoided, the use effect is poor, and the application of the surgical instrument of the two-freedom universal binding clip assembly with a larger rotating angle is more common. The two-degree-of-freedom universal binding clip assembly comprises a free universal binding clip assembly and a plurality of movable joints, and the rotation of the universal binding clip assembly is controlled through the plurality of movable joints.

However, in the process of bending the surgical instrument with the two-degree-of-freedom universal forceps head assembly, the surgical instrument with the two-degree-of-freedom universal forceps head assembly cannot be linked in two degrees of freedom and is limited by the movable joint, so that the bending range of the surgical instrument is limited, the use flexibility of the surgical instrument is further limited, and limitation is brought to the operation of the operation.

Disclosure of Invention

The embodiment of the invention provides a universal snake bone component, a surgical instrument and a split type surgical device, and aims to solve the problem that the use flexibility of the surgical instrument is limited in the related technology.

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

in a first aspect, embodiments of the present invention provide a universal snake bone assembly, including a vertebra front end, a vertebra back end and a plurality of snake bones;

each snake bone is disc-shaped and comprises a first surface and a second surface which are opposite, the first surface comprises a first inclined surface and a second inclined surface which are symmetrical, a protruding structure is arranged between the first inclined surface and the second inclined surface, and the protruding structure extends along the radial direction of the first surface;

the second surface comprises a third inclined surface and a fourth inclined surface which are symmetrical, a groove structure is arranged between the third inclined surface and the fourth inclined surface, and the groove structure extends along the radial direction of the second surface, wherein the inclination direction of the first inclined surface is the same as that of the third inclined surface, and the inclination direction of the second inclined surface is the same as that of the fourth inclined surface;

two adjacent snake bones are connected through the first surface and the second surface, the convex structures are embedded into the groove structures, and the snake bones are positioned between the front ends of the vertebrae and the back ends of the vertebrae.

Optionally, the universal snake bone assembly further comprises a driving steel wire, and each snake bone is provided with a first through hole, a second through hole, a third through hole, a fourth through hole and a fifth through hole;

the first through hole is positioned at the axis of the snake bone and penetrates through the first surface and the second surface;

the second through hole penetrates through the first inclined surface and the third inclined surface, and the third through hole penetrates through the second inclined surface and the fourth inclined surface;

the fourth through hole and the fifth through hole are arranged through the groove structure and the bulge structure and are positioned on two sides of the first through hole;

and a driving steel wire is arranged in each of the first through hole, the second through hole, the third through hole, the fourth through hole and the fifth through hole in the snake bones in a penetrating manner.

Optionally, the second through hole, the third through hole, the fourth through hole and the fifth through hole are symmetrically distributed with the first through hole as an axial center.

Optionally, both ends of the first through hole, both ends of the second through hole, both ends of the third through hole, both ends of the fourth through hole, and both ends of the fifth through hole are rounded structures.

Optionally, the universal snake bone assembly further comprises a first compression joint and a second compression joint, the surface of one end, close to the snake bone, of the front end of the vertebra is the same as the structure of the first surface, and the surface of one end, close to the snake bone, of the rear end of the vertebra is the same as the structure of the second surface;

the first ends of the two driving steel wires penetrating through the first through hole and the second through hole are fixed at one end, far away from the snake bone, of the front end of the vertebra through a first compression joint, and the second ends of the two driving steel wires penetrating through the first through hole and the second through hole extend out of one end, far away from the snake bone, of the rear end of the vertebra;

the first ends of the two driving steel wires penetrating through the third through hole and the fourth through hole are fixed at one end, far away from the snake bone, of the front end of the vertebra through a second compression joint, and the second ends of the two driving steel wires penetrating through the third through hole and the fourth through hole extend out of one end, far away from the snake bone, of the rear end of the vertebra.

Optionally, the inclination angle of the first inclined plane, the inclination angle of the second inclined plane, the inclination angle of the third inclined plane, and the inclination angle of the fourth inclined plane are all equal, wherein the inclination angles are included angles between a plane where the inclined planes are located and the first plane, and the first plane is a surface perpendicular to the axis of the snake bone.

Optionally, the inclination angle of the first inclined surface, the inclination angle of the second inclined surface, the inclination angle of the third inclined surface, and the inclination angle of the fourth inclined surface are all greater than or equal to 7 ° and less than or equal to 15 °.

Optionally, the protruding direction of the protruding structure is perpendicular to the extending direction of the groove structure.

Optionally, the protrusion structure is a semicircular arc protrusion, and the groove structure is a semicircular arc groove.

Optionally, the number of snake bones is odd.

Optionally, the pitch of the snake bone is greater than or equal to 1mm and less than or equal to 2mm, wherein the pitch is the distance between the central axis of the convex structure and the central axis of the concave structure.

In a second aspect, an embodiment of the present invention provides a surgical instrument, including a universal forceps head assembly, an abdominal tube, a detachable drill chuck, and a universal snake bone assembly according to any one of the embodiments in the first direction;

the universal tong head component is connected to the front end of a vertebra, the first end of the abdominal tube is connected with the rear end of the vertebra, the second end of the abdominal tube is connected with the detachable drill chuck, the detachable drill chuck is used for being connected with a power main machine, and the power main machine is used for providing a power source required by bending of the universal snake bone component.

Optionally, the detachable drill chuck comprises a steel wire fixing ring, a disc seat, a driving wire connecting sleeve and a plurality of first butt joint female shafts, and the universal snake bone assembly comprises a first driving steel wire, a second driving steel wire, a third driving steel wire and a fourth driving steel wire;

the steel wire fixing ring is fixed between the second end of the abdominal tube and the disc seat, and the driving wire connecting sleeve is connected to the disc seat;

the first driving steel wire, the second driving steel wire, the third driving steel wire and the fourth driving steel wire sequentially penetrate through the steel wire fixing ring, the disc seat, the driving wire connecting sleeve and the corresponding first butt joint female shaft to be fixedly connected.

Optionally, the universal binding clip assembly comprises a lower jaw, an upper jaw, an inner clevis and an outer clevis;

the lower jaw and the upper jaw of the clamp are movably connected on the outer U-shaped clamp, the inner U-shaped clamp is hinged with the outer U-shaped clamp, the outer U-shaped clamp is provided with a sliding groove, and the inner U-shaped clamp slides relative to the outer U-shaped clamp along the extending direction of the sliding groove;

the end part of the outer U-shaped clamp and the end part of the front end of the vertebra are both in a sleeve structure, and the end part of the outer U-shaped clamp is nested in the end part of the front end of the vertebra.

Optionally, the universal snake bone component comprises a fifth driving steel wire, and the detachable drill chuck further comprises a second butt joint female shaft;

the first driving steel wire, the second driving steel wire, the third driving steel wire and the fourth driving steel wire are distributed in a central symmetry mode by taking the fifth driving steel wire as an axis;

the first end of a fifth driving steel wire is fixed with the end part of the inner U-shaped clamp, the second end of the fifth driving steel wire penetrates through the abdominal tube, the steel wire fixing ring and the disc seat to be fixedly connected with the driving wire connecting sleeve, the driving wire connecting sleeve is fixedly connected with the second butt joint female shaft, and the outer U-shaped clamp rotates under the condition that the second butt joint female shaft rotates.

Optionally, the universal snake bone assembly further comprises a pull rod welding sleeve and a pull rod;

the second end of the fifth driving steel wire is fixed in a fixing hole formed in the pull rod welding sleeve, the end part of the pull rod welding sleeve is welded with one end of the pull rod, and the other end of the pull rod penetrates through the abdominal tube;

a heat-shrinkable tube is sleeved at the joint of the fifth driving steel wire and the pull rod welding sleeve.

Optionally, the outer part of the universal snake bone component is wrapped with a bent rubber pipe.

Optionally, the surgical instrument further comprises a pulling separation blade, an interface shell and a conical shell;

the conical shell is sleeved on the outer ring of the disc seat, the first end of the interface shell is fixedly connected with the end part of the conical shell, and the pulling and blocking piece is movably connected in a gap at the joint of the interface shell and the conical shell;

dial the separation blade and include a plurality of spacing holes, the equal joint of second butt joint female shaft and a plurality of first butt joint female shaft is in spacing hole, and when dialling the separation blade and take place gliding condition, first butt joint female shaft and the locking of second butt joint female shaft are in spacing hole.

Optionally, the second end of the interface housing is provided with a plurality of magnets, the plurality of magnets being attached to different locations of the second end of the interface housing, the magnets being used to identify the associated instrument.

In a third aspect, an embodiment of the present invention further provides a split type surgical device, where the split type surgical device includes a power main unit and a surgical instrument according to any one of the embodiments of the second aspect;

the power main machine is matched and connected with the detachable drill chuck to control the universal clamp head assembly to move according to a preset track.

As can be seen from the above embodiments, in the embodiments of the present invention, since each snake bone includes the first face and the second face which are opposite to each other, the first face includes the first inclined face and the second inclined face which are symmetrical to each other, and the convex structure is disposed between the first inclined face and the second inclined face, and the convex structure extends along the radial direction of the first face; the second surface comprises a third inclined surface and a fourth inclined surface which are symmetrical, a groove structure is arranged between the third inclined surface and the fourth inclined surface, the groove structure extends along the radial direction of the second surface, the inclined direction of the first inclined surface is the same as that of the third inclined surface, and the inclined direction of the second inclined surface is the same as that of the fourth inclined surface, therefore, when the rear end of the vertebra of the universal snake bone component is subjected to external pulling force in any direction, the shape of the gap between the first inclined surface and the third inclined surface in the direction is changed or the shape of the gap between the second inclined surface and the fourth inclined surface is changed, and along with the different directions and sizes of the external pulling force, the shape of the gap between the first inclined surface and the third inclined surface is changed or the shape of the gap between the second inclined surface and the fourth inclined surface is also different, so that the bending direction and the bending angle of the universal snake bone component are also different, and then make universal snake bone subassembly all-round bending for the process of operation is not restricted by the direction of bending, has promoted operation convenience, makes things convenient for operator's use more.

Drawings

FIG. 1 is a schematic structural view of a universal snake bone assembly in an unbent state according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of a universal snake bone assembly in a bent state according to an embodiment of the present invention;

FIG. 3 is a schematic view showing the structure of a first surface of a snake bone according to an embodiment of the present invention;

FIG. 4 is a schematic view showing the structure of the second surface of a snake bone according to the embodiment of the present invention;

FIG. 5 is a schematic view showing the assembly of two adjacent snake bones according to the embodiment of the present invention;

FIG. 6 is a schematic view showing the assembly of a plurality of snake bones provided by the embodiment of the invention;

FIG. 7 is a schematic view showing the connection between a drive wire and a plurality of snake bones according to an embodiment of the present invention;

FIG. 8 is a schematic view showing the pitch of a snake bone according to an embodiment of the present invention;

FIG. 9 is a schematic view showing the inclination angles of the third inclined surface and the fourth inclined surface of the snake bone according to the embodiment of the present invention;

FIG. 10 is a schematic view showing the inclination angles of the first inclined surface and the second inclined surface of the snake bone according to the embodiment of the present invention;

FIG. 11 is a schematic view of a gimbal snake bone assembly according to an embodiment of the present invention showing bending in a single direction;

FIG. 12 is a schematic view of the gimbal snake bone assembly provided by embodiments of the present invention showing bending in multiple directions;

FIG. 13 is a schematic view showing the bending paths of the drive wires in the gimbal snake assembly in different bending states according to the embodiment of the present invention;

FIG. 14 is a schematic view of the bending principle of a universal snake bone assembly provided by an embodiment of the invention under different bending directions;

FIG. 15 is a schematic structural view of a surgical instrument provided in accordance with an embodiment of the present invention;

FIG. 16 is a schematic view of an exploded view of a surgical instrument according to an embodiment of the present invention;

FIG. 17 is a schematic assembly view of the components of a surgical instrument provided in accordance with an embodiment of the present invention;

FIG. 18 is a cross-sectional view of a surgical device according to an embodiment of the present invention, as seen in the direction A-A of FIG. 17;

FIG. 19 is a schematic view of the rotation of a surgical instrument according to an embodiment of the present invention;

FIG. 20 is a schematic view of the universal snake bone assembly and the detachable drill chuck provided by the embodiment of the invention;

FIG. 21 is a schematic view of the external structure of a surgical instrument according to an embodiment of the present invention;

FIG. 22 is a cross-sectional view of a surgical device according to an embodiment of the present invention, as illustrated in FIG. 21 along line B-B;

FIG. 23 is a schematic structural view of a universal joint plier assembly according to an embodiment of the invention;

FIG. 24 is a schematic view of another embodiment of a universal joint plier assembly according to the invention;

FIG. 25 is a schematic view of the assembly of the components of the cone housing provided by an embodiment of the present invention;

fig. 26 is a schematic structural diagram of a split surgical device according to an embodiment of the present invention.

Reference numerals:

20-split surgical devices; 27-a power main machine; 28-a surgical instrument; 280-a detachable drill chuck; 284-universal snake bone component; 305-a universal forcep head assembly; 301-interface housing; 302-conical shell; 303-pulling a baffle sheet; 304-entering the abdominal tube; 306-a magnet; 2841-anterior vertebrae, 2842-posterior vertebrae; 2843-snake bone; 2844-first side; 2845-second side; 2846-first inclined plane; 2847-second inclined plane; 2848-third inclined plane; 2849-fourth inclined plane; 2850-raised structures; 2851-groove configuration; 2852-first via; 2853-second via; 2854-third via; 2855-fourth via; 2856-fifth via; 2857-first drive wire; 2858 — second drive wire; 2859-third drive wire; 2860-fourth drive wire; 2861-fifth drive wire; 2862-first crimp head; 2863-a second crimp joint; 2864-heat shrink tube; 2865 bending the hose; 2866-welding the pull rod in a sleeve; 2867-pull rod; 2801-steel wire ring fixing; 2802-sit on the disc: 2803-drive the nipple; 2804-a first mating female shaft; 2805-a second butt joint female shaft; 2806-fixing the tube; 3051-clamping the lower jaw; 3052-clamping the upper jaw; 3053-inner clevis; 3054-external U-shaped clamp.

Detailed Description

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

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

In a first aspect, embodiments of the present invention provide a universal snake bone assembly, as shown in fig. 1-4, comprising a vertebral anterior end 2841, a vertebral posterior end 2842 and a plurality of snake bones 2843; each snake bone 2843 is disc-shaped, each snake bone 2843 comprises a first face 2844 and a second face 2845 which are opposite, each first face 2844 comprises a first inclined face 2846 and a second inclined face 2847 which are symmetrical, a protruding structure 2850 is arranged between the first inclined face 2846 and the second inclined face 2847, and the protruding structure 2850 extends along the radial direction of the first face 2844; the second face 2845 includes a third inclined face 2848 and a fourth inclined face 2849 which are symmetrical, and a groove structure 2851 is disposed between the third inclined face 2848 and the fourth inclined face 2849, the groove structure 2851 extends in a radial direction of the second face 2845, wherein an inclined direction of the first inclined face 2846 is the same as an inclined direction of the third inclined face 2848, and an inclined direction of the second inclined face 2847 is the same as an inclined direction of the fourth inclined face 2849; two adjacent serpentine bones 2843 are connected by a first face 2844 and a second face 2845, a projection 2850 is embedded in a recess 2851, and a plurality of serpentine bones 2843 are positioned between the vertebral anterior end 2841 and the vertebral posterior end 2842.

As shown in FIGS. 3 and 4, the snake bones 2843 are flexible basic units of the universal snake bone assembly, and each snake bone 2843 is in a disc shape. Each of the ribs 2843 includes a first surface 2844 and a second surface 2845 opposite to each other, a first inclined surface 2846 and a second inclined surface 2847 symmetrical to each other are provided in the first surface 2844 with respect to a diameter as a symmetry axis, and a third inclined surface 2848 and a fourth inclined surface 2849 symmetrical to each other are provided in the second surface 2845 with respect to a diameter as a symmetry axis. The first inclined surface 2846, the second inclined surface 2847, the third inclined surface 2848 and the fourth inclined surface 2849 are all inclined in a direction close to the first plane of the snake bone 2843, that is, an included angle between a plane where the first inclined surface 2846 is located and the first plane of the snake bone 2843, an included angle between a plane where the second inclined surface 2847 is located and the first plane of the snake bone 2843, an included angle between a plane where the third inclined surface 2848 is located and the first plane of the snake bone 2843, and an included angle between a plane where the fourth inclined surface 2849 is located and the first plane of the snake bone 2843 are all acute angles, and the first plane is a plane perpendicular to the axis of the snake bone.

In addition, the surfaces of the first inclined surface 2846, the second inclined surface 2847, the third inclined surface 2848 and the fourth inclined surface 2849 are smooth, so that the structure is simple and the processing is convenient. When making in small batches, parts machining can be accomplished to wire-electrode cutting and drilling machine, and when mass production, the part profile accords with mould production demand again, because be thin wall type part and wall thickness are even, do not have the draft angle problem promptly, is favorable to reducing the production manufacturing cost of universal snake bone subassembly.

A protruding structure 2850 is further disposed between the first inclined surface 2846 and the second inclined surface 2847, and the protruding structure 2850 extends along a radial direction of the first surface 2844, that is, an extending length of the protruding structure 2850 is equal to a diameter of the first surface 2844. A groove structure 2851 is disposed between the third inclined surface 2848 and the fourth inclined surface 2849, and the groove structure 2851 extends along a radial direction of the second surface 2845, that is, an extending length of the groove structure 2851 is equal to a diameter of the second surface 2845. In assembly, a plurality of snares 2843 are sequentially connected between the vertebrae anterior 2841 and posterior 2842, with the first face 2844 and second face 2845 of each adjacent two of the snares 2843 connected and with the projection 2850 embedded in the recess 2851. Thus, after the universal snake bone assembly is assembled, the plurality of snake bones 2843 flex in different directions when the vertebral posterior ends 2842 of the universal snake bone assembly are subjected to different external tension forces.

Specifically, since the first inclined surface 2846 has the same inclination direction as the third inclined surface 2848 and the second inclined surface 2847 has the same inclination direction as the fourth inclined surface 2849, when the rear end 2842 of the vertebra of the universal snake bone component is subjected to an external pulling force in any direction, the shape of the gap between the first inclined surface 2846 and the third inclined surface 2848 or the shape of the gap between the second inclined surface 2847 and the fourth inclined surface 2849 in that direction changes, and the shape of the gap between the first inclined surface 2846 and the third inclined surface 2848 or the shape of the gap between the second inclined surface 2847 and the fourth inclined surface 2849 changes according to the direction and magnitude of the external pulling force, so that the direction and angle of the universal snake bone component are different, and the universal snake bone component can be bent in all directions, and the process of the surgical operation is not limited by the bending direction, the operation convenience is improved, and the use of an operator is more convenient.

In some embodiments, as shown in fig. 3 and 4, the universal snake bone assembly further comprises a driving steel wire, and each snake bone 2843 is provided with a first through hole 2852, a second through hole 2853, a third through hole 2854, a fourth through hole 2855 and a fifth through hole 2856; the first through hole 2852 is located at the axis of the snake bone 2843 and penetrates through the first face 2844 and the second face 2845; the second through hole 2853 is formed to penetrate the first inclined surface 2846 and the third inclined surface 2848, and the third through hole 2854 is formed to penetrate the second inclined surface 2847 and the fourth inclined surface 2849; the fourth through hole 2855 and the fifth through hole 2856 are disposed through the groove structure 2851 and the protrusion structure 2850, and the fourth through hole 2855 and the fifth through hole 2856 are located at two sides of the first through hole 2852; a driving wire is arranged through the first through hole 2852, the second through hole 2853, the third through hole 2854, the fourth through hole 2855 and the fifth through hole 2856 of the plurality of serpentines 2843.

Note that, the second through hole 2853 is provided to penetrate the first inclined surface 2846 and the third inclined surface 2848, and the third through hole 2854 is provided to penetrate the second inclined surface 2847 and the fourth inclined surface 2849; fourth through-hole 2855 and fifth through-hole 2856 run through groove structure 2851 and protruding structure 2850 setting, and fourth through-hole 2855 and fifth through-hole 2856 are located the both sides of first through-hole 2852, consequently first through-hole 2852 in a plurality of snake bones 2843, second through-hole 2853, third through-hole 2854, fourth through-hole 2855 and fifth through-hole 2856 all wear to be equipped with a drive wire after, when pulling a certain drive wire or certain two drive wires, change with the clearance shape between the inclined plane that this drive wire passed, universal snake bone subassembly takes place the bending that corresponds with it.

In order to ensure that the lifting forces of the universal snake bone component during bending in all directions are equal, the second through hole 2853, the third through hole 2854, the fourth through hole 2855 and the fifth through hole 2856 are symmetrically distributed by taking the first through hole 2852 as an axial center, wherein the lifting forces are the forces borne by the universal snake bone component along the axial direction of the second through hole 307, namely the pulling forces of the driving steel wires borne between the two adjacent snake bones 2843. It should be noted that, because the first through hole 2852 is located at the axis of the snake bone 2843, and when the second through hole 2853, the third through hole 2854, the fourth through hole 2855 and the fifth through hole 2856 are symmetrically distributed with the first through hole 2852 as the axial center, the distribution angles of the distance between each through hole and the axis of the snake bone 2843 are all equal, so that when the driving steel wire in any through hole is pulled, the component forces in the axial direction of the snake bone 2843 are equal, the lifting forces when the universal snake bone assembly is bent in all directions are equal, and the stability of the bending control of the universal snake bone assembly is higher.

In addition, when the universal snake bone component bends, the shape of the gap between the first inclined surface 2846 and the third inclined surface 2848 changes or the shape of the gap between the second inclined surface 2847 and the fourth inclined surface 2849 changes, the through hole through which the adjacent driving steel wire passes can be dislocated, so that the friction between the driving steel wire and the through hole is increased or even blocked, and meanwhile, the through hole is in contact with the driving steel wire at a sharp angle, the surface of the driving steel wire is scraped, and the failure of the driving steel wire fracture instrument or the increase of the surface roughness affects the bending driving effect of the universal snake bone component. Based on this, the both ends of first through-hole 2852, the both ends of second through-hole 2853, the both ends of third through-hole 2854, the both ends of fourth through-hole 2855 and the both ends of fifth through-hole 2856 are the fillet structure, like this, can reduce the drive steel wire when the drive and the through-hole between frictional force, avoid producing the closed angle contact on through-hole and the drive steel wire contact surface, and then guarantee the crooked drive effect of universal snake bone subassembly.

The specific connection between the drive wire and the plurality of snake bones 2843 is as follows: as shown in FIG. 6, the drive wires include a first drive wire 2857, a second drive wire 2858, a third drive wire 2859, and a fourth drive wire 2860; the first drive wire 2857 is threaded through the second through holes 2853 of the plurality of snake bones 2843, the second drive wire 2858 is threaded through the third through holes 2854 of the plurality of snake bones 2843, the third drive wire 2859 is threaded through the fourth through holes 2855 of the plurality of snake bones 2843, and the fourth drive wire 2860 is threaded through the fifth through holes 2856 of the plurality of snake bones 2843.

It should be noted that, the universal snake bone component can be bent in all directions by the above connection mode. Specifically, as shown in FIG. 14, when the third drive wire 2859 is pulled and the fourth drive wire 2860 is released, the universal snake assembly bends in the direction A as shown. When the fourth drive wire 2860 is pulled and the third drive wire 2859 is released, the gimbal snake assembly bends in the direction B as shown. When the first drive wire 2857 is pulled and the second drive wire 2858 is released, the gimbal snake assembly bends in the direction C as shown. When the second drive wire 2858 is pulled and the first drive wire 2857 is released, the universal snake assembly bends in the direction D as shown. When the third drive wire 2859 and the fourth drive wire 2860 are pulled and the first drive wire 2857 and the second drive wire 2858 are released at the same time, the universal snake assembly bends in a direction between the A direction and the B direction as shown. When the fourth drive wire 2860 and the first drive wire 2857 are simultaneously pulled and the second drive wire 2858 and the third drive wire 2859 are released, the gimbal snake assembly bends in a direction between the B-direction and the C-direction as shown. When the first drive wire 2857 and the second drive wire 2858 are pulled and the third drive wire 2859 and the fourth drive wire 2860 are released, the gimbal snake assembly flexes in a direction between the C-direction and the D-direction as shown. When the second 2858 and third 2859 drive wires are pulled and the first 2857 and fourth 2860 drive wires are released, the universal snake assembly bends in a direction between the directions A and D as shown. Therefore, the bending direction and the bending angle of the universal snake bone component can be controlled by controlling the selection of the driving steel wire and the displacement of the driving steel wire, so that the process of the operation is not limited by the bending direction, and the convenience of the operation is improved. Wherein the direction of bending of the gimbal snake assembly is in accordance with the direction shown by F in fig. 11 and 12.

Optionally, as shown in FIG. 7, the universal snake bone assembly further comprises a first compression joint 2862 and a second compression joint 2863, wherein the surface of the end of the vertebra front end 2841 close to the snake bone 2843 is the same as the structure of the first face 2844, and the surface of the end of the vertebra back end 2842 close to the snake bone 2843 is the same as the structure of the second face 2845; the first end of the first drive wire 2857 and the first end of the second drive wire 2858 are secured to the end of the vertebral anterior end 2841 distal from the snake bone 2843 by a first crimp joint 2862, and the second end of the first drive wire 2857 and the second end of the second drive wire 2858 extend from the end of the vertebral posterior end 2842 distal from the snake bone 2843; the first end of the third drive wire 2859 and the first end of the fourth drive wire 2860 are secured to the end of the vertebra at the anterior end 2841 distal from the snake 2843 by a second crimp 2863, and the second end of the third drive wire 2859 and the second end of the fourth drive wire 2860 extend from the end of the vertebra at the posterior end 2842 distal from the snake 2843.

It should be noted that since the surface of the vertebra's anterior end 2841 near the end of the snake bone 2843 and the first face 2844 are identical in structure, and the surface of the vertebra's posterior end 2842 near the end of the snake bone 2843 and the second face 2845 are identical in structure, therefore, during assembly, only the driving steel wire needs to sequentially pass through the snake bones 2843, the first end of the driving steel wire is fixed with the first pressing joint 2862 and the second pressing joint 2863 of the front end 2841 of the vertebra, the second end of the driving steel wire is tensioned from the back end 2842 of the vertebra, a plurality of snake bones 2843 can form a movable assembly under the limit of the driving steel wire without the matching assembly of other parts, the assembly of the whole universal snake bone component is simpler and more convenient, the processing and manufacturing cost is further saved, and assembly space can be provided for assembling other components through the front vertebra end 2841 and the back vertebra end 2842, so that the assembly is simpler and more convenient, and the structure of the whole universal snake bone assembly is more compact.

It should be noted that, because the existing two-degree-of-freedom universal binding clip assembly 305 is affected by the connection manner between joints, and has a large bending radius, and cannot complete complex operations in a small space, based on this, the embodiment of the present invention further optimizes the parameters of each snake bone 2843, such as the pitch, the inclination angle of the inclined plane, the shapes of the protruding structure 2850 and the recessed structure 2851, and so on, so that the universal snake bone assembly can complete complex operations in a small space, specifically as follows:

in some embodiments, as shown in fig. 9 and 10, the inclination angle of the first inclined surface 2846, the inclination angle of the second inclined surface 2847, the inclination angle of the third inclined surface 2848, and the inclination angle of the fourth inclined surface 2849 are all equal, wherein the inclination angle is the included angle between the plane of the inclined surfaces and the first plane of the snake bone 2843, wherein the first plane is the surface perpendicular to the axis of the snake bone 2843. It should be noted that, under the condition that the inclination angle of the first inclined surface 2846, the inclination angle of the second inclined surface 2847, the inclination angle of the third inclined surface 2848 and the inclination angle of the fourth inclined surface 2849 are all equal, when different driving wires are pulled, the change of the shape of the gap between the first inclined surface 2846 and the third inclined surface 2848 and the change of the shape of the gap between the second inclined surface 2847 and the fourth inclined surface 2849 can be equal, which is beneficial to keeping the same range of the bending angles of the universal snake bone assembly in all directions, and further keeping the stability of the structure when the whole universal snake bone assembly is bent in different directions. And when the universal snake bone component is guided to bend towards the included angle position in two directions by drawing a plurality of snake bones 2843 in a single degree of freedom direction or drawing a plurality of snake bones 2843 simultaneously by two driving steel wires in two degrees of freedom directions, as the inclined angles of the first surface 2844 and the second surface 2845 of the snake bones 2843 are the same, a sawtooth-like contour can not be generated, the leakage of a small-angle inclined surface during operation can not be caused, and the wrapping effect of the bent rubber pipe 2865 sleeved on the universal snake bone component can not be influenced. The inclination angles of the first inclined surface 2846 and the second inclined surface 2847 are shown by an angle β in fig. 10, and the inclination angles of the third inclined surface 2848 and the fourth inclined surface 2849 are shown by an angle α in fig. 10.

Further, the inclination angle of the first inclined surface 2846, the inclination angle of the second inclined surface 2847, the inclination angle of the third inclined surface 2848, and the inclination angle of the fourth inclined surface 2849 are all greater than or equal to 7 ° and less than or equal to 15 °.

It should be noted that, at the inclination of first inclined plane 2846, the inclination of second inclined plane 2847, the inclination of third inclined plane 2848, the inclination of fourth inclined plane 2849 all is greater than or equal to 7, and be less than or equal to 15 under the circumstances, can make universal snake bone subassembly can be crooked 90 the crooked demand of limit, and can ensure that the drive steel wire is built-in effectively, and then avoid the external internal tissue to the patient of drive steel wire to cause the damage risk, avoid fish tail organ tissue, avoid organ tissue to be extruded when being close to the vertebra festival subassembly simultaneously, or avoid appearing universal snake bone subassembly at crooked in-process, the organ subassembly is hindered to the inclined plane of adjacent two sets of snake bones 2843 and takes place, further promote the security performance of universal snake bone subassembly.

In addition, the protruding direction of the protruding structures 2850 is perpendicular to the extending direction of the recessed structures 2851. Like this, behind a plurality of snake bones 2843 of drive wire flare-out tightening for protruding structure 2850 can be embedded into groove structure 2851 completely, after the cooperation of multiunit snake bone 2843 is accumulated, can not cause the vertebra festival subassembly to take place the bending before using, and then can not influence universal snake bone subassembly and normally insert in the operation passageway.

Optionally, the protruding structure 2850 is a semicircular arc-shaped protrusion, and the recessed structure 2851 is a semicircular arc-shaped recess. Like this, can guarantee every snake bone 2843's rotation angle, and then can reserve certain rotation allowance, and then can connect the crooked inboard of subassembly to establish crooked rubber tube 2865 for the outside cover and leave the allowance to satisfy the demand of maximum rotation angle, make things convenient for the drawing die ejection of compact of snake bone 2843 simultaneously, promote machinability.

In some embodiments, the number of snake bones 2843 is odd. Thus, when the snake bone 2843 is odd, the number of the joint pairs in the two-degree-of-freedom direction is ensured to be consistent, and the motion parameter values, such as the displacement and the drawing speed, are consistent. For example, taking 5 snares 2843 as an example, when the universal snake bone is deflected by 20 degrees in the first direction, the superposition of the bending amounts caused by the change of the gap between the first inclined surface 2846 and the third inclined surface 2848 of the 5 snares 2843 is also 100 degrees, and when the universal snake bone is deflected by 20 degrees in the direction opposite to the first direction, the superposition of the bending amounts caused by the change of the gap between the second inclined surface 2847 and the fourth inclined surface 2849 of the 5 snares 2843 is also 100 degrees, namely, the universal snake bone component can keep the structural stability when being bent. Illustratively, as shown in fig. 13, L1 represents the path of the drive wire when the gimbal snake assembly is in a straight state, L2 represents the calculated path of the drive wire when the gimbal snake assembly is in a 90 ° bent state, and L3 represents the actual path of the drive wire when the gimbal snake assembly is in a 90 ° bent state.

In some embodiments, as shown in fig. 8, the pitch of the snake bone 2843 is greater than or equal to 1mm and less than or equal to 2mm, wherein the pitch is the distance between the central axis of the protruding structure 2850 and the central axis of the recessed structure 2851, wherein the central axis of the protruding structure 2850 is perpendicular to the extending direction of the recessed structure 2851, and the central axis of the recessed structure 2851 and the extending direction of the recessed structure 2851 are the same. Like this, can realize that universal snake bone subassembly can be crooked with the low-angle when crooked, and can make the route of drive steel wire tend to just circular, be convenient for calculate bend angle and drive steel wire displacement functional relation, improve the stability of control. Wherein the central axis of the raised 2850 formation coincides with the line indicated by a in fig. 8, the central axis of the recessed 2851 formation coincides with the line indicated by B in fig. 8, and the pitch of the serpentine 2843 formation coincides with the distance indicated by P in fig. 8.

As can be seen from the above embodiments, in the embodiment of the present invention, since each snake bone 2843 includes the first face 2844 and the second face 2845 which are opposite to each other, the first face 2844 includes the first inclined face 2846 and the second inclined face 2847 which are symmetrical to each other, and the convex structure 2850 is disposed between the first inclined face 2846 and the second inclined face 2847, the convex structure 2850 extends along the radial direction of the first face 2844; the second surface 2845 includes a third inclined surface 2848 and a fourth inclined surface 2849 which are symmetrical to each other, and a groove structure 2851 is provided between the third inclined surface 2848 and the fourth inclined surface 2849, the groove structure 2851 extends in a radial direction of the second surface 2845, an inclined direction of the first inclined surface 2846 is the same as an inclined direction of the third inclined surface 2848, and an inclined direction of the second inclined surface 2847 is the same as an inclined direction of the fourth inclined surface 2849, so that when the vertebra rear end 2842 of the universal snake bone assembly is subjected to an external pulling force in any direction, a shape of a gap between the first inclined surface 2846 and the third inclined surface 2848 or a shape of a gap between the second inclined surface 2847 and the fourth inclined surface 2849 in the direction changes, and a shape of a gap between the first inclined surface 2846 and the third inclined surface 2848 or a shape of a gap between the second inclined surface 2847 and the fourth inclined surface 2849 changes according to the direction and the magnitude of the external pulling force, make the crooked direction of universal snake bone subassembly and angle also different, and then make universal snake bone subassembly can all-round be crooked for the process of operation does not receive the restriction of bending direction, has promoted operation convenience, makes things convenient for operator's use more.

Besides, the pitch of the snake bone 2843 is larger than or equal to 1mm, and is smaller than or equal to 2mm, the universal snake bone component can be bent at a small angle when being bent, the bending radius is reduced, complex operation can be completed in a small space by the universal snake bone component, the convenience of operation is further improved, the path of the driving steel wire tends to be in a regular circle shape, the functional relation between the bending angle and the displacement of the driving steel wire is convenient to calculate, and the control stability is improved.

In a second aspect, as shown in fig. 15 to 22, an embodiment of the present invention further provides a surgical instrument, which comprises a universal forceps head assembly 305, a belly tube 304, a detachable drill chuck 280 and a universal snake bone assembly 284 as described in any of the embodiments of the first aspect; the universal forceps head assembly 305 is attached to the anterior end 284 of the vertebra, the first end of the access tube 304 is attached to the posterior end 2842 of the vertebra, and the second end of the access tube 304 is attached to the detachable drill chuck 280. Thus, the universal tong head assembly 305 is connected to the front end 2841 of the vertebra, the first end of the belly pipe 304 is connected to the rear end 2842 of the vertebra, the second end of the belly pipe 304 is connected to the detachable drill chuck 280, the detachable drill chuck 280 can be used for being connected with the power host 27, a needed power source is provided for bending the universal snake bone assembly 284, and the universal snake bone assembly 284 can be bent in all directions, so that the working direction and the working position of the universal tong head assembly 305 are not limited, the operable range of the universal tong head assembly 305 is larger, and the universal tong head assembly is more convenient for an operator to use.

Specifically, the removable drill chuck 280 may include a wire retainer 2801, a chuck 2802, a drive wire joint 2803, and a plurality of first joint female shafts 2804, and the universal snake assembly 284 may include a first drive wire 2857, a second drive wire 2858, a third drive wire 2859, and a fourth drive wire 2860; the wire retaining ring 2801 is fixed between the second end of the belly tube 304 and the tray seat, and the drive wire sleeve 2803 is connected to the tray seat 2802; the first drive wire 2857, the second drive wire 2858, the third drive wire 2859 and the fourth drive wire 2860 sequentially penetrate through the wire retaining ring 2801, the plate seat 2802, the drive wire joint sleeve 2803 and the corresponding first butt joint female shaft 2804 to be fixedly connected, and the first drive wire 2857, the second drive wire 2858, the third drive wire 2859 and the fourth drive wire 2860 are symmetrically distributed by taking the axis of the plate seat 2802 as the center of a symmetry axis.

The wire retaining ring 2801 is a circular ring-shaped fixed connection for leading the first drive wire 2857, the second drive wire 2858, the third drive wire 2859 and the fourth drive wire 2860 out of the abdominal tube 304, and the tray 2802 is a cone-shaped fixed part for separating the first drive wire 2857, the second drive wire 2858, the third drive wire 2859 and the fourth drive wire 2860. Connect the first drive wire 2857 between wire retainer ring 2801 and dish seat 2802, second drive wire 2858, third drive wire 2859, fourth drive wire 2860 and enter the length direction of abdominal tube 304 between have the contained angle, and then at first drive wire 2857, second drive wire 2858, third drive wire 2859, fourth drive wire 2860 is separated on a plurality of directions behind dish seat 2802, and make first drive wire 2857, second drive wire 2858, third drive wire 2859, the interval increase between the fourth drive wire 2860, more be favorable to operator's operation. The plate seat 2802 is further provided with four fixed tubes 2806, the length direction of the fixed tubes 2806 is parallel to the length direction of the abdominal tube 304, and the first drive wire 2857, the second drive wire 2858, the third drive wire 2859 and the fourth drive wire 2860 respectively penetrate through one fixed tube 2806 to be fixedly connected with the drive wire sleeve 2803, so that the end parts of the first drive wire 2857, the second drive wire 2858, the third drive wire 2859 and the fourth drive wire 2860 return to the state parallel to the length direction of the abdominal tube 304, and the control of an operator is facilitated. Each drive wire interface 2803 is inserted into a groove of a first interface female shaft 2804, the first interface female shaft 2804 is used for connecting with an interface female shaft of an external power main 27107, so as to facilitate automatic control of a first drive wire 2857, a second drive wire 2858, a third drive wire 2859 and a fourth drive wire 2860.

In particular, as shown in fig. 23 and 24, the gimbaled jaw assembly 305 may include a lower jaw 3051, an upper jaw 3052, an inner clevis 3053 and an outer clevis 3054; the lower jaw 3051 and the upper jaw 3052 of the pliers are movably connected to the outer U-shaped clamp 3054, the inner U-shaped clamp 3053 is hinged to the outer U-shaped clamp 3054, the outer U-shaped clamp 3054 is provided with a sliding groove, and the inner U-shaped clamp 3053 slides relative to the outer U-shaped clamp 3054 along the extending direction of the sliding groove; the end of outer clevis 3054 and the end of vertebra forward end 2841 are both sleeve structures, and the end of outer clevis 3054 nests within the end of vertebra forward end 2841.

It should be noted that, since the lower jaw 3051 and the upper jaw 3052 are riveted to the outer clevis 3054 and the end of the outer clevis 3054 is fitted to the end of the front end 2841 of the vertebra, the position of the universal binding clip 305 can be changed when the universal snake bone assembly 284 is bent, and since the universal snake bone assembly 284 can be bent in all directions, the working direction and the working position of the universal binding clip assembly 305 are not limited. In addition, the lower jaw 3051 and the upper jaw 3052 are riveted on the outer clevis 3054, the inner clevis 3053 and the outer clevis 3054 are hinged, the outer clevis 3054 is provided with a sliding groove, and the inner clevis 3053 slides relative to the outer clevis 3054 along the extending direction of the sliding groove, so that the lower jaw 3051 and the upper jaw 3052 can be driven to clamp through the inner clevis 3053 moving in the outer clevis 3054 groove. It should be further noted that after the end of the outer clevis 3054 is nested at the end of the front end 2841 of the vertebra, the outer clevis 3054 can be limited by a pin, that is, the pin passes through the end of the front end 2841 of the vertebra and abuts against the end of the outer clevis 3054, so that the outer clevis 3054 can rotate in the inner cavity of the front end 2841 of the vertebra, and when the universal snake bone assembly 284 rotates, the outer clevis 3054 can be driven, and then the universal tong head assembly 305 can be driven to rotate, so that the position of the universal tong head assembly 305 can be rotated.

Optionally, as shown in fig. 19, the universal snake bone assembly 284 comprises a fifth drive wire 2861, the removable drill chuck 280 further comprises a second butt-joint female shaft 2805; the first drive wire 2857, the second drive wire 2858, the third drive wire 2859 and the fourth drive wire 2860 are symmetrically distributed by taking the fifth drive wire 2861 as an axis center; a first end of the fifth drive wire 2861 is fixed to an end of the inner clevis 3053, a second end of the fifth drive wire 2861 passes through the belly tube 304, the wire retainer ring 2801, the plate 2802, the drive wire sleeve 2803, and the second docking female shaft 2805 to be fixedly connected, and the outer clevis 3054 rotates when the second docking female shaft 2805 rotates.

Optionally, the universal snake assembly 284 further comprises a tie rod welding sleeve 2866 and a tie rod 2867; the second end of the fifth driving steel wire 2861 is fixed in a fixing hole formed in the pull rod welding sleeve 2866, the end of the pull rod welding sleeve 2866 is welded with one end of the pull rod 2866, and the other end of the pull rod 2867 penetrates through the abdominal tube 304; the joint of the fifth driving steel wire 2861 and the pull rod welding sleeve 2866 is sleeved with a heat shrink tube 2864, and the outside of the universal snake bone component 284 is wrapped with a bent rubber tube 2865.

It should be noted that the universal snake bone assembly 284 may further include a pull rod welding sleeve 2866 and a pull rod 2867, a fixing hole is provided in the pull rod welding sleeve 2866, a second end of the fifth driving wire 2861 may be fixed in the fixing hole of the pull rod welding sleeve 2866, an end portion of the pull rod welding sleeve 2866 is welded to one end of the pull rod 2867, the other end of the pull rod 2867 penetrates through the abdominal tube 304, the wire fixing ring 2801, and the tray 2802 to be fixedly connected to the driving wire sleeve 2803, the driving wire sleeve 2803 is fixedly connected to the second butt joint female shaft 2805, and the second butt joint female shaft 2805 may be connected to a butt joint female shaft of the external power host 27107, so as to conveniently drive the pull rod 2867 to rotate, and further realize the rotation of the fifth driving wire 2861, and finally drive the universal forceps head assembly 305 to rotate, so as to change the position configuration of the universal forceps head assembly 305.

It should be further noted that the heat shrinkable tube 2864 is a specially-made polyolefin heat shrinkable tube, the outer layer is made of a high-quality soft cross-linked polyolefin material and an inner layer of hot melt adhesive through composite processing, the outer layer has the characteristics of insulation, corrosion resistance, wear resistance and the like, and the inner layer has the advantages of low melting point, waterproof sealing, high adhesion and the like, so that the heat shrinkable tube 2864 is sleeved at the joint of the fifth driving steel wire 2861 and the pull rod welding sleeve 2866, and friction between the fifth driving steel wire 2861 and the first through hole 2852 during rotation can be reduced. The curved rubber tube 2865 can be made of rubber, nitrile rubber, butylbenzene and other materials with certain wear resistance and flexibility, so that the curved rubber tube 2865 can be bent along with the universal snake bone assembly 284, and further organ tissues are prevented from being scratched, and the safety performance of the surgical instrument 28 is higher.

Optionally, as shown in fig. 21 and 25, the surgical instrument 28 further includes a dial plate 303, an interface housing 301, and a cone housing 302; the conical shell 302 is sleeved on the outer ring of the seat 2802, the first end of the interface shell 301 is fixedly connected with the end part of the conical shell 302, and the pulling blocking piece 303 is movably connected in a gap at the connection part of the interface shell 301 and the conical shell 302; the pulling separation blade 303 comprises a plurality of limiting holes, the second butt joint female shaft 2805 and the first butt joint female shafts 2804 are all clamped in the limiting holes, and when the pulling separation blade 303 slides, the first butt joint female shaft 2804 and the second butt joint female shaft 2805 are locked in the limiting holes.

It should be noted that the limiting hole includes a first limiting through hole and a second limiting through hole, the aperture of the first limiting through hole is larger than the aperture of the second limiting through hole, and the aperture of the second limiting through hole is larger than the diameter of the first butt joint female shaft 2804 and the diameter of the second butt joint female shaft 2805. Limiting grooves are formed in the first butt nut shaft and the second butt nut, so that when the first butt nut shaft and the second butt nut shaft are located in the second limiting through hole due to the fact that the blocking piece 303 is slid, the first butt nut shaft and the second butt nut shaft can move axially or rotate. When the shifting block piece 303 is slid to enable the first butt nut shaft and the second butt nut shaft to be clamped in the first limiting through hole, the first butt nut shaft and the second butt nut shaft are both locked, and the first butt nut shaft and the second butt nut shaft are prevented from moving axially or rotating. Therefore, the start and stop of the movement of the surgical instrument 28 can be controlled by the dial plate 303, so that the movement of the whole surgical instrument 28 is controllable and the safety is higher.

Optionally, as shown in fig. 22, the second end of the interface housing 301 is provided with a plurality of magnets 306, the plurality of magnets 306 being positioned at different locations on the second end of the interface housing 301, the magnets 306 being used to identify the associated instrument. In this way, the kind of the universal tong head assembly 305 can be identified by the magnet 306, and the universal tong head assembly can be more accurately matched with a power main machine for use.

From the above embodiment, since the universal pincer head assembly 305 is connected to the front end 2841 of the vertebra, the first end of the abdominal tube 304 is connected to the rear end 2842 of the vertebra, and the second end of the abdominal tube 304 is connected to the detachable drill chuck 280, the bending angles and bending directions of the plurality of snakes 2843 can be controlled by the detachable drill chuck 280, and the universal snake head assembly 284 can be bent in all directions, the working direction and working position of the universal pincer head assembly 305 are not limited, and the universal pincer head assembly 305 has a wider operable range, thereby facilitating the use of an operator.

In a third aspect, as shown in fig. 26, an embodiment of the present invention further provides a split-type surgical device 20, where the split-type surgical device 20 includes a power main unit 2 and a surgical instrument 28 according to any one of the second aspect; the power main machine 27 is cooperatively connected with the detachable drill chuck 280 to control the universal tong head assembly 305 to move according to a preset track. When the split surgical device 20 includes the surgical instrument 28 of any one of the second aspects, the advantages of the split surgical device 20 are the same as those of the surgical instrument 28, and the detailed description of the embodiment of the present invention is omitted.

It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.

While alternative embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including alternative embodiments and all such alterations and modifications as fall within the true scope of the embodiments of the invention.

Finally, it should also be noted that, in this document, relational terms such as first and second, and the like may be used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or terminal apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or terminal apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of additional like elements in the article or terminal device comprising the element.

While the technical solutions provided by the present invention have been described in detail, the principles and embodiments of the present invention are described herein by using specific examples, and meanwhile, for a person of ordinary skill in the art, according to the principles and implementation manners of the present invention, changes may be made in the specific embodiments and application ranges.

Claims

1. A universal snake bone component is characterized by comprising a vertebra front end, a vertebra rear end and a plurality of snake bones;

each snake bone is in a disc shape and comprises a first face and a second face which are opposite, the first face comprises a first inclined face and a second inclined face which are symmetrical, a protruding structure is arranged between the first inclined face and the second inclined face, and the protruding structure extends along the radial direction of the first face;

two adjacent snake bones are connected through the first surface and the second surface, the convex structures are embedded into the groove structures, and a plurality of snake bones are positioned between the front end of the vertebra and the back end of the vertebra;

the protruding direction of the protruding structures is perpendicular to the extending direction of the groove structures.

2. The universal snake bone assembly of claim 1 further comprising a drive wire, wherein each snake bone is provided with a first through hole, a second through hole, a third through hole, a fourth through hole and a fifth through hole;

the first through hole is positioned at the axis of the snake bone and penetrates through the first face and the second face;

the fourth through hole and the fifth through hole penetrate through the groove structure and the protrusion structure, and are positioned on two sides of the first through hole;

the first through hole, the second through hole, the third through hole, the fourth through hole and the fifth through hole in the plurality of snake bones are all provided with one driving steel wire in a penetrating mode.

3. The gimbal snake bone assembly of claim 2, wherein the second through-hole, the third through-hole, the fourth through-hole and the fifth through-hole are symmetrically distributed about the first through-hole as an axial center.

4. The universal snake bone assembly of claim 2 wherein both ends of the first through hole, both ends of the second through hole, both ends of the third through hole, both ends of the fourth through hole and both ends of the fifth through hole are rounded structures.

5. The universal snake bone assembly according to claim 2 further comprising first and second crimp heads, wherein the surface of the end of the vertebra anterior end adjacent the snake bone is of the same configuration as the first face, and the surface of the end of the vertebra posterior end adjacent the snake bone is of the same configuration as the second face;

first ends of the two driving wires penetrating through the first through hole and the second through hole are fixed at one end, far away from the snake bone, of the front end of the vertebra through the first crimping head, and second ends of the two driving wires penetrating through the first through hole and the second through hole extend out of one end, far away from the snake bone, of the rear end of the vertebra;

the first ends of the two driving steel wires penetrating through the third through hole and the fourth through hole are fixed at one end, far away from the snake bone, of the front end of the vertebra through the second crimping head, and the second ends of the two driving steel wires penetrating through the third through hole and the fourth through hole extend out of one end, far away from the snake bone, of the rear end of the vertebra.

6. The universal snake bone assembly of claim 1 wherein the angles of inclination of the first, second, third and fourth inclined surfaces are all equal, wherein the angle of inclination is the angle between the plane of the inclined surfaces and a first plane, wherein the first plane is a surface perpendicular to the axis of the snake bone.

7. The universal snake bone assembly of claim 6 wherein the angle of inclination of the first inclined surface, the angle of inclination of the second inclined surface, the angle of inclination of the third inclined surface, and the angle of inclination of the fourth inclined surface are each greater than or equal to 7 ° and less than or equal to 15 °.

8. A gimbaled snake assembly according to claim 1 wherein the projection structure is a semi-circular arc-shaped projection and the recess structure is a semi-circular arc-shaped recess.

9. The universal snake bone assembly of claim 1 wherein the number of said snake bones is an odd number.

10. The gimbal snake bone assembly of claim 1, wherein the snake bone has a pitch greater than or equal to 1mm and less than or equal to 2mm, wherein the pitch is the distance between the central axis of the projection structure and the central axis of the groove structure.

11. A surgical instrument comprising a universal forceps head assembly, a belly tube, a detachable drill chuck and a universal snake bone assembly as claimed in any one of claims 1 to 10;

the universal tong head assembly is connected to the front end of the vertebra, the first end of the abdominal tube is connected to the rear end of the vertebra, the second end of the abdominal tube is connected to the detachable drill chuck, the detachable drill chuck is used for being connected with a power host, and the power host is used for providing a power source required by bending of the universal snake bone assembly.

12. The surgical instrument of claim 11, wherein the detachable drill chuck includes a wire retaining ring, a hub, a drive wire nipple and a plurality of first butt parent shafts, the universal snake assembly including a first drive wire, a second drive wire, a third drive wire and a fourth drive wire;

13. The surgical instrument of claim 12, wherein the gimbaled forcep assembly comprises a lower jaw, an upper jaw, an inner clevis, and an outer clevis;

the lower jaw and the upper jaw are movably connected to the outer U-shaped clamp, the inner U-shaped clamp is hinged to the outer U-shaped clamp, the outer U-shaped clamp is provided with a sliding groove, and the inner U-shaped clamp slides relative to the outer U-shaped clamp along the extending direction of the sliding groove;

the end part of the outer U-shaped clamp and the end part of the front end of the vertebra are both of sleeve structures, and the end part of the outer U-shaped clamp is nested in the end part of the front end of the vertebra.

14. A surgical instrument as recited in claim 13, wherein the universal snake assembly includes a fifth drive wire, the detachable drill chuck further including a second butt-joint female shaft;

the first end of the fifth driving steel wire is fixed with the end part of the inner U-shaped clamp, the second end of the fifth driving steel wire penetrates through the abdominal tube, the steel wire fixing ring and the disc seat to be fixedly connected with the driving wire connecting sleeve, the driving wire connecting sleeve is fixedly connected with the second butt joint female shaft, and the outer U-shaped clamp rotates under the condition that the second butt joint female shaft rotates.

15. The surgical instrument of claim 14, wherein the universal snake assembly further comprises a pull rod weld sleeve and a pull rod;

the second end of the fifth driving steel wire is fixed in a fixing hole formed in the pull rod welding sleeve, the end part of the pull rod welding sleeve is welded with one end of the pull rod, and the other end of the pull rod penetrates through the abdominal entry pipe;

and a heat-shrinkable tube is sleeved at the joint of the fifth driving steel wire and the pull rod welding sleeve.

16. The surgical instrument of claim 11 wherein the universal snake assembly is externally wrapped with a curved hose.

17. The surgical instrument of claim 14, further comprising a dial plate, an interface housing, and a cone housing;

the conical shell is sleeved on the outer ring of the disc seat, the first end of the interface shell is fixedly connected with the end part of the conical shell, and the poking and blocking piece is movably connected in a gap at the joint of the interface shell and the conical shell;

dial the separation blade and include a plurality of spacing holes, second butt joint female shaft and a plurality of first butt joint female shaft all joint is in the spacing hole, work as dial the separation blade and take place under the gliding condition, first butt joint female shaft with the female shaft locking of second butt joint is in the spacing hole.

18. A surgical instrument as recited in claim 17, wherein the second end of the interface housing is provided with a plurality of magnets coupled to the second end of the interface housing at different locations, the magnets for identifying an associated instrument.

19. A split surgical device comprising a power master and the surgical instrument of any one of claims 11-18;