CN114224496B - Instrument bending joint assembly, surgical instrument and split type surgical device - Google Patents

Instrument bending joint assembly, surgical instrument and split type surgical device Download PDF

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Publication number
CN114224496B
CN114224496B CN202210150058.9A CN202210150058A CN114224496B CN 114224496 B CN114224496 B CN 114224496B CN 202210150058 A CN202210150058 A CN 202210150058A CN 114224496 B CN114224496 B CN 114224496B
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joint
assembly
steel
instrument
middle joint
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CN114224496A (en
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王迎智
徐高峰
张二虎
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Jixian Artificial Intelligence Co Ltd
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Jixian Artificial Intelligence Co Ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0801—Prevention of accidental cutting or pricking

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Surgical Instruments (AREA)
  • Prostheses (AREA)

Abstract

The invention provides an instrument bending joint assembly, a surgical instrument and a split type surgical device, and belongs to the field of medical instruments. The method comprises the following steps: the joint comprises a front end joint, a middle joint, a joint seat, a first steel belt group and a second steel belt group; one end of the middle joint is rotatably connected with the joint seat, the other end of the middle joint is rotatably connected with the front end joint, and the front end joint is also used for connecting the execution assembly; the first steel belt group is used for driving the front end joint to rotate in a first preset plane relative to the middle joint, the second steel belt group is used for driving the middle joint to rotate in a second preset plane relative to the joint seat, and the first preset plane and the second preset plane form an included angle so as to drive the execution assembly to rotate in different directions. By using the instrument bending joint assembly provided by the invention, the front end joint and the middle joint are dragged by the steel belt to rotate so as to drive the executing assembly to rotate in different directions, so that the problems that the end effector of a surgical instrument is poor in bending control precision and is not beneficial to accurate positioning of tissues are solved.

Description

Instrument bending joint assembly, surgical instrument and split type surgical device
Technical Field
The embodiment of the invention relates to the field of medical instruments, in particular to an instrument bending joint assembly, a surgical instrument and a split type surgical device.
Background
In the soft tissue robot field, can realize surgical instrument's end effector multi freedom through universal snake bone subassembly and move, facilitate for medical personnel carry out the operation to the patient.
Currently, the end effector of the surgical instrument is mostly pulled by a steel wire to realize universal rotation. However, the steel wire drawing method has poor bending control precision, which is not favorable for accurately positioning tissues.
Therefore, the problem to be solved is that the bending control precision of the end effector of the surgical instrument is poor and the precise positioning of the tissue is not facilitated.
Disclosure of Invention
The embodiment of the invention provides an instrument bending joint assembly, a surgical instrument and a split type surgical device, and aims to solve the problems that an end effector of the surgical instrument is poor in bending control precision and not beneficial to accurate positioning of tissues.
In a first aspect, embodiments of the present invention provide an instrument bend joint assembly, comprising: the joint comprises a front end joint, a middle joint, a joint seat, a first steel strip group connected with the front end joint and a second steel strip group connected with the middle joint. The one end and the joint seat of middle joint are along first direction rotatable coupling, and middle joint's the other end and front end joint are along second direction rotatable coupling, the articular axial in the middle of first direction, the equal perpendicular to of second direction, and first direction and second direction have the contained angle, and the front end joint is kept away from middle joint's one end and is used for connecting the execution component. The first steel belt group is used for driving the front end joint to rotate in a first preset plane relative to the middle joint when being pulled by the power main machine, the second steel belt group is used for driving the middle joint to rotate in a second preset plane relative to the joint seat when being pulled by the power main machine, and the first preset plane and the second preset plane have included angles so as to drive the execution assembly to rotate in different directions.
Optionally, the first set of steel strips comprises two first steel strips and the second set of steel strips comprises two second steel strips. The side of the joint seat is provided with a first penetrating groove for two first steel belts to pass through respectively and a second penetrating groove for two second steel belts to pass through respectively along the axial direction, and the side of the middle joint is provided with a third penetrating groove for two first steel belts to pass through respectively. The first through groove and the second through groove are arranged in parallel and at intervals, and the first through groove corresponds to the third through groove.
Optionally, the two first through grooves and the two second through grooves are uniformly arranged on the side wall of the joint seat at intervals, and the two first through grooves and the two second through grooves are arranged in a staggered manner.
Optionally, one end of the middle joint is provided with a first protruding portion along the radial direction, and the other end of the middle joint is provided with a first groove along the radial direction, and an extending direction of the first protruding portion and an extending direction of the first groove form an included angle. One end of the joint seat close to the middle joint is provided with a second protruding part matched with the first groove, and one end of the front end joint close to the middle joint is provided with a second groove matched with the first protruding part. The second bulge is matched with the first groove so as to enable the middle joint to be rotatably connected with the joint seat, and the first bulge is matched with the second groove so as to enable the front end joint to be rotatably connected with the middle joint.
Optionally, the first protrusion is an arc-shaped boss, and the second groove is an arc-shaped groove matched with the first protrusion; and/or the second lug boss is an arc-shaped boss, and the first groove is an arc-shaped groove matched with the second lug boss.
Optionally, the number of the first convex parts is two, and the two first convex parts are symmetrical to the central axis of the middle joint; the two second convex parts are symmetrical relative to the central axis of the joint seat.
Optionally, the two first protruding portions are respectively provided with first channels which are in one-to-one correspondence with the two third through grooves and are communicated with the third through grooves along the axial direction of the middle joint, and the two second protruding portions are respectively provided with second channels which are in one-to-one correspondence with the two first through grooves and are communicated with the second through grooves along the axial direction of the joint seat.
Optionally, two symmetrical side surfaces of the first protrusion relative to the first channel are both arc-shaped.
Optionally, the extending direction of the first protrusion is perpendicular to the extending direction of the first groove, and the first direction is perpendicular to the second direction.
Optionally, the joint connecting device further comprises two first joint connecting clamps, the two first joint connecting clamps are respectively in one-to-one correspondence with the two first steel belts in a rotatable manner, and one ends, far away from the first steel belts, of the first joint connecting clamps are hinged to two sides of the front end joint. One of the first steel belts is pulled by the power main machine along a third direction, and when the other first steel belt is pulled by the power main machine along a fourth direction, the front end joint is driven by the two first joint connecting clamps to rotate in a first preset plane, and the third direction and the fourth direction are opposite along the axial direction and the direction of the middle joint.
Optionally, first hole grooves are formed in two sides of the front end joint, the first hole grooves correspond to the two third penetrating grooves in a one-to-one mode, and the first joint connecting clamp is rotatably embedded in the first hole grooves.
Optionally, the steel belt joint comprises two second joint connecting clamps, the two second joint connecting clamps are respectively in one-to-one correspondence with the two second steel belts in a rotatable connection mode, and one ends, far away from the second steel belts, of the second joint connecting clamps are hinged to two sides of the middle joint. One of the second steel belts is pulled by the power main machine along a third direction, and when the other second steel belt is pulled by the power main machine along a fourth direction, the middle joint is driven to rotate in a second preset plane through the two second joint connecting clamps, and the third direction and the fourth direction are opposite along the axial direction and the direction of the middle joint.
Optionally, the two sides of the middle joint are provided with second hole grooves, the second hole grooves correspond to the two second penetrating grooves one by one, and the second joint connecting clamp is rotatably embedded in the second hole grooves.
Optionally, the joint fixing device further comprises a fixing pipe, the fixing pipe is fixedly connected with one end, far away from the middle joint, of the joint seat, one end of the first steel belt group is rotatably connected to the front end joint, the other end of the first steel belt group penetrates through the fixing pipe, one end of the second steel belt group is rotatably connected to the middle joint, and the other end of the second steel belt group penetrates through the fixing pipe.
Optionally, one end of the joint seat close to the fixed tube includes a connecting portion, the connecting portion includes a boss and a skirt, the boss and the skirt are sequentially arranged along the axial direction, the boss is inserted into the fixed tube, the skirt abuts against the end portion of the fixed tube, the outer diameter of the boss is smaller than the outer diameter of the fixed tube, and the outer diameter of the skirt is the same as the outer diameter of the fixed tube.
In a second aspect, the invention provides a surgical instrument comprising an implement assembly, a drive rod, and an instrument bend joint assembly as provided in the first aspect of the invention. The driving rod is connected with the execution assembly, penetrates through the instrument bending joint assembly and extends along the axial direction of the instrument bending joint assembly. The actuating assembly is fixedly connected with a front end joint in the instrument bending joint assembly, and the driving rod is used for controlling the rotation of the actuating assembly and controlling the opening or closing of the actuating assembly.
Optionally, the first mounting pin is further included, and the actuating assembly comprises an upper actuating member and a lower actuating member which are hinged to each other. Go up the executive and all be provided with the spout along length direction with lower executive, first mounting hole has been seted up to the actuating lever. The first mounting pin is sequentially inserted into the first mounting hole and the sliding groove, so that the driving rod can drive the upper executing part and the lower executing part to open or close while sliding along the axial direction under the action of external force.
A third aspect of the present invention provides a split surgical device comprising: a handle mechanism, a power main unit and a surgical instrument provided by the second aspect of the invention. One end of the power main machine is connected with the handle mechanism, and the other end of the power main machine is connected with the surgical instrument. The power main machine is used for providing power for the handle mechanism so as to drive the handle mechanism to drive the surgical instrument to move.
Has the beneficial effects that:
according to the instrument bending joint component provided by the invention, the first steel belt group and the second steel belt group have certain widths and have stronger rigidity in the width direction, and the deformation of the first steel belt group and the second steel belt group can be ignored in the traction process of the component, so that the deflection angles of the front end joint and the middle joint can be respectively judged through the displacement of the first steel belt group and the second steel belt group, namely the deflection angles of the front end joint and the middle joint can be respectively calculated by transmitting the displacement of the first steel belt group and the second steel belt group to the bending joint component, so that the accurate positioning of the instrument bending joint component is realized, and the technical problems that the bending control precision of a tail end executor of a surgical instrument is poor and the accurate positioning of tissues is not facilitated are solved.
Secondly, one end of the middle joint is rotationally connected with the joint seat, the other end of the middle joint is rotationally connected with the front end joint, namely, the instrument bending joint component comprises two rotatable joints of the middle joint and the front end joint, when the instrument bending joint component is drawn by a power main machine, the first steel belt group drives the front end joint to rotate in a first preset plane relative to the middle joint, the second steel belt group drives the middle joint to rotate in a second preset plane relative to the joint seat, an included angle is formed between the first preset plane and the second preset plane so as to drive the execution component to rotate in different directions, namely, the rotation direction of the front end joint relative to the middle joint is different from the rotation direction of the middle joint relative to the joint seat, so that the execution component can rotate in different directions by controlling the two rotatable joints of the middle joint and the front end joint according to the rotation requirement of the instrument bending joint component, therefore, various rotation requirements of the instrument bending joint assembly are met, and the flexibility of the rotation of the instrument bending joint assembly is improved.
Finally, the first steel belt group and the second steel belt group drive the corresponding joints to rotate, and the first steel belt group and the second steel belt group can be bent at will in the thickness direction due to the fact that the first steel belt group and the second steel belt group are thin in thickness, so that bending of the instrument bending joint assembly is achieved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
FIG. 1 is a schematic view of the overall construction of a curved joint assembly of an instrument according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the structure of the joint chair in the instrument flexure joint assembly according to an embodiment of the present invention;
FIG. 3 is a first perspective angle view of the intermediate joint of the instrument bend joint assembly according to one embodiment of the present invention;
FIG. 4 is a second perspective angle view of the intermediate joint of the instrument bend joint assembly according to one embodiment of the present invention;
FIG. 5 is a schematic structural view of a front end joint in the instrument flexure joint assembly according to an embodiment of the present invention;
FIG. 6 is a schematic view of the anterior articulation of the instrument flexure joint assembly according to one embodiment of the present invention;
FIG. 7 is a schematic view of the rotation of the middle joint in the instrument flexure joint assembly according to one embodiment of the present invention;
FIG. 8 is a schematic view of the overall configuration of a surgical instrument according to an embodiment of the present invention;
FIG. 9 is a cross-sectional view of a surgical instrument in accordance with an embodiment of the present invention;
fig. 10 is an exploded view of a surgical instrument according to an embodiment of the present invention.
Description of the reference numerals: 2801. a joint seat; 2802. a middle joint; 2803. a first set of steel bands; 2804. a second steel strip set; 2805. a front end joint; 2806. a first articulating clip; 2807. a second articulating clip; 2808. a fixed tube; 2809. an inner U-shaped clamp; 2810. an outer U-shaped clamp, 2811 and a steel wire body; 2812. a second mounting pin; 2813. a first mounting pin; 2814. an upper executive component; 2815. a lower executive component; 2816. a third mounting pin; 2817. a first through groove; 2818. a second through groove; 2819. a third through groove; 2820. a first boss portion; 2821. a second boss portion; 2822. a first groove; 2823. a second groove; 2824. a first hole groove; 2825. a second bore groove; 2826. a first direction; 2827. a second direction.
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 obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The end effector of the surgical instrument may be articulated by wire traction.
Because the structural feature of steel wire self: for example, a multi-strand braided structure is employed with a spatial gap between individual braided elements. When the steel wire is adopted for traction transmission, the steel wire is drawn under the action of external force, and due to the structural characteristics of the steel wire, the steel wire has great flexibility along the axial direction, so that part of the tensile quantity generated by drawing the steel wire under the external force is used for the deformation of the steel wire.
For example, the amount of tension of the wire is 10 units, and accordingly, the joint deviation in the surgical instrument using the wire is 10 degrees. However, since a portion of the amount of stretching of the wire is used to deform the wire itself, the actual joint deflection is eventually less than 10 degrees. And further, the bending control precision of the surgical instrument is poor, which is not beneficial to accurately positioning the tissues in the body of the patient in the surgical process.
In view of this, in the instrument bending joint assembly provided by the invention, the first steel belt group and the second steel belt group have certain widths and have strong rigidity in the width direction, and in the process of traction, the deformation of the first steel belt group and the second steel belt group can be ignored, so that the deflection angles of the front end joint and the middle joint can be respectively judged through the displacement amounts of the first steel belt group and the second steel belt group, that is, the deflection angles of the front end joint and the middle joint can be respectively calculated by transmitting the displacement amounts of the first steel belt group and the second steel belt group to the bending joint assembly, so that the accurate positioning of the instrument bending joint assembly is realized, and the technical problems that the bending control precision of an end effector of a surgical instrument is poor and the accurate positioning of tissues is not facilitated are solved.
Example one
Referring to FIG. 1, there is shown a general block diagram of an instrument bending joint assembly of the present invention, as shown in FIG. 1, comprising a front joint 2805, a middle joint 2802, a joint mount 2801 and a first steel band set 2803 connected to the front joint 2805, and a second steel band set 2804 connected to the middle joint 2802. The rear end of the joint seat 2801 is used to connect other components such as a stationary tube 2808. The joint seat 2801 is adapted to be connected to an intermediate joint 2802 at the front end thereof, the intermediate joint 2802 is adapted to be connected to a front joint 2805 at the front end thereof, and the instrument bending joint assembly is, from the front end to the rear end thereof, the front joint 2805, the intermediate joint 2802 and the joint seat 2801. The first steel strip group 2803 and the second steel strip group 2804 can be arbitrarily bent in the thickness direction because of their small thicknesses, and the first steel strip group 2803 and the second steel strip group 2804 have a constant width and are highly rigid in the width direction.
Referring to fig. 2, there is shown a schematic structural view of a joint base 2801 in an instrument bending joint assembly of the present invention, wherein one end of an intermediate joint 2802 is rotatably connected to the joint base 2801 in a first direction 2826, and referring to fig. 3, there is shown a schematic angular view of a first perspective of the intermediate joint 2802 in an instrument bending joint assembly of the present invention, wherein the first perspective is: the connection point between the middle joint 2802 and the distal joint 2805 is viewed from the point of view of the connection point between the middle joint 2802 and the joint seat 2801. The other end of the middle joint 2802 is rotatably connected to the front joint 2805 along a second direction 2827, the first direction 2826 and the second direction 2827 are both perpendicular to the axial direction of the middle joint 2802, the first direction 2826 and the second direction 2827 form an included angle, and the front joint 2805 is further used for connecting an execution assembly;
the first steel belt group 2803 is used for driving the front end joint 2805 to rotate in a first preset plane relative to the middle joint 2802 when being pulled by a power host, and the second steel belt group 2804 is used for driving the middle joint 2802 to rotate in a second preset plane relative to the joint seat 2801 when being pulled by the power host, wherein an included angle is formed between the first preset plane and the second preset plane so as to drive the execution assembly to rotate in different directions, that is, the rotation direction of the front end joint 2805 relative to the middle joint 2802 is different from the rotation direction of the middle joint 2802 relative to the joint seat 2801, so that the execution assembly can rotate in the first preset plane and can also rotate in the second preset plane, and can also rotate in the direction after being overlapped in the first preset plane and the second preset plane, and therefore the rotation flexibility of the instrument bending joint assembly is improved. For example, the first predetermined plane may be a plane that is rotated 180 degrees perpendicular to the axial direction of the middle joint 2802, and the second predetermined plane may be a plane that is both perpendicular to the axial direction of the middle joint 2802 and perpendicular to the first predetermined plane, and may also be rotated 180 degrees, such that the actuator assembly may be rotated 360 degrees perpendicular to the axial direction of the middle joint 2802.
The following are exemplified: depending on the rotational requirements of the instrument bending joint assembly, only the front joint 2805 may be controlled to rotate in a first predetermined plane relative to the middle joint 2802, while the middle joint 2802 does not rotate relative to the joint seat 2801; the middle joint 2802 may also be controlled to rotate relative to the joint seat 2801 in a second predetermined plane, while the front joint 2805 does not rotate relative to the middle joint 2802; the front joint 2805 may also be controlled to rotate in a first predetermined plane relative to the middle joint 2802, and the middle joint 2802 may also be controlled to rotate in a second predetermined plane relative to the joint seat 2801, so as to meet various rotation requirements of the instrument bending joint assembly, thereby improving the flexibility of the instrument bending joint assembly in rotation.
According to the instrument bending joint assembly provided by the invention, the first steel belt group 2803 and the second steel belt group 2804 have a certain width and have strong rigidity in the width direction, and the deformation of the first steel belt group 2803 and the second steel belt group 2804 can be ignored in the traction process of the first steel belt group 2803 and the second steel belt group 2804, so that the deflection angles of the front end joint 2805 and the middle joint 2802 can be respectively judged through the displacement amounts of the first steel belt group 2803 and the second steel belt group 2804, namely the deflection angles of the front end joint 2805 and the middle joint 2802 can be respectively calculated by transmitting the displacement amounts of the first steel belt group 2803 and the second steel belt group 2804 to the bending joint assembly, so that the accurate positioning of the instrument bending joint assembly is realized, and the technical problem that the bending control accuracy of an end effector of a surgical instrument is poor and the accurate positioning of tissues is not facilitated is solved.
Next, one end of the middle joint 2802 is rotatably connected to the joint seat 2801, and the other end of the middle joint 2802 is rotatably connected to the front joint 2805, that is, the instrument bending joint assembly comprises two rotatable joints, namely, the middle joint 2802 and the front joint 2805, when being pulled by a power host, the first steel belt group 2803 drives the front joint 2805 to rotate in a first preset plane relative to the middle joint 2802, the second steel belt group 2804 drives the middle joint 2802 to rotate in a second preset plane relative to the joint seat 2801, the first preset plane and the second preset plane have an included angle to drive the execution assembly to rotate in different directions, that is, the rotation direction of the front joint 2805 relative to the middle joint 2802 is different from the rotation direction of the middle joint 2802 relative to the joint seat 2801, so that according to the rotation requirement of the instrument bending joint assembly, by controlling the two rotatable joints 2802 and 2805 of the middle joint 2802 and the front joint 2805, the executing assembly can rotate in different directions, so that various rotation requirements of the instrument bending joint assembly are met, and the flexibility of the instrument bending joint assembly in rotation is improved.
Finally, the first steel belt group 2803 and the second steel belt group 2804 drive the corresponding joints to rotate, and the first steel belt group 2803 and the second steel belt group 2804 can be bent at will in the thickness direction due to the fact that the first steel belt group 2803 and the second steel belt group 2804 are thin in thickness, so that bending of the instrument bending joint assembly is achieved, meanwhile, the first steel belt group 2803 and the second steel belt group 2804 have a certain width and have strong rigidity in the width direction, and therefore rigidity of the instrument bending joint assembly is improved.
Based on the above-mentioned instrument bending joint assembly, the present invention provides the following examples of practical implementations, which can be combined arbitrarily to form yet another instrument bending joint assembly without contradiction, and it should be understood that the scope of the present invention is intended for the yet another instrument bending joint assembly formed by combining any of the examples.
In one possible embodiment, first steel strip set 2803 includes two first steel strips and second steel strip set 2804 includes two second steel strips.
As shown in fig. 2, a side surface of the joint seat 2801 is provided with a first through groove 2817 through which the two first steel belts pass and a second through groove 2818 through which the two second steel belts pass, respectively, in an axial direction, and as shown in fig. 3, a side surface of the middle joint 2802 is provided with a third through groove 2819 through which the two first steel belts pass, respectively. The first through groove 2817 and the second through groove 2818 are parallel and spaced, and the first through groove 2817 corresponds to the third through groove 2819. The first steel belt is arranged in the penetrating grooves formed by the first penetrating groove 2817 and the third penetrating groove 2819, the second steel belt is arranged in the second penetrating groove 2818, the first steel belt and the second steel belt are located in the corresponding penetrating grooves, the first steel belt and the second steel belt are prevented from being stressed, distorted and deformed, the joint seat 2801 and the middle joint 2802 are supported by the first steel belt and the second steel belt, and therefore the overall rigidity of the bending joint assembly of the instrument is improved.
In a possible embodiment, two first through grooves 2817 and two second through grooves 2818 are uniformly spaced on the side wall of the joint seat 2801, and the two first through grooves 2817 and the two second through grooves 2818 are staggered, that is, the two first through grooves 2817 are axially symmetrically arranged, the two second through grooves 2818 are axially symmetrically arranged, and the spacing angle between each through groove is 90 degrees.
In one possible embodiment, referring to FIG. 4, a second perspective view of a middle joint 2802 in an instrument bend joint assembly of the present invention is shown, as shown in FIGS. 3 and 4, from a second perspective: the connection point between the middle joint 2802 and the joint seat 2801 is viewed from the point of view of the connection point between the middle joint 2802 and the distal joint 2805. One end of the middle joint 2802 is provided with a first protruding part 2820 along the radial direction, and the other end is provided with a first groove 2822 along the radial direction, and the extending direction of the first protruding part 2820 and the extending direction of the first groove 2822 form an included angle; one end of the joint seat 2801 near the middle joint 2802 is provided with a second boss 2821 adapted to the first recess 2822. One end of the front joint 2805, which is close to the middle joint 2802, is provided with a second groove 2823 which is matched with the first boss 2820; the second boss 2821 mates with the first recess 2822 to rotatably couple the middle joint 2802 to the joint seat 2801. The middle joint 2802 may rotate relative to the joint seat 2801 by engaging the second protrusion 2821 with the first recess 2822, and engaging the first protrusion 2820 with the second recess 2823, such that the front joint 2805 may rotate with the middle joint 2802. The front joint 2805 may rotate relative to the middle joint 2802 by the cooperation of the first protrusion 2820 and the second recess 2823, and the extending direction of the first protrusion 2820 and the extending direction of the first recess 2822 form an included angle, so as to realize the rotation direction of the middle joint 2802 relative to the joint seat 2801, which is different from the rotation direction of the front joint 2805 relative to the middle joint 2802, so as to drive the executing assembly to rotate in different directions.
In one possible embodiment, referring to fig. 5, there is shown a schematic view of a front end joint 2805 of an instrument bending joint assembly of the present invention, where as shown in fig. 3, 4 and 5, the first boss 2820 is a circular arc shaped boss and the second recess 2823 is a circular arc shaped recess adapted to the first boss 2820; the second protruding portion 2821 is an arc-shaped boss, the first groove 2822 is an arc-shaped groove matched with the second protruding portion 2821, or the first protruding portion 2820 is an arc-shaped boss, and the second groove 2823 is an arc-shaped groove matched with the first protruding portion 2820; or the second boss 2821 is an arc-shaped boss, and the first recess 2822 is an arc-shaped recess adapted to the second boss 2821; circular-arc boss and rather than the setting of the circular arc recess of adaptation, promoted pivoted smoothness, can promote pivoted flexibility.
In one possible embodiment, there are two first lobes 2820, and two first lobes 2820 are symmetrical about the central axis of the middle joint 2802; the symmetrical arrangement of the two first bosses 2820 can improve the stability of the rotation of the front joint 2805 relative to the middle joint 2802; the two second protrusions 2821 are symmetrical with respect to the central axis of the joint seat 2801, and the two first protrusions 2820 are symmetrically arranged, so that the stability of the rotation of the front joint 2805 with respect to the middle joint 2802 can be improved.
In this another possible embodiment, the first protruding portion 2820 and the second protruding portion 2821 are respectively provided with a channel corresponding to and communicating with the third through groove 2819 and the first through groove 2817 one by one, that is, the two first protruding portions 2820 are respectively provided with a first channel corresponding to and communicating with the two third through grooves 2819 one by one along the axial direction of the middle joint 2802, and the two second protruding portions 2821 are respectively provided with a second channel corresponding to and communicating with the two first through grooves 2817 one by one along the axial direction of the joint seat 2801; that is, the third penetration groove 2819 is formed inside the middle joint 2802, the first penetration groove 2817 is formed inside the joint seat 2801, and the surfaces of the middle joint 2802 and the joint seat 2801 are smooth, so that in clinical applications, scraping of human tissues and secondary injury to a patient can be avoided.
In one possible embodiment, as shown in fig. 3, two symmetrical side surfaces of the first protruding portion 2820 relative to the first channel are arc-shaped, and during the process that the first protruding portion 2820 rotates in cooperation with the second groove 2823, the two arc-shaped side surfaces can prevent the first protruding portion 2820 and the second groove 2823 from scraping each other during the rotation process, so that the service life of the instrument bending joint assembly is prolonged.
In one possible embodiment, the first protrusion 2820 extends in a direction perpendicular to the first recess 2822, the first direction 2826 extends in a direction perpendicular to the second direction 2827, the middle joint 2802 is capable of rotating 180 degrees relative to the joint seat 2801, the front joint 2805 is capable of rotating 180 degrees relative to the middle joint 2802, and when the first direction 2826 extends in a direction perpendicular to the second direction 2827, the rotation direction of the middle joint 2802 relative to the joint seat 2801 is not coincident with the rotation direction of the front joint 2805 relative to the middle joint 2802, so that 360 degrees rotation of the instrument bending joint assembly can be achieved.
In a possible embodiment, referring to fig. 6, a schematic rotation diagram of a front end joint 2805 in an instrument bending joint assembly according to the present invention is shown, and as shown in fig. 6, the instrument bending joint assembly further includes two first joint connecting clamps 2806, where the two first joint connecting clamps 2806 are respectively rotatably connected with two first steel strips in a one-to-one correspondence manner, and one end of each first joint connecting clamp 2806, which is far away from each first steel strip, is hinged to two sides of the front end joint 2805; one of the first steel belts is pulled by the power main unit in a third direction, and when the other first steel belt is pulled by the power main unit in a fourth direction, the front joint 2805 is driven by the two first joint connecting clamps 2806 to rotate in a first preset plane, and the third direction and the fourth direction are both in opposite directions along the axial direction of the middle joint 2802. The two first steel belts rotate the front joint 2805 relative to the middle joint 2802 by driving the corresponding first joint connecting clamp 2806 to rotate, so that the two first steel belts only need to move along the axis of the middle joint 2802, that is, the third direction and the fourth direction are axial directions along the middle joint 2802 and are opposite in direction.
The following are exemplified: one of the first steel belts is pulled to move in the third direction, the first steel belt pulls the corresponding first joint clamp 2806 to rotate, the other first steel belt is pulled by the power main machine in the fourth direction, and the first steel belt pushes the corresponding first joint clamp 2806 to rotate, so that the front joint 2805 is driven to rotate relative to the middle joint 2802.
The first steel belt has a certain width, and when the first steel belt is pulled in the width direction, the deformation amount of the first steel belt is almost zero, so that the deflection angle of the front end joint 2805 can be judged through the displacement amount of the first steel belt, that is, the deflection angle of the front end joint 2805 can be obtained through calculation by transmitting the displacement amount of the first steel belt to the bending joint assembly, and thus, the accurate positioning of the instrument bending joint assembly is realized.
In a feasible implementation manner, first hole grooves 2824 are formed in two sides of the front end joint 2805, the first hole grooves 2824 correspond to the two third through grooves 2819 in a one-to-one manner, the first joint connecting clamp 2806 is rotatably embedded in the first hole grooves 2824, and the first joint connecting clamp 2806 can rotate around the axis of the front end joint 2805, so that the first steel belt only needs to move along the axis of the middle joint 2802, lateral bending or torsional deformation of the first steel belt is avoided, and the service life of the first steel belt is prolonged; secondly, the first joint connecting clip 2806 is embedded in the first hole 2824, and the surface of the front joint 2805 is smooth, so that the smooth surface can prevent the front joint 2805 from scratching human tissues in clinical application and causing secondary injury to patients.
In a possible embodiment, referring to fig. 7, a schematic rotation diagram of the middle joint 2802 in an instrument bending joint assembly of the present invention is shown, as shown in fig. 7, the instrument bending joint assembly further includes two second joint connection clips 2807, the two second joint connection clips 2807 are respectively and one-to-one rotatably connected to two second steel belts, one end of each second joint connection clip 2807, which is far away from the second steel belt, is hinged to two sides of the middle joint 2802, one of the second steel belts is pulled by the power main machine in a third direction, and the other second steel belt is pulled by the power main machine in a fourth direction, and the middle joint 2802 is driven to rotate in a second preset plane by the two second joint connection clips 2807, and the third direction and the fourth direction are opposite to each other along the axial direction of the middle joint 2802. The two second steel belts rotate the middle joint 2802 relative to the joint seat 2801 by driving the corresponding second joint connecting clamp 2807 to rotate, so the two second steel belts only need to move along the axis of the middle joint 2802, that is, the third direction and the fourth direction are axial directions along the middle joint 2802, and the directions are opposite.
The following are exemplified: one of the second steel belts is pulled to move in the third direction, the second steel belt pulls the corresponding second joint connecting clamp 2807 to rotate, the other second steel belt is pulled by the power main machine in the fourth direction, and the second steel belt pushes the corresponding second joint connecting clamp 2807 to rotate, so that the middle joint 2802 is driven to rotate relative to the joint seat 2801.
The width value of the second steel strip is far greater than the thickness value of the second steel strip, and the second steel strip has rigidity in the width direction, so that the deformation amount of the second steel strip is almost zero when the second steel strip is pulled in the width direction, and the deflection angle of the middle joint 2802 can be judged through the displacement amount of the second steel strip, namely the deflection angle of the middle joint 2802 can be obtained through calculation by transmitting the displacement amount of the second steel strip to the bending joint component, so that the accurate positioning of the instrument bending joint component is realized.
In a feasible implementation manner, two sides of the middle joint 2802 are provided with second holes 2825, the second holes 2825 correspond to the two second through grooves 2818 one by one, and the second joint connecting clamp 2807 is rotatably embedded in the second holes 2825. The second joint connecting clamp 2807 can rotate around the axis of the middle joint 2802, so that the second steel belt only needs to move along the axis of the middle joint 2802, the lateral bending or twisting deformation of the second steel belt is avoided, and the service life of the second steel belt is prolonged; second, the second articulation clamp 2807 fits into the second bore 2825, and the surface of the middle articulation 2802 is smooth, thereby preventing the instrument bending articulation assembly from scratching the anatomy and causing injury to the patient during clinical use.
In one possible embodiment, as shown in fig. 1, a fixation tube 2808 is further included, the fixation tube 2808 is fixedly connected to an end of the joint seat 2801 away from the middle joint 2802, and the instrument bending joint assembly is, in order from the anterior end to the posterior end, the anterior joint 2805, the middle joint 2802, the joint seat 2801, and the fixation tube 2808. One end of a first steel belt group 2803 is rotatably connected to the front joint 2805, and the other end is inserted into the fixed pipe 2808, one end of a second steel belt group 2804 is rotatably connected to the middle joint 2802, and the other end is inserted into the fixed pipe 2808; the first steel belt group 2803 and the second steel belt group 2804 are inserted into the fixed pipe 2808, and first, the first steel belt group 2803 and the second steel belt group 2804 are limited. Next, after the first steel belt group 2803 and the second steel belt group 2804 are inserted into the fixed pipe 2808, they are connected to the power main machine, that is, the first steel belt group 2803 and the second steel belt group 2804 are removed from the corresponding insertion grooves, and the rest are inserted into the fixed pipe 2808, so the first steel belt group 2803 and the second steel belt group 2804 only move along the middle joint axis in the corresponding insertion grooves, and therefore, in clinical application, the first steel belt group 2803 and the second steel belt group 2804 are not harmful to human tissues during the process of being pulled by the power main machine.
In a possible embodiment, one end of the joint seat 2801 close to the fixed tube 2808 includes a connecting portion, the connecting portion includes a boss and a skirt, the boss is inserted into the fixed tube 2808, and the skirt abuts against an end of the fixed tube 2808, so as to achieve connection between the joint seat 2801 and the fixed tube 2808, and an outer diameter of the boss is smaller than an outer diameter of the fixed tube 2808, and an outer diameter of the skirt is the same as an outer diameter of the fixed tube 2808, and outer diameters of the joint seat 2801 and the fixed tube 2808 are the same, so that a smooth surface is formed, and therefore, in a clinical application, the joint seat 2801 and the fixed tube 2808 do not cause secondary injury to a patient in a moving process.
Example two
Based on the same inventive concept, another embodiment of the present invention provides a surgical instrument, referring to fig. 8, which shows an overall structural schematic view of the surgical instrument, and fig. 9, which shows a structural sectional view of the surgical instrument, as shown in fig. 8 and 9, the surgical instrument including: an actuating assembly, a drive rod and an instrument bending joint assembly as provided in the first aspect of the invention.
The driving rod is connected with the execution assembly, penetrates through the instrument bending joint assembly and extends along the axial direction of the instrument bending joint assembly; in the plane, when two parallel straight lines with constant intervals are bent around the same point by the same angle, the length of the outer straight line is increased, the length of the inner straight line is reduced, and the length of a neutral line positioned between the two straight lines is constant. Rotation of the middle joint 2802 or the front end joint 2805 in the instrument bending joint assembly does not affect the drive rods passing through the instrument bending joint assembly.
The actuator assembly is fixedly attached to a front end joint 2805 in the instrument bend joint assembly, and the drive rod is used to control the rotation of the actuator assembly, the rotation of the actuator assembly about the axis of the instrument bend joint assembly, and the opening or closing of the actuator assembly. The actuating assembly may be a forceps head assembly, a scissors assembly, or other assemblies for surgical instruments, which are not limited herein.
According to the surgical instrument provided by the invention, the first steel belt group 2803 and the second steel belt group 2804 have a certain width and have strong rigidity in the width direction, and the deformation of the first steel belt group 2803 and the second steel belt group 2804 can be ignored in the process of traction of the surgical instrument, so that the deflection angles of the front end joint 2805 and the middle joint 2802 can be respectively judged according to the displacement amounts of the first steel belt group 2803 and the second steel belt group 2804, namely the deflection angles of the front end joint 2805 and the middle joint 2802 can be respectively calculated by transmitting the displacement amounts of the first steel belt group 2803 and the second steel belt group 2804 to the bending joint assembly, so that the accurate positioning of the bending joint assembly of the surgical instrument is realized, and the technical problems that the bending control precision of an end effector of the surgical instrument is poor and the accurate positioning of tissues is not facilitated are solved.
Next, one end of the middle joint 2802 is rotatably connected to the joint seat 2801, and the other end of the middle joint 2802 is rotatably connected to the front joint 2805, that is, the instrument bending joint assembly comprises two rotatable joints, namely, the middle joint 2802 and the front joint 2805, when being pulled by a power host, the first steel belt group 2803 drives the front joint 2805 to rotate in a first preset plane relative to the middle joint 2802, the second steel belt group 2804 drives the middle joint 2802 to rotate in a second preset plane relative to the joint seat 2801, the first preset plane and the second preset plane have an included angle to drive the execution assembly to rotate in different directions, that is, the rotation direction of the front joint 2805 relative to the middle joint 2802 is different from the rotation direction of the middle joint 2802 relative to the joint seat 2801, so that according to the rotation requirement of the instrument bending joint assembly, by controlling the two rotatable joints 2802 and 2805 of the middle joint 2802 and the front joint 2805, the executing assembly can rotate in different directions, so that various rotation requirements of the instrument bending joint assembly are met, and the flexibility of the instrument bending joint assembly in rotation is improved.
Finally, the first steel belt group 2803 and the second steel belt group 2804 drive the corresponding joints to rotate, and the first steel belt group 2803 and the second steel belt group 2804 can be bent at will in the thickness direction due to the fact that the first steel belt group 2803 and the second steel belt group 2804 are thin in thickness, so that bending of the instrument bending joint assembly is achieved, meanwhile, the first steel belt group 2803 and the second steel belt group 2804 have a certain width and have strong rigidity in the width direction, and therefore rigidity of the instrument bending joint assembly is improved.
In one possible embodiment, referring to fig. 10, an exploded view of a surgical instrument is shown, as shown in fig. 10, further including a first mounting pin 2813, the actuation assembly including an upper actuator 2814 and a lower actuator 2815 hinged to one another; the upper executive element 2814 and the lower executive element 2815 are both provided with sliding grooves along the length direction, and the driving rod is provided with a first mounting hole; the first mounting pin 2813 is sequentially inserted into the first mounting hole and the sliding slot, so that the driving rod slides axially under the action of an external force, and simultaneously drives the first mounting pin 2813 to move in the sliding slot, thereby driving the upper actuating element 2814 and the lower actuating element 2815 to open or close.
In one possible embodiment, a second mounting pin 2812 is included, and the drive stem includes a wire body 2811 and an inner clevis 2809; upper actuating piece 2814 and lower actuating piece 2815 are both provided with second mounting holes, and inner clevis 2809 is provided with a hole slot matched with the second mounting holes; wherein second mounting pin 2812 passes through the second mounting hole and hole slot in sequence to effect connection between inner clevis 2809 and upper and lower actuators 2814 and 2815; wire body 2811 is inserted into inner clevis 2809 and is fixedly connected to inner clevis 2809.
The driving rod further comprises an outer U-shaped clamp 2810, and the outer U-shaped clamp 2810 is connected with the steel wire body 2811; a first mounting hole is formed in the outer clevis 2810, wherein one end of a first mounting pin 2813 is inserted into the first mounting hole and then disposed in the sliding groove, so as to connect the outer clevis 2810 to the upper actuator 2814 and the lower actuator 2815; wire body 2811, when moved axially, causes upper actuator 2814 and lower actuator 2815 to open or close via first mounting pin 2813.
In one possible embodiment, a third mounting pin 2816 is further included, and an annular groove is formed at an end of inner clevis 2809 connected to front knuckle 2805, and a third mounting hole matched with the annular groove is formed at front knuckle 2805;
wherein an end of a third mounting pin 2816 is inserted into the third mounting hole and then into the annular circular groove to provide a rotational connection between the inner clevis 2809 and the front end knuckle 2805.
EXAMPLE III
The embodiment of the present invention also provides a split type surgical device, including: a handle mechanism, a power master and a surgical instrument as provided in the second aspect of the invention; one end of the power main machine is connected to the handle mechanism, and the other end of the power main machine is connected to a surgical instrument; the power main machine is used for providing power for the handle mechanism so as to drive the handle mechanism to drive the surgical instrument to move.
According to the split type surgical device provided by the invention, the first steel belt group 2803 and the second steel belt group 2804 have a certain width and have strong rigidity in the width direction, and the deformation of the first steel belt group 2803 and the second steel belt group 2804 can be ignored in the traction process, so that the deflection angles of the front end joint 2805 and the middle joint 2802 can be respectively judged according to the displacement amount of the first steel belt group 2803 and the second steel belt group 2804, namely the deflection angles of the front end joint 2805 and the middle joint 2802 can be respectively calculated by transmitting the displacement amount of the first steel belt group 2803 and the second steel belt group 2804 to the bending joint assembly, so that the accurate positioning of the bending joint assembly of the instrument is realized, and the technical problem that the bending control precision of an end effector of a surgical instrument is poor and the accurate positioning of tissues is not facilitated is solved.
Next, one end of the middle joint 2802 is rotationally connected to the joint base 2801, and the other end of the middle joint 2802 is rotationally connected to the front joint 2805, that is, the instrument bending joint assembly comprises two rotatable joints, namely, the middle joint 2802 and the front joint 2805. when pulled by a power driver, the first steel band 2803 drives the front joint 2805 to rotate in a first predetermined plane relative to the middle joint 2802, the second steel band 2804 drives the middle joint 2802 to rotate in a second predetermined plane relative to the joint base 2801, and the first predetermined plane and the second predetermined plane have an included angle to drive the actuator assembly to rotate in different directions, that is, the rotation direction of the front joint 2805 relative to the middle joint 2802 is different from the rotation direction of the middle joint 2802 relative to the joint base 2801, so that by controlling the two rotatable joints of the middle joint 2802 and the front joint 2805 according to the rotation requirement of the instrument bending joint assembly, the executing assembly can rotate in different directions, so that various rotation requirements of the instrument bending joint assembly are met, and the flexibility of the instrument bending joint assembly in rotation is improved.
Finally, the first steel belt group 2803 and the second steel belt group 2804 drive the corresponding joints to rotate, and the first steel belt group 2803 and the second steel belt group 2804 can be bent at will in the thickness direction due to the fact that the first steel belt group 2803 and the second steel belt group 2804 are thin in thickness, so that bending of the instrument bending joint assembly is achieved, meanwhile, the first steel belt group 2803 and the second steel belt group 2804 have a certain width and have strong rigidity in the width direction, and therefore rigidity of the instrument bending joint assembly is improved.
It should be understood that the description of the present invention, while indicating preferred embodiments of the present invention, may admit to other equally effective embodiments. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all changes and modifications that fall within the true scope of the embodiments of the present invention.
The instrument bending joint assembly, the surgical instrument and the split surgical device provided by the invention are described in detail, specific examples are applied in the description to explain the principle and the implementation mode of the invention, and the description of the examples is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims (18)

1. An instrument bend joint assembly, comprising: a front end joint (2805), a middle joint (2802), a joint seat (2801), a first steel band group (2803) connected to the front end joint (2805), and a second steel band group (2804) connected to the middle joint (2802);
one end of the middle joint (2802) is rotatably connected with the joint seat (2801) along a first direction (2826), the other end of the middle joint (2802) is rotatably connected with the front end joint (2805) along a second direction (2827), the first direction (2826) and the second direction (2827) are both perpendicular to the axial direction of the middle joint (2802), the first direction (2826) and the second direction (2827) form an included angle, and one end, away from the middle joint, of the front end joint (2805) is used for connecting an executing component;
the first steel belt group (2803) is used for driving the front end joint (2805) to rotate in a first preset plane relative to the middle joint (2802) when being pulled by a power main machine, the second steel belt group (2804) is used for driving the middle joint (2802) to rotate in a second preset plane relative to the joint seat (2801) when being pulled by the power main machine, and the first preset plane and the second preset plane have included angles so as to drive the execution assembly to rotate in different directions; the first steel strip group (2803) comprises two first steel strips, the second steel strip group (2804) comprises two second steel strips;
the instrument bending assembly further comprises: a first articulation clamp (2806) and a second articulation clamp (2807);
the number of the first joint connecting clamps (2806) is two, the two first joint connecting clamps (2806) are in one-to-one corresponding rotatable connection with the two first steel strips, and one end, far away from the first steel strips, of each first joint connecting clamp (2806) is hinged to two sides of a front end joint (2805);
the number of the second joint connecting clamps (2807) is two, the two second joint connecting clamps (2807) are in one-to-one corresponding rotatable connection with the two second steel strips, and one end, far away from the second steel strips, of each second joint connecting clamp (2807) is hinged to two sides of the middle joint (2802).
2. The assembly according to claim 1, characterized in that the side of the joint seat (2801) is provided with a first through slot (2817) for two first steel belts to pass through respectively and a second through slot (2818) for two second steel belts to pass through respectively along the axial direction, and the side of the middle joint (2802) is provided with a third through slot (2819) for two first steel belts to pass through respectively;
the first through groove (2817) and the second through groove (2818) are arranged in parallel and at intervals, and the first through groove (2817) corresponds to the third through groove (2819).
3. The assembly according to claim 2, characterized in that two of said first through slots (2817) and two of said second through slots (2818) are arranged on the side wall of said joint seat (2801) at regular intervals, and said two first through slots (2817) and said two second through slots (2818) are arranged alternately.
4. The assembly according to claim 2, characterized in that the middle joint (2802) is provided with a first protrusion (2820) at one end in a radial direction and a first recess (2822) at the other end in a radial direction, the first protrusion (2820) extending in a direction having an angle with the first recess (2822);
a second bulge (2821) matched with the first groove (2822) is arranged at one end, close to the middle joint (2802), of the joint seat (2801), and a second groove (2823) matched with the first bulge (2820) is arranged at one end, close to the middle joint (2802), of the front end joint (2805);
the second protrusion (2821) is engaged with the first groove (2822) to rotatably connect the middle joint (2802) with the joint base (2801), and the first protrusion (2820) is engaged with the second groove (2823) to rotatably connect the front joint (2805) with the middle joint (2802).
5. The assembly of claim 4, wherein the first boss (2820) is a radiused boss and the second recess (2823) is a radiused recess that mates with the first boss (2820); and/or
Second bellying (2821) are circular-arc boss, first recess (2822) be with second bellying (2821) looks adaptation's circular arc recess.
6. The assembly of claim 4, wherein the first lobes (2820) are two, the two first lobes (2820) being symmetrical about a central axis of the middle joint (2802); the number of the second protrusions (2821) is two, and the two second protrusions (2821) are symmetrical with respect to the central axis of the joint seat (2801).
7. The assembly of claim 6, wherein the two first protruding portions (2820) respectively open first passages in one-to-one correspondence with the two third through grooves (2819) and communicate with the two third through grooves (2819) along the axial direction of the middle joint (2802), and the two second protruding portions (2821) respectively open second passages in one-to-one correspondence with the two first through grooves (2817) and communicate with the two second through grooves along the axial direction of the joint seat (2801).
8. The assembly of claim 7, wherein both sides of the first boss (2820) that are symmetrical with respect to the first channel are radiused.
9. Assembly according to claim 4, characterized in that the direction of extension of the first protrusion (2820) is perpendicular to the direction of extension of the first recess (2822), the first direction (2826) being perpendicular to the second direction (2827).
10. The assembly of claim 1, wherein one of the first steel strips is pulled by the power master in a third direction and the other of the first steel strips is pulled by the power master in a fourth direction, wherein the front joint (2805) is rotated in the first predetermined plane by the two first joint clamps (2806), and wherein the third direction and the fourth direction are opposite to each other along the axial direction of the middle joint (2802).
11. The assembly of claim 2, wherein first holes (2824) are formed in two sides of the front end joint (2805), the first holes (2824) correspond to the two third through holes (2819) in a one-to-one manner, and the first joint connecting clip (2806) is rotatably embedded in the first holes (2824).
12. The assembly of claim 1, wherein one of the second steel strips is pulled by the power main in a third direction and the other of the second steel strips is pulled by the power main in a fourth direction, the middle joint (2802) is rotated in the second predetermined plane by two of the second joint clamps (2807), and the third direction and the fourth direction are opposite to each other along an axial direction of the middle joint (2802).
13. The assembly of claim 2, wherein two sides of the middle joint (2802) are provided with second holes (2825), the second holes (2825) correspond to the two second through holes (2818) one by one, and the second joint connecting clip (2807) is rotatably embedded in the second holes (2825).
14. The assembly according to claim 1, further comprising a fixing tube (2808), wherein the fixing tube (2808) is fixedly connected to an end of the joint base (2801) remote from the middle joint (2802), one end of the first steel band set (2803) is rotatably connected to the front joint (2805), and the other end of the first steel band set is inserted into the fixing tube (2808), and one end of the second steel band set (2804) is rotatably connected to the middle joint (2802), and the other end of the second steel band set is inserted into the fixing tube (2808).
15. The assembly of claim 14, wherein the joint seat (2801) comprises, at an end proximate to the stationary tube (2808), a connecting portion comprising a boss and a skirt axially disposed one after the other, the boss being inserted into the stationary tube (2808), the skirt abutting an end of the stationary tube (2808), the boss having an outer diameter smaller than an outer diameter of the stationary tube (2808), and the skirt having an outer diameter equal to an outer diameter of the stationary tube (2808).
16. A surgical instrument comprising an actuating assembly, a drive rod, and the instrument bend joint assembly of any of claims 1-15;
the driving rod is connected with the executing assembly, penetrates through the instrument bending joint assembly and extends along the axial direction of the instrument bending joint assembly;
the actuating assembly is fixedly connected with a front end joint (2805) in the instrument bending joint assembly, and the driving rod is used for controlling the rotation of the actuating assembly and controlling the opening or closing of the actuating assembly.
17. The surgical instrument of claim 16, further comprising a first mounting pin (2813), the actuation assembly comprising an upper actuator (2814) and a lower actuator (2815) that are hinged to each other;
the upper executing piece (2814) and the lower executing piece (2815) are both provided with sliding grooves along the length direction, and the driving rod is provided with a first mounting hole;
the first mounting pin (2813) is sequentially inserted into the first mounting hole and the sliding groove, so that the driving rod slides axially under the action of external force and drives the upper execution piece (2814) and the lower execution piece (2815) to open or close.
18. A split-surgical apparatus comprising a handle mechanism, a power master and a surgical device as claimed in any one of claims 16 to 17;
one end of the power main machine is connected to the handle mechanism, and the other end of the power main machine is connected to the surgical instrument;
the power main machine is used for providing power for the handle mechanism so as to drive the handle mechanism to drive the surgical instrument to move.
CN202210150058.9A 2022-02-18 2022-02-18 Instrument bending joint assembly, surgical instrument and split type surgical device Active CN114224496B (en)

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