CN117883185A - Surgical instrument driving handle - Google Patents

Abstract

The invention belongs to the technical field of medical instruments, and discloses a surgical instrument driving handle. The surgical instrument driving handle comprises a handle main body and an interface assembly, wherein the handle main body is used for controlling a surgical instrument and comprises an instrument shell and an instrument inner rod, the instrument inner rod is arranged inside the instrument shell in a sliding mode, and the instrument shell and the instrument inner rod can relatively move to adjust the degree of freedom of the tail end of the surgical instrument. One end of the interface component is in transmission connection with the handle main body, the other end of the interface component extends out of the handle main body, the interface component comprises a lengthening shell and a lengthening inner rod, the lengthening inner rod is in sliding connection with the lengthening shell, the handle main body can drive the lengthening shell to rotate around an axis and drive the lengthening inner rod to move relative to the lengthening shell, the instrument shell can be limited in the lengthening shell, and the instrument inner rod is connected with the lengthening inner rod. By arranging the interface component, the distance between the jaw of the surgical instrument and the mounting surface of the handle is prolonged, so that the surgical instrument with shorter length can be connected and applied to a robotic surgical system.

Description

Surgical instrument driving handle

Technical Field

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

Background

Robotic surgical systems have been widely adopted worldwide to replace traditional surgical procedures, which are beneficial for shortening recovery time for patients, reducing patient discomfort, and shortening hospital stays. The robot operation system drives the operation instrument to perform operation by utilizing the laparoscopic instrument driving handle, thereby improving the accuracy of operation and reducing the operation fatigue of doctors.

Generally, robotic surgical systems have a plurality of mechanical manipulator arms with groups of motors for driving laparoscopic surgical instruments. The driving handle of the laparoscopic instrument is installed on the mechanical arm through a quick buckle and is clamped with the motor at the same time. And the front end of the laparoscopic surgical instrument driving handle is provided with the laparoscopic surgical instrument, thereby realizing the surgical operations such as shearing, grabbing, suture, electrocoagulation and the like of the laparoscopic surgical instrument through motor driving.

Robotic surgical systems are required to accommodate a wide variety of surgical procedures, and in general, the distance between the mounting surface of the laparoscopic instrument drive handle and the jaws of the laparoscopic instrument at the front end of the handle is required to be designed to be as long as possible. Therefore, to meet the requirements of robotic surgical systems, it is necessary to design a dedicated, longer style front-end surgical instrument for the robotic surgical system, resulting in the inability of conventional laparoscopic surgical instruments used in conventional surgical procedures due to their shorter length. Leading to various front-end surgical instruments produced by suppliers and high production cost; the conventional surgical instruments with shorter length cannot be used in hospitals, and special surgical instruments matched with the robotic surgical system are required to be purchased additionally, so that the problems of higher configuration and use cost of the robotic surgical system and the like are caused.

Accordingly, there is a need for an improved surgical instrument drive handle that addresses the above issues.

Disclosure of Invention

The invention aims to provide a surgical instrument driving handle, which can prolong the distance between the jaw of the surgical instrument and the mounting surface of the handle, so that the conventional shorter surgical instrument can be applied to a robotic surgical system.

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

a surgical instrument drive handle comprising:

the surgical instrument comprises an instrument shell and an instrument inner rod, wherein the instrument inner rod is arranged in the instrument shell in a sliding manner, and the instrument shell and the instrument inner rod can relatively move to adjust the degree of freedom of the tail end of the surgical instrument;

the interface subassembly, the one end of interface subassembly with the handle main part transmission links to each other, and the other end stretches out outside the handle main part, the interface subassembly includes extension shell and extension interior pole, extension interior pole sliding connection in the extension shell, the handle main part can drive extension shell is around extension shell's axis rotates and drives extension interior pole is relative extension shell removes, the apparatus shell can limit to be located in the extension shell, just the apparatus interior pole with extension interior pole is connected.

Alternatively, the elongated housing includes:

the extension shell body is provided with a cavity for accommodating the surgical instrument and the extension inner rod, and is also provided with an opening through which the surgical instrument is placed into the cavity;

and the flip cover is rotatably connected with the lengthened shell body and can cover the opening.

Alternatively, a stop is provided on an inner wall of the elongate housing body, the stop being configured to limit rotational and axial movement of the surgical instrument relative to the interface assembly.

Alternatively, the handle body includes:

a main body bracket;

the fixed end of the rotary driving assembly is arranged on the main body bracket, and the driving end of the rotary driving assembly is connected with the lengthened shell and used for driving the lengthened shell to drive the surgical instrument to rotate;

the fixed end of the closing driving assembly is arranged on the main body support, and the driving end of the closing driving assembly is movably connected with one end, far away from the surgical instrument, of the lengthened inner rod and is used for driving the lengthened inner rod to linearly move so as to enable the tail end of the surgical instrument to be opened or closed.

Alternatively, the rotation driving assembly includes:

the rotary driving gear is sleeved on the lengthened shell;

the output end of the transmission gear set is in meshed transmission connection with the rotary driving gear; and

The input end of the transmission gear set is connected with the output shaft of the rotation driving motor, and the rotation driving motor drives the transmission gear set to rotate so as to drive the rotation driving gear to rotate.

Alternatively, the closure driving assembly:

the eccentric driving wheel is provided with a narrow-mouth chute along the circumference, and one end of the lengthened inner rod, which is far away from the surgical instrument, is limited in the narrow-mouth chute and can move along the narrow-mouth chute; and

And a closing drive member configured to drive the eccentric drive wheel to rotate.

Alternatively, the inner wall of the extension shell is provided with an extension shell conductive layer and an extension shell insulating layer, and the extension shell insulating layer is located on the outer side of the extension shell conductive layer.

As an alternative scheme, a first elastic conductive piece is connected to the conductive layer of the extension shell, and the first elastic conductive piece is elastically abutted against the conductive layer of the instrument shell;

the handle body further includes a housing conductive assembly that is in resilient abutment with the elongated housing conductive layer to form an electrical path between the housing conductive assembly, the elongated housing and the instrument housing.

Alternatively, the lengthened inner rod is made of conductive materials, and an insulation layer of the lengthened inner rod is arranged on the outer peripheral surface of the lengthened inner rod.

As an alternative scheme, a second elastic conductive piece is arranged on the lengthened inner rod and elastically props against the conductive layer of the inner rod of the instrument;

the handle body further includes an inner rod conductive assembly that is in resilient abutment with the elongated inner rod such that an electrical path is formed between the inner rod conductive assembly, the elongated inner rod and the instrument inner rod.

The beneficial effects are that:

according to the surgical instrument driving handle, the handle main body and the surgical instruments are connected through the interface component, and the interface component extends out of the handle main body, so that the distance between the tail end of the surgical instrument and the handle mounting surface is prolonged, the conventional surgical instruments with shorter lengths can be also connected to a robot surgical system through the surgical instrument driving handle, the types of surgical instruments required to be produced are reduced, the production and manufacturing cost is reduced, a hospital does not need to specially purchase the surgical instruments with longer lengths, and the configuration and use cost of the robot surgical system are reduced. In addition, the interface component comprises an extension shell and an extension inner rod, the extension inner rod is connected in the extension shell in a sliding way, and the handle main body drives the extension shell to rotate around the axis of the extension shell, so that the surgical instrument is driven to rotate to adjust the operation angle; the handle main body drives the lengthened inner rod to move relative to the lengthened outer shell, and the instrument inner rod is connected with the lengthened inner rod, so that the instrument inner rod moves relative to the instrument outer shell, and further the tail end of the surgical instrument is opened and closed, and the handle main body can flexibly control the surgical instrument after the interface component is added.

Drawings

FIG. 1 is a schematic illustration of a prior art surgical instrument drive handle connected to a surgical instrument;

FIG. 2 is a schematic illustration of the connection of a surgical instrument drive handle to a surgical instrument provided by the present invention;

FIG. 3 is a schematic view of the internal structure of a surgical instrument drive handle provided by the present invention;

FIG. 4 is a schematic diagram of an interface assembly provided by the present invention;

FIG. 5 is a schematic view of a surgical instrument provided by the present invention;

FIG. 6 is a schematic illustration of the flip cover and extension housing body cover provided by the present invention;

FIG. 7 is a schematic view of a part of a flip cover according to the present invention;

FIG. 8 is a schematic diagram showing the positions of the flip cover and the flip button according to the present invention;

FIG. 9 is a second schematic diagram of the position states of the flip cover and the flip button provided by the invention;

FIG. 10 is a partial schematic view of an elongated housing body provided by the present invention;

FIG. 11 is a schematic diagram showing a partial structure of a flip cover according to the present invention;

FIG. 12 is a schematic illustration of a rotational fit of a flip cover to an extension housing body provided by the present invention;

FIG. 13 is a second schematic view of the rotational fit of the flip cover to the extension housing body provided by the present invention;

FIG. 14 is a schematic view of the attachment of the flip spring provided by the present invention;

FIG. 15 is a schematic view of the internal structure of a surgical instrument drive handle provided by the present invention;

FIG. 16 is a schematic view of a rotary drive assembly according to the present invention;

FIG. 17 is a schematic view of a closure drive assembly according to the present invention in one view;

fig. 18 is a schematic view of a closure driving assembly according to the present invention in another view.

In the figure:

100', surgical instrument drive handle; 110', handle mounting surface; 1', a handle body; 200', surgical instruments;

100. a surgical instrument drive handle; 110. a handle mounting surface;

1. a handle body; 11. a main body bracket; 12. a rotary drive assembly; 121. a rotation driving gear; 122. a drive gear set; 1221. rotating the input gear; 1222. rotating the intermediate gear; 13. closing the drive assembly; 131. an eccentric drive wheel; 1311. a narrow-mouth chute; 132. closing the driving member; 1321. closing the input gear; 1322. closing the intermediate gear; 1323. closing the output gear; 14. a housing conductive assembly; 141. a conductive contact; 142. a contact spring; 143. a thread nose screw; 15. an inner rod conductive assembly;

2. an interface assembly; 21. lengthening the housing; 211. lengthening the housing body; 2111. a cavity; 2112. axially clamping and protruding; 2113. circumferential clamping convex; 2114. the shell main body is buckled; 2115. a substrate rotation shaft hole; 2116. the flip cover is matched with the male surface; 2117. a male surface bus; 2118. a revolution axis; 212. a flip cover; 2121. a flip rotating shaft hole; 2122. the flip cover is matched with the mother surface; 2123. a mother surface bus; 2124. a female surface rotating shaft; 2125. a limit groove; 2126. an avoidance groove; 213. lengthening the conductive layer of the housing; 2131. a first elastic conductive member; 214. lengthening the insulating layer of the shell; 215. a flip button; 2151. a button buckle; 2152. a button elastic member; 2153. an anti-falling protrusion; 22. lengthening the inner rod; 221. lengthening the inner rod insulating layer; 222. a second elastic conductive member; 223. a fast interface; 224. lengthening the narrow neck round head of the inner rod; 23. a flip cover elastic member; 24. a flip elastic member rotating shaft;

200. a surgical instrument; 210. an instrument housing; 2101. an axial clamping groove; 2102. circumferential clamping grooves; 220. an instrument inner rod; 2201. the narrow neck round head of the inner rod of the instrument.

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", "left", "right", and the like are orientation or positional relationships based on those shown in the drawings, 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.

As shown in fig. 1, a prior art surgical instrument driving handle 100' is shown, the lower side of the surgical instrument driving handle 100' is a handle mounting surface 110', and a surgical instrument 200' is directly connected to a handle body 1'. To ensure that the distal end of the surgical instrument 200 'is maintained at a greater distance from the handle mounting surface 110', the surgical instrument 200 'needs to be designed to be longer in size and the shorter surgical instrument 200' cannot be used, resulting in a robotic surgical system that is costly to configure and use. The tail end of the surgical instrument can be forceps, scissors, bending scissors and the like.

In order to solve the above-described problems, as shown in fig. 2, the present embodiment provides a surgical instrument drive handle 100 capable of lengthening the distance between the distal end of a surgical instrument 200 and a handle mounting surface 110. Specifically, the surgical instrument drive handle 100 includes a handle body 1 and an interface assembly 2, the handle body 1 being used to manipulate a surgical instrument 200. Referring to fig. 3, the surgical instrument 200 includes an instrument housing 210 and an instrument inner rod 220, the instrument inner rod 220 being slidably disposed within the instrument housing 210, the instrument housing 210 and the instrument inner rod 220 being capable of relative movement to adjust the degree of freedom of the distal end of the surgical instrument 200. The degree of freedom in adjusting the distal end of the surgical instrument 200 specifically refers to opening, closing, rotating, moving, etc. the operative end of the surgical instrument 200. One end of the interface component 2 is in transmission connection with the handle body 1, the other end of the interface component extends out of the handle body 1, the interface component 2 comprises an extension shell 21 and an extension inner rod 22, the extension inner rod 22 is slidably connected in the extension shell 21, the handle body 1 can drive the extension shell 21 to rotate around the axis of the extension shell 21 and drive the extension inner rod 22 to move relative to the extension shell 21, the instrument shell 210 can be limited in the extension shell 21, and the instrument inner rod 220 is connected with the extension inner rod 22. When the instrument housing 210 is secured, the closure of the jaws at the distal end of the surgical instrument 200 can be accomplished by pulling the instrument inner rod 220 outwardly; when the instrument housing 210 is secured, the opening of the jaws at the distal end of the surgical instrument 200 is accomplished by pushing the instrument inner rod 220 inward.

The interface component 2 is arranged to connect the handle body 1 and the surgical instrument 200, and the interface component 2 extends out of the handle body 1, so that the distance between the jaw of the surgical instrument 200 and the handle mounting surface 110 is prolonged, the conventional surgical instrument 200 with shorter length can be connected and applied to a robotic surgical system through the surgical instrument driving handle 100, and the reduction of the types of surgical instruments 200 required to be produced is facilitated, and the production and manufacturing cost is reduced. And hospitals do not need to specially purchase surgical instruments 200 with longer lengths, so that the configuration and use cost of the robotic surgical system are reduced. In addition, the interface assembly 2 is provided to comprise an extension housing 21 and an extension inner rod 22, the extension inner rod 22 is slidably connected in the extension housing 21, and the handle body 1 drives the extension housing 21 to rotate around the axis of the extension housing 21, so as to drive the surgical instrument 200 to rotate for adjusting the operation angle; the handle body 1 drives the extension inner rod 22 to move relative to the extension outer shell 21, and the instrument inner rod 220 is connected with the extension inner rod 22, so that the instrument inner rod 220 moves relative to the instrument outer shell 210, and further the opening and closing of the tail end of the surgical instrument 200 are realized, and the handle body 1 can still flexibly control the surgical instrument 200 after the interface component 2 is added.

As shown in fig. 3 and 4, the structure of the extension housing 21 is designed to enable quick assembly and disassembly of the surgical instrument 200 on the interface assembly 2. Specifically, the extension housing 21 includes an extension housing body 211 and a flip cover 212, the extension housing body 211 is provided with a cavity 2111 for receiving the surgical instrument 200 and the extension inner rod 22, and the extension housing body 211 is further provided with an opening through which the surgical instrument 200 is placed into the cavity 2111. The flip cover 212 is rotatably coupled to the extension case body 211 and can cover the opening. When it is desired to assemble the surgical device 200 to the interface assembly 2, the surgical device 200 is placed by simply opening the flip cover 212. When the surgical instrument 200 is to be removed from the interface assembly 2, the surgical instrument 200 is removed from the opening by simply opening the flip cover 212. The operation is more convenient and quick.

Further, in order to enable the flip cover 212 to firmly cover the extension case body 211, a buckle assembly is disposed on a side surface of the extension case body 211 opposite to the flip cover 212, and the buckle assembly can lock the extension case body 211 and the flip cover 212, so as to firmly clamp the surgical instrument 200. Moreover, the buckle component is arranged on the side surface of the lengthened housing main body 211 opposite to the flip 212, so that the external space of the interface component 2 is not occupied, and the overall design size of the interface component 2 is reduced. Preferably, the interface assembly 2 is cylindrical after the flip cap 212 is snapped onto the elongate housing body 211.

Specifically, as shown in fig. 4 and 5, the end of the elongated inner rod 22 connected to the instrument inner rod 220 is provided with a quick connector 223, the quick connector 223 is provided with a narrow slot, and the end of the instrument inner rod 220 is correspondingly provided with an instrument inner rod narrow neck rounded head 2201. When the surgical instrument 200 is installed, the flip 212 is turned over, the instrument inner rod narrow neck round head 2201 of the instrument inner rod 220 is clamped into the narrow mouth groove of the lengthened inner rod 22, namely, the connection between the instrument inner rod 220 and the lengthened inner rod 22 is realized, then the flip 212 is covered, and the surgical instrument 200 is fixed in the cavity 2111.

Further, to fix the instrument housing 210, a limiting portion is provided on an inner wall of the extension housing main body 211, and the limiting portion is used for limiting the rotation and the axial movement of the surgical instrument 200 relative to the interface assembly 2.

Specifically, as shown in fig. 4 and 5, the limiting portion includes an axial clamping protrusion 2112, an axial clamping groove 2101 is provided at a corresponding position of the instrument housing 210, the axial clamping groove 2101 surrounds the instrument housing 210 for a circle, and the axial clamping groove 2101 cooperates with the axial clamping protrusion 2112 to limit the axial movement of the surgical instrument 200. When the surgical instrument 200 is assembled to the interface assembly 2, the axial tabs 2112 snap into the axial slots 2101, limiting axial displacement of the instrument housing 210. The limiting portion further includes a circumferential clamping protrusion 2113, a circumferential clamping groove 2102 is formed in a corresponding position of the instrument housing 210, the circumferential clamping groove 2102 extends along the axial direction of the instrument housing 210, and the circumferential clamping groove 2102 and the circumferential clamping protrusion 2113 cooperate to limit circumferential rotation of the surgical instrument 200. When the surgical instrument 200 is assembled to the interface assembly 2, the circumferential tabs 2113 snap into the circumferential slots 2102, limiting rotation of the instrument housing 210 relative to the extension housing 21. By securing the instrument housing 210 and the extension housing 21 together by the axial and circumferential detents 2112, 2113, relative movement in both the axial and circumferential directions is prevented, ensuring that the handle body 1 is capable of precise manipulation of the surgical instrument 200 by movement of the drive interface assembly 2.

A manner of locking the flip 212 by providing a flip button 215 to cooperate with the extension housing body 211 is provided below. The locking manner of the flip cover 212 is not limited to this, and the flip cover 212 may be directly engaged with the extension case main body 211 or may be locked by providing a lock catch, so that the flip cover 212 may be firmly covered at the opening of the extension case main body 211.

Specifically, as shown in fig. 4 and 6, the interface assembly 2 further includes a flip button 215, the flip button 215 is set to be circular arc, and covers the outer side of the flip 212, a button elastic member 2152 is disposed between the flip button 215 and the flip 212, the buckle assembly includes a button buckle 2151 and a housing main body buckle 2114, the button buckle 2151 is disposed on the flip button 215, the housing main body buckle 2114 is disposed on the extension housing main body 211, and the button elastic member 2152 can drive the button buckle 2151 to move relative to the housing main body buckle 2114, so that the button buckle 2151 and the housing main body buckle 2114 are buckled, or the button buckle 2151 and the housing main body buckle 2114 are separated. The button elastic member 2152 is preferably a spring.

When the folder 212 has not yet been covered on the extension case body 211, the folder button 215 is pushed to the right side of the folder 212 by the button elastic member 2152. When the folder 212 is pressed so that the folder 212 is covered on the extension case body 211, the folder button 215 is pushed leftwards, and the folder button 215 is moved leftwards against the compression force of the button elastic member 2152, so that the button buckle 2151 on the folder button 215 simultaneously slides and snaps onto the case body buckle 2114 on the extension case body 211. At this time, the button buckle 2151 and the housing body buckle 2114 always maintain the engaged state by the rightward elastic force of the button elastic member 2152, so that the flip 212 is firmly covered on the extension housing body 211.

When the flip cover 212 needs to be opened, only the flip button 215 needs to be pushed to the left manually, at this time, the button buckle 2151 moves to the left along with the flip button 215 and withdraws from the housing main body buckle 2114, and the button buckle 2151 and the housing main body buckle 2114 are released from the clamping state, so that the flip button 215 can drive the flip cover 212 to be opened from the lengthened housing main body 211, and the flip cover 212 is in the uncapping state.

Preferably, referring to fig. 6 and 7, a mounting groove is formed on an outer sidewall of the flip cover 212, the mounting groove is formed at a right end of the flip cover 212, and due to the mounting groove, a diameter of the flip cover 212 at the mounting groove is smaller, so that the flip cover 212 forms a step shape, a flip button 215 is slidably connected in the mounting groove along an axial direction of the flip cover 212, and the flip button 215 is flush with an outer circumferential surface of the flip cover 212. The outer peripheral surface of the flip button 215 is made on the same cylindrical surface as the outer peripheral surface of the flip 212, and the flip button 215 is movable on the flip 212 along the axis of the cylindrical surface. Because the flip button 215, the button elastic member 2152 and the button buckle 2151 are all arranged or moved along the axial direction of the extension housing main body 211, the radial space occupied by the flip button 215 is greatly reduced, and the interface assembly 2 is more beneficial to the arrangement in a compact and narrow space environment.

As shown in fig. 7 to 9, in order to prevent the flip button 215 from being detached from the flip 212, one of the flip button 215 and the flip 212 is provided with a release preventing protrusion 2153, and the other one is provided with a limiting groove 2125, and the release preventing protrusion 2153 is limited in the limiting groove 2125 to limit the flip button 215 from being detached from the flip 212. In this embodiment, the anti-falling protrusion 2153 protrudes from the inner peripheral surface of the flip button 215, the limiting groove 2125 is disposed on the flip 212, and the limiting groove 2125 is recessed on the outer peripheral surface of the flip 212 and extends along the axial direction of the flip 212, so that the flip button 215 is always clamped in the limiting groove 2125 when sliding relative to the flip 212. Similarly, the limiting groove 2125 is provided on the flip button 215, and the anti-falling protrusion 2153 is provided on the flip button 212, so that the restriction on the flip button 215 can be realized. Preferably, two sets of the limiting groove 2125 and the anti-falling protrusion 2153 are respectively disposed correspondingly, and the two sets of the limiting groove 2125 and the anti-falling protrusion 2153 are respectively disposed on two sides of the button elastic member 2152, so as to better prevent the flip button 215 from falling out of the flip 212.

For convenience in installation, the anti-falling protrusion 2153 is clamped into the limit groove 2125, as shown in fig. 7, the flip button 215 or the flip 212 is provided with the avoidance groove 2126, the avoidance groove 2126 is communicated with the limit groove 2125, during installation, the anti-falling protrusion 2153 is aligned with the avoidance groove 212 to enable the anti-falling protrusion 6 to be attached to the flip 212, and the button elastic piece 2152 drives the flip button 215 to move to a position where the anti-falling protrusion 2153 is clamped with the limit groove 2125, so that the flip button 215 is prevented from falling off in the radial direction.

Taking the case that the avoidance groove 2126 is disposed on the flip 212 as shown in fig. 7, the avoidance groove 2126 is disposed on the left side of the limit groove 2125 and is communicated with the limit groove 2125, as shown in fig. 8, when the flip button 215 needs to be mounted on the flip 212, the anti-falling protrusion 2153 on the flip button 215 is aligned with the avoidance groove 2126 on the flip 212, and at this time, the flip button 215 can be mounted on the flip 212 from the radial direction of the flip 212. Then, as shown in fig. 9, under the action of the button elastic member 2152, the flip button 215 moves rightward relative to the flip 212, and at this time, the anti-falling protrusion 2153 is snapped into the limiting groove 2125, so that the flip button 215 can only move axially, and cannot fall out from the flip 212 in any radial direction. Thereby enabling ease of installation and removal of the flip button 215.

By designing the movement stroke of the button buckle 2151 of the flip button 215 in the axial direction, the radial space occupied by the flip button 215 is greatly reduced, which is beneficial to arrangement in a compact and narrow space environment, and the flip button 215 is low in manufacturing cost and convenient to install.

Further, as shown in fig. 10 and 11, the flip cover 212 is rotatably connected with the main body 211 of the extension housing through a turnover shaft, and the rotation track of the flip cover 212 is matched with the surface shape of the joint on the main body 211 of the extension housing, so that the contact surface between the flip cover 212 and the main body 211 of the extension housing maintains a preset gap, which is a micro gap, when the flip cover 212 rotates, so that the flip cover 212 is almost attached to the main body 211 of the extension housing to rotate, interference can be avoided without reserving a gap between the flip cover 212 and the main body 211 of the extension housing, and no obvious gap exists outside after the flip cover is closed.

Specifically, as shown in fig. 10 and 11, two base rotation shaft holes 2115 are provided in the extension housing main body 211, two cover rotation shaft holes 2121 are provided in the cover 212, and the rotation shaft passes through the base rotation shaft holes 2115 and the cover rotation shaft holes 2121 to connect the cover 212 to the extension housing main body 211. As shown in fig. 10, the outer surface of the elongated housing body 211 between the two base shaft holes 2115 is a flip-fit male surface 2116, and the flip-fit male surface 2116 is curved, resulting from rotation of the male surface generatrix 2117 about the male surface shaft 2118 (coaxial with the flip shaft described above). And the axis of the male surface rotation shaft 2118 coincides with the axis of the base rotation shaft hole 2115. Thus, all of the material on the flip-top mating male surface 2116 is comprised of points that are no farther from the male surface rotational axis 2118 than the male surface bus bar 2117.

As shown in fig. 11, the inner surface of the flip 212 between the two flip spindle holes 2121 is a flip mating female surface 2122, and the flip mating female surface 2122 is a curved surface, and is generated by rotating the female surface bus 2123 about a female surface spindle 2124 (also coaxial with the flip spindle described above). And the axis of the female face spindle 2124 coincides with the axis of the flip spindle hole 2121. Thus, all of the material on the flip-top mating female face 2122 is comprised of points that are no more distant from the female face rotational axis 2124 than the female face generatrix 2123.

Since the male bus bar 2117 on the extension housing body 211 is identical in character to the female bus bar 2123 on the flip 212. Thus, when the flip cover 212 is mounted to the elongate housing body 211, as shown in fig. 12 and 13, the base pivot hole 2115 and the flip cover pivot hole 2121 pass through the same flip pivot, are coincident and centered, at which time the flip cover mating male surface 2116 and the flip cover mating female surface 2122 will not interfere all the way during movement of the flip cover 212 about the flip cover pivot hole 2121, and there is no substantial gap between the flip cover mating male surface 2116 and the flip cover mating female surface 2122. Therefore, interference can be avoided without leaving a difference breaking groove between the flip cover 212 and the lengthened housing main body 211, and no obvious gap is formed in appearance after closing the cover.

Further, as shown in fig. 14, a flip elastic member 23 is connected between the extension case body 211 and the flip 212, and the flip elastic member 23 can press the flip 212 to an open state. When the flip button 215 is withdrawn from the engagement with the extension housing body 211, the flip 212 is often not kept open due to gravity, and requires manual support to remove and mount the surgical instrument 200. By providing the flap elastic member 23, the flap 212 can be sprung open, thereby holding the flap 212 in the open state.

Preferably, the flip elastic member 23 is connected to the opposite side of the extension housing main body 211 from the flip 212, the extension housing main body 211 and/or the flip 212 are provided with a receiving slot, a flip elastic member rotating shaft 24 is disposed in the receiving slot, one end of the flip elastic member 23 is connected to the flip elastic member rotating shaft 24, and the flip elastic member 23 can be accommodated in the receiving slot. The receiving groove may be provided in the extension case body 211 or the folder 212, or the receiving grooves may be provided in both the extension case body 211 and the folder 212, and the receiving grooves in the extension case body 211 and the folder 212 together form a receiving space for the folder elastic member 23. The flip spring 23 may be a compression torsion spring, or other form of spring, capable of telescoping flip 212, and the specific form is not limited herein.

The flip spring 23 is mounted to the flip 212 by a flip spring hinge 24. One end of the flip elastic member 23 is connected to the flip 212, and the other end is connected to the extension case body 211. Since the folder 212 is rotatable around the base rotation shaft hole 2115 of the extension housing main body 211, the folder 212 will be maintained in an opened state against the self weight of the folder 212 by the elastic force of the folder elastic member 23. When it is desired to close the folder 212, the folder 212 is closed onto the extension housing main body 211 only by manually overcoming the compressive force of the folder elastic member 23. And once the button buckle 2151 on the flip button 215 is withdrawn from the housing body buckle 2114 on the extension housing body 211, the elastic force of the flip elastic member 23 overcomes the self weight of the flip 212, and opens and holds the flip 212 in the flip 212 state.

Alternatively, as shown in fig. 15, the handle body 1 includes a body bracket 11, a rotary driving assembly 12 and a closing driving assembly 13, wherein a fixed end of the rotary driving assembly 12 is disposed on the body bracket 11, and a driving end of the rotary driving assembly 12 is connected to the extension housing 21 for driving the extension housing 21 to rotate the surgical instrument 200. The fixed end of the closing driving assembly 13 is disposed on the main body bracket 11, and the driving end of the closing driving assembly 13 is movably connected to one end of the elongated inner rod 22 away from the surgical instrument 200, and is used for driving the elongated inner rod 22 to linearly move so as to open or close the jaws of the surgical instrument 200.

Specifically, as shown in fig. 16, the rotary driving assembly 12 includes a rotary driving gear 121, a transmission gear set 122 and a rotary driving motor (not shown in the drawing), the rotary driving gear 121 is sleeved on the extension housing 21, an output end of the transmission gear set 122 is in meshed transmission connection with the rotary driving gear 121, an input end of the transmission gear set 122 is connected to an output shaft of the rotary driving motor, and the rotary driving motor drives the transmission gear set 122 to rotate so as to drive the rotary driving gear 121 to rotate, so that the interface assembly 2 can rotate, and the surgical instrument 200 is driven to rotate around its own axis. Preferably, the transmission gear set 122 and the rotation driving motor are respectively provided with two groups, the two groups of transmission gear sets 122 are simultaneously meshed with the rotation driving gear 121 for transmission, and the power of the two groups of rotation driving motors is transmitted to the rotation driving gear 121 through the two groups of transmission gear sets 122, so that the larger load of the surgical instrument 200 can be effectively overcome.

Alternatively, as shown in fig. 16, the transmission gear set 122 includes a rotation input gear 1221 and a rotation intermediate gear 1222, the rotation input gear 1221 is connected to an output shaft of the rotation driving motor, and the rotation intermediate gear 1222 is meshed with the rotation driving gear 121 and the rotation input gear 1221 at the same time, so that the rotation of the rotation input gear 1221 is transmitted through the rotation intermediate gear 1222 to rotate the rotation driving gear 121.

Further, as shown in fig. 17 and 18, the closure driving assembly 13 includes an eccentric driving wheel 131 and a closure driving member 132, a slot 1311 (refer to fig. 3) is provided along the circumference of the eccentric driving wheel 131, one end of the elongated inner rod 22, which is far away from the surgical instrument 200, is limited in the slot 1311 and can move along the slot 1311, and the closure driving member 132 can drive the eccentric driving wheel 131 to rotate so as to drive one end of the elongated inner rod 22 to slide in the slot 1311 to realize the linear movement of the elongated inner rod 22 relative to the elongated housing 21, and the instrument inner rod 220 moves along with the elongated inner rod 22 due to the connection of the instrument inner rod 220, thereby realizing the opening and closing of the jaws at the end of the surgical instrument 200. Specifically, the end of the elongated inner rod 22 connected with the narrow-mouth chute 1311 is configured as an elongated inner rod narrow-neck round head 224, and the elongated inner rod narrow-neck round head 224 is clamped into the narrow-mouth chute 1311 and is not easy to separate from the narrow-mouth chute 1311.

Specifically, the closing driving part 132 includes a closing driving motor (not shown), a closing input gear 1321, a closing intermediate gear 1322, and a closing output gear 1323, the closing input gear 1321 is coaxially disposed with an output shaft of the closing driving motor, the closing output gear 1323 is fixedly connected to the eccentric driving wheel 131, and the closing intermediate gear 1322 is simultaneously meshed with the closing input gear 1321 and the closing output gear 1323, so that when the closing driving motor drives the closing input gear 1321 to rotate, power can be transmitted to the closing output gear 1323 through the closing intermediate gear 1322, thereby driving the eccentric driving wheel 131 to rotate. Preferably, the closing drive 132 is provided with two sets of closing drive motors that work simultaneously to jointly overcome the load of the instrument inner rod 220, thereby achieving that when the gears are made of plastic, the larger load of the surgical instrument 200 can be overcome, and thus reducing the manufacturing cost of the surgical instrument driving handle 100.

Alternatively, when the surgical instrument drive handle 100 is mounted to the robotic surgical system, the closure drive motor will be coupled to the coupling interface embedded in the closure input gear 1321 and be capable of rotating the closure input gear 1321, the closure input gear 1321 will rotate the closure intermediate gear 1322, and the closure intermediate gear 1322 will rotate the closure output gear 1323. And the closure output gear 1323 is fastened to the eccentric drive wheel 131, thereby achieving power transmission, driving the opening and closing of the jaws of the surgical instrument 200.

Therein, as shown in fig. 17 and 18, the closing intermediate gear 1322 is composed of two-part gears. One part of the gears are meshed with the closed input gear 1321, the other part of the gears are meshed with the closed output gear 1323, the diameter of the gear meshed with the closed input gear 1321 is larger than that of the gear meshed with the closed output gear 1323, meanwhile, the diameter of the gear matched with the closed input gear 1321 is larger than that of the closed input gear 1321, and the diameter of the gear matched with the closed output gear 1323 is smaller than that of the closed output gear 1323, so that the closed intermediate gear 1322 plays a role in reducing speed and increasing torque. Because the inner rod 220 of some surgical instruments 200 requires a relatively large pulling force during use of the surgical instrument 200, the closure drive 132 can effectively amplify the torque output by a single closure drive motor, thereby effectively overcoming the relatively large pulling load of the inner rod 220 of the instrument.

Referring back to fig. 15, when the surgical instrument 200 is a bipolar energy activated instrument, the instrument housing 210 is an electrical pathway responsible for conducting current from the interface end of the instrument housing 210 to the jaw end of the surgical instrument 200. The inner instrument shaft 220 is another electrical pathway responsible for conducting electrical current at the interface end of the inner instrument shaft 220 to the jaw end of the surgical instrument 200. And, the two electrical paths are insulated from each other.

For this reason, the extension case 21 is made of an insulating material, and the extension case conductive layer 213 and the extension case insulating layer 214 are disposed on the inner wall of the extension case 21, and the extension case insulating layer 214 is located on the outer side of the extension case conductive layer 213, and the extension case insulating layer 214 covers the extension case conductive layer 213, so as to prevent short circuit caused by electrical connection between the extension case 21 and the extension inner rod 22. The extension inner rod 22 is made of a conductive material, and an extension inner rod insulating layer 221 is provided on the outer circumferential surface of the extension inner rod 22 to further prevent electrical connection with the extension housing 21 or other parts.

Further, as shown in fig. 15, in order to ensure the electrical path of the instrument housing 210, the first elastic conductive member 2131 is connected to the conductive layer 213 of the elongated housing, and the first elastic conductive member 2131 elastically abuts against the conductive layer of the instrument housing 210, so that the elongated housing 21 and the instrument housing 210 are always electrically connected. The handle body 1 further includes a housing conductive member 14, the housing conductive member 14 resiliently abutting the elongate housing conductive layer 213 to provide an electrical path between the housing conductive member 14, the elongate housing 21 and the instrument housing 210.

Specifically, as shown in fig. 15, the housing conductive assembly 14 includes a conductive contact 141, a contact spring 142, and a wire nose screw 143. The nose screw 143 is fixed on the main body bracket 11, the end of the nose screw 143 is connected with the contact spring 142, the other end of the contact spring 142 is connected with the conductive contact 141, and the conductive contact 141 is abutted on the conductive layer 213 of the extension housing. The contact spring 142 is always in compression so that the conductive contact 141 is always in contact with the elongated housing conductive layer 213. The conductive contacts 141, contact springs 142, and wire nose screws 143 are all made of a conductive material to provide an electrical path between the housing conductive assembly 14, the extension housing 21, and the instrument housing 210.

Further, in order to ensure the electrical path on the inner rod 220, the extension inner rod 22 is provided with a second elastic conductive element 222, and the second elastic conductive element 222 elastically abuts against the conductive layer of the inner rod 220, so that the extension inner rod 22 and the inner rod 220 are always electrically connected. The handle body 1 further includes an inner rod conductive assembly 15, the inner rod conductive assembly 15 resiliently abutting the elongated inner rod 22 such that an electrical path is formed between the inner rod conductive assembly 15, the elongated inner rod 22 and the instrument inner rod 220. The structure and operation principle of the inner rod conductive assembly 15 and the outer shell conductive assembly 14 are the same, and detailed description thereof is omitted.

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 (10)

1. Surgical instrument drive handle, characterized in that it comprises:

the surgical instrument comprises an instrument shell and an instrument inner rod, wherein the instrument inner rod is arranged in the instrument shell in a sliding manner, and the instrument shell and the instrument inner rod can relatively move to adjust the degree of freedom of the tail end of the surgical instrument;

the interface subassembly, the one end of interface subassembly with the handle main part transmission links to each other, and the other end stretches out outside the handle main part, the interface subassembly includes extension shell and extension interior pole, extension interior pole sliding connection in the extension shell, the handle main part can drive extension shell is around extension shell's axis rotates and drives extension interior pole is relative extension shell removes, the apparatus shell can limit to be located in the extension shell, just the apparatus interior pole with extension interior pole is connected.

2. A surgical instrument actuation handle according to claim 1, wherein the elongate housing comprises:

the extension shell body is provided with a cavity for accommodating the surgical instrument and the extension inner rod, and is also provided with an opening through which the surgical instrument is placed into the cavity;

and the flip cover is rotatably connected with the lengthened shell body and can cover the opening.

3. A surgical instrument drive handle according to claim 2, wherein a stop is provided on an inner wall of the elongate housing body, the stop being configured to limit rotation and axial movement of the surgical instrument relative to the interface assembly.

4. A surgical instrument actuation handle according to claim 1, wherein the handle body comprises:

a main body bracket;

the fixed end of the rotary driving assembly is arranged on the main body bracket, and the driving end of the rotary driving assembly is connected with the lengthened shell and used for driving the lengthened shell to drive the surgical instrument to rotate;

the fixed end of the closing driving assembly is arranged on the main body support, and the driving end of the closing driving assembly is movably connected with one end, far away from the surgical instrument, of the lengthened inner rod and is used for driving the lengthened inner rod to linearly move so as to enable the tail end of the surgical instrument to be opened or closed.

5. A surgical instrument drive handle according to claim 4, wherein the rotary drive assembly comprises:

the rotary driving gear is sleeved on the lengthened shell;

the output end of the transmission gear set is in meshed transmission connection with the rotary driving gear; and

The input end of the transmission gear set is connected with the output shaft of the rotation driving motor, and the rotation driving motor drives the transmission gear set to rotate so as to drive the rotation driving gear to rotate.

6. A surgical instrument drive handle as recited in claim 4, wherein the closure drive assembly:

the eccentric driving wheel is provided with a narrow-mouth chute along the circumference, and one end of the lengthened inner rod, which is far away from the surgical instrument, is limited in the narrow-mouth chute and can move along the narrow-mouth chute; and

And a closing drive member configured to drive the eccentric drive wheel to rotate.

7. A surgical instrument drive handle according to any one of claims 1 to 6, wherein an elongate housing conductive layer and an elongate housing insulating layer are provided on an inner wall of the elongate housing, the elongate housing insulating layer being located outside the elongate housing conductive layer.

8. The surgical instrument drive handle of claim 7, wherein a first resilient conductive member is connected to the elongated housing conductive layer, the first resilient conductive member resiliently abutting the conductive layer of the instrument housing;

the handle body further includes a housing conductive assembly that is in resilient abutment with the elongated housing conductive layer to form an electrical path between the housing conductive assembly, the elongated housing and the instrument housing.

9. A surgical instrument drive handle according to claim 8, wherein the elongate inner rod is made of an electrically conductive material, and wherein an elongate inner rod insulating layer is provided on an outer peripheral surface of the elongate inner rod.

10. A surgical instrument actuation handle according to claim 9, wherein the elongate inner rod is provided with a second resilient conductive member which resiliently abuts the conductive layer of the instrument inner rod;

the handle body further includes an inner rod conductive assembly that is in resilient abutment with the elongated inner rod such that an electrical path is formed between the inner rod conductive assembly, the elongated inner rod and the instrument inner rod.