CN116421270A

CN116421270A - Surgical operation instrument

Info

Publication number: CN116421270A
Application number: CN202310427617.0A
Authority: CN
Inventors: 薛人峰; 雷春翠
Original assignee: Suzhou Ouchang Medical Technology Co ltd
Current assignee: Suzhou Ouchang Medical Technology Co ltd
Priority date: 2023-04-20
Filing date: 2023-04-20
Publication date: 2023-07-14

Abstract

The invention belongs to the technical field of medical instruments, and discloses a surgical instrument which comprises an end execution device, a bacteria-isolation shell and a driving device, wherein the end execution device is provided with a control end and an execution end; the bacteria-isolating shell is arranged at the control end of the end execution device, an inner cavity is formed by enclosing the bacteria-isolating shell and the end execution device, and the inner cavity can be opened or closed through the bacteria-isolating shell; the driving device is detachably arranged in the inner cavity. According to the surgical instrument provided by the invention, the inner cavity is opened through the bacteria-isolation shell to take out the driving device, the end execution device and the bacteria-isolation shell are separated from the driving device for sterilization, after the sterilization is finished, the driving device is reinstalled in the inner cavity, the inner cavity is closed, even if germs remain on the driving device, the driving device can be sealed in the inner cavity, the situation that germs on the driving device are exposed in an operation environment is effectively avoided, the operation of a patient is ensured to be performed in the sterile environment, and the safety is improved.

Description

Surgical operation instrument

Technical Field

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

Background

Minimally invasive surgery, which is regarded as a minimally invasive surgery, has the advantages of small surgical trauma, few complications in surgery, reduced postoperative pain, short hospitalization time and the like, and is now becoming a diagnosis and treatment standard for a plurality of common surgical diseases. The concept of "minimally invasive" has been extended to various areas of surgery, where doctors typically perform surgical tasks with elongate minimally invasive surgical instruments.

Along with the development and progress of scientific technology, the traditional slender minimally invasive surgical instrument is gradually replaced by an active minimally invasive surgical instrument, and the active minimally invasive surgical instrument can better meet the actions of clamping, suturing, knotting and the like in the surgical process.

Surgical instruments are often contaminated with blood or tissue during surgery, and therefore, before and after use, the surgical instruments need to be cleaned and sterilized. Because the driving device formed by the motor, the chip and the like exists in the active minimally invasive surgical instrument, special attention is required during cleaning and disinfection, damage caused by liquid invading the interior of the surgical instrument is avoided, incomplete sterilization and disinfection can be possibly caused, and germ residues are caused.

In the prior art, as disclosed in the patent document with publication number of CN216842221U, an intelligent minimally invasive surgical instrument is composed of a handle driving device, a middle connecting device and an end executing device, so that the aim of separate sterilization can be achieved, and the situation that liquid invades the surgical instrument to cause damage is effectively avoided. However, since the driving device including the motor and the chip is provided inside the handle driving device, it is inconvenient to sterilize the handle driving device at high temperature and high pressure, and the sterilizing treatment is generally performed by using an alcohol wiping sterilization method, and the handle driving device belongs to a bacteria part, and may have germs left, and when germs are exposed to an operation environment, the safety of the operation of a patient may be affected. Accordingly, there is a need for a surgical instrument that solves the above-mentioned technical problems.

Disclosure of Invention

The invention aims to provide a surgical instrument, which effectively prevents the sterilized surgical instrument from being exposed to the surgical environment by germs and ensures that a patient performs the operation in the sterile environment.

To achieve the purpose, the invention adopts the following technical scheme:

there is provided a surgical instrument comprising:

the end execution device is provided with a control end and an execution end;

the bacteria-isolating shell is arranged at the control end of the end execution device, an inner cavity is formed by enclosing the bacteria-isolating shell and the end execution device, and the inner cavity can be opened or closed through the bacteria-isolating shell;

the driving device is detachably arranged in the inner cavity, is used for being connected with the control end of the end execution device and drives the execution end of the end execution device to act through the control end of the end execution device.

Optionally, the bacteria-isolating housing comprises:

the first shell is fixedly connected with the control end of the end effector;

and the second shell is rotationally connected with the first shell or the end effector, and the inner cavity can be opened and closed through the rotation of the second shell.

Optionally, the method further comprises:

The pushing frame is arranged in the first shell;

the first end of the first connecting rod is rotationally connected with the pushing frame, and the second end of the first connecting rod is rotationally connected with the second shell; wherein,,

when the second shell rotates to close the inner cavity, the second shell can drive the pushing frame to move towards the end execution device through the first connecting rod, and the driving device is pushed to be connected with the control end of the end execution device through the pushing frame.

Optionally, the second housing is connected with a first elastic member, and the first elastic member enables the second housing to always have a tendency to rotate away from the first housing.

Optionally, one of the first housing and the second housing is provided with a buckle assembly, and the other of the first housing and the second housing can be in clamping connection with the buckle assembly so as to keep the inner cavity in a closed state.

Optionally, the end effector comprises:

an instrument bar;

a flexible joint, a first end of the flexible joint being connected to a first end of the instrument bar;

a jaw connected to a second end of the flexible joint, the jaw being deflectable relative to the instrument bar by the flexible joint;

The transmission assembly is arranged at the second end of the instrument rod, the transmission assembly is connected with the second end of the flexible joint, the transmission assembly can be connected with the driving device, and the driving device can drive the clamping jaw to deflect relative to the instrument rod through the transmission assembly.

Optionally, the flexible joint comprises a plurality of articulated joint members in sequence, at least some of the joint members having different rotational directions.

Optionally, the end effector further includes a first wire, the first wire is provided with a plurality of and is disposed along a circumferential interval of the instrument rod, a first end of the first wire is connected with the transmission assembly, a second end of the first wire is threaded through the instrument rod and the flexible joint and is connected with a second end of the flexible joint, and the transmission assembly can adjust a deflection angle and a deflection direction of the clamping jaw through the first wire.

Optionally, the transmission assembly includes:

the transmission shell is provided with the instrument rod, and the transmission shell and the bacteria-isolation shell are enclosed to form the inner cavity;

the rope pulleys are arranged in the transmission shell, are rotationally connected with the transmission shell, are provided with a plurality of winding parts, and are wound on the winding parts in a one-to-one correspondence manner; and

The driving device comprises a plurality of motors, the motors are in one-to-one correspondence with the rope pulleys, and the motors are used for driving the rope pulleys to rotate.

Optionally, the clamping jaw comprises:

the first end of the claw seat is provided with a claw hinge part, the second end of the claw seat is provided with a chute, and the second end of the claw seat is connected with the second end of the flexible joint;

the two claw arms are hinged with the claw hinging parts of the claw seats, the claw arms are provided with transmission parts, and the transmission parts are provided with strip holes;

the sliding shaft is arranged in the sliding groove in a sliding way, a transmission shaft is arranged at the first end of the sliding shaft along the radial direction, the transmission shaft is arranged in the strip hole in a penetrating way, and the sliding shaft can move in the strip hole through the transmission shaft so as to drive the clamping jaw to rotate relative to the jaw seat;

the second elastic piece is arranged between the sliding shaft and the claw seat, and the second elastic piece enables the sliding shaft to always have a trend of moving towards the first end of the claw seat.

Optionally, the end effector further comprises:

the driving assembly is positioned at the control end of the end execution device;

a second wire, a first end of which is connected with the driving component, and a second end of which passes through the instrument rod and the flexible joint and is connected with the sliding shaft; wherein,,

The driving assembly controls the opening and closing of the clamping jaw through the second silk thread.

Optionally, the driving assembly includes:

the second end of the sliding rod is provided with a rod hinge part and a first limit part;

a second link, a first end of which is hinged with the lever hinge;

the opening and closing handle is connected with the fungus-isolating shell and hinged with the second end of the second connecting rod, and can rotate relative to the fungus-isolating shell and drive the sliding rod to slide relative to the fungus-isolating shell back to the clamping jaw through the second connecting rod so as to drive the second silk thread to pull the sliding shaft towards the second end of the jaw seat;

the locking handle is connected with the fungus-proof shell and can abut against the first limiting part to limit the sliding rod to slide towards the clamping jaw.

The beneficial effects are that:

according to the surgical instrument provided by the invention, the inner cavity is opened through the bacteria-isolation shell to take out the driving device, the end execution device and the bacteria-isolation shell are separated from the driving device for sterilization, after the sterilization is finished, the driving device is reinstalled in the inner cavity, the inner cavity is closed, even if germs remain on the driving device, the driving device can be sealed in the inner cavity, the situation that germs on the driving device are exposed in an operation environment is effectively avoided, the operation of a patient is ensured to be performed in the sterile environment, and the safety is improved.

Drawings

FIG. 1 is a schematic view of a surgical instrument with an open lumen provided by the present invention;

FIG. 2 is a schematic diagram of a driving device provided by the invention for separating a bacteria-isolating shell;

FIG. 3 is a schematic view of a view angle structure of the bacteria-isolating housing according to the present invention;

FIG. 4 is a schematic view of another view of the bacteria-proof housing provided by the present invention;

FIG. 5 is a schematic view of a driving device according to the present invention;

FIG. 6 is an enlarged schematic view of the portion A of FIG. 3 provided by the present invention;

FIG. 7 is a schematic view of a surgical instrument with closed lumen provided by the present invention;

FIG. 8 is a schematic illustration of the deflection of the jaws provided by the present invention;

FIG. 9 is a schematic view of a flexible joint according to the present invention;

FIG. 10 is a schematic view of a transmission assembly provided by the present invention;

FIG. 11 is a perspective view of a drive device provided by the present invention;

FIG. 12 is a schematic view of another view of the driving apparatus according to the present invention;

FIG. 13 is a schematic view of the structure of the actuating end of the surgical instrument provided by the present invention;

FIG. 14 is a schematic view of the structure of the jaw provided by the present invention;

FIG. 15 is a partial perspective view of a surgical instrument provided by the present invention;

fig. 16 is a schematic structural view of a driving assembly provided by the present invention.

In the figure:

100. an end effector; 110. an instrument bar; 120. a flexible joint; 121. a joint member; 130. a clamping jaw; 131. a claw seat; 1311. a claw hinge portion; 132. a claw arm; 1321. a slit hole; 133. a sliding shaft; 1331. a transmission shaft; 134. a second elastic member; 140. a transmission assembly; 141. a transmission housing; 142. a rope pulley; 1421. a winding part; 1422. a second transmission fork; 143. a transmission bracket; 150. a first thread; 160. a guide wheel; 170. a first connection terminal; 180. a drive assembly; 181. a slide bar; 1811. a lever hinge part; 1812. a first limit part; 182. a second link; 183. an opening and closing handle; 184. a locking handle; 1841. a second limit part; 185. a fixing frame; 190. a second thread;

200. a bacteria-isolating shell; 210. a first housing; 211. a guide protrusion; 220. a second housing; 221. a soft shell; 222. a transparent window;

300. a driving device; 310. a guide groove; 320. a motor; 330. a first transmission fork; 340. a rocker switch; 350. a display screen; 360. a second connection terminal;

410. a pushing frame; 420. a first link; 430. a first elastic member; 440. a clasp assembly; 441. a clip; 442. a cover opening button; 450. aviation plug.

Detailed Description

The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.

In the description of the present invention, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and simplicity of operation, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.

Referring to fig. 1 to 2, the present embodiment provides a surgical instrument including an end effector 100, a barrier housing 200, and a driving device 300.

Specifically, the end effector 100 has a control end and an execution end; the bacteria-isolating shell 200 is arranged at the control end of the end effector 100, an inner cavity is formed by enclosing the bacteria-isolating shell 200 and the end effector 100, and the inner cavity can be opened or closed through the bacteria-isolating shell 200; the driving device 300 is detachably disposed in the inner cavity, and the driving device 300 is used for being connected with a control end of the end effector 100 and driving an execution end of the end effector 100 through the control end of the end effector 100.

In this embodiment, the inner cavity is opened by the bacteria-isolation housing 200 to take out the driving device 300, the end effector 100, the bacteria-isolation housing 200 and the driving device 300 are separately sterilized, after the sterilization is completed, the driving device 300 is reinstalled in the inner cavity, and the inner cavity is closed, so that even if the driving device 300 has germs remained, the driving device 300 can be sealed in the inner cavity, the situation that germs on the driving device 300 are exposed to the operation environment is effectively avoided, the operation of a patient in the sterile environment is ensured, and the safety is improved. And the driving device 300 can be disassembled, so that the device can be used for multiple times, is convenient to maintain and replace, and reduces the cost. Wherein the end effector 100 and the aseptic enclosure 200 may be sterilized at high temperature and high pressure. The drive device 300 may be sterilized by alcohol wiping.

In addition, the surgical instrument provided by the embodiment does not need to be sheathed at the bacteria isolation shell 200 to perform operation after the bacteria isolation bag is sheathed, so that the phenomenon of hand sliding when the surgical instrument is held is effectively avoided, the trouble of using the bacteria isolation bag is avoided, the heat dissipation of the driving device 300 is facilitated, the structure is exquisite, the cost is lower, the carrying is convenient, no special requirement is provided for an operating room, and the surgical instrument is suitable for various hospital introduction.

In the present embodiment, with continued reference to fig. 1-2, the bacteria-isolating housing 200 includes a first housing 210 and a second housing 220, the first housing 210 being fixedly connected to the control end of the end effector 100; the second housing 220 is rotatably connected with the first housing 210 or the end effector 100, the inner cavity can be opened and closed by rotating the second housing 220, so that the inner cavity can be opened and closed conveniently, and the second housing 220 is always connected with the first housing 210 and the end effector 100, so that the second housing 220 is effectively prevented from being lost. Furthermore, if the second housing 220 is designed to be separate from the first housing 210 and the end effector 100, the second housing 220 may be mixed when a plurality of surgical instruments are placed together, the second housing 220 may affect the sealing effect of the internal cavity, and the second housing 220 is always connected to the first housing 210 and the end effector 100 to effectively avoid the above.

Specifically, an interference fit may be employed between the first housing 210 and the second housing 220 to maintain the sterility housing 200 sealed. Further, a seal (not shown) may be provided between the first housing 210 and the second housing 220 to further maintain the sterility housing 200 sealed.

In one possible embodiment, the bacteria-isolating housing 200 may also be composed of more than two housings, which is not specifically limited herein.

In one possible embodiment, the bacteria-insulating housing 200 is handle-like, and is easy to hold.

In this embodiment, referring to fig. 3 to 5, the surgical instrument further includes a pushing frame 410 and a first link 420, wherein the pushing frame 410 is disposed in the first housing 210, a first end of the first link 420 is rotatably connected to the pushing frame 410, and a second end of the first link 420 is rotatably connected to the second housing 220; when the second housing 220 rotates to close the inner cavity, the second housing 220 can drive the pushing frame 410 to move towards the end effector 100 through the first link 420, and push the driving device 300 to connect with the control end of the end effector 100 through the pushing frame 410, so as to facilitate installation of the driving device 300. In the present embodiment, the second housing 220 rotates relative to the first housing 210 to have a first state position and a second state position; when the second housing 220 is in the first state, the inner cavity is open and the driving device 300 can be loaded between the thrust frame 410 and the control end of the end effector 100; the second housing 220 rotates from the first state position to the second state position, and drives the pushing frame 410 to move through the first link 420, and pushes the driving device 300 to connect with the control end of the end effector 100 through the pushing frame 410; when the second housing 220 is in the second state, the inner cavity is closed, so that the structure is exquisite, and the installation of the driving device 300 is simplified. Illustratively, the first link 420 may be an elastic member, which effectively avoids the jamming phenomenon.

Specifically, as shown in fig. 4 and 5, a guide protrusion 211 is provided in the first housing 210, a guide groove 310 is provided on the driving device 300, and the driving device 300 is precisely abutted with the control end of the end effector 100 by the cooperation of the guide protrusion 211 and the guide groove 310. In this embodiment, when the driving device 300 is placed in the first housing 210, at least part of the guiding protrusions 211 are placed in the guiding grooves 310, so that the driving device 300 can be pushed to connect with the control end of the end effector 100 only by rotating the second housing 220 from the first state position to the second state position.

In one possible embodiment, as shown in fig. 3, the first elastic member 430 is connected to the second housing 220, and the first elastic member 430 makes the second housing 220 always have a tendency to rotate away from the first housing 210, so that the second housing 220 can be conveniently rotated away from the first housing 210 by the first elastic member 430 to open the inner cavity, which is exquisite in structure and convenient to operate. For example, the second housing 220 is rotatably connected with the end effector 100, the first elastic member 430 may be a torsion spring, and the first elastic member 430 is disposed between the second housing 220 and the end effector 100.

In one possible embodiment, as shown in fig. 3, one of the first housing 210 and the second housing 220 is provided with a buckle assembly 440, and the other of the first housing 210 and the second housing 220 can be clamped with the buckle assembly 440, so that the inner cavity is kept in a closed state, and the situation that the second housing 220 is accidentally rotated to open the inner cavity is effectively avoided, so that a sterile operation environment is ensured. For example, a snap assembly 440 is disposed within the first housing 210, the snap assembly 440 being located at an end of the first housing 210 facing away from the end effector 100.

Specifically, as shown in fig. 6, the buckle assembly 440 includes a buckle element 441 disposed in the first housing 210, and an uncapping button 442 slidably disposed on the first housing 210. The fastening member 441 may be an elastic member or a plastic member, and when the fastening member 441 is a plastic member, a restoring elastic member (not shown), such as a torsion spring or a spring, is disposed between the first housing 210 and the fastening member 441. Further, a clamping groove clamped with the clamping piece 441 is provided on the second housing 220. In the present embodiment, when the second housing 220 rotates to the second state position, the fastening member 441 is automatically fastened to the fastening slot, so that the second housing 220 is fixed relative to the first housing 210, and continuous sealing of the inner cavity is achieved; when the inner cavity needs to be opened, only the cover opening button 442 is needed to be pressed, the cover opening button 442 is pressed against the fastening piece 441 to disengage the fastening piece 441 from the fastening groove, and under the action of the first elastic piece 430, the second housing 220 automatically rotates to the first state position to open the inner cavity, so that the operation is convenient.

In this embodiment, referring to fig. 7-9, end effector 100 includes an instrument bar 110, a flexible joint 120, a jaw 130, and a drive assembly 140. In a possible embodiment, the clamping jaw 130 may be replaced by an electric cutting, electrocoagulation, or other energy device, which is not specifically limited in this application.

Specifically, a first end of the flexible joint 120 is connected to a first end of the instrument bar 110; jaw 130 is coupled to a second end of flexible joint 120, jaw 130 being deflectable relative to instrument bar 110 by flexible joint 120; the transmission assembly 140 is disposed at a second end of the instrument bar 110, the transmission assembly 140 is coupled to the second end of the flexible joint 120, and the transmission assembly 140 is capable of being coupled to the driving device 300, wherein the driving device 300 drives the jaw 130 to deflect relative to the instrument bar 110 via the transmission assembly 140. Wherein the actuation end of the end effector 100 includes a finger flexible joint 120 and a jaw 130, and the control end of the end effector 100 includes a drive assembly 140. In this embodiment, the flexible joint 120 deforms to enable the clamping jaw 130 to deflect, so that the structure is simple and convenient to implement, the driving device 300 drives the clamping jaw 130 to deflect relative to the instrument rod 110 through the transmission assembly 140, and the driving device 300 drives the clamping jaw 130 to accurately control the deflection angle and the deflection direction of the clamping jaw 130, so that the operation is convenient. In addition, the instrument bar 110, the flexible joint 120, the jaw 130, and the transmission assembly 140 are sterilized at high temperature and high pressure together with the sterilization case 200, without affecting the usability of the surgical instrument.

Illustratively, the deflection directions of the jaws 130 may be the a-direction and the b-direction as in fig. 8. Specifically, the direction a refers to left-right deflection, i.e., the jaw 130 is deflected; the direction b is referred to as yaw up and down, i.e., jaw 130 is pitched. In fig. 8, E is a left-leaning state of the clamping jaw 130, F is a right-leaning state of the clamping jaw 130, G is a tilting-up state of the clamping jaw 130, and H is a tilting-down state of the clamping jaw 130. Further, the jaw 130 may be rotated clockwise or counterclockwise about the mechanical bar by the flexible joint 120, i.e., the jaw 130 pivots, as indicated by the direction c in fig. 8. In this embodiment, by implementing real-time pitching, tilting and swinging of the clamping jaw 130, the operation strength of the doctor is effectively reduced.

Specifically, as shown in fig. 9, the flexible joint 120 includes a plurality of joint members 121 hinged in sequence, at least some of the joint members 121 are different in rotation direction, the structure is simple, and deflection of the jaw 130 is easily achieved. In this embodiment, the articulation component 121 at the first end of the flexible joint 120 is fixedly coupled to the instrument bar 110, and the articulation component 121 at the first end may be inserted into the instrument bar 110, for example.

Illustratively, the articular component 121 may be provided with 4-8 components.

In one possible embodiment, the articulation pieces 121 may include a pitch articulation piece and a yaw articulation piece, the pitch articulation piece being perpendicular to the rotational direction of the instrument bar 110 and the yaw articulation piece being perpendicular to the rotational direction of the instrument bar 110, the pitch motion of the jaws 130 being achieved by the pitch articulation piece, the yaw motion of the jaws 130 being achieved by the yaw articulation piece, and the yaw motion of the jaws 130 being achieved. Of course, the joint member 121 may also include other joint members having other rotation directions, which are not specifically limited in this application.

Illustratively, as shown in fig. 9, the joints 121 are provided with 5, including three pitch joints and two yaw joints, with three pitch joints located between the two yaw joints.

Illustratively, the articular component 121 may be serpentine in shape to avoid interference.

In this embodiment, referring to fig. 9 to 10, the end effector 100 further includes a first wire 150, the first wire 150 is provided with a plurality of wires and is disposed at intervals along the circumferential direction of the instrument rod 110, a first end of the first wire 150 is connected to the transmission assembly 140, a second end of the first wire 150 is threaded through the instrument rod 110 and the flexible joint 120 and is connected to a second end of the flexible joint 120, and the transmission assembly 140 can adjust the deflection angle and the deflection direction of the clamping jaw 130 through the first wire 150. Specifically, the second end of the first wire 150 is connected to an articulation piece 121 at the second end of the flexible joint 120. In this embodiment, the transmission assembly 140 can simultaneously actuate the plurality of joint members 121 by cooperatively pulling the plurality of first wires 150, so as to bend the flexible joint 120 and further deflect the clamping jaw 130, as required. In addition, the provision of the first wire 150 enables the end effector 100 to be more compact in structure, facilitating the manipulation of minimally invasive procedures.

Illustratively, the first wire 150 may be a steel wire.

Illustratively, the first wires 150 may be provided in 3-16 numbers to ensure stability of the flexible joint 120. For example, the first wires 150 are provided in 4, 6 or 8.

In the present embodiment, referring to fig. 3, 10 to 11, the transmission assembly 140 includes a transmission housing 141 and a sheave 142. Wherein, the transmission shell 141 is provided with the instrument bar 110, and the transmission shell 141 and the bacteria-isolation shell 200 are enclosed to form an inner cavity; the rope pulleys 142 are provided in a plurality of and disposed in the transmission housing 141, the rope pulleys 142 are rotatably connected to the transmission housing 141, a plurality of winding portions 1421 are disposed on the rope pulleys 142, and the first wires 150 are wound on the winding portions 1421 in a one-to-one correspondence.

Further, the driving device 300 includes a plurality of motors 320, the motors 320 are in one-to-one correspondence with the sheaves 142, and the motors 320 are used for driving the sheaves 142 to rotate. Further, the driving device 300 further comprises a band-type brake, the motor 320 can be locked through the band-type brake, the driving shaft of the motor 320 is prevented from rotating, and further the fixing of the deflection angle and the deflection direction of the clamping jaw 130 is achieved, so that the clamping jaw 130 can reach any position in a travel range and can be kept motionless, the accuracy of operation is improved, and the operation is facilitated. Of course, the band-type brake can be other self-locking mechanisms, and the application is not particularly limited.

Illustratively, two motors 320 may be provided, the two motors 320 controlling the yaw and pitch motions of the jaws 130, respectively, when the number of first wires 150 is even; when the number of first wires 150 is odd, the two motors 320 together control the yaw and pitch of the jaws 130. Of course, the motor 320 may be of other numbers, and the present application is not limited in detail.

In the present embodiment, as shown in fig. 3 and 10 to 11, a transmission bracket 143 is provided in the transmission housing 141, and the sheave 142 is rotatably connected to the transmission bracket 143 to position the fixed sheave 142.

Specifically, the output end of the motor 320 is provided with a first transmission fork 330, the sheave 142 is provided with a second transmission fork 1422, and the connection between the motor 320 and the sheave 142 is realized through the connection between the first transmission fork 330 and the second transmission fork 1422. One of the first transmission fork 330 and the second transmission fork 1422 is provided with a slot, and the other can be inserted into the slot.

It should be noted that the sheave 142 and the motor 320 have an auto-zero function, so as to facilitate the butt joint of the first transmission fork 330 and the second transmission fork 1422.

It should be noted that, sealing rings (not shown) are disposed at the transmission housing 141 and the second transmission fork 1422 to ensure tightness of the transmission assembly 140, and effectively avoid pollution.

Specifically, the transmission assembly 140 further includes a plurality of guide wheels 160, the first wire 150 is wound on the winding portion 1421 after being changed in direction by the guide wheels 160, and the first wire 150 is adapted to be wound on the corresponding winding portion 1421 by the guide wheels 160. Wherein each first wire 150 may change direction by at least one guide wheel 160.

Illustratively, as shown in fig. 9-10, the end effector 100 has four first wires 150 as an example. Specifically, four first wires 150 are equally spaced along the circumference of the instrument bar 110. Further, two rope pulleys 142 are provided, two winding portions 1421 are provided on each rope pulley 142, and two first wires 150 provided at 180 ° intervals are wound around the winding portions 1421 on the same rope pulley 142 in opposite winding directions. Further, two motors 320 are provided, and the two motors 320 are in one-to-one correspondence with the two sheaves 142.

Preferably, two of the four first wires 150 are disposed opposite each other in the vertical direction, and the other two are disposed opposite each other in the horizontal direction, and it is understood that the two first wires 150 for controlling the pitching motion are disposed opposite each other in the vertical direction, and the two first wires 150 for controlling the yawing motion are disposed opposite each other in the horizontal direction. Further, the two first wires 150 controlling the yaw and the two first wires 150 controlling the pitch are located on different sheaves 142, facilitating the yaw control of the jaws 130. In this embodiment, taking two first wires 150 disposed opposite to each other in the vertical direction as an example, when the motor 320 drives the sheave 142 to rotate, one of the first wires 150 is driven to wind onto the sheave 142, the other first wire 150 winds out on the sheave 142, and the two first wires 150 keep synchronous movements, so that the clamping jaw 130 can realize pitching movements. Wherein, the two first wires 150 arranged opposite to each other in the horizontal direction can realize the deflection movement of the clamping jaw 130, and the four first wires 150 can realize the rotation movement of the clamping jaw 130.

In this embodiment, referring to fig. 8 and 12, the driving device 300 further includes a controller (not shown) and a rocker switch 340, wherein the rocker switch 340 and the motor 320 are electrically connected to the controller, and the controller controls the rocker switch 340 to transmit a control command to the controller, and controls the motor 320 to rotate, so as to control the deflection of the clamping jaw 130. Specifically, the second housing 220 is provided with a soft housing 221 corresponding to the rocker switch 340, and the soft housing 221 can complete the operation of the rocker switch 340 by the friction force acting on the rocker switch 340, so that the operation is convenient. Meanwhile, the bacteria-isolation shell 200 can be directly held for operation, so that operation difficulty and operation time are reduced, and operation efficiency of doctors is improved.

Illustratively, when the rocker of rocker switch 340 swings to the left, drive device 300 controls jaw 130 to deflect to the left, as in the direction a toward the E state in FIG. 8; when the rocker swings to the right, the driving device 300 controls the clamping jaw 130 to deflect to the right, and the clamping jaw moves to the F state along the direction a in fig. 8; when the rocker swings forward, the driving device 300 controls the clamping jaw 130 to deflect downwards, and the clamping jaw moves towards the H state along the direction b in fig. 8; when the rocker swings backwards, the driving device 300 controls the clamping jaw 130 to deflect upwards, and the clamping jaw moves towards the G state along the direction b in fig. 8; when the rocker rotates clockwise, the driving device 300 drives the clamping jaw 130 to rotate clockwise; when the rocker rotates counterclockwise, the driving device 300 drives the clamping jaw 130 to rotate counterclockwise. Wherein, the forward swinging of the rocker refers to the swinging of the rocker towards the clamping jaw 130 along the extending direction of the instrument bar 110, and the backward swinging of the rocker refers to the swinging of the rocker away from the clamping jaw 130 along the extending direction of the instrument bar 110.

It should be noted that the rocker switch 340 may have a self-locking function, by which the clamping jaw 130 may be stopped at any deflection position.

In this embodiment, referring to fig. 12, the driving device 300 further includes a display 350, where the display 350 is connected to the controller, and the deflection direction and the angle value of the clamping jaw 130 can be displayed by the display 350. Wherein, when the driving device 300 is installed and the display 350 displays normal, the operation can be performed. Specifically, the second housing 220 is provided with a transparent window 222 to facilitate viewing of the display 350. In a possible embodiment, the display 350 may be replaced by an indicator light or other display structure that may have a logo, which is not specifically limited in this application.

It should be noted that, the rocker switch 340 and the transparent window 222 are seamlessly connected with the second housing 220, so as to ensure the tightness of the second housing 220.

It should be noted that, the driving device 300 is further provided with a plurality of heat dissipation holes (not shown) to dissipate heat of the driving device 300. Further, a heat conducting pad (not shown) may be installed in the driving device 300, and heat in the driving device can be timely conducted out and dissipated through the heat conducting pad.

In this embodiment, referring to fig. 4 and 5, a first connection terminal 170 is disposed on a side of the transmission housing 141 facing the bacteria-isolation housing 200, an aviation plug 450 electrically connected and conducted with the first connection terminal 170 is disposed on a side of the first housing 210 facing away from the transmission housing 141, the aviation plug 450 is used for connecting with an external device, a second connection terminal 360 is disposed on an end of the driving device 300 facing the transmission housing 141, and the connection between the driving device 300 and the aviation plug 450 is achieved through the plugging between the first connection terminal 170 and the second connection terminal 360, so that the driving device 300 is connected with an external device, for example, the driving device 300 is powered by the external device, and the driving device 300 is controlled by the external device. Wherein, aviation plug 450 is sterile condition after the sterilization, and when the during operation, only need with the electrical connection line who overlaps the fungus isolation bag connect aviation plug 450, can realize aseptic work.

In the present embodiment, referring to fig. 13 and 14, the jaw 130 includes a jaw seat 131, a jaw arm 132, a sliding shaft 133, and a second elastic member 134. Specifically, a first end of the jaw housing 131 is provided with a jaw hinge 1311, a second end of the jaw housing 131 is provided with a chute, and the second end of the jaw housing 131 is connected with a second end of the flexible joint 120; the jaw arm 132 is provided with two jaw hinge parts 1311 hinged with the jaw base 131, the jaw arm 132 is provided with a transmission part, and the transmission part is provided with a strip hole 1321; the sliding shaft 133 is slidably arranged in the sliding groove, a transmission shaft 1331 is radially arranged at the first end of the sliding shaft 133, the transmission shaft 1331 is arranged in the strip hole 1321 in a penetrating mode, and the sliding shaft 133 can move in the strip hole 1321 through the transmission shaft 1331 so as to drive the clamping jaw 130 to rotate relative to the jaw seat 131; the second elastic member 134 is disposed between the sliding shaft 133 and the jaw seat 131, and the second elastic member 134 makes the sliding shaft 133 always have a tendency to move toward the first end of the jaw seat 131. In the present embodiment, the sliding shaft 133 is driven to move toward the second end of the jaw seat 131 to rotate the two jaw arms 132 in opposite directions, so as to implement the closing action of the jaw 130; the second elastic piece 134 drives the sliding shaft 133 to move back to the second end of the jaw seat 131 so as to enable the two jaw arms 132 to rotate back, so that the opening action of the clamping jaw 130 is realized, the operation is simple, and the operation is convenient.

Illustratively, the second elastic member 134 may be a spring.

Specifically, the joint member 121 at the second end of the flexible joint 120 may be fixedly coupled with the jaw housing 131. Illustratively, the knuckle 121 at the second end of the flexible knuckle 120 may be integrally formed with the jaw mount 131.

In this embodiment, referring to fig. 1 and 15 to 16, the end effector 100 further includes a driving component 180 and a second wire 190, where the driving component 180 is located at the control end of the end effector 100; a first end of a second wire 190 is connected to the drive assembly 180, and a second end of the second wire 190 is threaded through the instrument rod 110 and the flexible joint 120 and is connected to the sliding shaft 133; wherein the driving assembly 180 controls the opening and closing of the jaw 130 through the second wire 190. In this embodiment, the driving assembly 180 drives the second wire 190 to pull the sliding shaft 133 to realize the closing action of the clamping jaw 130 according to the requirement, so as to facilitate the operation. And the arrangement of the second wire 190 enables the structure of the end effector 100 to be more compact, facilitating the operation of minimally invasive surgery. In addition, the drive assembly 180 and the second wire 190 are sterilized at high temperature and high pressure together with the aseptic housing 200, without affecting the usability of the surgical instrument.

The second wire 190 may be a wire, for example.

Specifically, the driving assembly 180 includes a slide bar 181, a second link 182, and an opening and closing handle 183. Specifically, the sliding rod 181 is disposed in the bacteria-isolating housing 200, a first end of the sliding rod 181 is connected with the second wire 190, and a second end of the sliding rod 181 is provided with a rod hinge portion 1811 and a first limiting portion 1812; the first end of the second link 182 is hinged with the lever hinge 1811; the opening and closing handle 183 is connected with the fungus-isolating shell 200, and the opening and closing handle 183 is hinged with the second end of the second connecting rod 182, the opening and closing handle 183 can rotate relative to the fungus-isolating shell 200 and drive the sliding rod 181 to slide relative to the fungus-isolating shell 200 back to the clamping jaw 130 through the second connecting rod 182 so as to drive the second wire 190 to pull the sliding shaft 133 towards the second end of the jaw seat 131, further the closing action of the clamping jaw 130 is realized, and the operation is convenient. The rotation direction of the opening/closing handle 183 with respect to the bacteria-proof housing 200 is the direction d in fig. 15. In addition, the opening and closing handle 183 is released, the sliding shaft 133 moves back to the second end of the jaw seat 131 under the action of the second elastic member 134, and the sliding rod 181, the second connecting rod 182 and the opening and closing handle 183 are pulled to reset through the second wire 190, so that the operation is further facilitated.

Specifically, the sliding bar 181 and the second link 182 are both disposed in the first housing 210, and the sliding bar 181 is slidably connected to the first housing 210.

Specifically, the first end of the open-close handle 183 is disposed in the first housing 210 and hinged to the first housing 210, and the second end of the open-close handle 183 extends out of the first housing 210 to facilitate operation.

It should be noted that, to position the opening and closing angle of the two locking claw arms 132, the driving assembly 180 further includes a locking handle 184, the locking handle 184 is connected with the bacteria-isolation housing 200, and the locking handle 184 can abut against the first limiting portion 1812 to limit the sliding rod 181 to slide towards the clamping jaw 130, so as to position the opening and closing angle of the two locking claw arms 132. Specifically, a fixing frame 185 is disposed in the first housing 210, a first end of the locking handle 184 is rotationally connected with the fixing frame 185, and a larger friction force exists between the locking handle 184 and the fixing frame 185, so that the locking handle 184 can be fixed at any rotation angle position by the friction force, and further stepless locking is realized. In this embodiment, the opening and closing handles 183 are turned to make the two claw arms 132 reach the required opening and closing angle, and then the locking handle 184 is turned to make the locking handle 184 abut against the first limiting portion 1812, so as to lock the two claw arms 132 in a positioning manner, so that the clamping arms maintain the required opening and closing angle, thereby facilitating the operation.

Specifically, the first end of the locking handle 184 is provided with a second limiting portion 1841, and the second limiting portion 1841 is used for abutting against the first limiting portion 1812 to lock the opening and closing angles of the two claw arms 132.

Specifically, the second end of the locking handle 184 extends out of the first housing 210 to facilitate handling.

Illustratively, the second end of the locking handle 184 is looped to further facilitate handling.

Illustratively, the specific method of operation of the jaw 130 closing action in the surgical instrument provided by the present embodiment is: pulling the opening and closing handle 183 anticlockwise, moving the sliding rod 181 back to the clamping jaw 130 through the second connecting rod 182, driving the second wire 190 to pull the sliding shaft 133, driving the transmission shaft 1331 to slide in the strip hole 1321 by the sliding shaft 133, further realizing the closing action of the clamping jaw 130, adjusting the clamping jaw 130 to a proper opening and closing angle, and rotating the locking handle 184 clockwise, so that the second limiting part 1841 is abutted with the first limiting part 1812, and further positioning and locking the two claw arms 132.

Illustratively, the specific method of operation of the jaw 130 opening action in the surgical instrument provided by the present embodiment is: under the condition that the second limiting portion 1841 abuts against the first limiting portion 1812, the locking handle 184 is rotated anticlockwise, so that the second limiting portion 1841 is separated from the first limiting portion 1812, the two claw arms 132 are opened under the action of the second elastic member 134, the sliding shaft 133 moves towards the first end of the claw seat 131, the sliding rod 181 is pulled towards the clamping jaw 130 by the second wire 190, and the opening and closing handle 183 is driven to rotate clockwise by the second connecting rod 182. If the second limiting portion 1841 is out of contact with the first limiting portion 1812, the opening and closing handle 183 is only loosened clockwise to open the clamping jaw 130.

In this embodiment, through rocker switch 340, open-close handle 183 and locking handle 184, the doctor need not the operation assistant and operates together, just can accomplish the operation, reduces personnel's cost, effectively solves the problem of cooperation not defaulting in the operation process.

It is to be understood that the above examples of the present invention are provided for clarity of illustration only and are not limiting of the embodiments of the present invention. Various obvious changes, rearrangements and substitutions can be made by those skilled in the art without departing from the scope of the invention. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.

Claims

1. A surgical instrument, comprising:

an end effector (100) having a control end and an effector end;

the bacteria-isolating shell (200) is arranged at the control end of the end-effector (100), an inner cavity is formed by enclosing the bacteria-isolating shell (200) and the end-effector (100), and the inner cavity can be opened or closed through the bacteria-isolating shell (200);

The driving device (300) is detachably arranged in the inner cavity, and the driving device (300) is used for being connected with the control end of the end effector (100) and driving the execution end of the end effector (100) to act through the control end of the end effector (100).

2. The surgical instrument of claim 1, wherein the aseptic housing (200) comprises:

a first housing (210) fixedly connected to a control end of the end effector (100);

and a second housing (220) rotatably connected to the first housing (210) or the end effector (100), wherein the inner cavity can be opened and closed by rotation of the second housing (220).

3. A surgical instrument as recited in claim 2, further comprising:

a thrust frame (410) disposed within the first housing (210);

the first end of the first connecting rod (420) is rotationally connected with the pushing frame (410), and the second end of the first connecting rod (420) is rotationally connected with the second shell (220); wherein,,

when the second housing (220) rotates to close the inner cavity, the second housing (220) can drive the pushing frame (410) to move towards the end effector (100) through the first connecting rod (420), and the driving device (300) is pushed to be connected with the control end of the end effector (100) through the pushing frame (410).

4. The surgical instrument of claim 2, wherein the second housing (220) has a first spring (430) attached thereto, the first spring (430) causing the second housing (220) to always have a tendency to rotate away from the first housing (210).

5. The surgical instrument of claim 2, wherein one of the first housing (210) and the second housing (220) is provided with a catch assembly (440), the other of the first housing (210) and the second housing (220) being engageable with the catch assembly (440) to maintain the lumen in a closed state.

6. The surgical instrument of claim 1, wherein the end effector (100) comprises:

an instrument bar (110);

a flexible joint (120), a first end of the flexible joint (120) being connected to a first end of the instrument bar (110);

a jaw (130) connected to a second end of the flexible joint (120), the jaw (130) being deflectable relative to the instrument bar (110) by the flexible joint (120);

the transmission assembly (140), transmission assembly (140) set up in the second end of apparatus pole (110), transmission assembly (140) with the second end of flexible joint (120) is connected, just transmission assembly (140) can with drive arrangement (300) are connected, drive arrangement (300) can pass through transmission assembly (140) drive clamping jaw (130) take place the deflection for apparatus pole (110).

7. A surgical instrument according to claim 6, characterized in that the flexible joint (120) comprises a plurality of joint members (121) articulated in succession, at least some of the joint members (121) being rotated in different directions.

8. The surgical instrument of claim 6, wherein the end effector (100) further comprises a first wire (150), the first wire (150) being provided in plurality and spaced circumferentially along the instrument shaft (110), a first end of the first wire (150) being coupled to the drive assembly (140), a second end of the first wire (150) being threaded through the instrument shaft (110) and the flexible joint (120) and coupled to a second end of the flexible joint (120), the drive assembly (140) being capable of adjusting a deflection angle and a deflection direction of the jaw (130) via the first wire (150).

9. The surgical instrument of claim 8, wherein the transmission assembly (140) comprises:

the transmission shell (141), the apparatus rod (110) is arranged on the transmission shell (141), and the transmission shell (141) and the bacteria-isolating shell (200) are enclosed to form the inner cavity;

the rope pulleys (142) are arranged in the transmission shell (141), the rope pulleys (142) are rotationally connected with the transmission shell (141), a plurality of winding parts (1421) are arranged on the rope pulleys (142), and the first wires (150) are correspondingly wound on the winding parts (1421) one by one; and

The driving device (300) comprises a plurality of motors (320), the motors (320) are in one-to-one correspondence with the rope pulleys (142), and the motors (320) are used for driving the rope pulleys (142) to rotate.

10. The surgical instrument of claim 6, wherein the jaw (130) comprises:

the device comprises a claw seat (131), wherein a claw hinge part (1311) is arranged at the first end of the claw seat (131), a sliding groove is arranged at the second end of the claw seat (131), and the second end of the claw seat (131) is connected with the second end of the flexible joint (120);

the claw arms (132) are provided with two claw hinging parts (1311) hinged with the claw seats (131), the claw arms (132) are provided with transmission parts, and the transmission parts are provided with strip holes (1321);

the sliding shaft (133) is arranged in the sliding groove in a sliding way, a transmission shaft (1331) is arranged at the first end of the sliding shaft (133) along the radial direction, the transmission shaft (1331) is arranged in the strip hole (1321) in a penetrating way, and the sliding shaft (133) can move in the strip hole (1321) through the transmission shaft (1331) so as to drive the clamping jaw (130) to rotate relative to the jaw seat (131);

and a second elastic member (134) disposed between the sliding shaft (133) and the jaw base (131), wherein the second elastic member (134) causes the sliding shaft (133) to always have a tendency to move toward the first end of the jaw base (131).

11. The surgical instrument of claim 10, wherein the end effector (100) further comprises:

a drive assembly (180) located at a control end of the end effector (100);

a second wire (190), a first end of the second wire (190) being connected to the drive assembly (180), a second end of the second wire (190) being threaded through the instrument rod (110) and the flexible joint (120) and connected to the sliding shaft (133); wherein,,

the driving assembly (180) controls the opening and closing of the clamping jaw (130) through the second wire (190).

12. The surgical instrument of claim 11, wherein the drive assembly (180) comprises:

the sliding rod (181) is arranged in the bacteria-isolation shell (200), a first end of the sliding rod (181) is connected with the second silk thread (190), and a second end of the sliding rod (181) is provided with a rod hinge part (1811) and a first limiting part (1812);

a second link (182), a first end of the second link (182) being hinged with the lever hinge (1811);

the opening and closing handle (183) is connected with the bacteria-isolating shell (200), the opening and closing handle (183) is hinged with the second end of the second connecting rod (182), the opening and closing handle (183) can rotate relative to the bacteria-isolating shell (200) and drive the sliding rod (181) to slide relative to the bacteria-isolating shell (200) back to the clamping jaw (130) through the second connecting rod (182) so as to drive the second silk thread (190) to pull the sliding shaft (133) towards the second end of the jaw seat (131);

And the locking handle (184) is connected with the bacteria-isolation shell (200), and the locking handle (184) can abut against the first limiting part (1812) to limit the sliding rod (181) to slide towards the clamping jaw (130).