CN208725874U - A kind of bionic surgical Instrument and bionic surgical Instrument external member - Google Patents

Abstract

The utility model relates to a kind of bionic surgical Instruments, comprising: hand-held part；Bindiny mechanism；Instrument shaft, hand-held part can be rotated or can connect with perturbing with instrument shaft by bindiny mechanism, using the centre of motion of bindiny mechanism point as vertex make it is conllinear or parallel with the central axes of hand-held part and along first direction first with reference to ray, using the centre of motion of bindiny mechanism point as vertex make it is conllinear or parallel with the central axes of instrument shaft and in a second direction second with reference to ray, angle between first reference ray and the second reference ray is 0 ° of > and≤90 °, wherein, first direction is the direction that the free end of hand-held part is directed toward in the connecting pin of hand-held part, second direction is the direction that the distal end of instrument shaft is directed toward in the proximal end of instrument shaft.The utility model additionally provides a kind of bionic surgical Instrument external member.For the bionic surgical Instrument while realization " positive operation ", flexibility ratio when improving operation makes it be more in line with human body operating habit.

Description

A kind of bionic surgical Instrument and bionic surgical Instrument external member

Technical field

The utility model relates to a kind of surgical instruments, more particularly to a kind of bionic surgical Instrument.

Background technique

From after Charles Robert Richet successful implementation first case Laparoscopic Cholecystectomy in 1987, using laparoscopic surgery as representative Micro-wound surgical operation undergoes development in 30 years, has formd a relatively independent subject.

Micro-wound surgical operation, which refers to, makees several perforation in body surface, by endoscope and operation instrument by above-mentioned aperture into Enter in body cavity, such as abdominal cavity, thoracic cavity, pelvic cavity, articular cavity, by patient under the monitoring of endoscope, is grasped outside patient body by hand Make instrument, the working end for protruding into instrument in patient's body cavity cuts off intracavitary lesion, or is repaired, sutured to organ Deng operation, art, which finishes, takes out endoscope and instrument, and entire operation can be completed in the aperture for suturing body surface.

Minimally invasive surgery is compared with conventional surgical, and small with its operation wound, intraoperative compliaction is few, and postoperative pain mitigates, in hospital The advantages that time is short has become the diagnoses and treatment goldstandard of numerous surgery common diseases.But since it is usually with 3-5 2cm The perforation of left and right is as intervention channel, so that manpower can no longer directly contact target organ, and must be by leptosomatic special It is operated with laparoscopic surgical instruments.

However, leptosomatic surgical instrument makes work angle critical constraints and touch feedback weakens, become laparoscope skill One of ultimate challenge of art.For some beginners, need to carry out a large amount of dry type (external model operation training) with it is wet Formula (living animal experiment) training could establish more stable surgical experience curve, to complete some simple laparoscopic surgeries. If beginner wants to complete function relative complex such as partial nephrectomy under Prostate Cancer after Radical, laparoscope under laparoscope Reconstructive procedure then needs to complete to be competent at after a large amount of clinical operation operation.One of main cause is traditional abdomen " wrist " movement that hysteroscope instrument does not have manpower the same, and only 3 freedom degrees, it is conventional for suture, such operation that knots But complicated and fine surgical procedure, then it is inconvenient must to make up device design defect bring with more experiences.

With single-hole laparoscopic technology and the appearance through natural cavity endoscopic surgery technology, so that multiple degrees of freedom laparoscope hand Art instrument has obtained exploitation and application, because its instrument head end is flexible, solves conventional laparoscopic instrumentation to a certain extent The limited problem of angle.But current multiple degrees of freedom laparoscopic surgical instruments existing in the world are mostly " reverse operating " form, i.e., The bending direction of instrument is contrary with surgeon's practical operation, causes sizable challenge to the smooth operation of doctor.

For example, patent document 1 (CN101909526B) and patent document 2 (CN102076268A) disclose a kind of surgical device Tool, including the proximal control handle and Distal tool interconnected by elongated apparatus axis, the elongated apparatus axis is for being passed through dissection It is internal；Interconnect the movable structure of proximal end movable link and distal end of proximal control handle and Distal tool respectively by the apparatus axis Part；Cable control device between the movable link is set；At the handle and for passing through the movable link Control the actuating component of the Distal tool；And for connecing the shaft portion of the instrument selectively with the handle portion The coupling for closing or being disengaged.The handle has distal receiver portion, and is located on the proximal motion member Mandrel connector can selectively engage with the receiver part and be discharged from the receiver part.

Although the surgical instrument can cause the movement of Distal tool, and proximal end bendable and then the operation to control handle Bent component upper in any direction can be bent, and be bent in the same or opposite direction to control distal end flexible member, one Determine that " positive operation " can be achieved in degree, but 1) since the construction of handle is vertical pistol grip type, and itself and elongated device Tool axis is generally obtuse angle, in Minimally Invasive Surgery operating process, is easy to be limited in space, causes flexibility ratio, accuracy poor； 2) bending of distal end flexible member needs proximal bendable member to activate it, and the bending of proximal bendable member needs are outer Section doctor realizes control using hand the forearm even swing of large arm, therefore ergonomics performance is poor.

In order to solve the space constraints of pistol grip type handle in the course of surgery, patent document 3 (CN101495045A) a kind of surgical instruments is disclosed, including having elongated instrument shaft proximally and distally；It is arranged in the device The function part of the distal end of tool axis；With the control handle for the proximal end that the apparatus axis is arranged in；The function part passes through Distal motion member is coupled to the distal end of the elongated instrument shaft；The control handle is coupled by bendable member To the proximal end of the elongated instrument shaft；Actuation means extend between the distally and proximally element, as a result, the control Handle causes the distal motion member to generate respective curved relative to any deflection of the elongated instrument shaft, so as to institute Function part is stated to be controlled；Wherein, at least described bendable member includes integrated notching construction, the one notching construction With the multiple disks separated by slit.

The surgical instruments use linear type handle, reduce the sky of vertical direction while realization " positive operation " Between occupy, improve flexibility ratio to a certain extent, but also reduce simultaneously surgeon operation when comfort level.

Therefore, for micro-wound surgical operation instrument, how to be improved while realizing surgical instrument " positive operation " Comfort level, flexibility ratio and precision are this field technical problems urgently to be resolved.

Utility model content

To solve the above-mentioned problems, the purpose of this utility model is to provide the imitative of " positive operation " of a kind of high flexibility ratio Raw surgical instrument.

The utility model provides a kind of bionic surgical Instrument, comprising: hand-held part；Bindiny mechanism；Instrument shaft, hand-held part are logical Crossing bindiny mechanism can be rotated or can connect with perturbing with instrument shaft, using the centre of motion of bindiny mechanism point as vertex work and hand-held part Central axes it is conllinear or parallel and first refer to ray along first direction, using the centre of motion of bindiny mechanism point be vertex make and The central axes of instrument shaft are collinearly or in parallel and in a second direction second refers to ray with reference to ray and second with reference to ray, first Between angle be 0 ° of > and≤90 °, wherein first direction be hand-held part connecting pin be directed toward hand-held part free end side To second direction is the direction that the distal end of instrument shaft is directed toward in the proximal end of instrument shaft.

Further, the centre of motion point of bindiny mechanism is located in space folded by the first plane and the second plane, and first Plane is using the cutting plane of operator's wrist as reference plane, and proximally parallel plane made by 10 centimetres of direction, the second plane are Using the cutting plane of operator's wrist as reference plane, distally parallel plane made by 10 centimetres.

Further, the centre of motion point of bindiny mechanism is located at the sky for being looped through the central axes of operator's wrist cutting plane In.

Further, bindiny mechanism includes fixed part and rotation section, and rotation section rotationally grips portion, fixed part with The proximal end of instrument shaft is fixedly connected, and rotation section is fixedly connected with the connecting pin of hand-held part.

Further, bindiny mechanism includes the first bendable portion, the proximal end of the first bendable portion and the connecting pin of hand-held part It is fixedly connected, the distal end of the first bendable portion is fixedly connected with the proximal end of instrument shaft.

Further, further include function part, be fixedly connected with the distal end of instrument shaft.

Further, further include the second bendable portion, the second bendable portion it is proximally and distally remote with instrument shaft respectively End is fixedly connected with the proximal end of function part.

Further, hand-held part passes through the movement in mechanical drive mode control function portion.

Further, transmission parts are equipped in instrument shaft, for the control action of hand-held part to be transferred to function in proportion Portion.

Further, ratio is 0.1~5.

Further, transmission parts include one or more of seal wire, cotton rope, rigid rod, rigid pipe.

Further, the proximal end of transmission parts passes through fixed part and is fixedly connected with hand-held part, and the distal end of transmission parts passes through Second bendable portion is fixedly connected with the proximal end of function part.

It further, further include locking device, when locking device is in the unlocked state, transmission parts do not join with hand-held part It is dynamic；When locking device is in the lock state, transmission parts and hand-held part are linked.

Further, when locking device is in the unlocked state, transmission parts not with locking device link, locking device with turn Dynamic portion's linkage；When locking device is in the lock state, transmission parts and locking device link, and locking device and rotation section are linked.

Further, fixed part is sphere, and rotation section is spherical shell.

Further, transmission parts are seal wire, and seal wire includes adjusting seal wire and center guide wire, wherein hand-held part passes through tune The direction of motion in section guide wire control function portion, hand-held part pass through the motion state in center guide wire control function portion.

Further, the direction of motion includes that pitching movement, weaving, or both combine, and operating status includes closed form State and open configuration.

Further, adjusting seal wire is even number item, is parallel to each other or cross-distribution two-by-two.

Further, when locking device is in the unlocked state, by hand-held part carry out pitching movement, weaving, Or both combine, adjust the initial angle of hand-held part；When locking device is in the lock state, by carrying out pitching to hand-held part Movement, weaving, or both combine, so that function part occurs corresponding pitching movement, weaving, or both and combines.

Further, locking device includes: disk body, be equipped with center guide wire and the corresponding medium pore of adjusting seal wire and Adjustment hole, adjustment hole are wedge shape；Rotation key is fixedly connected across the first through hole being set on spherical shell with disk body；Seal wire fastening dress It sets, is fixed with spherical shell, adjust seal wire and pass through seal wire clamp device, wherein rotate disk body, seal wire clamp device folder along the first rotation direction It is tight to adjust seal wire, so as to adjust seal wire and disk body linkage；Disk body, seal wire fastening are rotated along with first the second oppositely oriented rotation direction Device, which unclamps, adjusts seal wire, so as to adjust seal wire and disk body linkage.

Further, locking device further includes restraint zone, for fastening sphere and spherical shell.

Further, when sphere and spherical shell are fastened, function part, the second bendable portion and instrument shaft are followed successively by rigidity and connect It connects.

Further, locking device includes: ball cover, is set between sphere and spherical shell, and the inner peripheral surface of ball cover is equipped with first Groove, the first groove circumferentially surround one week or jagged；Restraint zone, when restraint zone fastens ball cover and spherical shell, ball cover It links with spherical shell；When restraint zone unclamps ball cover and spherical shell, ball cover does not link with spherical shell；Pin, one end and adjusting seal wire Proximal end connection, the other end and the first groove are clamped, and can be moved along the first groove, are joined so as to adjust seal wire by pin and ball cover It is dynamic.Wherein, the outer surface of sphere is equipped at intervals with multiple second grooves, the extension side of the extending direction of the second groove and the first groove To difference, adjusts and be located at the second groove after seal wire passes through sphere and can be slided along the second groove.

Further, hand-held part includes lever and central handle, and one end of lever and central handle are hinged.

Further, transmission parts further include side connecting rod and center linkage, and one end of side connecting rod and center linkage are hinged, separately One end is connect with lever, and center linkage is set in central handle and can move along central handle, one end of center linkage and center guide wire Connection.

Further, transmission parts further include interior set on central handle and can move along central handle, and one end and center guide wire The center linkage of connection, center linkage are equipped with rack gear, and the lever end hinged with central handle is equipped with the gear cooperated with rack gear.

Further, instrument shaft is bent rod.

The utility model additionally provides a kind of bionic surgical Instrument external member, comprising: at least two surgical instruments, wherein at least One is the above-mentioned bionic surgical Instrument with bent rod；Casing passes through a part of position so that surgical instrument for surgical instrument In in casing.

Further, at least two surgical instruments include two bionic surgical Instruments and an endoscope.

Further, the overbending direction of two bionic surgical Instruments is different.

As above, bionic surgical Instrument provided by the utility model is by improving while realization " positive operation " Flexibility ratio when operation makes it be more in line with human body operating habit.Operator only needs wrist actuation in operation, with existing need Will the actuation of significantly arm be just able to achieve the surgical instrument of the control to function part and compare, operate more flexible.

For the above content of the utility model can be clearer and more comprehensible, spy lifts preferred embodiment, and in conjunction with attached drawing, makees detailed It is described as follows.

Detailed description of the invention

Specific embodiment of the present utility model is described in further detail below in conjunction with attached drawing.

Fig. 1 is the bionic surgical Instrument schematic diagram that an embodiment of the present invention provides；

Fig. 2 is the bionic surgical Instrument schematic diagram that another embodiment of the utility model provides；

Fig. 3 is the partial schematic diagram of the second bending section；

Fig. 4 is the schematic diagram one of the locking device one for the bionic surgical Instrument that another embodiment provides；

Fig. 5 is the partial schematic diagram one for not installing locking device for the bionic surgical Instrument that another embodiment provides；

Fig. 6 is the schematic diagram two of the locking device one for the bionic surgical Instrument that another embodiment provides；

Fig. 7 is the schematic diagram of locking device one；

Fig. 8 is the schematic diagram one of the local transmission parts one for the bionic surgical Instrument that another embodiment provides；

Fig. 9 is the schematic diagram two of the local transmission parts one for the bionic surgical Instrument that another embodiment provides；

Figure 10 is the schematic diagram of the transmission parts two for the bionic surgical Instrument that another embodiment provides；

Figure 11 is the partial schematic diagram two for not installing locking device for the bionic surgical Instrument that another embodiment provides；

Figure 12 is the schematic diagram of the locking device two for the bionic surgical Instrument that another embodiment provides；

Figure 13 is the schematic diagram of axle sleeve；

Figure 14 is the enlarged drawing of part A in Figure 12；

Figure 15 is the schematic diagram of sphere；

Figure 16 is the schematic diagram of pin；

Figure 17 is the bionic surgical Instrument schematic diagram that other embodiments provide；

Figure 18 is the bionic surgical Instrument schematic diagram that other embodiments provide；

Figure 19 is bionic surgical Instrument external member schematic diagram provided by the utility model；

Figure 20 is the side view of the sleeve of bionic surgical Instrument external member provided by the utility model.

Specific embodiment

The embodiments of the present invention is illustrated by particular specific embodiment below, those skilled in the art can be by this theory The bright revealed content of book understands other advantages and effect of the utility model easily.Although the description of the utility model will tie It closes preferred embodiment to introduce together, but this feature for not representing this utility model is only limitted to the embodiment.On the contrary, knot Closing the purpose that embodiment makees utility model introduction is to be possible to extend to cover the claim based on the utility model Other selections or transformation out.In order to provide to the understanding of the depth of the utility model, be described below in will be comprising many specific Details.The utility model can also be implemented without using these details.In addition, in order to avoid the weight of chaotic or fuzzy the utility model Point, some details will be omitted in the de-scription.

In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary, It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition The concrete meaning of language in the present invention.In addition, in the following description used in "upper", "lower", "left", "right", "top", "bottom", should not be construed as a limitation of the present invention.

Fig. 1 is the bionic surgical Instrument schematic diagram that an embodiment of the present invention provides.As shown in Figure 1, the utility model Provide a kind of bionic surgical Instrument, including hand-held part 100, bindiny mechanism 200 and instrument shaft 300.Hand-held part 100 is to pass through company Connection mechanism 200 can be rotated or can connect with perturbing with instrument shaft 300.

The bionic surgical Instrument that the above embodiments of the present invention provides has the following characteristics that with bindiny mechanism 200 Centre of motion point is that the first reference ray R1 conllinear or parallel with the central axes R of hand-held part 100 and along first direction is made on vertex, Make using the centre of motion of bindiny mechanism 200 point as vertex with the central axes of instrument shaft 300 conllinear or parallel and in a second direction Second refers to ray R2, and the first reference ray R1 and second is 0 ° of > and≤90 ° with reference to the angle between ray R2.

Wherein, it is to be understood that for regular axial symmetry component, in-between line is central axes for central axes；For not advising Non-axis symmetry component then, central axes pass through the center of gravity of the component, and the extending direction of central axes is parallel to the extension side of component To.

In order to which first direction and second direction is clearly defined, the application defines free end and the company of hand-held part 100 first Connect end and each component proximally and distally.The free end of hand-held part 100 is the one end not connecting with bindiny mechanism 200, is connected Connecing end is the one end connecting with bindiny mechanism 200.The proximal end of each component is by one end of proximal operator, and distal end is far from operation One end of person.First direction is defined as the free end of the connecting pin direction hand-held part 100 of hand-held part 100 by the application as a result, Direction, second direction are the direction that the distal end of instrument shaft 300 is directed toward in the proximal end of instrument shaft 300.In addition, the axis of hand-held part 100 Line is the central axes along its length of 100 part of palm grip hand-held part.

For be more clearly understood that bindiny mechanism 200 centre of motion point, can be rotated and can perturb, will below combine tool The structure of the bindiny mechanism 200 of body makees further definition.

Bionic surgical Instrument provided in this embodiment, because there is above-mentioned link position to close for hand-held part 100 and instrument shaft 300 System, so that operator holds hand-held part 100 and is carried out to it in use, can be in the case where arm is motionless, only list action, Hand-held part 100 is made to generate rotation relative to the proximal end of the instrument shaft 300 or perturb by the bindiny mechanism 200.

Further, the centre of motion point of bindiny mechanism 200 is located in space folded by the first plane and the second plane.Its In, the first plane is the proximally parallel plane made by 10 centimetres of direction using the cutting plane of operator's wrist as reference plane, second Plane is the distally parallel plane made by 10 centimetres using the cutting plane of operator's wrist as reference plane.As shown in Fig. 2, L ≤ 10 centimetres.That is, when operator holds hand-held part 100, between the centre of motion point of wrist and bindiny mechanism 200 It is closer, so that operator is more flexible to the application control action of hand-held part 100.

Fig. 2 is the bionic surgical Instrument schematic diagram that another embodiment of the utility model provides.As shown in Fig. 2, bionical operation Instrument further includes function part 500, is fixedly connected with the distal end of instrument shaft 300.It further, can also include second flexible Portion 400, proximally and distally fixing respectively with the distal end of instrument shaft 300 and the proximal end of function part 500 for the second bendable portion 400 connect It connects.

It, can be with it should be noted that the orientation of hand-held part 100 is not limited only to the top of instrument shaft 300 shown in Fig. 2 Any position circumferential positioned at instrument shaft 300.In other words, the centre of motion point of bindiny mechanism 200, which is located at, is looped through operator In the space of the central axes of wrist cutting plane.Therefore, as long as guaranteeing that the first of the surgical instrument refers to reference to ray R1 and second Angle between ray R2 is 0 ° of > and≤90 °, and operator can be realized in the case where arm is motionless, is only made by wrist It is dynamic, so that hand-held part 100 generates rotation relative to instrument shaft 300 or perturbs.

It should also be noted that, " bendable portion " in this application is also referred to as " flexible member ", " flexible structure Part ", " rotatable component " or " flexible continuous body " etc..Such term refers to that the element can be bent with controlled manner, And it can be bent in any direction without having any singular point.

Wherein, as shown in figure 3, the second bendable portion 400 has engraved structure, shape is parallel lines strip.Other In embodiment, shape can also be corrugated or other irregular shapes.Corrugated can be helical corrugation, parallel ripple or friendship Wrong ripple.

In the present embodiment, hand-held part 100 is the movement by mechanical drive mode control function portion 500.Please refer to Fig. 4 And as shown in connection with fig. 2, mechanical rotating manner is the transmission parts 310 by being set in instrument shaft 300, and then by hand-held part 100 control action passes to function part 500.Wherein, bindiny mechanism 200 includes fixed part 210 and rotation section 220, rotation section 220 rotationally grip portion 210.Fixed part 210 is fixedly connected with the proximal end of instrument shaft 300, rotation section 220 and hand-held The connecting pin in portion 100 is fixedly connected.Fixed part 210 and the concrete shape of rotation section 220 with no restrictions, as long as 220 energy of rotation section It is enough rotationally to grip portion 210.Preferably, fixed part 210 and instrument shaft 300 are integrally formed, rotation section 220 and hand Hold the integrated molding of portion 100.Instrument shaft 300 can be rigidity or part rigidity or flexible.

It with continued reference to Fig. 4 and combines shown in Fig. 2, Fig. 3, the proximal end of transmission parts 310 passes through fixed part 210 and hand-held part 100 are fixedly connected, and the distal end of transmission parts 310 passes through the second bendable portion 400 and is fixedly connected with the proximal end of function part 500, into And it realizes and the control action of hand-held part 100 is transferred to function part 500 in proportion.Preferably, which is 0.1~5, i.e., when this When ratio is 0.1, hand-held part 100 rotates 1 unit angle, and the function part 500 rotates 0.1 unit angle；When the ratio is 5 When, hand-held part 100 rotates 1 unit angle, and the function part 500 rotates 5 unit angles.Wherein, the movement of function part 500 includes The direction of motion and motion state, the direction of motion include that pitching movement, weaving, or both combine, and operating status includes closure State and open configuration.Pitching movement can be the up and down motion with weaving strict orthogonal, be also possible to and weaving Non-orthogonal up and down motion.In other embodiments, hand-held part 100 can also pass through the fortune in fax flowing mode control function portion 500 It is dynamic.

Please continue to refer to Fig. 4 and as shown in connection with fig. 5, which further includes locking device 320, is set on rotation section 220 There is a first through hole 230, locking device 320 enables locking device 320 by first through hole 230 and the clamping of 220 phase of rotation section It is enough to link with rotation section 220.Meanwhile locking device 320 can make circumferential movement relative to the first through hole 230, so that locking Device 320 is in the lock state or unlocked state.

When locking device 320 is in the unlocked state, transmission parts 310 do not link with hand-held part 100；Work as locking device 320 when being in the lock state, and transmission parts 310 and the hand-held part 100 are linked.After being arranged in this way, held when operator holds It, can be by the way that locking device 320 be in unlock shape when the initial position in portion 100, hand-held part 100 makes operator feel uncomfortable State is to be adjusted the initial position of hand-held part 100.It is any in this way since transmission parts 310 do not link with hand-held part 100 The position in the relatively fixed portion 210 in rotation section 220 is adjusted, so that hand-held part 100, in adjustment process, transmission parts 310 will not incite somebody to action The control action of hand-held part 100 is transferred to function part 500.To while adjusting the initial position of hand-held part 100, also not It will affect opening for the function part 500 of surgical instrument and close movement.

It should be noted that transmission parts 310 are not when the locking device 320 of the utility model embodiment is in the unlocked state It links with locking device 320, locking device 320 and rotation section 220 are linked；When locking device 320 is in the lock state, driving section Part 310 and locking device 320 link, and locking device 320 and rotation section 220 are linked.Alternatively, may be set to be, locking device 320 it is in the unlocked state when, transmission parts 310 and locking device 320 link, and locking device 320 does not link with rotation section 220； When locking device 320 is in the lock state, transmission parts 310 and locking device 320 link, locking device 320 and rotation section 220 Linkage.Wherein, under lock state, the linkage of two components it is to be understood that one of component will drive while moving it is another A component moves synchronously；Under unlocked state, two component linkages are it is to be understood that one of component will drive while moving Another component moves synchronously；Alternatively, one of component can drive another component to move while moving, but can not It moves synchronously.Under unlocked state, two components do not link it is to be understood that one of component move, another component not with Move synchronously.

Fig. 6 and as shown in connection with fig. 5 is please referred to, fixed part 210 is sphere 211, and rotation section 220 is spherical shell 221, sphere 211 It is fixedly connected with the proximal end of instrument shaft 300, spherical shell 221 is fixedly connected with the connecting pin of hand-held part 100, and spherical shell 221 is rotationally Clamp sphere 211.It is worth noting that in this embodiment, the centre of motion point of bindiny mechanism 200 is the center of sphere 211 Point.Rotatably refer to that spherical shell 221 can be moved around the central point of the sphere 211.

In the present embodiment, transmission parts 310 are seal wire.In other embodiments, transmission parts 310, which can also be, leads The combination of one or more of silk, cotton rope, rigid rod, rigid pipe.When locking device 320 is in the lock state, seal wire Proximal end is fixed after passing through sphere 211 by locking device 320 and spherical shell 221, i.e., the proximal end Yu hand-held part 100 of seal wire is fixed.Into One step, seal wire includes adjusting seal wire 311 and center guide wire 312.Hand-held part 100 is by adjusting 311 control function portion 500 of seal wire The direction of motion, hand-held part 100 passes through the motion state in 312 control function portion 500 of center guide wire.

Wherein, adjusting seal wire 311 is even number item, it is preferable that quantity is 4, and the length direction along instrument shaft 300 is in two-by-two The symmetrical and distribution that is parallel to each other.Structure distribution for adjusting seal wire 311, so that operator can pass through behaviour in lock state Control hand-held part 100, the direction of motion in control function portion 500, such as pitching movement, weaving, or both combine mostly free Degree movement.The quantity of center guide wire 312 is preferably 1, on the central axes of the length direction of instrument shaft 300, operator It can be by manipulating hand-held part 100, the motion state in control function portion 500, i.e. closed state and open configuration.

It please refers to Fig. 7 and combines shown in Figure 11, locking device 320 includes disk body 321, rotation key 322 and seal wire fastening dress Set 323.Disk body 321 is equipped with 1 medium pore 3212 and 4 adjustment hole corresponding with center guide wire 312 and adjusting seal wire 311 3211.Adjustment hole 3211 is wedge shape, and aperture is at increasing or decreasing trend.Rotation key 322 passes through the be set on spherical shell 221 One through-hole 230 is fixedly connected with disk body 321.Seal wire clamp device 323 and spherical shell 221 are fixed, and it is tight across seal wire to adjust seal wire 311 It is fixedly mounted with and sets 323, center guide wire 312 passes through medium pore 3212.When rotation key 322 is circumferential mobile relative to first through hole 230, seal wire The opposite sliding in adjustment hole 3211 of clamp device 323, so that the radial dimension by adjustment hole 3211 changes, clamp or release tune Section guide wire 311.

When rotating disk body 321 along the first rotation direction X, seal wire clamp device 323 is located at the aperture lesser one of adjustment hole 3211 End, so that seal wire clamp device 323, which clamps, adjusts seal wire 311, locking device 320 is in the lock state.In this locked condition, When operator manipulates hand-held part 100, corresponding pitching movement, weaving can occur for function part 500, so that function part 500 The better position of effective object is moved to, so as to the surgical actions such as be clamped, cut.When along opposite with the first rotation direction X Second rotation direction Y rotates disk body 321, and seal wire clamp device 323 is located at biggish one end in aperture of adjustment hole 3211, so that seal wire is tight It is fixedly mounted with and sets 323 releases adjusting seal wire 311, locking device 320 is in the unlocked state.Under the unlocked state, when operator manipulates When hand-held part 100, hand-held part 100 changes with respect to the position of instrument shaft, to realize the tune of 100 initial angle of hand-held part Section, i.e., first is convenient for reference to the angle between ray R2 so that hand-held part 100 is located at suitable position with reference to ray R1 and second Operator's operation.

Specifically, when operator wants to adjust the initial angle of hand-held part 100, the first step, along the second rotation direction Y rotating disk Body 321 adjusts seal wire 311 so that 323 relative adjustment hole 3211 of seal wire clamp device slides into the biggish one end in aperture at this time In releasing orientation；Second step, operator wants the object's position of effect according to surgical instrument, and then holds hand-held part 100, right It carries out the operation such as pitching, sideway, is adjusted to the more comfortable angle of operator, that is, adjusts the initial angle of hand-held part 100 Degree.In this process, it adjusts seal wire 311 not link with hand-held part 100, therefore any change will not occur for the direction of function part 500； Third step, along the first rotation direction X rotate disk body 321 so that 323 relative adjustment hole 3211 of seal wire clamp device slide into aperture compared with Small one end, adjusting seal wire 311 is in clamped condition at this time, adjusts seal wire 311 and hand-held part 100 is linked, complete initial angle Adjusting.

Referring to FIG. 6, initial angle setting after, operator by seal wire can by the control action of hand-held part 100 press than Example is transferred to function part 500.Specifically, when operator's gripping hand-held part 100, the control actions such as pitching, the sideway of wrist are carried out When, hand-held part 100 will drive spherical shell 221 and move along the outer surface of sphere 211, because of seal wire clamp device 323 and 221 phase of spherical shell Fixed, part adjusts seal wire 311 and is drawn, and part corresponding thereto adjusts seal wire 311 and is relaxed, so that the second bendable portion 400 bend towards by traction side, i.e., bend towards direction identical with 100 control action of hand-held part.Namely It says, the direction of motion of function part 500 is consistent with the control action of hand-held part 100.For example, when the control that wrist carries out nutation is dynamic When making, hand-held part 100 drives spherical shell 221 to move upwards along the outer surface of sphere 211, and upside adjusts seal wire 311 and is relaxed at this time, Downside corresponding thereto adjusts seal wire 311 and is drawn, so that the second bendable portion 400 bends towards by traction side, I.e. the second bendable portion 400 is bent downwardly.Function part 500 occurs to move with the equidirectional nutation of wrist.Vice versa.

Further, the closed state of function part 500 and open configuration be by operator to the clamping of hand-held part 100 and Relieving movement is controlled.Hand-held part 100 includes lever and central handle 130, and one end of lever and central handle 130 are hinged.

Referring to FIG. 8, transmission parts 310 further include side connecting rod 3101 and center linkage 3103, one end of side connecting rod 3101 Hinged with center linkage 3103, the other end is connect with lever, and center linkage 3103 is set in central handle 130 and can be along central handle 130 is mobile, and one end of center linkage 3103 is connect with center guide wire 312.The closure and opening of lever opposite central handle 130, make It obtains center guide wire 312 to move with the movement of center linkage 3103, thus the closed state in control function portion 500 and opening shape State.

With continued reference to FIG. 8, lever includes the first lever 110 and the second lever 120, it is located at a left side for central handle 130 Right two sides, the structure of three's combination is in arrowhead-shaped.Wherein, the first lever 110 and central handle 130 are hinged, side connecting rod 3101 and the The connection of one lever 110.Please in conjunction with shown in Fig. 9, transmission parts 310 further include central rod set 3104, shaft 3105, rotor 3106, driven rod 3107, drive rod set 3108 and elastic element 3109.In the centrally located rod set 3104 of center linkage 3103 simultaneously It is firmly connected with it, center linkage 3103 can drive central rod set 3104 to move along its length in central handle 130.Rotor 3106 one end and the proximal end of central rod set are mutually fixed, and the other end is fixed with 3108 phase of rod set is driven, and rotor 3106 can be around the shaft 3105 rotations, so that rod set 3108 is driven to move with the movement of central rod set 3104.

Wherein, it drives rod set 3108 and elastic element 3109 to be sheathed on driven rod 3107, and can be moved along driven rod 3107 It is dynamic.The proximal end of driven rod 3107 is fixedly connected with the proximal end of central handle 130, one end of elastic element 3109 and driven rod 3107 It is fixedly connected, the other end is fixedly connected with rod set 3108 is driven.Elastic element 3109 can be spring or other extensive with elasticity The element of multiple power.As shown in figure 9, rod set 3108 is driven to be equipped with the 4th groove 3110 matched with the proximal end of center guide wire 312, Center guide wire 312 proximally by the 4th groove 3110 with drive rod set 3108 be fixedly connected, the distal end of center guide wire 312 with Function part 500 is fixedly connected.

In this embodiment, function part 500 is pliers.In other embodiments, function part 500 can also be various hinged Tool, such as scissors, grasper, needle holder etc., are also possible to non-articulated tool, such as cutting blade, probe, flusher, lead Pipe etc..

Please continue to refer to Fig. 8 and Fig. 9, further illustrate hand-held part 100 by transmission parts 310 control pliers closure and Open configuration.When operator makees pinching action to 110 opposite central handle 130 of the first lever, connecting rod 3101 opposite central in side connects Bar 3103 is closed, so that center linkage 3103 is mobile to distal end.Pass through 3105 rotation around the shaft of rotor 3106, center guide wire 312 It is moved to the near end with drive rod set 3108 along driven rod 3107.At this point, pliers is in closed state, spring, which is in, to be compressed State.When operator unclamps the active force to the first lever 110, compressed spring drives rod set 3108 because restoring force pushes It is restored to initial position, center guide wire 312 is relaxed.At this point, pliers is in open configuration.

Referring to FIG. 10, in other embodiments, transmission parts 310 further include in central handle 130 and can be along centers The mobile center linkage 3103 ' of handle 130.Center linkage 3103 ' is equipped with rack gear 3111, and lever includes the first lever 110 and the Two levers 120 are equipped with the gear cooperated with rack gear 3111 with the hinged end 111 of central handle 130.When operator holds to first When handle 110,120 opposite central handle 130 of the second lever make pinching action, so that end 111 rotates, and then with carry-over bar 3111 is mobile to distal end, and center guide wire 312 moves to the near end, and pliers is in closed state.Other situations are similar to above-mentioned implementation, Details are not described herein.

It please refers to Fig. 6 and combines shown in Figure 11, in the above-described embodiments, locking device 320 can also include restraint zone 324, for fastening spherical shell 221 and sphere 211.When sphere 211 and spherical shell 221 are fastened, hand-held part 100 can not carry out pitching Movement, weaving, or both combine.Hand-held part 100 can only carry out above-mentioned clamp or release movement, and then control function portion 500 motion state, i.e. closed state and open configuration.In other words, it adjusts seal wire 311 and any displacement, function part no longer occurs 500, the second bendable portion 400 and instrument shaft 300 are followed successively by rigid connection.At this point, surgical instrument is rigid apparatus, function part 500 will not occur pitching movement or weaving due to by extraneous disturbance or movement.

Sphere 211 further includes the first extension 2211 and the second extension 2212.First extension 2211 is equipped with third Groove 2213 circumferentially surrounds one week, for accommodating restraint zone 324.In other embodiments, third groove 2213 can also be with It is other forms, as long as can provide restraint zone 324 placement space, convenient for fastening spherical shell 221 and sphere 211.

Multiple notches 2214 being spaced apart from each other are additionally provided on first extension 2211 of spherical shell 221.It is received in restraint zone 324 After tight first extension 2211, the aperture of the first extension 2211 becomes smaller, and spherical shell 221 and sphere 211 is fastened, so that spherical shell 221 It can not relative displacement with sphere 211.At this point, the surgical instrument is rigid apparatus, operator is only capable of controlling function by hand-held part 100 The closed state and open configuration in energy portion 500 can not make function part 500 generate pitching or weaving.It is put in restraint zone 324 After loose first extension 2211, the aperture of the first extension 2211 becomes larger, and spherical shell 221 and sphere 211 can relative displacements.Second It is equipped in extension 2212 and drives rod set 3108, driven rod 3107, shaft 3105 and spring.

In other implementations, locking device 320 can also be other forms.It please refers to Figure 12 and combines shown in Figure 11, lock Determining device 320 ' includes ball cover 325, restraint zone 324 and pin 326.Wherein, ball cover 325 be set to sphere 211 and spherical shell 221 it Between.As shown in figure 13, the inner peripheral surface of ball cover 325 is equipped with the first groove 327, and the first groove 327 circumferentially surrounds one week.Other In embodiment, the first groove 327 is also possible to incomplete one week.When restraint zone 324 fastens ball cover 325 and spherical shell 221, Locking device 320 is in the lock state；When restraint zone 324 unclamps ball cover 325 and spherical shell 221, locking device 320 is in solution Lock status.

It please continue to refer to Figure 12 and combines shown in Figure 14, one end of pin 326 is connect with the proximal end for adjusting seal wire 311, separately One end and the first groove 327 are clamped, and can be moved along the first groove 327, so that adjusting seal wire 311 passes through pin 326 and ball cover 325 linkages.The implementation of the clamping of pin 326 and the first groove 327 with no restrictions, in the present embodiment, in the first groove 327 Protrusion 328 equipped with the extending direction extension along the first groove 327, the other end of pin 326 are recess portion, protrusion 328 and recess portion Clamping.In other embodiments, the recess portion extended along the extending direction of the first groove 327, pin are equipped in the first groove 327 326 other end is protrusion 328, and protrusion 328 and recess portion are clamped.

Please continue to refer to Figure 12 and combining shown in Figure 15, the outer surface of sphere 211 is equipped at intervals with multiple second grooves 2111, The extending direction of the extending direction of second groove 2111 and the first groove 327 is different.It adjusts after seal wire 311 passes through sphere 211 and sets In in the second groove 2111, and can be slided in the second groove 2111.One end energy that pin 326 is connect with adjusting seal wire 311 Enough circumferential directions and adjusting seal wire 311 along pin 326 are rotatablely connected.Wherein, it with reference to Figure 16, adjusts seal wire 311 and pin 326 connects The one end connect be it is spherical, pin 326 is rotationally inserted in along circumferential direction of pin 326 in spherical one end for adjusting seal wire 311.

After being arranged in this way, 2 are continued to refer to figure 1, when operator wants to adjust the initial position of hand-held part 100, the first step, Restraint zone 324 is lightened restrictions on, locking device is in the unlocked state, and spherical shell 221 does not link with ball cover 325；Second step, according to surgical device Tool wants the object's position of effect, and operator holds hand-held part 100, carries out the operation such as pitching, sideway, spherical shell 221 by wrist Outer surface along ball cover 325 is moved, and then hand-held part 100 is adjusted to the more comfortable position of operator, completes hand-held part 100 The adjusting of initial position；Third step is fastened ball cover 325 and spherical shell 221 by restraint zone 324, and locking device is in locking shape State, ball cover 325 and spherical shell 221 link.Ball cover 325 can be moved synchronously with spherical shell 221, while adjust seal wire 311 and ball cover 325 Linkage.In this state, the movement of seal wire 311 can be controlled to adjust by operating hand-held part 100, can then passes through tune The control action of hand-held part 100 is transferred to the function part 500 of surgical instrument by section guide wire 311 in proportion, by function part 500 into The corresponding surgical action of row.

It should be noted that since one end that seal wire is connect with pin 326 is spherical, and pin 326 is along pin in the present embodiment The circumferential direction of nail 326 is rotationally inserted in one end in spherical adjusting seal wire 311.So, locking is in locking device 320 When state, hand-held part 100 can be held, manipulation ball cover 325 rotates any angle around pin 326, then control function portion 500 into The corresponding movement of row.

Specifically, carrying out the operation such as pitching, sideway when operator holds hand-held part 100 by wrist, driving spherical shell 221, linkage action occurs together for ball cover 325 and adjusting 311 three of seal wire.Seal wire 311 is adjusted to move in the second groove 2111, So that part adjusts seal wire 311 and drawn, part corresponding thereto adjusts seal wire 311 and is relaxed.Seal wire 311 is adjusted in instrument Once intersected in bar 300, so that function part 500 generates and hand-held part 100 is in the pitching of ratio, sideway.For example, working as opponent When holding portion 100 and carrying out the control action of nutation, drives and adjust seal wire 311 and move upwards along the second recessed grain, at this time upside proximal end It adjusts seal wire 311 to be drawn, the adjusting seal wire 311 of downside proximal end corresponding thereto is relaxed.Because adjusting seal wire 311 in instrument It carries out once intersecting two-by-two in bar 300, therefore the adjusting seal wire 311 of upside proximal end is remote corresponding to the downside being connected with function part 500 The adjusting seal wire 311 at end, the adjusting that the adjusting seal wire 311 of downside proximal end corresponds to the upside distal end being connected with function part 500 are led Silk 311, therefore, the adjusting seal wire 311 of downside distal end is drawn, and the adjusting seal wire 311 of upside distal end is relaxed, so that second is curved Pars convoluta 400 bends towards trailed side, i.e., the second bending section 400 is bent downwardly.That is, function part 500 is sent out It is raw to be moved with the equidirectional nutation of wrist.Vice versa.

In addition, can equally hold hand-held part 100 due to being provided with the first groove 327 and the second groove 2111, manipulation is adjusted Section guide wire 311 is slided along the first groove 327 and the second groove, and then control function portion 500 is acted accordingly.That is, By above structure, multivariant surgical procedure is may be implemented in surgical instrument, so that it is more comfortable, and flexibility ratio is higher.

2 are continued to refer to figure 1, identical as upper embodiment, sphere 211 further includes the first extension 2211.First extension 2211 are equipped with third groove 2213, and for accommodating restraint zone 324, details are not described herein again.

In the above-described embodiments, Figure 17 is please referred to, bindiny mechanism 200 can also be the first bendable portion 600, and no longer be The proximal end of sphere 211 and spherical shell 221, the first bendable portion 600 is fixedly connected with the connecting pin of hand-held part 100, and first is flexible The distal end in portion 600 is fixedly connected with the proximal end of instrument shaft 300.First bendable portion 600 has and 400 phase of the second bendable portion Similar structure and function, also repeats no more herein.It is worth noting that in this embodiment, the movement of bindiny mechanism 200 Central point is the central point of the central cutting plane of the first bendable portion 600, can perturb and refer to that the first bending section 600 can be around Central point movement.

It is worth noting that, bionic surgical Instrument provided by the utility model has two major advantages in that 1) control action It is acted with instrument effect and realizes isomorphism, there is bionics effect, i.e., reappear the movement of wrist on function part 500, and be " forward direction behaviour The reproduction of work ", and then operator's learning time is reduced, lower operating difficulty；2) wrist actuation is only needed when operating, with existing need Significantly the actuation of arm to be just able to achieve the surgical instrument controlled function part 500 and compare, using comfortable, laborsaving and It is limited by space small.

In the above-described embodiments, Figure 18 is please referred to, instrument shaft 300 can also be bending type other than being linear type.Its In, the quantity of bending segment can be depending on specifically used environment, and this is not restricted.

Figure 19 is please referred to, the utility model additionally provides a kind of bionic surgical Instrument external member 10, is mainly used for the micro- of single hole Create surgical operation.The bionic surgical Instrument external member 10 includes at least two surgical instruments 11 and sleeve 12, wherein surgical instrument 11 at least one be the bionic surgical Instrument 11 with above-mentioned bending segment, casing for surgical instrument 11 pass through so that surgical instrument 11 a part is located in casing.

The aperture of the flexible pipe different for axial diameter of sleeve 12, proximal openings and distal openings is larger, passes through aperture The interlude of gradual change is smoothly from the Proximal transition of sleeve 12 to the distal end of sleeve 12.Sleeve 12 is equipped with the second through-hole, operation The instrument shaft 300 of instrument 11 passes through the second through-hole, cooperates with 12 air-tightness of sleeve.Specifically, in operation in use, operator is first Sleeve 12 is first passed through to the skin of effective object, and then the function part of surgical instrument 11 500 is placed through on sleeve 12 the Two through-holes so that a part of the non-bending segment of instrument shaft 300 is located in sleeve 12, and cooperate with its air-tightness.

Figure 20 is please referred to, in the present embodiment, the quantity of the second through-hole is 3, including the first insertion hole 13 and second is inserted Enter hole 14.Wherein, the first insertion hole 13 positioned at upside can be used for being inserted into endoscope, and second positioned at downside is inserted into hole 14 It can be used for being inserted into the bionic surgical Instrument 11 with bending segment.Incorporated by reference to shown in Figure 19, bending segment number is 2, including first Bending segment 15 and the second bending segment 16.First bending segment 15 of two bionic surgical Instruments 11 is respectively towards far from instrument shaft 300 The direction of axis is bent, so that bionic surgical Instrument 11 and endoscope have certain space between any two, is avoided mutual Interference.Second bending segment 16 of two bionic surgical Instruments 11 is bent towards the direction close to 300 central axes of instrument shaft respectively, so that The function part 500 of bionic surgical Instrument 11 can be close to each other, convenient for mutual compounding practice.In other embodiments, bionical Surgical instrument 11 can also be used in combination with other any mis instruments with elongated rod shape, such as traditional minimally invasive device of rigidity Tool.

It should be noted that traditional surgical instrument external member because instrument do not have bending segment, therefore for avoid it is mutual Parallel interference needs to make primary intersection in sleeve 12, and the instrument for causing operator's left hand to control is located at the right side in the visual field, the right hand The instrument of control is located at the left side in the visual field.This " reverse operating " brings biggish inconvenience to operator, and applicability is poor.And Bionic surgical Instrument external member 10 provided in this embodiment, by the different overbending direction of two bionic surgical Instruments 11, so that two The distal end of a bionic surgical Instrument 11 has certain operating space, arranged in a crossed manner without carrying out.Operator can directly pass through " positive operation " controls each surgical instrument 11, substantially increases the applicability of instrument.

It is to sum up, provided by the utility model that the above embodiments are only illustrative of the principle and efficacy of the utility model, It rather than limits the present invention.Any person skilled in the art all can be in the spirit and scope without prejudice to the utility model Under, it carries out modifications and changes to above-described embodiment.Therefore, such as those of ordinary skill in the art without departing from this All equivalent modifications or change completed under the revealed spirit of utility model and technical idea, should be by the utility model Claim is covered.

Claims (30)

1. a kind of bionic surgical Instrument characterized by comprising

Hand-held part；

Bindiny mechanism；

Instrument shaft, the hand-held part can be rotated or can connect with perturbing with the instrument shaft by the bindiny mechanism,

Make using the centre of motion of bindiny mechanism point as vertex conllinear or parallel with the central axes of the hand-held part and along first The first of direction refers to ray, makees using the centre of motion of bindiny mechanism point as vertex conllinear with the central axes of the instrument shaft Or second in parallel and in a second direction refers to ray, described first with reference to the angle between ray and the second reference ray It is 0 ° and≤90 ° of >,

Wherein, the first direction is the direction that the free end of the hand-held part is directed toward in the connecting pin of the hand-held part, described the Two directions are the direction that the distal end of the instrument shaft is directed toward in the proximal end of the instrument shaft.

2. bionic surgical Instrument according to claim 1, which is characterized in that the centre of motion point of the bindiny mechanism is located at In space folded by first plane and the second plane, first plane be using the cutting plane of operator's wrist as reference plane, to Parallel plane made by 10 centimetres of proximal direction, second plane are the Xiang Yuan using the cutting plane of operator's wrist as reference plane Parallel plane made by 10 centimetres of extreme direction.

3. bionic surgical Instrument according to claim 2, which is characterized in that the centre of motion point of the bindiny mechanism is located at It is looped through in the space of the central axes of operator's wrist cutting plane.

4. bionic surgical Instrument according to claim 1, which is characterized in that the bindiny mechanism includes fixed part and rotation Portion, the rotation section rotationally clamp the fixed part, and the fixed part is fixedly connected with the proximal end of the instrument shaft, described Rotation section is fixedly connected with the connecting pin of the hand-held part.

5. bionic surgical Instrument according to claim 1, which is characterized in that the bindiny mechanism includes first flexible The proximal end in portion, first bendable portion is fixedly connected with the connecting pin of the hand-held part, the distal end of first bendable portion It is fixedly connected with the proximal end of the instrument shaft.

6. bionic surgical Instrument according to claim 4, which is characterized in that further include function part, with the instrument shaft Distal end is fixedly connected.

7. bionic surgical Instrument according to claim 6, which is characterized in that it further include the second bendable portion, described second Bendable portion is proximally and distally fixedly connected with the proximal end of the distal end of the instrument shaft and the function part respectively.

8. bionic surgical Instrument according to claim 7, which is characterized in that the hand-held part passes through mechanical drive mode control Make the movement of the function part.

9. bionic surgical Instrument according to claim 8, which is characterized in that be equipped with transmission parts in the instrument shaft, use In the control action of the hand-held part is transferred to the function part in proportion.

10. bionic surgical Instrument according to claim 9, which is characterized in that the ratio is 0.1~5.

11. bionic surgical Instrument according to claim 9, which is characterized in that the transmission parts include seal wire, cotton rope, One or more of rigid rod, rigid pipe.

12. bionic surgical Instrument according to claim 11, which is characterized in that the proximal end of the transmission parts passes through described Fixed part is fixedly connected with the hand-held part, and the distal end of the transmission parts passes through second bendable portion and the function part Proximal end be fixedly connected.

13. bionic surgical Instrument according to claim 12, which is characterized in that it further include locking device, the locking dress When setting in the unlocked state, the transmission parts do not link with the hand-held part；When the locking device is in the lock state, institute It states transmission parts and the hand-held part is linked.

14. bionic surgical Instrument according to claim 13, which is characterized in that the locking device is in the unlocked state When, the transmission parts do not link with the locking device, and the locking device and the rotation section are linked；The locking device When being in the lock state, the transmission parts and the locking device link, and the locking device and the rotation section are linked.

15. bionic surgical Instrument according to claim 14, which is characterized in that the fixed part is sphere, the rotation Portion is spherical shell.

16. bionic surgical Instrument according to claim 15, which is characterized in that the transmission parts are seal wire, described to lead Silk includes adjusting seal wire and center guide wire, wherein the hand-held part controls the movement of the function part by the adjusting seal wire Direction, the hand-held part control the motion state of the function part by the center guide wire.

17. bionic surgical Instrument according to claim 16, which is characterized in that the direction of motion include pitching movement, Weaving, or both combines, and the motion state includes closed state and open configuration.

18. bionic surgical Instrument according to claim 16, which is characterized in that the adjusting seal wire is even number item, mutually In parallel or two-by-two cross-distribution.

19. bionic surgical Instrument according to claim 17, which is characterized in that when the locking device is in the unlocked state When, it is combined by carrying out pitching movement, weaving, or both to the hand-held part, adjusts the initial angle of the hand-held part； When the locking device is in the lock state, by carrying out pitching movement, weaving, or both knot to the hand-held part It closes, so that the function part occurs corresponding pitching movement, weaving, or both and combines.

20. bionic surgical Instrument according to claim 19, which is characterized in that the locking device includes:

Disk body is equipped with medium pore corresponding with the center guide wire and the adjusting seal wire and adjustment hole, the adjustment hole For wedge shape；

Rotation key across the first through hole being set on the spherical shell, and is fixedly connected with the disk body；

Seal wire clamp device is fixed with the spherical shell, and the adjusting seal wire passes through the seal wire clamp device,

Wherein, the disk body is rotated along the first rotation direction, the seal wire clamp device clamps the adjusting seal wire, so that the adjusting Seal wire and the disk body link；The disk body, the seal wire fastening dress are rotated along with described first the second oppositely oriented rotation direction It sets and unclamps the adjusting seal wire, so that the adjusting seal wire and the disk body link.

21. bionic surgical Instrument according to claim 20, which is characterized in that the locking device further includes restraint zone, For fastening the sphere and the spherical shell.

22. bionic surgical Instrument according to claim 21, which is characterized in that the sphere and the spherical shell are fastened When, the function part, second bendable portion and the instrument shaft are followed successively by rigid connection.

23. bionic surgical Instrument according to claim 19, which is characterized in that the locking device includes:

Ball cover is set between the sphere and the spherical shell, and the inner peripheral surface of the ball cover is equipped with the first groove, and described first is recessed Slot circumferentially surrounds one week or jagged；

Restraint zone, when the restraint zone fastens the ball cover and the spherical shell, the ball cover and the spherical shell link；Institute When stating restraint zone for the ball cover and spherical shell release, the ball cover does not link with the spherical shell；

Pin, one end are connect with the proximal end for adjusting seal wire, and the other end and first groove are clamped, and can be along described first Groove is mobile, so that the adjusting seal wire is linked by the pin and the ball cover,

Wherein, the outer surface of the sphere is equipped at intervals with multiple second grooves, the extending direction of second groove and described The extending direction of one groove is different, and the adjusting seal wire is located at second groove after passing through the sphere and can be along described second Groove sliding.

24. the bionic surgical Instrument according to claim 22 or 23, which is characterized in that the hand-held part includes lever in Handle is entreated, one end of the lever and the central handle are hinged.

25. bionic surgical Instrument according to claim 24, which is characterized in that the transmission parts further include side connecting rod and Center linkage, one end of the side connecting rod and the center linkage are hinged, and the other end is connect with the lever, the center linkage It can move in the central handle and along the central handle, one end of the center linkage is connect with the center guide wire.

26. bionic surgical Instrument according to claim 24, which is characterized in that the transmission parts further include set on described It can move in central handle and along the central handle, and the center linkage that one end is connect with the center guide wire, the center linkage It is equipped with rack gear, the lever end hinged with the central handle is equipped with the gear cooperated with the rack gear.

27. bionic surgical Instrument according to claim 24, which is characterized in that the instrument shaft is bent rod.

28. a kind of bionic surgical Instrument external member characterized by comprising

At least two surgical instruments, wherein at least one are bionic surgical Instrument described in claim 27；

Casing is passed through for the surgical instrument so that a part of surgical instrument is located in described sleeve pipe.

29. bionic surgical Instrument external member according to claim 28, which is characterized in that at least two surgical kits Include two bionic surgical Instruments and an endoscope.

30. bionic surgical Instrument external member according to claim 29, which is characterized in that two bionic surgical Instruments Overbending direction is different.