CN215018085U

CN215018085U - Surgical instrument

Info

Publication number: CN215018085U
Application number: CN202023275827.3U
Authority: CN
Inventors: 袁平; 徐高峰; 周毅
Original assignee: Jixian Artificial Intelligence Co Ltd
Current assignee: Jixian Artificial Intelligence Co Ltd
Priority date: 2020-12-29
Filing date: 2020-12-29
Publication date: 2021-12-07
Anticipated expiration: 2030-12-29

Abstract

The utility model discloses a surgical instrument, which comprises a steering joint, an operation main body, an executing piece and a traction unit; the steering joint is provided with a first steering area and a second steering area; the first steering area is provided with a first steering section, the traction unit comprises a first traction rope assembly and a second traction rope assembly, two ends of the first traction rope assembly are respectively connected with the operation body and the first steering section, and the first steering section can deflect; the second turns to the district and is provided with the second and turns to the section, and second haulage rope subassembly both ends link to each other with operation main part and second turn to the section respectively, and the second turns to the section and can deflect. The first steering area and the second steering area can deflect respectively, when one steering area reaches the deflection limit and still cannot reach the surgical site, medical personnel can control the other steering area to deflect, so that the deflection angle of the steering joint is increased, reduced or changed in the deflection direction, and finally the surgical instrument reaches the surgical site.

Description

Surgical instrument

Technical Field

The utility model belongs to the technical field of medical instrument, concretely relates to 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. However, the bending angle of the existing surgical instrument is limited (usually within 90 °), so when the surgical instrument is used in a complicated environment in a human body, the surgical instrument is often bent to the limit angle, and the head of the surgical instrument still cannot touch the side surface and the back surface of the target area, which requires an operator to adjust the position of the whole surgical instrument for many times to perform an operation on the injured part, which not only prolongs the operation time and aggravates the fatigue of medical staff, but also has a large moving range when the position of the whole surgical instrument is adjusted, and is easy to scratch and damage organ tissues in the human body.

SUMMERY OF THE UTILITY MODEL

The utility model provides a surgical instrument, which solves the problems that the flexibility of the surgical instrument is lower and the surgical instrument is difficult to adapt to the complicated human environment.

The utility model discloses the technical scheme who adopts does:

a surgical instrument comprises a steering joint, an operation body connected with one end of the steering joint, and an execution piece connected with the other end of the steering joint, and further comprises a traction unit; the steering joint is provided with a first steering area and a second steering area which are connected along the length direction of the steering joint; the first turning zone is provided with at least one first turning section, the traction unit comprises the same number of first traction rope assemblies as the first turning section, one end of each first traction rope assembly is connected with the operation body, the other end of each first traction rope assembly is connected with the first turning section, and the first turning section can deflect relative to the operation body in response to tension applied to the first traction rope assemblies; the second steering area is provided with at least one second steering section, the traction unit further comprises a same number of second traction rope assemblies as the second steering sections, one end of the second traction rope assemblies is connected with the operating body, the other end of the second traction rope assemblies is connected with the second steering section, and the second steering sections can deflect relative to the operating body in response to tension applied to the second traction rope assemblies.

Further, the first steering section comprises a plurality of first rotating pieces which are sequentially hinged along the length direction of the steering joint, and two adjacent first rotating pieces can deflect relatively; the second turns to the section including following turn to the articulated length direction of joint a plurality of second rotation pieces in proper order, and adjacent two the second rotation piece can deflect relatively.

Furthermore, the deflection directions of two adjacent first rotating members are mutually staggered; the deflection directions of two adjacent second rotating parts are mutually staggered.

Furthermore, one end of the first traction rope assembly sequentially penetrates through the first rotating piece and is fixed to the first rotating piece at the foremost end, and one end of the second traction rope assembly sequentially penetrates through the second rotating piece and is fixed to the second rotating piece at the foremost end.

Furthermore, first haulage rope subassembly includes many first haulage ropes, many first haulage rope is followed turn to joint radial two liang of relative set up in turn to joint's circumference, second haulage rope subassembly includes many second haulage ropes, many the second haulage rope is followed turn to joint radial two liang of relative set up in turn to joint's circumference.

Further, the projections of the first traction rope and the second traction rope on the transverse plane of the steering joint are mutually staggered.

Furthermore, the traction unit further comprises a third traction assembly for driving the executing piece to move, one end of the third traction assembly is connected with the operation main body, and the other end of the third traction assembly is connected with the executing piece so as to drive the executing piece to move relative to the operation main body.

Further, the executor includes the clamp, the clamp includes the pivot, and can wind pivot pivoted first clamping part and second clamping part, the third draw the one end of subassembly connect in the pivot, the third draws the subassembly to drive the pivot is followed the length direction of operation executor removes, so that the clamp presss from both sides tightly or relaxs.

Furthermore, one end of the clamp far away from the executive component is bent towards the direction far away from the axis of the surgical executor, so that the clamp is in a circular arc shape.

Further, the first steer zone is pivotally connected to the second steer zone to deflect relative to the second steer zone.

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

1. this application is through surgical instruments sets up turn to the joint, just it has to turn to the joint first turn to the district with the second turns to the district, through the pulling first haulage rope subassembly with the second haulage rope subassembly makes first turn to the district with the second turn to the district can respectively for the operation main part takes place to deflect, when one of them turn to the district and reach when the limit of deflecting still can't reach the operation position, medical personnel can control another turn to the district and deflect, makes turn to the joint deflection angle increase, reduce or change the direction of deflecting, finally reach the operation position, save operation time, and need not right surgical instruments's overall position is adjusted, surgical instruments moving as a whole is less, is difficult for taking place to interfere with human internal organ.

In addition, through the tension of haulage rope subassembly drives first turn to the section with the second turns to the section deflection, has improved power and is in transmission efficiency on the haulage rope subassembly makes it is more laborsaving to turn to articular control, just the haulage rope subassembly simple structure, radial size is less, is favorable to surgical instruments's whole miniaturization.

2. As a preferred embodiment of the present invention, the first turning section includes a plurality of first rotating members, and two adjacent first rotating members can relatively deflect; the second steering section comprises a plurality of second rotating members, and two adjacent second rotating members can deflect relatively. Adopt a plurality of rotation pieces to rotate each other and connect, turn to the joint turn to more nimble, every rotation piece can be to its adjacent the deflection of rotation piece carries out increment adjustment to make turn to the whole angle of deflection increase or reduce or change the direction of deflection of joint, improve turn to the flexibility of joint, be convenient for bypass internal organ tissue, accurately reach the operation position.

3. As a preferred embodiment of the present invention, one end of the first pulling rope assembly is fixed to the foremost first rotating member, and one end of the second pulling rope assembly is fixed to the foremost second rotating member. The haulage rope subassembly with foremost rotate a fixed connection for when the operator pulling during the haulage rope subassembly, the tension direct action of haulage rope subassembly is foremost rotate the piece, thereby makes foremost rotate the piece and take place to deflect towards the direction of anticipating, makes first turn to the section with the second turns to the deflection direction of section and controls more easily, and the pulling is more laborsaving, reduces the operation degree of difficulty, avoids first turn to the section with the second turns to the section and swings at will, influences medical personnel's operation.

4. As a preferred embodiment of the utility model, first haulage rope subassembly includes many first haulage ropes, many first haulage rope is followed turn to articular radial two liang of relative set up in turn to articular circumference, second haulage rope subassembly includes many second haulage ropes, many the second haulage rope is followed turn to articular radial two liang of relative set up in turn to articular circumference. The first traction ropes and the second traction ropes can enable the first steering section and the second steering section to deflect towards multiple directions respectively, so that the degree of freedom of the steering joint is greatly improved, and the first steering section and the second steering section can have different or same deflection directions and deflection angles, and the operation can be completed in a matched mode.

5. As a preferred embodiment of the present invention, the first steering zone is pivotally connected to the second steering zone to deflect relative to the second steering zone. The degree of freedom of the first steering area and the second steering area is improved, the moving range of the executing piece is enlarged, the steering joint can flexibly avoid organs and tissues in a human body, the organ and the tissues can accurately reach an operation position, and the interference and damage to the tissues of the human body caused by the movement of instruments are greatly reduced. And when the first steering area and the second steering area deflect, the joint of the first steering area and the second steering area is more gentle, and a relatively sharp corner cannot be generated, so that the contact between the steering joint and organ tissues in a human body is softer, and the risk of scratching the organ tissues is further reduced.

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 view of the surgical instrument according to one embodiment of the present application;

FIG. 2 is a cross-sectional view of the surgical instrument in accordance with one embodiment of the present application;

FIG. 3 is an enlarged view of area A of FIG. 1;

FIG. 4 is a schematic illustration of the deflection of the steering knuckle according to one embodiment of the present application;

FIG. 5 is a schematic illustration of the deflection of the steering knuckle according to another embodiment of the present application;

FIG. 6 is a schematic illustration of the deflection of the steering joint in accordance with yet another embodiment of the present application;

FIG. 7 is a schematic illustration of the deflection of the steering joint in accordance with yet another embodiment of the present application;

FIG. 8 is a schematic illustration of the deflection of the steering joint in accordance with yet another embodiment of the present application;

fig. 9 is a distribution diagram of the traction unit according to another embodiment of the present application.

Wherein:

1, a steering joint; 11 a first turning zone; 12 a second turnaround area; 111 a first steering section; 1111 a first rotating member; 1112 rotating the body; 1113 hinge convex edge; 1114 mating with the ledge; 1115 a first wire-passing channel; 1116 a third wire-passing channel; 12 a second turnaround area; 121 a second turning section; 1211 a second rotating member; 1212 a second wire passing channel;

2, an executing part; 21, clamping a clamp; 22 a rotating shaft; 23 a first clamping portion; 24 a second clamping portion;

3 a traction unit; 31 a first pull-cord assembly; 311 a first pull line; 32 a second pull-cord assembly; 321 a second pull cord; 33 third pulling assembly.

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", "circumferential", and the like, indicate orientations and positional relationships based on the orientations and positional relationships 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 specific orientation, be constructed and operated in a specific 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 9, a surgical instrument includes a steering joint 1, an operation body connected to one end of the steering joint 1, and an actuator 2 connected to the other end of the steering joint 1, and further includes a traction unit 3; the steering joint 1 is provided with a first steering area 11 and a second steering area 12 which are connected along the length direction of the steering joint; the first turning zone 11 is provided with at least one first turning section 111, the traction unit 3 comprises the same number of first traction rope assemblies 31 as the first turning sections 111, one end of the first traction rope assemblies 31 is connected with the operating body, the other end is connected with the first turning sections 111, and the first turning sections 111 can be deflected relative to the operating body in response to tension applied to the first traction rope assemblies 31; the second turning area 12 is provided with at least one second turning section 121, the traction unit 3 further comprises a same number of second traction rope assemblies 32 as the second turning sections 121, one end of the second traction rope assemblies 32 is connected to the operating body and the other end is connected to the second turning section 121, and the second turning sections 121 are deflectable relative to the operating body in response to tension applied to the second traction rope assemblies 32.

It should be noted that, the operation main body of the present application may be a handheld structure, which is held by a medical worker for performing an operation, or may be a table structure, and of course, the surgical instrument may also be connected to a surgical robot or other surgical equipment, so that the surgical instrument is used as an execution component of the surgical robot or surgical equipment, and cooperates with the surgical robot or surgical equipment to complete an operation, which is not specifically limited herein.

This application is through surgical instruments sets up turn to joint 1, just turn to joint 1 and have first turn to district 11 with the second turns to district 12, through the pulling first haulage rope subassembly 31 with second haulage rope subassembly 32 makes first turn to district 11 with second turn to district 12 can respectively for the operation main part takes place to deflect, in order to realize first turn to district 11 with the second turn to district 12 one of them is to the increment adjustment of another deflection of the two, reduces from this the holistic range of movement of surgical instruments makes surgical instruments's posture adjustment is more convenient, shortens operating time, alleviates medical personnel's fatigue, and can avoid because the scraping damage that the apparatus removal caused the human body.

It should be noted that the term "incremental adjustment" herein includes the cases listed in the following examples:

example 1: in this embodiment, as shown in fig. 4, when one of the turning areas reaches the deflection limit, the surgical site still cannot be reached, and at this time, the medical staff controls the other turning area to deflect in the same direction, that is, the deflection directions of the first turning area 11 and the second turning area 12 are the same, so as to increase the deflection angle of the whole turning joint 1, and at this time, the turning joint 1 can deflect 180 ° to perform surgical operation on the side and the back of the target area.

Example 2: in this embodiment, when one of the turning areas reaches the deflection limit and still cannot reach the surgical site, or interferes with the organ tissues in the human body, the medical staff controls the other turning area to deflect in the opposite direction, as shown in fig. 5 to 6, so that the deflection angle of the whole turning joint 1 is reduced, or as shown in fig. 7 to 8, the deflection directions of the first turning area 11 and the second turning area 12 are different, and finally the organ tissues are avoided and the surgical site is reached.

Compared with the mode of a single steering area, when the steering area reaches the deflection limit and still cannot reach the surgical site, or when the surgical instrument interferes with the tissue and organ in the human body, the medical staff can only manually adjust the position of the surgical instrument, and one of the first steering area 11 and the second steering area 12 of the surgical instrument can incrementally adjust the deflection of the other of the first steering area and the second steering area, so that the steering joint 1 has more postures and degrees of freedom, and when one of the steering areas reaches the deflection limit and still cannot reach the surgical site or interfere with the human body, the requirement of surgical operation can be met by adjusting the deflection angle or direction of the other steering area, the overall position of the surgical instrument does not need to be adjusted, the surgical time is greatly saved, and the operation difficulty is reduced.

In addition, the operator is through the pulling first haulage rope subassembly 31 with second haulage rope subassembly 32 makes first turn to section 111 with the second turns to section 121 and is in take place to deflect under the effect of haulage rope subassembly tension, the transmission of power is followed the axial of haulage rope subassembly, the transmission is comparatively direct, has improved power and is in transmission efficiency on the haulage rope subassembly makes it is more laborsaving to turn to articular control, and the operating means is simple, swift, easily goes up the hand, and medical personnel need not to spend a large amount of time study surgical instruments's use has improved the use experience. And the traction rope assembly is simple in structure and small in radial size, and the overall miniaturization of the surgical instrument is facilitated.

The first pulling rope assembly 31 and the second pulling rope assembly 32 may be a structure having a certain flexibility, such as a steel wire, a rope, a cable, etc., and are not particularly limited herein.

Preferably, the first steering zone 11 and the second steering zone 12 can be deflected in four directions, i.e., up, down, left, and right, so that the steering joint 1 has a large degree of freedom and is easy to control, thereby improving the stability of the surgical instrument.

The present invention is not particularly limited to the connection manner of the first turning area 11 and the second turning area 12, and preferably, as shown in fig. 1 to 8, the first turning area 11 and the second turning area 12 are pivotally connected to be deflected with respect to the second turning area 12.

For two turn to the mode that adopts rigid section to connect between the district, this application first turn to district 11 with second turn to district 12 pivotal connection, improved first turn to district 11 and the second turns to the degree of freedom of district 12, has enlarged turn to joint 1's home range, make turn to joint 1 can dodge open internal organ of human and tissue in a flexible way, and accurate operation position that reachs has reduced interference and damage because of the apparatus removes to human tissue causes by a wide margin. Moreover, when the first steering area 11 and the second steering area 12 deflect, the joint between the two is gentler, no sharp corner is generated, the contact between the steering joint 1 and organ tissues in the human body is gentler, and the risk of scratching the organ tissues is further reduced.

Of course, the first steering area 11 and the second steering area 12 may also be fixedly connected, or a rigid segment may be disposed to connect the two, so that the surgical instrument is easier to control and the operation difficulty is reduced.

It should be noted that, in the present application, the number of the first turning section 111 and the second turning section 121 is not specifically limited, and the number of the first turning section 111 and the second turning section 121 may be one as shown in fig. 1 to 8, or may be multiple according to actual needs, so as to meet different surgical needs.

The present application will be described in detail below by taking as an example that the first turning zone 11 is provided with one of the first turning sections 111 and the second turning zone 12 is provided with one of the second turning sections 121.

As a preferred embodiment of the present invention, as shown in fig. 2 to 8, the first turning section 111 includes a plurality of first turning pieces 1111 that are sequentially hinged along a length direction of the turning joint 1, and two adjacent first turning pieces 1111 can relatively deflect; the second turning segment 121 includes a plurality of second turning members 1211 sequentially hinged along a length direction of the turning joint 1, and two adjacent second turning members 1211 can relatively deflect.

Adopt a plurality ofly it connects to rotate each other, turn to joint 1's rotation more nimble, conveniently realize the swing of multi-angle each direction, be favorable to performing the operation in complicated environment. Of course, the first turning section 111 and the second turning section 121 may also be of a hose structure to increase the degree of freedom of the first turning section 111 and the second turning section 121, and are not limited in this respect.

Further, as shown in fig. 1 and fig. 3 to 8, the deflection directions of two adjacent first rotating members 1111 are mutually staggered; the deflection directions of two adjacent second rotating members 1211 are staggered. Preferably, the deflection directions of two adjacent rotating members are perpendicular to each other. Each of the rotating members can only deflect in two preset directions, so that the deflection directions of the first turning section 111 and the second turning section 121 are more controllable, and the operation is simpler.

In a specific embodiment, two adjacent rotating members can deflect in the vertical direction and the horizontal direction respectively, namely perform the left-right deflecting motion and the up-down pitching motion. Through the operation main part, can realize to the first section 111 that turns to with the control of the every single move of second section 121 that turns to and the control of the two degrees of freedom that deflect about with turn to under the certain condition in surgical instrument overall position, enlarge turn to the home range of joint 1, thereby increased the operation scope, avoided in the operation process the frequent removal of surgical instrument, reduced the scope and the range of surgical instrument overall movement, reduced by a wide margin because of interference and the damage that the apparatus removed and cause human tissue, and help reducing the trompil size at the human body, made things convenient for the healing of patient's wound, pleasing patient's experience.

In the following, the structure of the first rotating member 1111 and the second rotating member 1211 (hereinafter collectively referred to as "rotating members") in the present application will be described in further detail by taking a preferred embodiment as an example, and for convenience of description, the orientation of the actuator 2 along the axial direction of the steering joint 1 will be defined as front, and the orientation of the operating body will be defined as rear:

as shown in fig. 2 to 8, the rotating member is of a ring structure, and the rotating member includes a rotating body 1112, two opposite positions at the front end of the rotating body 1112 are respectively provided with a hinge convex edge 1113, the hinge convex edge 1113 extends and protrudes forwards, two opposite positions at the rear end of the rotating body 1112 are respectively provided with a matching convex edge 1114, and the relative orientation of the two matching convex edges 1114 and the relative orientation of the two hinge convex edges 1113 are perpendicular to each other, for example, the two hinge convex edges 1113 are arranged oppositely in the up-down direction, and the two matching convex edges 1114 are arranged oppositely in the left-right direction, wherein the hinge convex edge 1113 of one of the rotating members (for convenience of description, it is defined as a first joint) is matched with the matching convex edge 1111114 of the rotating member (for convenience of description, it is defined as a second joint), and the hinge of the first joint and the second joint is realized by a pivot shaft, the matching convex edge 1114 of the first joint is matched with the hinge convex edge 1113 of the rotating part (defined as a third joint for convenience of description) behind the first joint, and the first joint and the third joint are hinged through a pivot shaft, and in the same way, the sequential hinge of the rotating parts is realized, and the control of the deflection angles of the rotating parts in four directions is realized.

As a preferred example of the present embodiment, as shown in fig. 2 to 3, one end of the first traction rope assembly 31 sequentially passes through the first rotating member 1111 and is fixed to the first rotating member 1111 at the foremost end, and one end of the second traction rope assembly 32 sequentially passes through the second rotating member 1211 and is fixed to the second rotating member 1211 at the foremost end.

It should be noted that the "front end" herein is an orientation of the actuating member 2, i.e., an orientation of the surgical instrument toward the patient, and the "rear end" is an orientation of the operating body, i.e., an orientation toward the operator.

If the first pulling rope assembly 31 is connected to the middle or rear end of the first turning section 111 and the second pulling rope assembly 32 is connected to the middle or rear end of the second turning section 121, when an operator pulls the first pulling rope assembly 31 and the second pulling rope assembly 32, the tension of the pulling rope assemblies directly acts on the middle or rear ends of the first turning section 111 and the second turning section 121, and therefore, the front ends of the first turning section 111 and the second turning section 121 are not directly stressed, and are easily deviated from an ideal deflection direction or angle when being deflected, so that the steering joint 1 is randomly swung, and the operation cannot be performed according to an ideal posture.

The first traction rope assembly 31 is fixedly connected with the first rotating member 1111 at the frontmost end, the second traction rope assembly 32 is fixedly connected with the second rotating member 1211 at the frontmost end, so that when an operator pulls the first traction rope assembly 31 and the second traction rope assembly 32, the tension of the first traction rope assembly 31 directly acts on the first rotating member 1111 at the frontmost end, and the tension of the second traction rope assembly 32 directly acts on the second rotating member 1211 at the frontmost end, thereby enabling the first rotating member 1111 and the second rotating member 1211 at the frontmost end to deflect towards the expected direction, making the deflection direction of the first steering section 111 and the second steering section 121 easier to control, and the pulling is more labor-saving, the operation difficulty is reduced, the first steering section 111 and the second steering section 121 are prevented from swinging randomly, affecting the operation of medical personnel.

As a preferred embodiment of the present embodiment, as shown in fig. 3 and 7-8, the first rotating body 1111 is opened with first through holes, and the first through holes are communicated with each other to cooperatively form a first wire passing channel 1115 for the first pulling rope assembly 31 to pass through; the second rotating body 1211 is provided with second through holes, and the second through holes are communicated with each other to cooperate with each other to form a second wire passing channel 1212 for the second pulling rope assembly 32 to pass through.

The first wire passing channel 1115 and the second wire passing channel 1212 have a protection effect on the first traction rope assembly 31 and the second traction rope assembly 32, so that the first traction rope assembly 31 and the second traction rope assembly 32 are both located inside the steering joint 1, and the traction rope assemblies are prevented from being exposed outside the surgical instrument, so that abrasion is avoided, and the service life is shortened; on the other hand the line passing channel is right the haulage rope subassembly plays limiting displacement, makes the haulage rope subassembly remains throughout in the line passing channel, prevents the haulage rope subassembly skew extremely the surgical instruments outside causes the influence to operator's sight, shelters from medical personnel's operation field of vision.

Taking the case that the first pulling rope assembly 31 pulls the first turning section 111 to deflect, when an operator needs to deflect the first turning section 111 to the right, the first pulling rope assembly 31 on the right needs to be pulled, at this time, the pulling rope assembly 31 on the right is pulled to be tightened, and the first pulling rope assembly 31 on the left opposite to the pulling rope assembly on the left is in a released state, so that the first pulling rope assembly 31 is easy to move. The first wire passage 1115 confines the first pull-cord assembly 31 therein to prevent a portion of the first pull-cord assembly 31 from being outside the steering joint 1 due to play of the first pull-cord assembly 31, thereby obstructing the view of the operator.

As a preferred embodiment of the present invention, as shown in fig. 1-3 and fig. 9, the first hauling rope assembly 31 includes a plurality of first hauling ropes 311, and a plurality of first hauling ropes 311 are along the steering joint 1, two radial pairs of opposite sets up in the steering joint 1 circumference, the second hauling rope assembly 32 includes a plurality of second hauling ropes 321, and a plurality of the second hauling ropes 321 are along the steering joint 1, two radial pairs of opposite sets up in the steering joint 1 circumference.

The first traction ropes 311 and the second traction ropes 321 control the steering joint 1 to deflect towards all directions, so that the flexibility of the steering joint 1 is improved, the operation difficulty is reduced, and the use experience is pleased.

Preferably, as shown in fig. 9, the first traction ropes 311 are provided in two sets, each set of the first traction ropes 311 is disposed on the circumference of the steering joint 1 in a radial direction of the steering joint 1, each set of the second traction ropes 321 is provided in two sets, and each set of the second traction ropes 321 is disposed on the circumference of the steering joint 1 in a radial direction of the steering joint 1.

Preferably, the first traction rope 311 and the second traction rope 321 are steel wires, in order to conveniently control the deflection angles of the first steering section 111 and the second steering section 121 in the up-down direction and the left-right direction, two steel wires of one group of the first traction rope 321 are arranged on two sides of the steering joint 1 in the vertical direction, two steel wires of the other group of the first traction rope 311 are arranged on two sides of the steering joint 1 in the horizontal direction, and two groups of the second traction ropes 321 are arranged in the same form, and in the operation process, the two steel wires opposite to each other are regulated and controlled in a loose and tight manner, so that the first steering section 111 and the second steering section 121 can be respectively deflected towards one tensioned side, and the posture of the steering joint 1 can be adjusted. Of course, the steel wire may also be a plurality of wires, wound or otherwise formed into the first pulling rope 311 and the second pulling rope 321.

The two sets of the first pulling rope 311 and the second pulling rope 321 can deflect the first turning section 111 and the second turning section 121 towards four directions (such as up, down, left and right directions), so that the degree of freedom of the steering joint 1 is greatly improved, and the first turning section 111 and the second turning section 121 can have different or the same deflection directions and deflection angles, thereby completing the operation cooperatively.

It should be noted that, in the present application, the structures of the first pulling rope 311 and the second pulling rope 321 are not specifically limited, and they may be formed by winding a single wire or cable, or multiple wires or cables, and are not specifically limited herein.

As a preferred example of this embodiment, as shown in fig. 9, the projections of the first traction rope 311 and the second traction rope 321 on the transverse plane of the knuckle 1 are staggered with each other.

The first traction rope 311 and the second traction rope 321 are arranged in a staggered mode, so that an operator can be effectively prevented from pulling the first traction rope 311 and the second traction rope 321, the first traction rope 311 and the second traction rope 321 are interfered or wound to generate large friction resistance, the pulling difficulty is caused, and the use is inconvenient.

As a preferred embodiment of the present application, as shown in fig. 2 and fig. 9, the traction unit 3 further includes a third traction assembly 33 for driving the actuating member 2 to move, one end of the third traction assembly 33 is connected to the operating body, and the other end is connected to the actuating member 2 to drive the actuating member 2 to move relative to the operating body.

It should be noted that, the structure of the actuating element 2 is not specifically limited in the present application, and may be a surgical forceps, an endoscope, or other structures to meet different surgical needs. Similarly, the movement mode of the executing component 2 is not particularly limited in the present application, for example, when the executing component is a surgical forceps, the movement mode of the surgical forceps may be a clamping movement, and when the executing component is an endoscope, the movement mode of the endoscope may be a rotation movement.

As a preferred embodiment of the present embodiment, as shown in fig. 1 to 8, the actuating member 2 includes a clamp 21, the clamp 21 includes a rotating shaft 22, and a first clamping portion 23 and a second clamping portion 24 capable of rotating around the rotating shaft 22, one end of the third pulling member 33 is connected to the rotating shaft 22, and the third pulling member 33 drives the rotating shaft 22 to move along the length direction of the steering joint 1, so as to clamp or loosen the clamp 21.

In this embodiment, the third pulling member 33 is a flexible structure such as a steel wire or a cable. In use, an operator pulls the third pulling assembly 33 to move the rotating shaft 22 towards the rear end (towards one end of the operating body) in response to the tension applied to the third pulling assembly 33, so as to drive the first clamping portion 23 and the second clamping portion 24 to rotate in opposite directions, and finally, the first clamping portion 23 and the second clamping portion 24 are contacted and clamped, so that the clamp 21 is clamped. On the contrary, the third pulling assembly 33 pushes the rotating shaft 22 to move towards the front end, so as to drive the first clamping portion 23 and the second clamping portion 24 to rotate towards opposite directions, thereby realizing the loosening of the clamp 21.

Preferably, as shown in fig. 2 and 9, the third traction assembly 33 is coaxially disposed with the steering joint 1, so that the force receiving direction of the rotating shaft 22 coincides with the axis of the third traction assembly 33, the force transmission effect of the third traction assembly 33 is better, the pulling is more labor-saving, and the use by an operator is facilitated.

As a specific example of the present embodiment, as shown in fig. 2 and fig. 4 to 8, the opposite side of the first clamping portion 23 and the second clamping portion 24 is provided with engaging teeth to improve the clamping force of the clamp 21. Of course, the side opposite to the first clamping portion 23 and the second clamping portion 24 may be provided with other structures, such as friction lines.

Further, as shown in fig. 3 and 8, a third wire passing channel 1116 through which a third pulling assembly 33 passes is formed in the center of the steering joint 1, and the third pulling assembly 33 is located in the third wire passing channel 1116 to protect the third pulling assembly 33 and form a movement limit, so as to prevent the third pulling assembly 33 from moving.

Further, one end of the clamp 21 is bent in a direction away from the axis of the knuckle 1 so that the clamp 21 has an arc shape.

Clamp 21 is circular-arc, makes things convenient for medical personnel to control the accurate arrival of clamp 21 is hindered and is suffered from the position department to make medical personnel have a better field of vision, be convenient for observe in real time and hinder the condition of affected part and the state of clamp 21 improves and uses experience.

It should be noted that the surgical instrument of the present invention is particularly suitable for small-bore surgery such as single-hole surgery or minimally invasive surgery, and of course, can also be applied to other types of surgery.

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

1. A surgical instrument comprises a steering joint, an operation body connected with one end of the steering joint, and an execution piece connected with the other end of the steering joint, and further comprises a traction unit; it is characterized in that the preparation method is characterized in that,

the steering joint is provided with a first steering area and a second steering area which are connected along the length direction of the steering joint; the first turning zone is provided with at least one first turning section, the traction unit comprises the same number of first traction rope assemblies as the first turning section, one end of each first traction rope assembly is connected with the operation body, the other end of each first traction rope assembly is connected with the first turning section, and the first turning section can deflect relative to the operation body in response to tension applied to the first traction rope assemblies; the second steering area is provided with at least one second steering section, the traction unit further comprises a same number of second traction rope assemblies as the second steering sections, one end of the second traction rope assemblies is connected with the operating body, the other end of the second traction rope assemblies is connected with the second steering section, and the second steering sections can deflect relative to the operating body in response to tension applied to the second traction rope assemblies.

2. A surgical instrument according to claim 1,

the first steering section comprises a plurality of first rotating pieces which are sequentially hinged along the length direction of the steering joint, and two adjacent first rotating pieces can deflect relatively;

the second turns to the section including following turn to the articulated length direction of joint a plurality of second rotation pieces in proper order, and adjacent two the second rotation piece can deflect relatively.

3. A surgical instrument according to claim 2,

the deflection directions of two adjacent first rotating members are staggered; the deflection directions of two adjacent second rotating parts are mutually staggered.

4. A surgical instrument according to claim 3,

one end of the first traction rope assembly sequentially penetrates through the first rotating piece and is fixed to the first rotating piece at the foremost end, and one end of the second traction rope assembly sequentially penetrates through the second rotating piece and is fixed to the second rotating piece at the foremost end.

5. A surgical instrument according to claim 1,

the first traction rope assembly comprises a plurality of first traction ropes, the first traction ropes are arranged on the circumference of the steering joint in a radial two-two opposite mode, the second traction rope assembly comprises a plurality of second traction ropes, and the second traction ropes are arranged on the circumference of the steering joint in a radial two-two opposite mode.

6. A surgical instrument according to claim 5,

the projections of the first traction rope and the second traction rope on the transverse section of the steering joint are mutually staggered.

7. A surgical instrument according to claim 1,

the traction unit further comprises a third traction assembly for driving the executing piece to move, one end of the third traction assembly is connected with the operation main body, and the other end of the third traction assembly is connected with the executing piece so as to drive the executing piece to move relative to the operation main body.

8. A surgical instrument according to claim 7,

the executive component comprises a clamp, the clamp comprises a rotating shaft and can wind the first clamping part and the second clamping part which rotate through the rotating shaft, one end of the third traction component is connected to the rotating shaft, the third traction component drives the rotating shaft to move along the length direction of the steering joint, so that the clamp is clamped or loosened.

9. A surgical instrument according to claim 8,

one end of the clamp far away from the executing piece is bent towards the direction far away from the axis of the steering joint, so that the clamp is in an arc shape.

10. A surgical instrument according to claim 1,

the first diverting area is pivotally connected to the second diverting area to deflect relative to the second diverting area.