CN118303952A - Laparoscopic surgical instrument - Google Patents

Abstract

The embodiment of the invention provides a laparoscopic surgical instrument, which comprises: the clamp head assembly comprises a clamp head, a fixed base, a deflection sliding block, a connecting rod and a clamp base; the clamp head is arranged on the clamp base, and the deflection base is detachably connected with the clamp base; the two ends of the connecting rod are rotationally connected with the deflection base and the deflection slide block through the rotating shaft, the deflection base is rotationally connected with the fixed base, the deflection slide block is slidably arranged in a groove of the fixed base, and the deflection slide block slides in the groove and is controlled by the connecting rod to rotate around the fixed base so as to drive the clamp head to deflect. And one end of the instrument rod is fixed by the fixed base. The push rod is arranged in the instrument rod, one end of the push rod is fixed with the deflection slide block, and the push rod can slide relative to the instrument rod. The opening and closing driving rod is arranged in the push rod, one end of the opening and closing driving rod is connected with the clamp head and can slide relative to the push rod to control the clamp head to open and close. The control mechanism comprises an opening and closing trigger and a gear structure, wherein one end of the opening and closing trigger is connected with the gear structure, and the other end of the opening and closing trigger is detachably connected with the gear structure.

Description

Laparoscopic surgical instrument

Technical Field

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

Background

Conventional laparoscopic surgical instruments are not ergonomic and are limited by less freedom of intra-luminal movement, resulting in serious limitations for the operator in performing simple procedures, making it difficult for many surgeons to perform various minimally invasive procedures and operations. Currently widely used laparoscopic surgical instruments include: conventional straight manual instruments and surgical instruments based on consoles and large surgical robots. Surgical robotic systems offer greater flexibility, stability, surgical field clarity and 3D vision, but require significant financial costs and logistical complexity, resulting in complex surgical robots that do not exhibit sufficiently large marketable advantages over traditional laparoscopic instruments, current hand-held surgical instruments are still the dominant tools for clinical surgery, with a broad user base.

As the technology of multi-joint surgical instruments matures, hand-held robotic surgical instruments have grown. Compared with the traditional surgical instrument, the novel laparoscopic surgical instrument can provide some functions which can be found in the surgical robot system at present at lower cost, for example, the multi-degree-of-freedom joint provides more flexible and natural operation experience without complex actions of limbs; the multi-joint operation device realizes multi-joint simultaneous stable movement and multi-angle operation, and can shorten operation time, provide better operation incision and the like, thereby improving operation quality. Thereby influencing the minimally invasive surgery market, compared with a complicated surgery robot of a system, the novel laparoscopic surgery instrument is more flexible and practical and has better economy and circulation.

The surgical instrument clamp head part control in the existing laparoscopic surgical instrument mainly comprises two modes, one mode is to realize the opening and closing control and deflection of the clamp head by adopting a wire control mode, four tungsten wire ropes are needed to control the inside of a connecting rod, the occupied space is occupied, the connecting rod is too thick, the instrument is not small enough, and when the connecting rod rotates along the axial direction, the tungsten wire ropes inside the connecting rod can be screwed together, so that the risk of easy breakage is increased. The other mode is that the push rod is connected with a tungsten wire rope, and the opening and closing control of the clamp head is carried out by bypassing the pulley block, so that the occupied space in the connecting rod can be reduced, and the risk of breakage of the tungsten wire rope is reduced.

However, the two modes have the problem of insufficient mechanical strength during the opening and closing control of the clamp head, so that the positive pressure of the clamp head is smaller, the clamping of the clamp head is not facilitated, and the problem of low control precision is caused due to insufficient mechanical strength. Moreover, the clamp head is not detachable, so that the cleaning machine of the clamp head is inconvenient to replace. In addition, the bendable part of the clamp head of the prior structure has larger size and limited use space.

Disclosure of Invention

In view of the above, the present invention provides a laparoscopic surgical instrument for solving the above technical problems existing in the existing laparoscopic surgical instruments.

Embodiments of the present invention provide a laparoscopic surgical instrument comprising: the clamp head assembly comprises a clamp head, a fixed base, a deflection sliding block, a connecting rod and a clamp base; the clamp head is arranged on the clamp base, and the deflection base is detachably connected with the clamp base; the two ends of the connecting rod are respectively connected with the deflection base and the deflection slide block in a rotating way through a rotating shaft, the deflection base is connected with the fixed base in a rotating way, the deflection slide block is arranged in a groove of the fixed base in a sliding way, and the deflection base is controlled to rotate around the fixed base by applying a first acting force through the connecting rod to drive the clamp head to deflect through the sliding of the deflection slide block in the groove of the fixed base; the fixed base is fixed at one end of the instrument rod; the push rod is arranged in the instrument rod and can slide relative to the instrument rod, and one end of the push rod is fixedly connected with the deflection slide block; the opening and closing driving rod is arranged in the push rod and can slide relative to the push rod, one end of the opening and closing driving rod is connected with the clamp head, and the opening and closing driving rod is configured to: the clamp head is controlled to open and close under the drive of a second acting force parallel to the length direction of the open-close driving rod; the control mechanism comprises an opening and closing trigger and a gear structure, wherein the gear structure is connected with one end of the opening and closing trigger, the other end of the opening and closing driving rod is detachably connected with the gear structure, and the gear structure is driven to rotate by pressing the opening and closing trigger so as to apply a second acting force to the opening and closing driving rod.

According to an embodiment of the invention, the fixed base and the yaw slider are further configured to: when the deflection sliding block slides to be in contact with the end face of the fixed base, the deflection base is limited in a straight state along the length direction of the push rod.

According to an embodiment of the invention, the control mechanism further comprises: the handle comprises a handle shell, a first supporting shaft and a second supporting shaft, wherein the first supporting shaft and the second supporting shaft are fixed on the handle shell; the gear structure comprises a driving gear and a driven gear, the driving gear is rotationally connected with the first support shaft, the driven gear is rotationally connected with the second support shaft, and the driving gear is meshed with the driven gear; the driving gear drives the driven gear to wind the second supporting shaft under the meshing action, and applies second acting force to the opening and closing driving rod.

According to an embodiment of the invention, the control mechanism further comprises: and one end of the rigid elastic sheet is fixedly connected with one end of the opening and closing trigger, the other end of the rigid elastic sheet is fixedly connected with the handle shell, and the rigid elastic sheet is configured as follows: providing restoring force for the opening and closing trigger.

According to the embodiment of the invention, the driven gear is provided with the groove, and the other end of the opening and closing driving rod is clamped into the groove and is detachably connected with the driven gear.

According to an embodiment of the invention, the control mechanism further comprises: the sliding block guide rail is fixed on the handle shell; the deflection shifting wheel is fixedly connected with the cam and coaxial with the cam, and a curve groove is formed in the cam; the lower part of the deflection seat is provided with a sliding shaft, the deflection seat is slidably arranged in the sliding block guide rail, the sliding shaft is slidably arranged in the curve groove, and the other end of the push rod is arranged in the deflection seat; the cam is driven to rotate by rotating the swinging wheel, the sliding shaft moves relative to the curved slot, and the swinging seat is driven to slide relative to the sliding block guide rail so as to drive the push rod to move along the direction parallel to the length direction of the push rod.

According to an embodiment of the invention, the control mechanism further comprises: the autorotation thumb wheel is sleeved on the instrument rod and connected with the deflection seat, and the autorotation thumb wheel is configured to drive the instrument rod to rotate by rotating the autorotation thumb wheel so as to drive the clamp head assembly to rotate.

According to the embodiment of the invention, the opening and closing driving rod is formed by sequentially and fixedly connecting a pull rod, a flexible shaft and a disassembling rod, wherein the pull rod is connected with the clamp head, and the disassembling rod is detachably connected with the control mechanism.

According to an embodiment of the invention, the binding clip comprises: the clamping device comprises a first clamping piece, a second clamping piece, two cylindrical pins and two connecting pieces, wherein one end of each connecting piece is integrated with the cylindrical pin, the connecting pieces are rotatably connected with the first clamping piece and the second clamping piece through the cylindrical pins, and the other end of each connecting piece is connected with a pull rod; the first clamp piece and the second clamp piece rotate around the cylindrical pin under the drive of the connecting piece so as to control the opening and closing movement of the first clamp piece and the second clamp piece.

According to an embodiment of the invention, the binding clip assembly comprises a grasping forceps, a separating forceps, a needle holder, scissors or a clip applier.

According to the laparoscopic surgical instrument provided by the embodiment of the invention, at least the following technical effects can be realized:

through designing the structure of binding clip subassembly, can dismantle the clamp base and the actuating lever that opens and shuts that install the binding clip and extract in follow the push rod to make things convenient for the change and the cleaning and disinfecting of binding clip, laparoscopic surgery apparatus can used repeatedly. In addition, the clamp head assembly with the structure has shorter length and can be used in smaller space.

When the deflection sliding block slides to be in contact with the end face of the fixed base, the deflection base is limited in a straight state along the length direction of the push rod, so that the reset of the clamp head assembly can be rapidly and accurately realized, an operator is not required to judge whether the reset is successful according to experience, and further damage to a target object when the clamp head is pulled out is avoided. The gear structure is connected with the opening and closing driving rod to provide acting force for driving the clamp head to open and close, and the gear structure has strong rigidity, so that compared with a mode of controlling by wire control and a pulley block, under the condition that the space occupied by the inside of the instrument rod is small, the mechanical strength of the control mechanism is improved, and therefore the maximum positive pressure of the clamp head can be improved, and the use scene of clamping the clamp head can be met for the laparoscopic surgical instrument. In addition, the gear structure has strong rigidity, so that the opening and closing angle of the opening and closing mechanism can be better controlled when the opening and closing mechanism is manually pressed to apply acting force, and the opening and closing control precision of the clamp head can be improved.

The opening and closing trigger is connected with the handle shell by the rigid elastic sheet, compared with the traditional spring connection mode, the mechanical strength of the control mechanism is further improved, and therefore the maximum positive pressure and the control precision of the clamp head are improved.

Through set up the recess on driven gear, will open and shut the direct card of the one end of actuating lever and driven gear connection and go into the recess, realize opening and shutting the dismantlement of actuating lever and control structure, both guaranteed mechanical strength, also promoted the convenience of dismantling.

On the basis of controlling the opening and closing of the clamp head based on a gear structure, the structure of deflection control and rotation control is added, so that the three-direction degree of freedom control of the clamp head can be realized simultaneously under the condition that occupied space is small and breakage of tungsten wires is avoided.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent from the following description of embodiments of the present invention with reference to the accompanying drawings, in which:

Fig. 1 schematically shows a perspective view of a laparoscopic surgical instrument according to an embodiment of the present invention.

Fig. 2 schematically illustrates a block diagram of a laparoscopic surgical instrument with a binding clip assembly removed according to an embodiment of the present invention.

Fig. 3 schematically illustrates an exploded block diagram of a binding clip assembly according to an embodiment of the present invention.

Fig. 4 schematically shows a structural view of a control mechanism according to an embodiment of the present invention.

Fig. 5 schematically shows a position diagram of a stop mechanism according to an embodiment of the invention.

Fig. 6 schematically shows an exploded structural view of a control mechanism according to an embodiment of the present invention.

Fig. 7 schematically illustrates a connection structure of an opening and closing driving lever and a driven gear according to an embodiment of the present invention.

Fig. 8 schematically illustrates a block diagram of a binding clip and an opening and closing drive lever according to an embodiment of the present invention.

Fig. 9 schematically shows an exploded structural view of a first direction of a control mechanism according to another embodiment of the present invention.

Fig. 10 schematically shows an exploded structural view of a control mechanism in a second direction according to another embodiment of the present invention.

Detailed Description

The present invention will be further described in detail below with reference to specific embodiments and with reference to the accompanying drawings, in order to make the objects, technical solutions and advantages of the present invention more apparent. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The terms "comprises," "comprising," and/or the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and include, for example, either permanently connected, removably connected, or integrally formed therewith; may be mechanically connected, may be electrically connected or may communicate with each other; 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 can be understood by those of ordinary skill in the art according to the specific circumstances.

In the description of the present invention, it should be understood that the terms "longitudinal," "length," "circumferential," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the subsystem or element being referred to must have a particular orientation, be configured and operated in a particular orientation, and thus should not be construed as limiting the present invention.

Like elements are denoted by like or similar reference numerals throughout the drawings. Conventional structures or constructions will be omitted when they may cause confusion in the understanding of the invention. And the shape, size and position relation of each component in the figure do not reflect the actual size, proportion and actual position relation. In addition, in the present invention, any reference signs placed between parentheses shall not be construed as limiting the claim.

Similarly, in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various disclosed aspects. The description of the terms "one embodiment," "some embodiments," "example," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

Fig. 1 schematically shows a perspective view of a laparoscopic surgical instrument according to an embodiment of the present invention. Fig. 2 schematically illustrates a block diagram of a laparoscopic surgical instrument with a binding clip assembly removed according to an embodiment of the present invention. Fig. 3 schematically illustrates an exploded block diagram of a binding clip assembly according to an embodiment of the present invention. Fig. 4 schematically shows a structural view of a control mechanism according to an embodiment of the present invention.

As shown in fig. 1-4, a laparoscopic surgical instrument may include a forceps head assembly 1, an instrument shaft 2, a push rod 3, an open/close drive rod 4, and a control mechanism 5.

The clamp head assembly 1 is used for clamping a target. The target may be understood as a subject to be clamped during laparoscopic surgery. The binding clip assembly 1 may include grasping forceps, separating forceps, needle holding forceps, scissors or clip appliers, etc.

The clamp head assembly 1 may include a clamp head 101, a fixed base 102, a yaw base 103, a yaw block 104, a link 105, and a clamp base 106. Wherein, the clamp head 101 is arranged on the clamp base 106, and the deflection base 103 is detachably connected with the clamp base 106; the two ends of the connecting rod 105 are respectively connected with the deflection base 103 and the deflection slide block 104 in a rotating way through a rotating shaft, the deflection base 103 is connected with the fixed base 102 in a rotating way, the deflection slide block 104 is arranged in a groove of the fixed base 102 in a sliding way, the deflection base 103 is controlled to rotate around the fixed base 103 by applying a first acting force through the connecting rod 105 through the sliding of the deflection slide block 104 in the groove of the fixed base 102, and the clamp head 101 is driven to deflect.

The instrument bar 2 has a hollow structure, and the fixing base 103 is fixed at one end of the instrument bar 2. The push rod 3 is built in the instrument bar 2 and is slidable with respect to the instrument bar 2. One end of the push rod 3 is connected with the deflection slide block 104. The push rod 3 is configured to: under the control of the control structure 5, the deflection slide block 104 is driven to slide in the groove of the fixed base 102, and the first acting force is applied by the connecting rod 105 to control the deflection base 103 to rotate around the fixed base 102, so as to drive the clamp head 101 to deflect.

The push rod 3 may also be a hollow structure, and the opening and closing driving rod 4 is built in the push rod 3 and can slide relative to the push rod 3. One end of the open-close driving rod 4 is connected with the clamp head 101, and the open-close driving rod 4 is configured to: the clamp head 101 is driven to open and close by a second acting force parallel to the length direction of the open and close driving rod 4. The push rod 3, the instrument rod 2 and the opening and closing driving rod 4 can be concentrically matched.

The control mechanism 5 comprises an opening and closing trigger 501 and a gear structure, wherein the gear structure is connected with one end of the opening and closing trigger 501, the other end of the opening and closing driving rod 4 is detachably connected with the gear structure, and the gear structure is driven to rotate by pressing the opening and closing trigger 401 so as to apply a second acting force to the opening and closing driving rod 4.

The maximum positive pressure that can be provided to the binding clip is about 10N due to the insufficient rigidity of the conventional binding clip opening and closing control. By adopting the mode of controlling the opening and closing of the clamp head by the gear structure provided by the embodiment of the invention, the maximum positive pressure provided for the clamp head is more than 60N, and the positive pressure of the clamp head is greatly improved. The high positive pressure is beneficial to improving the effect of the laparoscopic surgical instrument, for example, in the case that the forceps head assembly 1 is a needle holder, the suture needle can be tightly clamped, and the phenomenon that the suture needle loosens or falls off due to insufficient positive pressure of the forceps head assembly 1 in the suture process and the suture effect is influenced is avoided.

When the clamp head 101 is removed, the clamp base 106 is removed from the swing base 103, and then the other end of the open/close driving lever 4 is removed from the control mechanism 5, so that the open/close driving lever 4 can be pulled out from the push rod 3.

Further, in embodiments of the present invention, the yaw base 103 and the clamp base 106 may be detachably connected in various ways, such as a screw pair connection, an interference fit, a sliding slot connection, or a magnetic force engagement.

Fig. 5 schematically shows a position diagram of a stop mechanism according to an embodiment of the invention.

As shown in fig. 5, the fixed base 102 and the yaw slider 104 are further configured to: when the yaw slider 104 slides to contact with the end surface of the fixed base 102 (as shown in the upper view of fig. 5), the yaw base 103 is restrained in a straight state along the length direction of the push rod 3. That is, the limiting function is realized by limiting the movement of the deflection slide block 104 by the end surface of the fixed seat 102.

For example, when the laparoscopic surgical instrument is used, it needs to be pulled out from the target object. In order to be successfully pulled out of the target object without causing additional damage to the target object, the binding clip needs to be reset to an initial state, namely a straight state. In the conventional laparoscopic surgical instrument, an operator is required to judge that the clamp head 101 is restored to the straight state according to experience, but this mode may have a situation that the judgment is inaccurate, resulting in additional damage to the target object. In the embodiment of the present invention, by sliding the deflection slide block 104 to match with the fixed base 102, when the deflection slide block 104 slides to contact with the end surface of the fixed base 102, the clamp head 101 always keeps in a straight state when resetting, without the judgment of an operator according to experience, so that further damage to a target object when the clamp head 101 is pulled out is avoided.

Further, with continued reference to fig. 4, in an embodiment of the present invention, the control mechanism 5 further includes: the handle housing 502, the first support shaft 503 and the second support shaft 504 being fixed to the handle housing 502.

The gear structure includes: the driving gear 505 and the driven gear 506, the driving gear 505 is rotatably connected with the first support shaft 503, the driven gear 506 is rotatably connected with the second support shaft 504, and the driving gear 505 is meshed with the driven gear 506.

When the opening and closing trigger 501 is pressed, the opening and closing trigger 501 rotates around the first supporting shaft 503 to drive the driving gear 505 to rotate synchronously, and under the meshing action of the driving gear 505 and the driven gear 506, the driving gear 505 drives the driven gear 506 to wind around the second supporting shaft 504 to apply a second acting force to the opening and closing driving rod 4, so as to drive the opening and closing driving rod 4 to slide, and further realize opening and closing (R1) of the clamp head assembly 1.

Fig. 6 schematically shows an exploded structural view of a control mechanism according to an embodiment of the present invention.

As shown in fig. 4 and 6, in the embodiment of the present invention, the control mechanism 5 further includes: rigid spring 507. One end of the rigid spring piece 507 is fixedly connected with one end of the opening and closing trigger 501, the other end of the rigid spring piece 507 is fixedly connected with the handle shell 502, and the rigid spring piece 507 is configured as follows: providing a restoring force to the trigger 501. For example, when the opening and closing trigger 501 is pressed, the rigid spring piece 507 provides a restoring force opposite to the pressing direction.

The laparoscopic surgical instrument is manually controlled, and the pressing force is not well controlled unlike the precision of machine control. Because the spring is adopted in the rebound of the opening and closing trigger in the traditional control mode of the opening and closing of the clamp head, the rigidity of the spring is smaller, when the opening and closing trigger 501 is pressed, the restoring force provided by the spring for the opening and closing trigger 501 is smaller, and the restoring force provided by the rigid elastic sheet 507 for the opening and closing trigger 501 is larger, therefore, under the two conditions of spring restoration and rigid elastic sheet restoration, the same acting force is applied to the opening and closing trigger 501, the pressed amplitude of the opening and closing trigger corresponding to the spring restoration is larger, namely the pressed amplitude step of the opening and closing trigger corresponding to the spring restoration under the unit acting force is larger, and the corresponding force control precision is lower; the magnitude of the pressing of the opening and closing trigger corresponding to the rigid elastic sheet is smaller, namely the step length of the pressing magnitude of the opening and closing trigger corresponding to the spring recovery under the unit acting force is smaller, and the corresponding force control precision is higher.

Further, the gear structure material includes a metal material, that is, the driving gear and the driven gear may be manufactured using a metal material. It should be understood that the gear structure of the embodiment of the present invention may be made of other materials, which can ensure sufficient mechanical strength, and the present invention is not limited thereto.

Fig. 7 schematically illustrates a connection structure of an opening and closing driving lever and a driven gear according to an embodiment of the present invention.

As shown in fig. 7, the driven gear 506 is provided with a groove 5061, and the other end of the opening and closing driving rod 4 is clamped into the groove 5061, so that the installation and the disassembly of the clamp head can be quickly and conveniently realized. One end of the opening and closing driving rod 4 clamped into the groove 5061 can be in a spherical structure, a cylindrical structure and the like, and the specific shape only needs to ensure that the other end of the opening and closing driving rod 4 can be smoothly clamped into the groove 5061, and the opening and closing driving rod 4 can be driven to slide when the driven gear 506 rotates.

Fig. 8 schematically illustrates a block diagram of a binding clip and an opening and closing drive lever according to an embodiment of the present invention.

As shown in fig. 8, the opening and closing driving rod 4 is formed by sequentially and fixedly connecting a pull rod 401, a flexible shaft 402 and a detaching rod 403, wherein the pull rod 401 is connected with the clamp head 101, the detaching rod 403 can slide in the push rod 3, and the other end of the detaching rod 403 penetrates through the push rod 3 and is detachably connected with the control mechanism 5.

The binding clip 101 includes: the first clamp 1011, the second clamp 1012, two cylindrical pins 1013 and two connecting pieces 1014, one end of each connecting piece 1014 is integrated with one cylindrical pin 1013, the connecting piece 1014 is rotatably connected with the first clamp 1011 and the second clamp 1012 through the cylindrical pin 1013, and the other end of each connecting piece 1014 is connected with the pull rod 401. The pull rod 401 slides in the clamp base 106 to drive the connecting sheet 1014 to move, and the first clamp 1011 and the second clamp 1012 rotate around the cylindrical pin 1013 under the driving of the connecting sheet 1014 to control the opening and closing movement of the first clamp 1011 and the second clamp 1012. The mechanism of the pull rod 401 for driving the first jaw 1011 and the second jaw 1012 to move may be realized by a chute, an elastic hinge, or the like.

The pull rod 401 and the flexible shaft 402 can bear pushing force and pulling force at the same time, the structure of the pull rod can be a flexible shaft, after the clamp head assembly 1 is correctly installed, the position of the flexible shaft 402 is positioned in the deflection base 103, and the rotation of the deflection base 103 can drive the flexible shaft 402 to bend, but the axial force transmission between the pull rod 401 and the dismounting rod 403 can not be influenced.

For example, in the direction shown in fig. 8, when the open/close driving mechanism 502 is not actuated, the first jaw 1011 and the second jaw 1012 are in an open state; when the pull rod 401 is driven to move rightwards by the buckling opening and closing driving mechanism 502, the two connecting sheets 1014 are driven to move, so that the included angles between the two connecting sheets 1014 and the first clamp 1011 and the second clamp 1012 are gradually increased and tend to be in a straight line state, and the first clamp 1011 and the second clamp 1012 are driven to be in a closed state; when the opening and closing trigger 501 is released, the pull rod 401 is controlled to move leftwards, so that the included angles between the two connecting pieces 1014 and the first clamp 1011 and the second clamp 1012 are gradually reduced, and the bending state is achieved, and the first clamp 1011 and the second clamp 1012 are driven to be in an open state. The flexible shaft is adopted, so that on one hand, deflection of the clamp head assembly 1 can be better realized, and on the other hand, force can be transferred bidirectionally, and a separation function is increased.

Fig. 9 schematically shows an exploded structural view of a first direction of a control mechanism according to another embodiment of the present invention. Fig. 10 schematically shows an exploded structural view of a control mechanism in a second direction according to another embodiment of the present invention.

As shown in fig. 9 and 10, the control mechanism 5 further includes:

A slider rail 508 is secured to the handle housing 502.

The deflection dial 509 and the cam 510, the deflection dial 509 is fixedly connected with the cam 510 and coaxial, and the cam 510 is provided with a curved slot 511. Preferably, curved slot 511 is an archimedes wire.

The lower part of the deflection seat 512 is provided with a sliding shaft 513, the deflection seat 512 is slidably arranged in the sliding block guide rail 508, the sliding shaft 513 is slidably arranged in the curved slot 511, and the other end of the push rod 3 is arranged in the deflection seat 512.

The cam 510 is driven to rotate by rotating the swing thumb wheel 509, the sliding shaft 513 moves relative to the curved slot 511, and drives the swing seat 512 to slide relative to the slider guide rail 508 to drive the push rod 3 to move along a direction parallel to the length direction of the push rod 3, that is, drive the push rod 3 to move in the instrument rod 2, so as to realize the swing (R2) of the clamp head assembly 1.

Further, with continued reference to fig. 9 and 10, the control mechanism 5 further includes:

The rotation thumb wheel 514 is sleeved on the instrument rod 2 and connected with the deflection seat 512, and the rotation thumb wheel 514 is configured to drive the instrument rod 2 to rotate (R3) to drive the clamp head assembly 1 to rotate by rotating the rotation thumb wheel 514.

Further, in the embodiment of the present invention, the linear distance between the connection point of the yaw base 103 and the link 105 and the mounting point of the clamp head 101 and the clamp base 106 is shorter than that of the conventional laparoscopic surgical instrument (generally greater than 11 mm), that is, the length of the bending portion is shorter, and the use in a smaller space is enabled. In one example, the linear distance of the mounting point of the binding clip 101 to the clip base 106 is 8.6mm, it being understood that this value is merely illustrative and not limiting of the invention.

The foregoing is merely a specific embodiment of the present application, and the scope of the present application is not limited thereto. Any changes or substitutions made within the spirit and principles of the present application should be construed as falling within the scope of the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.

Claims (10)

1. A laparoscopic surgical instrument, comprising:

The clamp head assembly (1) comprises a clamp head (101), a fixed base (102), a deflection base (103), a deflection sliding block (104), a connecting rod (105) and a clamp base (106); the clamp head (101) is arranged on the clamp base (106), and the deflection base (103) is detachably connected with the clamp base (106); the two ends of the connecting rod (105) are respectively connected with the deflection base (103) and the deflection slide block (104) in a rotating way through a rotating shaft, the deflection base (103) is connected with the fixed base (102) in a rotating way, the deflection slide block (104) is arranged in a groove of the fixed base (102) in a sliding way, the deflection slide block (104) slides in the groove of the fixed base (102), and the first acting force is exerted by the connecting rod (105) to control the deflection base (103) to rotate around the fixed base (102) so as to drive the clamp head (101) to deflect;

an instrument rod (2), wherein the fixed base (103) is fixed at one end of the instrument rod (2);

The push rod (3) is arranged in the instrument rod (2) and can slide relative to the instrument rod (2), and one end of the push rod (3) is fixedly connected with the deflection slide block (104);

The opening and closing driving rod (4) is arranged in the push rod (3) and can slide relative to the push rod (3), one end of the opening and closing driving rod (4) is connected with the clamp head (101), and the opening and closing driving rod (4) is configured to: under the drive of a second acting force parallel to the length direction of the opening and closing driving rod (4), the clamp head (101) is controlled to open and close;

the control mechanism (5) comprises an opening and closing trigger (501) and a gear structure, wherein the gear structure is connected with one end of the opening and closing trigger (501), the other end of the opening and closing driving rod (4) is detachably connected with the gear structure, and the gear structure is driven to rotate by pressing the opening and closing trigger (501) so as to apply the second acting force to the opening and closing driving rod (4).

2. The laparoscopic surgical instrument according to claim 1, characterized in that the fixed base (102) and the yaw sled (104) are further configured to: when the deflection sliding block (104) slides to be in contact with the end face of the fixed base (102), the deflection base (103) is limited in a straight state along the length direction of the push rod (3).

3. Laparoscopic surgical instrument according to claim 1, characterized in that the control mechanism (5) further comprises:

A handle housing (502), a first support shaft (503) and a second support shaft (504), the first support shaft (503) and the second support shaft (504) being fixed to the handle housing (502);

The gear structure comprises a driving gear (505) and a driven gear (506), the driving gear (505) is rotationally connected with the first supporting shaft (503), the driven gear (506) is rotationally connected with the second supporting shaft (504), and the driving gear (505) is meshed with the driven gear (506);

The opening and closing trigger (501) is pressed, the opening and closing trigger (501) rotates around the first supporting shaft (503) to drive the driving gear (505) to synchronously rotate, and under the meshing action, the driving gear (505) drives the driven gear (506) to apply the second acting force to the opening and closing driving rod (4) around the second supporting shaft (504).

4. A laparoscopic surgical instrument according to claim 3, characterized in that the control mechanism (5) further comprises:

The rigid elastic piece (507), one end of the rigid elastic piece (507) is fixedly connected with one end of the opening and closing trigger (501), the other end of the rigid elastic piece (507) is fixedly connected with the handle shell (502), and the rigid elastic piece (507) is configured to: providing a restoring force to the opening and closing trigger (501).

5. A laparoscopic surgical instrument according to claim 3, characterized in that the driven gear (506) is provided with a groove (5061), and the other end of the open-close driving rod (4) is clamped into the groove (5061) and detachably connected with the driven gear (506).

6. A laparoscopic surgical instrument according to claim 3, characterized in that the control mechanism (5) further comprises:

A slider rail (508) fixed to the handle housing (502);

The device comprises a deflection shifting wheel (509) and a cam (510), wherein the deflection shifting wheel (509) is fixedly connected with the cam (510) and is coaxial, and a curve groove (511) is formed in the cam (510);

The lower part of the deflection seat (512) is provided with a sliding shaft (513), the deflection seat (512) is slidably arranged in the sliding block guide rail (508), the sliding shaft (513) is slidably arranged in the curve groove (511), and the other end of the push rod (3) is arranged in the deflection seat (512);

The cam (510) is driven to rotate by rotating the swing shifting wheel (509), the sliding shaft (513) moves relative to the curved groove (511), and the deflection seat (512) is driven to slide relative to the sliding block guide rail (508) so as to drive the push rod (3) to move along the direction parallel to the length direction of the push rod (3).

7. Laparoscopic surgical instrument according to claim 3 or 6, characterized in that the control mechanism (5) further comprises:

The autorotation thumb wheel (514) is sleeved on the instrument rod (2) and connected with the deflection seat (512), and the autorotation thumb wheel (514) is configured to drive the instrument rod (2) to rotate by rotating the autorotation thumb wheel (514) so as to drive the clamp head assembly (1) to rotate.

8. Laparoscopic surgical instrument according to claim 1, characterized in that the opening and closing driving rod (4) is formed by a pull rod (401), a flexible shaft (402) and a detaching rod (403) which are fixedly connected in sequence, the pull rod (401) is connected with the forceps head (101), and the detaching rod (403) is detachably connected with the control mechanism (5).

9. The laparoscopic surgical instrument according to claim 8, characterized in that the forceps head (101) comprises:

The clamping device comprises a first clamping piece (1011), a second clamping piece (1012), two cylindrical pins (1013) and two connecting pieces (1014), wherein one end of each connecting piece (1014) is integrated with one cylindrical pin (1013), the connecting pieces (1014) are rotatably connected with the first clamping piece (1011) and the second clamping piece (1012) through the cylindrical pins (1013), and the other end of each connecting piece (1014) is connected with a pull rod (401);

The first clamp sheet (1011) and the second clamp sheet (1012) rotate around the cylindrical pin (1013) under the drive of the connecting sheet (1014) so as to control the opening and closing movement of the first clamp sheet (1011) and the second clamp sheet (1012).

10. Laparoscopic surgical instrument according to claim 1, characterized in that the forceps head assembly (1) comprises grasping forceps, separating forceps, needle holding forceps, scissors or forceps appliers.