CN116831649A - Surgical instrument body - Google Patents

Abstract

The invention relates to a surgical instrument body, which solves the technical problems of how to improve the action precision, the movement stability and the reliability of a minimally invasive surgical instrument based on manual operation, and how to enable the execution tail end of the surgical instrument to be replaceable and reduce the cost of the surgical instrument, and comprises a consumable end shell, a consumable connecting buckle, an instrument rod, a flexible joint assembly and an execution tail end, wherein the instrument rod is fixedly connected with the consumable end shell, the flexible joint assembly is connected with the instrument rod, the execution tail end is connected with the flexible joint assembly, and a wire driving mechanism is connected in the consumable end shell; the wire driving mechanism comprises a first supporting plate, a second supporting plate, a first pitching yaw driving shaft, a second pitching yaw driving shaft, a third pitching yaw driving shaft, a first telescopic screw, a second telescopic screw, a third telescopic screw, a first pitching yaw steel wire, a second pitching yaw steel wire, a third pitching yaw steel wire and a steel wire flexible shaft. The invention is widely applied to the technical field of minimally invasive surgical machinery.

Description

Surgical instrument body

Technical Field

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

Background

Minimally invasive surgical procedures refer to procedures performed by a physician using an elongated surgical tool that is advanced into the body through a tiny incision in the surface of the body. Compared with the traditional open surgery, the surgical incision is small, the bleeding amount is small, the postoperative scar is small, the recovery time is quick, and the like, so that the pain suffered by a patient is greatly reduced; therefore, minimally invasive surgery is widely used in clinical surgery.

With the aid of an endoscope, minimally invasive surgical instruments are necessary tools for surgical procedures, which may perform various functions including clamping, cutting, stapling, anastomosis, and the like. Minimally invasive surgical instruments have different configurations including performing tips, wrist joints, instrument bars, instrument cartridges, and the like.

The minimally invasive surgical instrument based on manual operation has the characteristics of convenient use, flexibility and low cost, and according to actual needs, how to improve the action precision of the minimally invasive surgical instrument based on manual operation, the operation stability and the reliability are technical problems to be solved urgently by the technicians in the field.

However, surgical instruments are complex in structure and expensive. The surgical instrument is used as a consumable for a limited number of times, for example, the surgical instrument is scrapped after being used for 10 times, so that resources are wasted, and the surgical cost is increased. Therefore, how to make the execution end of the surgical instrument replaceable and keep the driving part for long-term use, thereby reducing the cost of the surgical instrument is a technical problem to be solved by those skilled in the art.

Disclosure of Invention

The invention provides a surgical instrument body and an electric hand-held endoscope surgical instrument, which aim to solve the technical problems of how to improve the action precision, running stability and reliability of a minimally invasive surgical instrument based on manual operation, and how to enable the execution tail end of the surgical instrument to be replaceable and reduce the cost of the surgical instrument.

The surgical instrument body comprises a consumable end shell, a consumable connecting buckle, an instrument rod, a flexible joint assembly and an execution tail end, wherein the instrument rod is fixedly connected with the consumable end shell; a wire driving mechanism is connected in the consumable end shell;

the wire driving mechanism comprises a first supporting plate, a second supporting plate, a first pitching yaw driving shaft, a second pitching yaw driving shaft, a third pitching yaw driving shaft, a first telescopic screw, a second telescopic screw, a third telescopic screw, a first pitching yaw steel wire, a second pitching yaw steel wire, a third pitching yaw steel wire, a steel wire flexible shaft, an opening and closing T-shaped screw rod, an opening and closing screw rod nut, a transition connecting piece, a rotating gear, a rotating square tube, a driving gear, a positioning sleeve, an intermediate gear, a driving gear, a driven gear, a driving shaft and a reel bracket, wherein the positioning sleeve is fixedly connected between the first supporting plate and the second supporting plate, one end of the first pitching yaw driving shaft is rotationally connected with the supporting plate, the other end of the first pitching yaw driving shaft is rotationally connected with the second supporting plate, one end of the first pitching yaw driving shaft is provided with an internal threaded hole, the first telescopic screw is in connection fit with the internal threaded hole, and the other end of the first pitching yaw driving shaft is provided with a spline groove; one end of a second pitching yaw driving shaft is rotationally connected with the supporting plate, the other end of the second pitching yaw driving shaft is rotationally connected with the supporting plate II, a second telescopic screw is connected and matched with an internal threaded hole formed in one end of the second pitching yaw driving shaft, and a spline groove is formed in the other end of the second pitching yaw driving shaft; one end of a third pitching yaw driving shaft is rotationally connected with the supporting plate, the other end of the third pitching yaw driving shaft is rotationally connected with the supporting plate II, an internal threaded hole is formed in the other end of the third pitching yaw driving shaft, a third telescopic screw is connected and matched with the internal threaded hole at the other end of the third pitching yaw driving shaft, a driven gear is fixedly connected with the third pitching yaw driving shaft, a positioning sleeve is provided with an intermediate gear connecting part, an intermediate gear is rotationally connected with the intermediate gear connecting part, and the intermediate gear is meshed with the driven gear; one end of the driving shaft is provided with a spline groove, one end of the driving shaft provided with the spline groove is rotationally connected with the supporting plate II, the other end of the driving shaft is rotationally connected with the supporting plate II, the driving gear is fixedly connected with the driving shaft, and the driving gear is meshed with the intermediate gear; the first pitching yaw steel wire is fixed on the first telescopic screw rod, the second pitching yaw steel wire is fixed on the second telescopic screw rod, and the third pitching yaw steel wire is fixed on the third telescopic screw rod;

one end of the opening and closing T-shaped screw rod is provided with a spline groove, and the end part provided with the spline groove is rotationally connected with the supporting plate through a bearing; the opening and closing T-shaped screw rod is positioned in the positioning sleeve, the opening and closing screw rod nut and the transition connecting piece are both positioned in the positioning sleeve, and the opening and closing screw rod nut is connected and matched with the opening and closing T-shaped screw rod; the transition connecting piece connects the opening and closing screw rod nut with the rotating square tube, the rotating square tube is rotationally connected with the transition connecting piece, the steel wire flexible shaft is fixedly connected with the rotating square tube, the rotating gear is rotationally connected with the second supporting plate, the rotating gear is positioned in the positioning sleeve, the positioning sleeve is provided with a window, and the driving gear is fixedly connected with the autorotation connecting piece; one end of the rotation connecting piece is provided with a spline groove, one end provided with the spline groove is rotationally connected with the supporting plate, and the other end of the rotation connecting piece is rotationally connected with the supporting plate II; the rotating gear is meshed with the driving gear; the rotating square tube passes through a square hole of the rotating gear, and can axially slide in the square hole of the rotating gear;

the reel bracket is connected with the instrument rod, six reels are connected to the reel bracket, and two reels are in one group and three groups; the first pitching yaw steel wire sequentially bypasses a 1 st reel and a 2 nd reel in the first group of reels and is then led into the instrument rod; the second pitching yaw steel wire sequentially bypasses a 3 rd reel and a 4 th reel in the second group of reels and is then led into the instrument rod; the third pitching yaw steel wire sequentially bypasses a 5 th reel and a 6 th reel in the third group of reels and is then led into the instrument rod;

the first pitching yaw wire, the second pitching yaw wire and the third pitching yaw wire are led into the instrument rod, pass through the flexible joint assembly and are connected with the front end of the flexible joint assembly.

Preferably, the execution tail end comprises a positioning seat, a lower clamp, an upper clamp, a connecting piece, a flexible shaft positioning seat, a hinge shaft and a rotary table, wherein the upper clamp is hinged with the lower clamp through the hinge shaft, the connecting piece is hinged with the upper clamp, the connecting piece is provided with two sliding parts, the lower clamp is provided with two oppositely arranged waist-shaped grooves, and the two sliding parts of the connecting piece are respectively positioned in the two waist-shaped grooves; the front end of the flexible shaft is connected with the connecting piece; the steel wire flexible shaft passes through the flexible joint assembly and then passes through the positioning seat, and then passes through the central through hole of the flexible shaft positioning seat, and the front end of the steel wire flexible shaft is connected with the rear end of the flexible shaft; the rotary table is fixedly connected with the steel wire flexible shaft, the rear end of the flexible shaft positioning seat is fixedly connected with the positioning seat, the rear end of the lower clamp is rotationally connected with the front end of the flexible shaft positioning seat, the middle part of the flexible shaft positioning seat is provided with a rotary table accommodating cavity, and the rotary table is positioned in the rotary table accommodating cavity; the positioning seat is fixedly connected with the front end of the flexible joint assembly, and the first pitching yaw steel wire, the second pitching yaw steel wire and the third pitching yaw steel wire penetrate through the flexible joint assembly and are fixedly connected with the positioning seat.

Preferably, the flexible shaft positioning seat is formed by connecting two parts through screws.

The invention also provides an electric hand-held endoscope surgical instrument which comprises a finger interface component, a palm spherical surface, an outer spherical surface, an inner spherical surface, a base, a positioning guide pin shaft, a rocker potentiometer, a driving device, a sleeve shell, a transmission device and a surgical instrument body, wherein the sleeve shell is fixedly connected with the base; the inner sphere is connected with the base, and the palm sphere is connected with the outer sphere; the outer spherical surface is hinged with the inner spherical surface ball pair; the rocker potentiometer is fixedly arranged in the inner spherical surface; the movable rod of the rocker potentiometer is connected with the outer spherical surface; the positioning guide pin shafts are fixedly connected with the inner spherical surface, the two positioning guide pin shafts are oppositely arranged, the outer spherical surface is provided with two waist-shaped holes which are oppositely arranged, the positioning guide pin shafts pass through the waist-shaped holes, and one waist-shaped hole corresponds to one positioning guide pin shaft; the driving device is connected with the sleeve shell, the transmission device is connected with the driving device, and the surgical instrument body is detachably connected with the sleeve shell and is in butt joint with the transmission device.

The invention has the beneficial effects that the surgical instrument body is used as a consumable material to be replaced, and the driving part is reserved for long-term use of the whole electric handheld endoscopic surgical instrument, so that the cost of the whole surgical instrument is reduced. The power part of the surgical instrument body has the advantages of compact structure, reasonable layout mode, small occupied space, small volume, high precision, good stability and high reliability, and comprises parts such as a pitching yaw driving shaft and the like.

On the basis of ensuring manual operation, the electric hand-held endoscopic surgical instrument is driven by a motor, so that the action precision, running stability and reliability of the surgical instrument are improved. .

Further features of the invention will be apparent from the description of the embodiments that follows.

Drawings

FIG. 1 is an isometric view of a powered hand-held endoscopic surgical instrument;

FIG. 2 is a schematic view of the structure of a hand-held operating portion of the powered hand-held endoscopic surgical instrument;

FIG. 3 is a schematic view of the structure of a hand-held operating portion of the powered hand-held endoscopic surgical instrument;

FIG. 4 is a schematic view of the structure of a hand-held operating portion of the powered hand-held endoscopic surgical instrument;

FIG. 5 is a cross-sectional view of the structure shown in FIG. 4;

FIG. 6 is a cross-sectional view of the structure shown in FIG. 3;

FIG. 7 is a schematic view of the structure shown in FIG. 5, wherein the outer spherical surface and the inner spherical surface are connected and matched to form a spherical pair, and the brake member is positioned below the outer spherical surface;

FIG. 8 is a schematic view of the structure of FIG. 5 showing the engagement of a lead screw nut for engagement with a brake member with a T-screw;

FIG. 9 is a schematic diagram of the configuration of the finger interface assembly;

FIG. 10 is a schematic structural view of a finger interface assembly;

FIG. 11 is a schematic structural view of a finger interface assembly;

FIG. 12 is a schematic view of the configuration of the finger interface assembly;

fig. 13 is a schematic view of the structure in which five motors of the driving section are assembled to the motor base;

FIG. 14 is a schematic view of the motor mount of FIG. 13 fixedly mounted within a sleeve housing;

FIG. 15 is a schematic structural view of the transmission, wherein FIG. (a) is an isometric view of the transmission and FIG. (b) is a cross-sectional view of the transmission;

FIG. 16 is an isometric view of the motor shaft connection in the configuration of FIG. 15;

FIG. 17 is an isometric view of the motor shaft connection in the configuration of FIG. 15;

FIG. 18 is a top view of the structure shown in FIG. 17;

FIG. 19 is an isometric view of an output shaft;

FIG. 20 is an isometric view of a transmission;

FIG. 21 is a schematic view of the structure of a surgical instrument body;

FIG. 22 is a schematic view of the structure of the wire drive mechanism in the surgical instrument body;

FIG. 23 is a schematic view of the structure shown in FIG. 22, wherein the first support plate and the second support plate are connected through a positioning sleeve, and a driving gear is meshed with a rotating gear in the positioning sleeve;

FIG. 24 is a schematic view of the structure of FIG. 22, wherein the T-shaped open-close screw, the open-close screw nut, the steel wire flexible shaft and the rotating gear are assembled together;

FIG. 25 is a schematic view of the internal structure of the surgical instrument body;

FIG. 26 is an enlarged view of a portion of the structure shown in FIG. 25;

FIG. 27 is a schematic view of a first pitch yaw drive shaft mounted between a first support plate and a second support plate, with a first jack screw coupled to the first pitch yaw drive shaft;

FIG. 28 is a schematic view of a consumable part connecting buckle clamped with the end of the sleeve housing;

fig. 29 is a schematic view of the structure of the consumable part connecting buckle in an unlocked state with the end of the sleeve housing;

FIG. 30 is a schematic view of the structure of the implement tip in the surgical instrument body;

fig. 31 is a schematic view of the structure of the execution end in the surgical instrument body.

The symbols in the drawings illustrate:

101. yaw axis, 102 pitch axis, 103, spin axis, 104, finger interface assembly, 105, palm sphere, 106, first finger button, 106-1, tooth, 107, second finger button, 107-1, tooth, 108, back strap, 108-1, back strap mount;

201. a power-on button 202. A lock button;

301. the brake comprises an outer spherical surface 301-1, a waist-shaped hole 302, an inner spherical surface 303, a brake piece 303-1, a spherical groove 304, a base 305, a positioning guide pin shaft 306, a rocker potentiometer 307 and a brake motor;

401. a support seat, a 402. T-shaped screw rod, 403. A screw rod nut;

501. finger rotation shaft, 502, reset torsion spring, 502-1, one end, 502-2, the other end, 503, first angle sensor, 504, second angle sensor, 505, finger base, 506, sector gear, 507, circular gear, 508, first rotation shaft, 509, second rotation shaft, 510, finger interface assembly housing, 511, finger rotation shaft connection plate; 601. a finger upper cover;

701. the device comprises a first pitching yaw driving motor 702, an opening and closing motor 703, a second pitching yaw driving motor 704, a battery pack 705, a self-rotating motor 706, a third pitching yaw driving motor 707 and a motor base;

801. the sleeve comprises a sleeve shell, wherein the sleeve shell comprises a first clamping groove, a second clamping groove, a first protrusion, a second protrusion and a second protrusion, the first protrusion is 801-1, the second protrusion is 801-2, and the first protrusion is 801-3;

901. the motor comprises a motor shaft connecting piece 901-1, a motor shaft connecting hole 901-2, a spring positioning column 901-3, a limiting part 902, an output shaft 902-1, a spring positioning column 902-2, an inner cavity 902-3, a shaft end 902-3-1, a spline 902-4, a flange 903 and a spring;

1001. consumable end shell 1002, consumable connecting buckle 1002-1, first clamping hook 1002-2, second clamping hook 1003, instrument rod 1004 and execution tail end;

1101. first pitch yaw drive shaft, 1101-1, internally threaded bore, 1102, second pitch yaw drive shaft, 1103, third pitch yaw drive shaft, 1104, first telescoping screw, 1105, second telescoping screw, 1106, third telescoping screw, 1107, first pitch yaw wire, 1108, second pitch yaw wire, 1109, third pitch yaw wire, 1110, support plate one, 1111, support plate two, 1112, bearings 1113, bearings 1114, reel bracket;

1201. a self-rotating connecting piece;

1301. the T-shaped screw rod is opened and closed 1302, the screw rod nut is opened and closed 1303, the transition connecting piece is 1304, the rotating gear is 1305, the rotating square pipe is 1306, the steel wire flexible shaft is 1307, the driving gear is 1308, the positioning sleeve is 1308-1, the intermediate gear connecting part is 1309, and the intermediate gear is provided; 1310. a driving gear 1311, a driven gear 1312, a driving shaft;

1401. lower clamp 1401-1 waist-shaped groove, 1402 upper clamp 1403 connecting piece, 1403-1 sliding part, 1404 flexible shaft, 1405 flexible shaft positioning seat, 1406 positioning seat, 1407 flexible joint assembly, 1408 hinge shaft, 1409 turntable.

Detailed Description

The invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1-6, the electric hand-held endoscopic surgical instrument comprises a finger interface assembly 104, a palm sphere 105, a back hand strap 108, a back hand strap bracket 108-1, a locking button 202, an outer sphere 301, an inner sphere 302, a brake 303, a base 304, a positioning guide pin 305, a rocker potentiometer 306, a brake motor 307, a support 401, a T-shaped screw 402, a screw nut 403, a driving device, a sleeve housing 801, a transmission device, a surgical instrument body, wherein the sleeve housing 801 is fixedly connected with the base 304, the driving device is connected with the sleeve housing 801, and the transmission device is connected with the surgical instrument body detachably connected with the sleeve housing 801 and is in butt joint with the transmission device.

As shown in fig. 2, the start button 201 is mounted on the palm sphere 105, and when the start button 201 is pressed, the apparatus is in a start state (the brake 303 keeps a distance from the outer sphere 301; long pressing of the start button 201 shuts down the instrument (the brake motor 307 operates to press the brake 303 against the outer sphere 301). As shown in fig. 1, after the apparatus is started, the palm center is pressed against the palm sphere 105 to grasp the end of the palm sphere 105; the dorsum manus strap 108 is pressed against the dorsum manus; the palmar sphere 105 rotates along the pitching axis 102, and then the executing end 1004 realizes pitching action; the palmar sphere 105 rotates along the yaw axis 101, and the execution end 1004 realizes the yaw action; the finger interface assembly 104 rotates along the rotation axis 103, and the execution end 1004 realizes rotation along the end rotation axis 110; pressing 106 the first finger button and 107 the second finger button simultaneously, the clamp of the execution end 1004 realizes the opening and closing action; as shown in fig. 3, the locking button 202 is pressed and the instrument returns to the initial position and locks.

The back strap support 108-1 is fixedly connected with the palm sphere 105, and the back strap 108 is connected with the back strap support 108-1.

As shown in fig. 5, 6, 7 and 8, the palmar sphere 105 is connected with the outer sphere 301; the spherical pair of the outer spherical surface 301 and the inner spherical surface 302 are hinged; the rocker potentiometer 306 is fixedly arranged inside the inner spherical surface 302; the movable rod of the rocker potentiometer 306 is connected with the outer spherical surface 301; the positioning guide pin shafts 305 are fixedly connected with the inner spherical surface 302, the two positioning guide pin shafts 305 are oppositely arranged, the outer spherical surface 301 is provided with two oppositely arranged waist-shaped holes 301-1, the positioning guide pin shafts 305 penetrate through the waist-shaped holes 301-1, one waist-shaped hole 301-1 corresponds to one positioning guide pin shaft 305, the outer spherical surface 301 can rotate along the waist-shaped holes 301-1, and the outer spherical surface 301 can rotate along the positioning guide pin shafts 305; the inner sphere 302 is fixed on the support seat 401; the support seat 401 is fixed on the base 304; the T-shaped screw rod 402 is provided with a central through hole, the inner spherical surface 30 is provided with a shaft end, one end of the T-shaped screw rod 402 is sleeved on the shaft end of the inner spherical surface 302 (namely, the shaft end of the inner spherical surface 302 is inserted into one port of the central through hole of the T-shaped screw rod 402), and the T-shaped screw rod 402 can rotate at the shaft end of the inner spherical surface 302, namely, the T-shaped screw rod 402 can rotate along the axis of the inner spherical surface 302; the other end of the T-shaped screw rod 402 is fixedly connected with the output shaft of the brake motor 307, and the output shaft of the brake motor 307 is inserted into the other port of the central through hole of the T-shaped screw rod 402; the screw nut 403 is provided with an internal thread, which is in connection and fit with an external thread of the T-shaped screw 402, and when the T-shaped screw 402 rotates, the screw nut 403 can move up and down along the axial direction of the T-shaped screw 40, that is, the screw nut 403 slides up and down in the support seat 401. The braking member 303 is fixedly connected with a screw nut 403, and the screw nut 403 can drive the braking member 303 to move up and down. A brake motor 307 is fixed in the base 304. The stopper 303 is provided with a spherical recess 303-1. The braking process is as follows: the brake motor 307 is started to drive the T-shaped screw rod 402 to rotate, the screw rod nut 403 drives the brake piece 303 to move towards the outer spherical surface 301, and when the spherical surface groove 303-1 of the brake piece 303 is pressed against the outer surface of the outer spherical surface 301, the outer spherical surface 301 cannot rotate.

9, 10, 11, 12, the finger interface assembly 104 includes 106. A first finger button, 107. A second finger button, a finger rotation shaft 501, a reset torsion spring 502, an angle sensor I503, an angle sensor II 504, a finger base 505, a sector gear 506, a circular gear 507, a rotation shaft I508, a rotation shaft II 509, a finger interface assembly housing 510, a finger rotation shaft connecting plate 511, and a finger upper cover 601. The finger rotation shaft connecting plate 511 is fixedly connected with the finger base 505, the finger rotation shaft 501 is rotatably connected with the finger rotation shaft connecting plate 511, the angle sensor II 504 is fixedly connected with the finger rotation shaft connecting plate 511, one end of the finger rotation shaft 501 is connected with the rotation shaft in the angle sensor II 504, the rotation shaft I508 is rotatably connected with the finger base 505, the circular gear 507 is fixedly connected with the rotation shaft I508, the second finger button 107 is fixedly connected with the rotation shaft I508, and the second finger button 107 is provided with a tooth 107-1; the second finger button 107 protrudes from the finger base 505; the second rotating shaft 509 is rotatably connected with the finger upper cover 601, the sector gear 506 is rotatably connected with the second rotating shaft 509, the first finger button 106 is fixedly connected with the second rotating shaft 509, the first finger button 106 is provided with a tooth part 106-1, and the first finger button 106 extends out of the finger upper cover 601; the sector gear 506 is meshed with the circular gear 507, the tooth part 106-1 is meshed with the tooth part 107-1, the first angle sensor 503 is fixedly arranged on the finger upper cover 601, and the first rotating shaft 508 is inserted into the inner hole of the first angle sensor 503. The reset torsion spring 502 is sleeved on the first rotating shaft 508, one end 502-1 of the reset torsion spring 502 is clamped at the middle part of the second finger button, and the other end 502-2 of the reset torsion spring 502 is clamped on the step part in the finger upper cover 601. The finger upper cover 601 and the finger base 505 are fixedly connected together by screws, and the finger upper cover 601 and the finger base 505 are combined together. In the initial state shown in fig. 12, the doctor holds the ends of the first finger button 106 and the second finger button 107 with the thumb and the index finger, presses with force, the circular gear 507 rotates, the sector gear 506 rotates, the tooth 107-1 rotates, the tooth 106-1 rotates, the reset torsion spring 502 is forced to store energy during this process, and the angle sensor two 504 generates a signal, and the state is shown in fig. 9. Then, when the finger is released, the first and second finger buttons 106 and 107 are restored to the initial state shown in fig. 12 by the elastic force of the reset torsion spring 502.

The other end of the finger rotation shaft 501 is fixedly connected with the palm sphere 105 through a screw, when a doctor holds the finger interface assembly housing 510 or the assembly formed by the finger upper cover 601 and the finger base 505 with a finger, and rotates the whole finger interface assembly 104, the finger rotation shaft 501 is still, and the second angle sensor 504 generates a signal.

As shown in fig. 1, the sleeve housing 801 is fixedly connected to the base 304.

As shown in fig. 13, the driving device includes a first pitching yaw driving motor 701, an opening and closing motor 702, a second pitching yaw driving motor 703, a rotation motor 705, and a third pitching yaw driving motor 706, and the first pitching yaw driving motor 701, the opening and closing motor 702, the second pitching yaw driving motor 703, the battery pack 704, the rotation motor 705, and the third pitching yaw driving motor 706 are fixedly mounted on a motor base 707, respectively. The battery pack 704 is used to supply power to the power unit of each motor or the like.

As shown in fig. 14, a motor base 707 is fixedly connected to an inner wall of a socket housing 801, and a first pitching yaw driving motor 701, an opening and closing motor 702, a second pitching yaw driving motor 703, a battery pack 704, a rotation motor 705, and a third pitching yaw driving motor 706 are located in the socket housing 801.

As shown in fig. 15-20, the transmission device comprises a motor shaft connecting piece 901, an output shaft 902 and a spring 903, wherein the motor shaft connecting piece 901 is in connection fit with the output shaft. The upper portion of motor shaft connecting piece 901 is equipped with motor shaft connecting hole 901-1, and the lower part of motor shaft connecting piece 901 is equipped with the spring holding tank, is equipped with spring reference column 901-2 in this spring holding tank, and the side of motor shaft connecting piece 901 is equipped with three spacing portion 901-3, and three spacing portion 901-3 are along circumference direction equipartition. The upper portion of the output shaft 902 is a cylindrical portion, an inner cavity 902-2 is arranged on the cylindrical portion, three ribs 902-4 uniformly distributed along the circumferential direction are arranged at the opening of the top of the inner cavity 902-2, a spring positioning column 902-1 is arranged at the bottom of the inner cavity 902-2, a shaft end 902-3 is arranged at the lower portion of the output shaft 902, and a spline 902-3-1 is arranged at the shaft end 902-3. The motor shaft connector 901 is placed in an inner cavity 902-2 at the upper part of the output shaft 902, one end of the spring 903 is sleeved on the spring positioning column 901-2, the other end of the spring 903 is sleeved on the spring positioning column 902-1, and a part of the spring 903 is positioned in a spring accommodating groove of the motor shaft connector 901. Along the circumferential direction of the motor shaft connector 901, the flange 902-4 is located between two sides of the limiting portion 901-3, and the motor shaft connector 901 cannot rotate because the flange 902-4 is clamped in the limiting portion 901-3.

The motor shaft connector 901 and the output shaft 902 can slide relatively and cannot rotate. The spring 903 may push the output shaft 902 upward.

The motor shaft of the first pitch yaw drive motor 701 is inserted into the motor shaft connection hole 901-1 of the motor shaft connection piece 901 to be fixedly connected. The first pitching yaw driving motor 701 is started, the motor shaft of the first pitching yaw driving motor 701 rotates to drive the transmission device to rotate, and finally the shaft end 902-3 rotates to serve as power output.

One motor corresponds to one transmission device, the motor shaft of the opening and closing motor 702 is also connected with one transmission device, the motor shaft of the second pitching yaw driving motor 703 is also connected with one transmission device, the motor shaft of the self-rotation motor 705 is also connected with one transmission device, and the motor shaft of the third pitching yaw driving motor 706 is also connected with one transmission device.

As shown in fig. 21 and 25, the surgical instrument body includes a consumable end housing 1001, a consumable connection buckle 1002, an instrument rod 1003, a flexible joint assembly 1407, an execution end 1004, the instrument rod 1003 is fixedly connected with the consumable end housing 1001, the flexible joint assembly 1407 is connected with the instrument rod 1003, the execution end 1004 is connected with the flexible joint assembly 1407, and the consumable connection buckle 1002 is connected with the consumable end housing 1001. A wire drive mechanism is mounted in the consumable end housing 1001.

When the surgical instrument body is used, the consumable end housing 1001 is inserted into the driving device in the sleeve housing 801, the consumable connecting buckle 1002 is rotated, and the consumable connecting buckle 1002 and the driving end are connected together.

As shown in fig. 22-27, the wire driving mechanism comprises a first support plate 1110, a second support plate 1111, a first pitching yaw driving shaft 1101, a second pitching yaw driving shaft 1102, a third pitching yaw driving shaft 1103, a first telescopic screw 1104, a second telescopic screw 1105, a third telescopic screw 1106, a first pitching yaw wire 1107, a second pitching yaw wire 1108, a third pitching yaw wire 1109, an opening and closing T-shaped screw 1301, an opening and closing screw nut 1302, a transition connecting piece 1303, a rotating gear 1304, a rotating square tube 1305, a wire flexible shaft 1306, a driving gear 1307, a positioning sleeve 1308, an intermediate gear 1309, a driving gear 1310, a driven gear 1311, a driving shaft 1312 and a reel bracket 1114, wherein one end of the first pitching yaw driving shaft 1101 is rotationally connected with the first support plate 1110 through a bearing 1112, the other end of the first pitching yaw driving shaft 1101 is rotationally connected with the second support plate 1111 through a bearing 1113, one end of the first pitching driving shaft 1101 is provided with an internal threaded hole 1101-1, the other end of the first telescopic screw 1104 is in connection fit with the internal threaded hole 1101-1, the other end of the first pitching driving shaft is provided with a spline groove 1101-2, and the first pitching driving shaft 1101 can move upwards in the axial direction when the first pitching driving shaft 1101 is axially and axially flexible. The structure of second every single move yaw drive shaft 1102 is the same with the structure of first every single move yaw drive shaft 1101, the mounting means of second every single move yaw drive shaft 1102 is the same with the mounting means of first every single move yaw drive shaft 1101, the one end of second every single move yaw drive shaft 1102 is rotated with backup pad one 1110 through the bearing and is connected, the other end of second every single move yaw drive shaft 1102 is rotated with backup pad two 1111 through the bearing and is connected, the cooperation is connected with the internal thread hole that second every single move yaw drive shaft 1102 one end set up to second telescopic screw 1105, the other end of second every single move yaw drive shaft 1102 is equipped with the spline groove, when the rotation of second every single move yaw drive shaft 1102 second telescopic screw 1105 can follow axial direction up and down. One end of a third pitching yaw driving shaft 1103 is rotationally connected with the first supporting plate 1110, the other end of the third pitching yaw driving shaft 1103 is rotationally connected with the second supporting plate 1111, the other end of the third pitching yaw driving shaft 1103 is provided with an internal threaded hole, a third telescopic screw 1106 is connected and matched with the internal threaded hole at the other end of the third pitching yaw driving shaft 1103, a driven gear 1311 is fixedly connected with the third pitching yaw driving shaft 1103, a positioning sleeve 1308 is provided with an intermediate gear connecting part 1308-1, an intermediate gear 1309 is rotationally connected with the intermediate gear connecting part 1308-1, and the intermediate gear 1309 is meshed with the driven gear 1311; one end of the driving shaft 1312 is provided with a spline groove, one end provided with the spline groove is rotationally connected with the first supporting plate 1110 through a bearing, the other end of the driving shaft 1312 is rotationally connected with the second supporting plate 1111 through a bearing, the driving gear 1310 is fixedly connected with the driving shaft 1312, the driving gear 1310 is meshed with the intermediate gear 1309, when the driving shaft 1312 rotates, the third pitching yaw driving shaft 1103 is driven to rotate through the driving gear 1310, the intermediate gear 1309 and the driven gear 1311, and the third pitching yaw driving shaft 1103 can enable the third telescopic screw 1106 to move up and down along the axial direction. A first pitch yaw wire 1107 is fixed to the first jack screw 1104; a second pitch yaw wire 1108 is fixed to the second jack screw 1105; a third pitch yaw wire 1109 is fixed to a third jack screw 1106; shaft end 902-3 of the transmission mounted with first pitch yaw motor 701 is inserted into first pitch yaw drive shaft 1101 by internal and external splined engagement (spline 902-3-1 on shaft end 902-3 is inserted into spline groove 1101-2); the shaft end of the transmission device mounted with the second pitching yaw motor 703 is inserted into the second pitching yaw driving shaft 1102, and is engaged through the internal and external splines; the shaft end of the transmission mounted with the third pitch yaw motor 706 is inserted into the third pitch yaw drive shaft 1103 and engaged by the internal and external splines.

It should be noted that, the two ends of the driving shaft 1312 may be directly rotatably connected to the corresponding shaft holes of the first support plate 1110 and the second support plate 1111 instead of rotatably connected to the first support plate 1110 and the second support plate 1111 through bearings. The two ends of the first pitch yaw drive shaft 1101 may be directly rotatably connected to corresponding shaft holes in the first support plate 1110 and the second support plate 1111. The two ends of the third pitch yaw drive shaft 1103 may be directly rotatably connected to corresponding shaft holes in the first and second support plates 1110, 1111. The two ends of the second pitch yaw drive shaft 1102 may also be directly rotatably connected to corresponding shaft holes in the first and second support plates 1110, 1111.

One end of the opening and closing T-shaped screw 1301 is provided with a spline groove, the end provided with the spline groove is rotationally connected with the first supporting plate 1110 through a bearing, and the opening and closing T-shaped screw 1301 is positioned in the positioning sleeve 1308.

As shown in fig. 24, the shaft end of the transmission device installed together with the opening and closing motor 702 is inserted into the opening and closing T-shaped screw 1301, and is engaged by the internal and external splines (the spline of the shaft end of the transmission device is inserted into the spline groove of the opening and closing T-shaped screw 1301); both the split lead screw nut 1302 and the transition piece 1303 are located within the locating sleeve 1308. The open-close T-shaped screw 1301 is meshed with an open-close screw nut 1302; the transition connector 1303 connects the open-close screw nut 1302 with the rotary square tube 1305, the transition connector 1303 is fixedly connected with the open-close screw nut 1302, and the rotary square tube 1305 is rotatably connected with the transition connector 1303. The steel wire flexible shaft 1306 is fixedly connected with the rotating square tube 1305 (the steel wire flexible shaft 1306 is inserted into the rotating square tube 1305), the opening and closing T-shaped screw 1301 rotates to drive the opening and closing screw nut 1302 to move up and down, the opening and closing screw nut 1302 drives the rotating square tube 1305 to move up and down, and the rotating square tube 1305 drives the steel wire flexible shaft 1306 to move up and down. The rotary square tube 1305 can rotate along the axial direction; the rotating gear 1304 is rotatably coupled to the second support plate 1111, and the rotating gear 1304 is positioned within the positioning sleeve 1308 with a window in the positioning sleeve 1308 to expose the rotating gear 1304. The driving gear 1307 is fixedly connected to the rotation connection 1201. One end of the rotation connecting piece 1201 is provided with a spline groove, one end provided with the spline groove is rotationally connected with the first supporting plate 1110, and the other end of the rotation connecting piece 1201 is rotationally connected with the second supporting plate 1111. The rotation gear 1304 meshes with the drive gear 1307; the rotary square tube 1305 passes through the square hole of the rotary gear 1304, and the rotary square tube 1305 can slide (move up and down) in the axial direction in the square hole of the rotary gear 1304; when the rotary gear 1304 rotates, the rotary square tube 1305 is driven to rotate, and the rotary square tube 1305 is supported by the transition joint 1303 to rotate.

The shaft end of the transmission device mounted with the rotation motor 705 is inserted into the spline groove of the rotation coupling 1201, engaged by the internal and external splines. The rotation motor 705 is started to drive the rotation connecting piece 1201 to rotate, the driving gear 1307 drives the rotation gear 1304 to rotate, the rotation gear 1304 drives the rotation square tube 1305 to rotate, and the rotation square tube 1305 drives the steel wire flexible shaft 1306 to rotate.

The reel stand 1114 is connected to the instrument bar 1003, and six reels are mounted on the reel stand 1114, and two reels are grouped into three groups. The first set of reels matches the first pitch yaw wire 1107, and the first pitch yaw wire 1107 is introduced into the instrument bar 1003 after bypassing the 1 st reel and the 2 nd reel in sequence. The second set of reels mates with a second pitch yaw wire 1108, and the second pitch yaw wire 1108 is threaded into the instrument bar 1003 after bypassing the 3 rd reel and the 4 th reel in sequence. The third set of reels matches the third pitch yaw wire 1109, and the third pitch yaw wire 1109 is introduced into the instrument bar 1003 after bypassing the 5 th reel and the 6 th reel in order.

As shown in fig. 21, 28, 29, the port of the sleeve housing 801 is provided with a first clamping groove 801-1, a second clamping groove 801-2, a first protrusion 801-3, and a second protrusion 801-4, the first protrusion 801-3 being located beside the first clamping groove 801-1, and the second protrusion 801-4 being located beside the second clamping groove 801-2. The consumable connecting buckle 1002 is provided with a first clamping hook 1002-1 and a second clamping hook 1002-2, and the first clamping hook 1002-1 and the second clamping hook 1002-2 are oppositely arranged. When the consumable terminal housing 1001 is inserted into the sleeve housing 801 and docked with the driving device, as shown in fig. 29, the first hook 1002-1 is not located in the first clamping groove 801-1, the second hook 1002-2 is not located in the second clamping groove 801-2, then the consumable terminal connecting buckle 1002 is rotated, the first hook 1002-1 is clamped in the first clamping groove 801-1 after passing through the first protrusion 801-3, and meanwhile, the second hook 1002-2 is clamped in the second clamping groove 801-2 after passing through the second protrusion 801-4, as shown in fig. 28, the consumable terminal housing 1001 is locked and cannot move.

As shown in fig. 25, 30 and 31, the positioning seat 1406 is fixedly attached to the front end of the 1407 flexible joint assembly. The first pitching yaw wire 1107, the second pitching yaw wire 1108 and the third pitching yaw wire 1109 pass through the 1407 flexible joint component and are fixedly connected with the 1406 positioning seat.

As shown in fig. 30 and 31, the actuating end 1004 includes a lower clamp 1401, an upper clamp 1402, a connecting member 1403, a flexible shaft 1404, a flexible shaft positioning seat 1405, a positioning seat 1406, a hinge shaft 1408, and a rotary table 1409, wherein the upper clamp 1402 is hinged to the lower clamp 1401 via the hinge shaft 1408, and the upper clamp 1402 is rotatable along the hinge shaft 1408; the connecting piece 1403 is hinged with the upper clamp 1402, the connecting piece 1403 is provided with two sliding parts 1403-1, the lower clamp 1401 is provided with two opposite waist-shaped grooves 1401-1, the two sliding parts 1403-1 are respectively positioned in the two waist-shaped grooves 1401-1, the sliding parts 1403-1 can slide in the waist-shaped grooves 1401-1, and the connecting piece 1403 can slide along the waist-shaped grooves of the lower clamp 1401. The front end of the flexible shaft 1404 is connected with the connecting piece 1403; the 1306 steel wire flexible shaft passes through the 1407 flexible joint component, then passes through the 1406 positioning seat, and then passes through the central through hole of the flexible shaft positioning seat 1405; the front end of 1306 steel wire flexible shaft is connected with the rear end of flexible shaft 1404, carousel 1409 and 1306 steel wire flexible shaft fixed connection, the rear end of flexible shaft positioning seat 1405 and 1406 positioning seat are connected fixed connection, the rear end of lower clamp 1401 and the front end of flexible shaft positioning seat 1405 rotate and are connected. The middle part of flexible axle positioning seat 1405 is equipped with the carousel and holds the chamber, and carousel 1409 is located this carousel and holds the chamber. The lower clamp 1401 can rotate, the steel wire flexible shaft 1306 rotates to drive the flexible shaft 1404 to rotate, the flexible shaft 1404 drives the lower clamp 1401 to rotate through the connecting piece 1403, and the upper clamp 1402 also rotates; as the 1306 wire flexible shaft rotates, the rotary table 1409 rotates in the rotary table receiving cavity of the flexible shaft positioning seat 1405.

The flexible shaft positioning seat 1405 is formed by connecting two parts through screws, is convenient to detach and install, and is assembled together to form a central through hole and a turntable accommodating cavity.

When the 1306 steel wire flexible shaft moves along the axial direction, the connecting piece 1403 can be pulled, and the connecting piece 1403 slides along the two waist-shaped grooves 1401-1, so that the upper clamp 1402 is driven to rotate along the 1408 hinge shaft, and further the upper clamp 1402 and the lower clamp 1401 are opened or the upper clamp 1402 and the lower clamp 1401 are closed.

The first pitching yaw steel wire 1107, the second pitching yaw steel wire 1108 and the third pitching yaw steel wire 1109 are pulled under the action of corresponding telescopic screws, so that the flexible joint assembly is bent in an omni-directional mode 1407, and the whole yaw of the execution end 1004 is driven.

The controller is mounted within a sleeve housing 801, such as on a motor mount 707. The first pitching yaw driving motor 701, the second pitching yaw driving motor 703, the third pitching yaw driving motor 706, the self-rotating motor 705 and the opening and closing motor 702 are respectively and electrically connected with the controller through signal wires. The rocker potentiometer 306 is electrically connected to the controller via a signal line. The first angle sensor 503 and the second angle sensor 504 are electrically connected to the controller through signal lines, respectively. The rocker potentiometer 306 is connected with the controller through a signal line.

The doctor punches and inserts an endoscope on the patient body, and the operation is completed by using the electric hand-held endoscope apparatus under the assistance of the endoscope, and in the process of using the electric hand-held endoscope apparatus, the doctor respectively pinches the tail ends of the first finger button 106 and the second finger button 107 by using the thumb and the index finger and presses the tail ends with force, the second angle sensor 504 generates a signal and sends the signal to the controller, the controller controls the opening and closing motor 702 to work according to the signal, and the opening and closing motor 702 works to enable the clamp 1402 to be opened or closed with the lower clamp 1401. When the doctor rotates the entire finger interface assembly 104 with his finger, the second angle sensor 504 generates a signal and sends the signal to the controller, which controls the rotation motor 705 to operate, and the rotation motor 705 operates to rotate the lower jaw 1401 and the upper jaw 1402. When the palm center of a doctor presses the palm spherical surface 105 to rotate the palm spherical surface 105 along the pitching axis 102 (namely, the outer spherical surface 301 rotates along the positioning guide pin shaft 305), the controller controls the three pitching yaw driving motors to work so as to enable the corresponding three telescopic screws to move, the corresponding three pitching yaw steel wires are matched, and finally the executing tail end 1004 achieves pitching action. When the palmar sphere 105 is operated to rotate along the yaw axis 101 (i.e. the outer sphere 301 rotates along the waist-shaped hole 301-1), the controller controls the three pitching yaw driving motors to work so as to enable the corresponding three telescopic screws to move, and the corresponding three pitching yaw steel wires are matched to finally enable the execution tail end 1004 to realize yaw motion.

It should be noted that, instead of being mounted in the sleeve housing 801, the controller may be disposed outside, and the mechanical structure and the controller may be two independent parts.

The invention and its embodiments have been described above by way of illustration and not limitation, and the invention is illustrated in the accompanying drawings and described in the drawings in which the actual structure is not limited thereto. Therefore, if one skilled in the art is informed by this disclosure, other configurations of parts, driving devices and connection modes are adopted without creatively designing similar structures and embodiments without departing from the spirit of the present invention, and the present invention shall not be limited by the scope of the present invention.

Claims (3)

1. The surgical instrument body is characterized by comprising a consumable end shell, a consumable connecting buckle, an instrument rod, a flexible joint assembly and an execution tail end, wherein the instrument rod is fixedly connected with the consumable end shell, the flexible joint assembly is connected with the instrument rod, the execution tail end is connected with the flexible joint assembly, and the consumable connecting buckle is connected with the consumable end shell; a wire driving mechanism is connected in the consumable end shell;

the wire driving mechanism comprises a first supporting plate, a second supporting plate, a first pitching yaw driving shaft, a second pitching yaw driving shaft, a third pitching yaw driving shaft, a first telescopic screw, a second telescopic screw, a third telescopic screw, a first pitching yaw steel wire, a second pitching yaw steel wire, a third pitching yaw steel wire, a steel wire flexible shaft, an opening and closing T-shaped screw rod, an opening and closing screw rod nut, a transition connecting piece, a rotating gear, a rotating square pipe, a driving gear, a positioning sleeve, a middle gear, a driving gear, a driven gear, a driving shaft and a reel bracket, wherein the positioning sleeve is fixedly connected between the first supporting plate and the second supporting plate, one end of the first pitching yaw driving shaft is rotationally connected with the first supporting plate, the other end of the first pitching yaw driving shaft is rotationally connected with the second supporting plate, one end of the first pitching yaw driving shaft is provided with an internal threaded hole, the first telescopic screw is in connection and fit with the internal threaded hole, and the other end of the first pitching yaw driving shaft is provided with a spline groove; one end of the second pitching yaw driving shaft is rotatably connected with the supporting plate, the other end of the second pitching yaw driving shaft is rotatably connected with the supporting plate II, the second telescopic screw is connected and matched with an internal threaded hole formed in one end of the second pitching yaw driving shaft, and a spline groove is formed in the other end of the second pitching yaw driving shaft; one end of the third pitching yaw driving shaft is rotatably connected with the supporting plate, the other end of the third pitching yaw driving shaft is rotatably connected with the supporting plate II, an internal threaded hole is formed in the other end of the third pitching yaw driving shaft, the third telescopic screw is connected and matched with the internal threaded hole at the other end of the third pitching yaw driving shaft, the driven gear is fixedly connected with the third pitching yaw driving shaft, the positioning sleeve is provided with an intermediate gear connecting part, the intermediate gear is rotatably connected with the intermediate gear connecting part, and the intermediate gear is meshed with the driven gear; one end of the driving shaft is provided with a spline groove, one end of the driving shaft provided with the spline groove is rotationally connected with the supporting plate II, the other end of the driving shaft is rotationally connected with the supporting plate II, the driving gear is fixedly connected with the driving shaft, and the driving gear is meshed with the intermediate gear; the first pitching yaw steel wire is fixed on the first telescopic screw, the second pitching yaw steel wire is fixed on the second telescopic screw, and the third pitching yaw steel wire is fixed on the third telescopic screw;

one end of the opening and closing T-shaped screw rod is provided with a spline groove, and the end part provided with the spline groove is rotationally connected with the supporting plate through a bearing; the opening and closing T-shaped screw rod is positioned in the positioning sleeve, the opening and closing screw rod nut and the transition connecting piece are both positioned in the positioning sleeve, and the opening and closing screw rod nut is connected and matched with the opening and closing T-shaped screw rod; the transition connecting piece connects the opening and closing screw rod nut with the rotating square tube, the rotating square tube is rotationally connected with the transition connecting piece, the steel wire flexible shaft is fixedly connected with the rotating square tube, the rotating gear is rotationally connected with the second supporting plate, the rotating gear is positioned in the positioning sleeve, the positioning sleeve is provided with a window, and the driving gear is fixedly connected with the autorotation connecting piece; one end of the rotation connecting piece is provided with a spline groove, one end provided with the spline groove is rotationally connected with the supporting plate, and the other end of the rotation connecting piece is rotationally connected with the supporting plate II; the rotating gear is meshed with the driving gear; the rotating square tube penetrates through a square hole of the rotating gear, and can axially slide in the square hole of the rotating gear;

the reel bracket is connected with the instrument rod, six reels are connected to the reel bracket, and two reels are in one group and three groups; the first pitching yaw steel wire sequentially bypasses a 1 st reel and a 2 nd reel in the first group of reels and is then led into the instrument rod; the second pitching yaw steel wire sequentially bypasses a 3 rd reel and a 4 th reel in the second group of reels and is then led into the instrument rod; the third pitching yaw steel wire sequentially bypasses a 5 th reel and a 6 th reel in the third group of reels and is then led into the instrument rod;

the first pitching yaw steel wire, the second pitching yaw steel wire and the third pitching yaw steel wire are led into the instrument rod, pass through the flexible joint assembly and are connected with the front end of the flexible joint assembly.

2. A surgical instrument body as recited in claim 1, wherein: the execution tail end comprises a positioning seat, a lower clamp, an upper clamp, a connecting piece, a flexible shaft positioning seat, a hinge shaft and a rotary table, wherein the upper clamp is hinged with the lower clamp through the hinge shaft, the connecting piece is hinged with the upper clamp, the connecting piece is provided with two sliding parts, the lower clamp is provided with two oppositely arranged waist-shaped grooves, and the two sliding parts of the connecting piece are respectively positioned in the two waist-shaped grooves; the front end of the flexible shaft is connected with the connecting piece; the steel wire flexible shaft penetrates through the flexible joint assembly, then penetrates through the positioning seat and then penetrates through the central through hole of the flexible shaft positioning seat, and the front end of the steel wire flexible shaft is connected with the rear end of the flexible shaft; the rotary table is fixedly connected with the steel wire flexible shaft, the rear end of the flexible shaft positioning seat is fixedly connected with the positioning seat, the rear end of the lower clamp is rotatably connected with the front end of the flexible shaft positioning seat, a rotary table accommodating cavity is formed in the middle of the flexible shaft positioning seat, and the rotary table is positioned in the rotary table accommodating cavity; the positioning seat is fixedly connected with the front end of the flexible joint assembly, and the first pitching yaw steel wire, the second pitching yaw steel wire and the third pitching yaw steel wire penetrate through the flexible joint assembly and are fixedly connected with the positioning seat.

3. A surgical instrument body as claimed in claim 2, wherein the flexible shaft positioning seat is formed by two parts connected by a screw.