CN214907393U - Operation executor and surgical instrument - Google Patents

Abstract

The utility model discloses an operation executor, including mounting and rotation piece, the one end that the mounting was kept away from to the rotation piece is provided with the executive component, the rotation piece rotates with the mounting and is connected in order to swing around the primary axis, operation executor still includes the traction unit, the traction unit includes first traction assembly, the one end of first traction assembly with rotate the piece and link to each other, the other end orientation is kept away from the direction of rotating and is extended along the secondary axis, and first traction assembly can follow the secondary axis and remove, in order to drive to rotate around the primary axis rotation, the secondary axis is perpendicular with the primary axis. The first traction assembly is arranged in a linear mode, the rotating piece can swing in response to the pulling force applied to the first traction assembly, the direction of the pulling force is along the axial direction of the first traction assembly, the transmission effect of the pulling force on the first traction assembly is improved, and therefore an operator can control the rotating piece to deflect more labor-saving. And the structure in the surgical executor is simplified, which is helpful for reducing the radial size of the surgical executor.

Description

Operation executor and surgical instrument

Technical Field

The utility model belongs to the technical field of medical instrument, concretely relates to operation executor and surgical instrument.

Background

In modern surgery, the surgeon often performs the operation of the surgery with the aid of surgical instruments. However, the traditional surgical instruments have limited degrees of freedom, cannot realize pitching and yawing motions, and are relatively clumsy, so that medical staff need to frequently adjust the positions of the surgical instruments in the surgical process, the fatigue of the medical staff is aggravated, and the quality and the precision of the surgery are influenced.

Therefore, the surgical instrument with the head capable of deflecting appears in the prior art, so that medical staff can operate the head of the surgical instrument to deflect in the surgical process, and the head of the surgical instrument can smoothly reach the injured part for surgical operation. In the prior art, the deflection of the head of the surgical instrument is usually controlled in a way of matching a steel wire rope with a pulley, and a user pulls the steel wire rope to drive the pulley to rotate so as to deflect and bend the head of the surgical instrument.

When the user stimulates the steel wire rope, the steel wire rope not only receives the counterforce of the head of the instrument, but also generates larger resistance by the friction between the steel wire rope and the pulley, so that the stimulation is more laborious, and the fatigue of medical personnel is aggravated. Moreover, one or more pulleys are required to be arranged inside the surgical instrument in the control mode, so that the internal structure of the surgical instrument is complex, the whole weight of the instrument is large, medical workers are laboursome to operate during long-time surgery, the radial size of the surgical instrument is increased, a large incision needs to be cut on a human body during surgery, the recovery period of a patient is prolonged, and the treatment experience is poor.

SUMMERY OF THE UTILITY MODEL

The utility model provides a surgical actuator and surgical instrument to solve the complicated and hard problem of operation of surgical instrument steering control structure.

The utility model discloses the technical scheme who adopts does:

the utility model provides a surgical actuator, includes the mounting and rotates the piece, it keeps away from to rotate the one end of mounting is provided with the executive component, rotate the piece with the mounting rotates to be connected in order to swing around first axis, surgical actuator still includes the traction unit, the traction unit includes first traction assembly, first traction assembly's one end with it links to each other to rotate the piece, the other end orientation is kept away from the direction of rotating the piece extends along the second axis, just first traction assembly can be followed the second axis removes, in order to drive rotate the piece and wind the first axis is rotatory, the second axis with first axis is perpendicular.

Further, the first traction assembly comprises a plurality of first traction ropes, and the first traction ropes are arranged on two sides of the first axis oppositely.

Furthermore, the traction unit further comprises a second traction assembly, one end of the second traction assembly is connected with the executing piece, the other end of the second traction assembly extends along the second axis in a direction away from the executing piece, and the second traction assembly can move along the second axis to drive the executing piece to move.

Further, the axis of the second traction assembly coincides with the second axis.

Further, the executive component comprises a clamp, the clamp comprises a first rotating shaft, a second rotating shaft, a first clamping portion, a second clamping portion, a first connecting rod and a second connecting rod, the first clamping portion is connected with the first rotating shaft in an articulated mode, the second clamping portion is connected with the second connecting rod in an articulated mode, the first connecting rod is connected with the second rotating shaft in an articulated mode, one end of a second traction assembly is connected with the second rotating shaft, and the second traction assembly drives the second rotating shaft to move along a second axis, so that the clamp is clamped or loosened.

Further, the first rotating shaft and the second rotating shaft are perpendicular to the first axis.

Furthermore, the surgical actuator further comprises a moving part, one end of the second traction rope assembly is connected to the second rotating shaft through the moving part, the rotating part is provided with a guide groove along the second axis direction, and the moving part is located in the guide groove and can move along the guide groove.

Furthermore, one side of the first clamping part facing the second clamping part is a first clamping surface, one side of the second clamping part facing the first clamping part is a second clamping surface, and the first clamping surface and the second clamping surface are provided with anti-skidding structures.

Furthermore, the mounting is towards the one end of rotating the piece is provided with the spacing groove, the spacing groove is followed the both sides of first axis are provided with the opening, the at least partial region that rotates the piece is located in the spacing groove.

The utility model also discloses a surgical instrument, which comprises an end effector and an operation main body which is connected with the end effector and is used for adjusting the posture of the end effector, wherein the end effector is the surgical effector; the other end of the first traction assembly is connected to the operation body.

Since the technical scheme is used, the utility model discloses the beneficial effect who gains does:

1. the utility model discloses a will first pull the one end of subassembly with rotate the piece and link to each other, the other end orientation is kept away from the direction of rotating the piece extends along the second axis, just first pull the subassembly and can follow the second axis removes, makes first pull the subassembly and be the linear type setting, it can respond to and apply to rotate the pulling force on the first subassembly of pulling and swing, just the direction of pulling force is followed the axial of first pull the subassembly has improved the pulling force and has been in transmission effect on the first subassembly of pulling to make the operator control it is more laborsaving when deflecting to rotate the piece.

In addition, the first traction assembly extends along the second axis, so that the structure inside the surgical actuator is simplified, the arrangement of the first traction assembly is more orderly, and the occupied space of the first traction assembly is reduced, thereby being beneficial to reducing the radial size of the surgical actuator, being beneficial to realizing miniaturization, reducing the opening in a human body and making an appointment for patient experience.

2. As a preferred embodiment of the present invention, the first traction assembly includes a plurality of first traction ropes, and the first traction ropes are disposed on two sides of the first axis relatively. Through to the position relative first haulage rope carries out the regulation and control of a elasticity, and the transmission of power is more direct, and transmission efficiency is higher, and tight side first haulage rope stimulates under the effect of pulling force rotate the piece and deflect towards taut side, thereby makes the gesture of operation executor tip changes, conveniently carries out different operation.

3. As a preferred embodiment of the present invention, the executive component includes a clamp, the clamp includes a first rotating shaft, and can wind first pivot pivoted first clamping part and second clamping part, first rotating shaft with first axis is perpendicular, promptly the direction of opening and shutting of clamp with the swing direction of rotating the piece is perpendicular, uses as the operator when the operation executor performs the operation, can obtain better field of vision, observes the condition at operation position directly perceivedly, avoids the clamp causes the sight to shelter from when opening and shutting, influences operator's operation experience.

4. As a preferred embodiment of the present invention, the fixing member faces the one end of the rotating member is provided with a limiting groove, the limiting groove is followed the two sides of the first axis are provided with openings, and at least a partial region of the rotating member is located in the limiting groove. The spacing groove is right the rotation of rotating the piece plays limiting displacement, makes on the one hand rotate the piece and can only follow a direction reciprocating swing, makes the motion of rotating the piece is controlled more easily, reduces the operation degree of difficulty, and on the other hand can restrict the swing angle of rotating the piece, when swing angle is too big, rotate the piece with spacing cell wall butt can't continue to rotate, avoids because the maloperation makes rotate the swing of taking place great angle.

5. The utility model also discloses a surgical instrument, which comprises an end effector and an operation main body which is connected with the end effector and is used for adjusting the posture of the end effector, wherein the end effector is the surgical effector; the other end of the first traction assembly is connected to the operation body. The operator accessible the operation subject is right the gesture of operation executor is adjusted, just first traction assembly follows the second axis extends, makes the operator when using, can conveniently, laborsavingly right operation executor is controlled, and easy operation is laborsaving, has alleviated operator's fatigue.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the application and not to limit the invention. In the drawings:

fig. 1 is a schematic structural view of the surgical actuator according to an embodiment of the present invention;

FIG. 2 is a schematic view of an assembly of the surgical actuator according to an embodiment of the present invention;

FIG. 3 is an enlarged view of area A of FIG. 2;

FIG. 4 is a cross-sectional view of the surgical implement, in accordance with one embodiment of the present invention;

FIG. 5 is an enlarged view of area B of FIG. 4;

fig. 6 is a schematic view of a swing posture of the rotating member according to an embodiment of the present invention.

Wherein:

1, fixing a part; 11, a limiting groove;

2, rotating the part; 21 a guide groove; 22 a first steering shaft; 23 a second steering shaft;

3 an executive component; 31, clamping a clamp; 311 a first clamping part; 312 second clamping portion; 313 a first rotating shaft; 314 a first link; 315 a second link; 316 a second rotating shaft;

4 a traction unit; 41 a first pulling assembly; 411 a first pull line; 42 a second pulling assembly;

5, hinging a shaft;

6 a first connecting block;

7 a second connecting block;

8 moving parts.

Detailed Description

In order to more clearly explain the overall concept of the present application, the following detailed description is given by way of example in conjunction with the accompanying drawings.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

In addition, in the description of the present invention, it is to be understood that the terms "inner", "outer", "axial", "radial", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; the connection can be mechanical connection, electrical connection or communication; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. In the description herein, references to the terms "embodiment," "an example" or "specific example" or the like are intended to mean 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, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

As shown in fig. 1 to 6, a surgical actuator includes a fixed component 1 and a rotating component 2, an executing component 3 is disposed at one end of the rotating component 2 far away from the fixed component 1, the rotating component 2 is rotatably connected to the fixed component 1 to swing around a first axis, the surgical actuator further includes a traction unit 4, the traction unit 4 includes a first traction assembly 41, one end of the first traction assembly 41 is connected to the rotating component 2, and the other end of the first traction assembly extends along a second axis towards a direction far away from the rotating component 2, and the first traction assembly 41 can move along the second axis to drive the rotating component 2 to rotate around the first axis, and the second axis is perpendicular to the first axis.

It should be noted that the second axis is an axis of the surgical implement along a length direction thereof.

Compared with the mode of utilizing the cooperation of the steel wire rope and the pulley to realize the swing of the rotating member, the present invention provides that one end of the first traction assembly 41 is connected with the rotating member 2, the other end of the first traction assembly 41 extends along the second axis in the direction away from the rotating member 2, i.e. the first traction assembly 41 is of a linear type, the first traction assembly 41 can move along the second axis, the operator pulls one end of the first traction assembly 41 to move the first traction assembly 41 in the direction away from the actuating member 3, the rotating member 2 can swing in response to the pulling force applied to the first traction assembly 41, the direction of the pulling force is along the axial direction of the first traction assembly 41, the generation of component force in other directions is reduced, the transmission effect of the pulling force on the first traction assembly 41 is improved, and the first traction assembly 41 only contacts with the rotating member 2 and the operator, the resistance to movement is less, so that the operator can control the turning of the turning member 2 more easily.

Moreover, the first traction assembly 41 extends along the second axis, so that the arrangement of the first traction assembly 41 in the surgical actuator is more orderly, the occurrence of mutual interference, winding and the like is avoided, the radial size of the surgical actuator is reduced, the surgical actuator is smaller, the opening of a human body is reduced, and the experience of a patient is reserved. Meanwhile, the weight of the surgical actuator is reduced, the surgical actuator is beneficial to long-time operation of an operator, and the fatigue of the operator is relieved.

Preferably, as shown in fig. 1 and 6, the rotating member 2 is hinged to the fixing member 1 through a hinge shaft 5, and an axis of the hinge shaft 5 is the first axis, so that the swinging range of the rotating member 2 is small, a small operation space is occupied, and the influence on the operation field is avoided.

The first axis may be a horizontal direction to allow the rotor 2 to perform a vertical pitching motion, or a vertical direction to allow the rotor 2 to swing left and right. Of course, the first axis may be in other directions, and is not limited in this respect.

As a preferred embodiment of the present invention, as shown in fig. 2 to 5, the first traction assembly 41 includes a plurality of first traction ropes 411, and the first traction ropes 411 are disposed on two sides of the first axis relatively.

The first traction rope 411 may be a steel wire, a cable, or the like having a certain flexibility. It should be noted that, the present invention is not limited to the structure of the first pulling rope 411, and the first pulling rope may be a single rope or a plurality of ropes wound together to improve the strength of the first pulling rope 411 and prevent the first pulling rope from being broken.

In the operation process, through to the relative regulation and control of position first haulage rope 411 carry out one elasticity, the transmission of power is more direct, and transmission efficiency is higher, and the tight side first haulage rope 411 pulls under the effect of pulling the rotation piece 2 deflects towards taut side, thereby makes the gesture of operation executor tip changes, conveniently carries out different operation.

The utility model discloses right first haulage rope 411 with the connected mode who rotates piece 2 does not do specifically and restricts, promptly first haulage rope 411 can with rotate piece 2 and directly link to each other, also can through set up the connecting piece with it indirectly links to each other to rotate piece 2.

In a specific embodiment, as shown in fig. 2-5, the first axis is horizontally arranged, the rotating member 2 is provided with a first steering shaft 22 at the upper side of the first axis, a second steering shaft 23 is provided at the lower side, the surgical actuator further comprises a first connecting block 6 fixedly connected with the first steering shaft 22, and a second connecting block 7 fixedly connected with the second steering shaft 23, one of the first pulling ropes 411 is connected to the first connecting block 6, one of the first pulling ropes 411 is connected to the second connecting block 7, when the first pulling rope 411 at the upper side is pulled, the first connecting block 6 drives the first steering shaft 22 to move towards the rear end (direction close to the operator) under the tension of the first pulling rope 411, so as to drive the rotating member 2 to swing upwards, and conversely, the first pulling rope 411 at the lower side is pulled, the rotary member 2 swings downward.

Further, as shown in fig. 3, the first steering shaft 22 and the second steering shaft 23 are parallel to the first axis, so that when the first pulling rope 411 is pulled, the first steering shaft 22 and the second steering shaft 23 are stressed more uniformly, and stress concentration at one end of the first steering shaft 22 and stress concentration at one end of the second steering shaft 23 are avoided, so that damage is avoided.

As a preferred embodiment of the present invention, as shown in fig. 2 to 5, the traction unit 4 further includes a second traction assembly 42, one end of the second traction assembly 42 is connected to the actuator 3, the other end of the second traction assembly extends along the second axis toward the direction away from the actuator 3, and the second traction assembly 42 can move along the second axis to drive the actuator 3 to move.

It should be noted that, the structure of the actuating member 3 is not specifically limited in the present application, and it may be a surgical forceps, an endoscope, etc. to meet different surgical needs. Similarly, the movement mode of the executing component 3 is not particularly limited in the present application, for example, when the executing component 3 is a surgical forceps, the movement mode of the surgical forceps may be a clamping movement, and when the executing component 3 is an endoscope, the movement mode of the endoscope may be a rotation movement, etc.

The second pulling member 42 may be a flexible structure such as a steel wire or a cable, or a rod-shaped rigid structure, and is not limited in this respect.

As a preferred example of the present embodiment, as shown in fig. 5, the axis of the second traction assembly 42 coincides with the second axis, so that the force receiving direction of the actuating element 3 coincides with the axis of the second traction assembly 42, which makes the force transmission effect of the second traction assembly 42 better, the pulling more labor-saving, and the use by the operator more convenient.

As a preferred embodiment of the present embodiment, as shown in fig. 2 to 4, the actuating member 3 includes a clamp 31, the clamp 31 includes a first rotating shaft 313, a second rotating shaft 316, a first clamping portion 311, a second clamping portion 312, a first connecting rod 314 and a second connecting rod 315, the first clamping portion 311 is hinged to the first connecting rod 314 through the first rotating shaft 313, the second clamping portion 312 is hinged to the second connecting rod 315 through the second rotating shaft 316, the first connecting rod 314 is hinged to the second connecting rod 315 through the second rotating shaft 316, one end of the second pulling member 42 is connected to the second rotating shaft 316, and the second pulling member 42 drives the second rotating shaft 316 to move along the second axis, so as to clamp or loosen the clamp 31.

When the operator pulls the second pulling assembly 42, the second rotating shaft 316 moves towards the rear end (the direction close to the operator) under the tension of the second pulling assembly 42, and at this time, the first connecting rod 314 and the second connecting rod 315 rotate towards opposite directions, so as to drive the first clamping portion 311 and the second clamping portion 312 to rotate towards opposite directions, and finally, the first clamping portion 311 and the second clamping portion 312 contact with each other, so as to tighten the clamp 31. On the contrary, the second pulling assembly 42 pushes the second rotating shaft 316 to move toward the front end (the direction close to the actuating member 3), so as to drive the first connecting rod 314 and the second connecting rod 315, and the first clamping portion 311 and the second clamping portion 312 to rotate in the opposite directions, thereby realizing the loosening of the clamp 31.

Preferably, a side of the first clamping portion 311 facing the second clamping portion 312 is a first clamping surface, a side of the second clamping portion 312 facing the first clamping portion 311 is a second clamping surface, and the first clamping surface and the second clamping surface are provided with anti-slip structures.

The anti-slip structure may be an engaging tooth shown in fig. 2 to 3 to increase the clamping force of the clamp 31, or may be other structures, such as a friction texture, and is not limited herein.

As a preferred example of this embodiment, as shown in fig. 2 to 5, the first rotating shaft 313 and the second rotating shaft 316 are perpendicular to the first axis, that is, the opening and closing direction of the forceps 31 is perpendicular to the swinging direction of the rotating member 2, so that an operator can obtain a better view during an operation, and the opening and closing of the forceps 31 can be prevented from blocking the view of the operator.

For example, the rotating member 2 can perform up and down pitching motion along the vertical first axis, the clamp 31 can be clamped or loosened in the horizontal direction, an operator can visually observe the condition of the surgical site, and the position of the clamp 31 is convenient for performing surgical operation or adjusting the position of the clamp 31 in time, so that the use experience is enjoyed.

Of course, the swinging direction of the rotating member 2 and the clamping direction of the clamp 31 may be other directions, and are not particularly limited herein.

As a preferred example of this embodiment, as shown in fig. 2 to 5, the surgical actuator further includes a moving member 8, one end of the second traction assembly 42 is connected to the second rotating shaft 316 through the moving member 8, the rotating member 2 is provided with a guide groove 21 along the second axial direction, and the moving member 8 is located in the guide groove 21 and can move along the guide groove 21.

The guide groove 21 has a limiting effect on the movement of the moving member 8, so that the moving member 8 can only reciprocate along the second axis direction, and the pulling force of the second traction assembly 42 on the second rotating shaft 316 is always along the second axis direction, thereby avoiding generating component force in other directions and causing pulling effort.

As a preferred embodiment of the present invention, as shown in fig. 2-3, the fixing member 1 is provided with a limiting groove 11 towards one end of the rotating member 2, the limiting groove 11 is provided with openings along both sides of the first axis, and at least a partial region of the rotating member 2 is located in the limiting groove 11.

Spacing groove 11 is right the swing of rotating piece 2 plays limiting displacement, makes on the one hand rotate piece 2 and can only follow a direction reciprocating swing, makes the motion of rotating piece 2 is controlled more easily, reduces the operation degree of difficulty, and on the other hand can restrict the swing angle of rotating piece 2, when swing angle is too big, rotate piece 2 with 11 wall butts in spacing groove, unable continuation rotation avoids because the maloperation makes the rotation piece takes place the swing of great angle.

Preferably, as shown in fig. 3, the limiting groove 11 is a U-shaped groove, and the two side walls of the U-shaped groove limit the rotation of the rotating member 2, so that the rotating member 2 can only swing back and forth along the opening direction, and when the rotation angle of the rotating member 2 reaches 90 °, the rotating member 2 contacts with the bottom wall of the U-shaped groove, and cannot rotate continuously.

Of course, the limiting groove 11 may have other shapes and structures, and is not limited in this respect.

The utility model also discloses a surgical instrument, which comprises an end effector and an operation main body which is connected with the end effector and is used for adjusting the posture of the end effector, wherein the end effector is the surgical effector; the other end of the first pulling member 41 is connected to the operating body.

It should be noted that the operation main body of the present invention may be a hand-held structure, which is held by medical personnel for performing an operation, or may be a table structure, and of course, the operation actuator may also be connected to an operation robot or other operation equipment, so that the operation actuator is used as an execution component of the operation robot or operation equipment, and cooperates with the operation robot or operation equipment to perform an operation, which is not specifically limited herein.

The operator accessible the operation subject is right operation executor's gesture is adjusted, just first traction assembly 41 is followed the second axis extends, makes the operator when using, can conveniently, laborsavingly right operation executor is controlled, and easy operation is laborsaving, has alleviated operator's fatigue, just operation executor's simple structure, weight is lighter, the operator of being convenient for grips.

The utility model can be realized by adopting or using the prior art for reference in places which are not mentioned in the utility model.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments.

The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (10)

1. A surgical actuator comprises a fixed part and a rotating part, wherein an executing part is arranged at one end of the rotating part far away from the fixed part, the rotating part is rotationally connected with the fixed part to swing around a first axis, and the surgical actuator is characterized in that,

the surgical actuator further comprises a traction unit, the traction unit comprises a first traction assembly, one end of the first traction assembly is connected with the rotating piece, the other end of the first traction assembly faces away from the rotating piece, and extends along a second axis, the first traction assembly can move along the second axis to drive the rotating piece to rotate around the first axis, and the second axis is perpendicular to the first axis.

2. The surgical implement of claim 1,

the first traction assembly comprises a plurality of first traction ropes, and the first traction ropes are arranged on two sides of the first axis relatively.

3. The surgical implement of claim 1,

the traction unit further comprises a second traction assembly, one end of the second traction assembly is connected with the executing piece, the other end of the second traction assembly extends along the second axis towards the direction far away from the executing piece, and the second traction assembly can move along the second axis so as to drive the executing piece to move.

4. The surgical implement of claim 3,

the axis of the second traction assembly coincides with the second axis.

5. The surgical implement of claim 4,

the executive component comprises a clamp, the clamp comprises a first rotating shaft, a second rotating shaft, a first clamping part, a second clamping part and a first connecting rod and a second connecting rod, the first clamping part passes through the first rotating shaft is hinged to the first connecting rod, the second clamping part passes through the second rotating shaft is hinged to the second connecting rod, the first connecting rod passes through the second rotating shaft is hinged to the second connecting rod, one end of a second traction assembly is connected to the second rotating shaft, and the second traction assembly drives the second rotating shaft to move along a second axis so that the clamp is clamped or loosened.

6. The surgical implement of claim 5,

the first rotating shaft and the second rotating shaft are perpendicular to the first axis.

7. The surgical implement of claim 6,

the surgical actuator further comprises a moving part, one end of the second traction rope assembly is connected to the second rotating shaft through the moving part, the rotating part is provided with a guide groove along the direction of the second axis, and the moving part is located in the guide groove and can move along the guide groove.

8. The surgical implement of claim 5,

one side of the first clamping part facing the second clamping part is a first clamping surface, one side of the second clamping part facing the first clamping part is a second clamping surface, and the first clamping surface and the second clamping surface are provided with anti-skidding structures.

9. The surgical implement of claim 1,

the mounting orientation the one end of rotating the piece is provided with the spacing groove, the spacing groove is followed the both sides of first axis are provided with the opening, the at least part region who rotates the piece is located in the spacing groove.

10. A surgical instrument including an end effector, and an operation body connected to the end effector and configured to adjust a posture of the end effector,

the end effector is the surgical effector of any one of claims 1-9;

the other end of the first traction assembly is connected to the operation body.

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