CN215273290U

CN215273290U - Surgical instrument with separated structure

Info

Publication number: CN215273290U
Application number: CN202120728779.4U
Authority: CN
Inventors: 王雨溥
Original assignee: Agile Medical Technology Suzhou Co ltd
Current assignee: Agile Medical Technology Suzhou Co ltd
Priority date: 2021-04-09
Filing date: 2021-04-09
Publication date: 2021-12-24
Anticipated expiration: 2031-04-09

Abstract

The utility model discloses a surgical instrument with a separated structure, which relates to the technical field of medical instruments and comprises a driving unit and an execution unit, wherein the driving unit comprises an instrument power box and a first plug-in module, and the execution unit comprises an executor and a second plug-in module; the first plug-in module comprises a first coupling part, the second plug-in module comprises a second coupling part, and the first coupling part is coupled with the second coupling part; the instrument power box is connected with the upper end of the first plug-in module, and the lower end of the second plug-in module is connected with the actuator. The utility model discloses a structure can quick separation change apparatus power box end and executor end, and apparatus power box can reuse many times, has reduced use cost.

Description

Surgical instrument with separated structure

Technical Field

The utility model belongs to the technical field of the medical instrument technique and specifically relates to a surgical instrument with disconnect-type structure is related to.

Background

Surgical robots assist in minimally invasive surgery and are becoming mature and widely used. In the operation of the surgical robot, a doctor sends an instruction through the master control end, and the multiple mechanical arms at the slave end are operated to cooperate with each other to complete the operation at a specified position. The surgical robot medical instrument is used as a tool for operating the tail end of the slave end, is arranged on the slave end mechanical arm in a quick connection and disassembly mode, and can integrally comprise two parts: an instrument power cartridge and an actuator; the instrument power box is used as a power transmission structure, transmits power from the mechanical arm to the executive device, and controls the executor to complete various actions. The surgical robot medical instrument is more in operation types in order to better adapt to different surgical processes, and is divided into a clamp, scissors, a hook and the like according to different functions. Each operation requires 4-5 or more to assist the surgeon in completing one operation. However, the instruments are expensive to manufacture and complex to clean and disinfect, and are mostly used for one time or limited times, and the actuator end is easy to break down and cannot be replaced, so that the whole surgical robot medical instrument cannot be used once the actuator end breaks down. Such problems are solved, and the surgical robot assists in operation, so that the treatment cost of a patient is increased, and the medical staff is inconvenient to popularize due to the complicated disinfection work of medical instruments.

Chinese patent CN102119872B discloses a compact quick-change mechanism of a minimally invasive surgical robot, which comprises a quick-change box and a quick-change base, and mainly comprises a transmission mechanism, a limiting locking mechanism, a driving system, etc., wherein a quick-change box connecting part is connected with the end of a tool with a wrist function through a rotation shaft, and the quick-change box can slide rapidly along a concave chute of the quick-change base, thereby realizing the replacement of surgical tools. And the limiting locking mechanism arranged at the tail end of the quick-change base limits and fixes the quick-change box which slides into the quick-change base. The transmission mechanisms are divided into four groups, the four groups of transmission mechanisms are similar in structure, four degrees of freedom at the tail end of the tool are finally realized in a wire transmission mode through the servo motors, and the fixing and tensioning of the transmission steel wires can be realized through the wire fixing wheel assemblies in the transmission mechanisms. The driving system consists of a servo motor and a harmonic reducer and is fixed on a base frame of the quick-change base through threaded connection. The device has the advantages of compact structure, light weight, reliable transmission, high quick-change efficiency and the like.

Chinese patent CN110384556A is a quick-change mechanism, an instrument clamping hand using the same, and a surgical robot, wherein the quick-change mechanism simultaneously realizes two functions of clamping a device to be fixed and locking a zero position through a buckle, or further realizes a function of retracting a rotary connector to the inside of a base housing. The quick-change mechanism provided by the invention belongs to a pure mechanical structure, can realize convenient and quick disassembly and replacement between an instrument clamping hand and a surgical operation robot base, is time-saving and efficient, and is accurate in positioning.

Chinese patent CN211381520U relates to a surgical instrument connection device capable of being quickly mounted and dismounted, which solves the technical problems of high instrument replacement structure cost, low reliability and complex operation in the existing minimally invasive surgical robot system, and comprises a stab card, a puncture outfit connection seat, an instrument adapter seat and a quick change interface, wherein the instrument adapter seat comprises a separation plate and a connection plate seal ring, the separation plate is provided with a stepped hole, a middle connecting wheel is arranged in the stepped hole, the top surface of the middle connecting wheel is provided with two top surface waist-shaped holes, the bottom surface of the middle connecting wheel is provided with two bottom surface waist-shaped holes, the stepped hole is provided with a slot, and a protrusion on the connection plate seal ring is inserted into the slot; the side surface of the isolation plate is connected with a conductive copper sheet; the quick-change interface comprises a quick-change base, a shell, a driving assembly, a driving motor, a contact switch and a motor sliding shaft connecting seat; the puncture outfit connecting seat is connected with the poking card. The utility model discloses extensively be used for medical instrument technical field.

The above-mentioned patents are all related to the technical field of medical instruments, but CN102119872B finally realizes four degrees of freedom of the tool tip in the form of wire transmission, and the structure of patents CN110384556A and CN211381520U is complicated, and the above-mentioned technical problems still exist.

SUMMERY OF THE UTILITY MODEL

Based on the technical problems, the utility model provides a surgical instrument with a separated structure;

in order to realize the utility model discloses a purpose, the utility model discloses a technical scheme as follows:

a surgical instrument with a separated structure comprises a driving unit and an execution unit, wherein the driving unit comprises an instrument power box and a first plug-in module; the first plug-in module comprises a first coupling part, the second plug-in module comprises a second coupling part, and the first coupling part is coupled with the second coupling part; the instrument power box is connected with the upper end of the first plug-in module, and the lower end of the second plug-in module is connected with the actuator.

Furthermore, first grafting module includes on first plug base and the plurality to the plug subassembly, go up to the plug subassembly and install on first plug base, go up to the terminal of plug subassembly and be equipped with first coupling portion.

Furthermore, first grafting module still includes first elastic element, first tensioning separation blade and first manual hasp, first elastic element includes first tensioning spring and first locking spring, and the one end and the first tensioning separation blade of first tensioning spring are connected, and first locking spring links to each other with first manual hasp.

Furthermore, a clamping groove is formed in the upper end of the upper plug assembly, and a plurality of shifting pieces are arranged on the first tensioning blocking piece.

Further, the first plug base includes a first notch and a first rotation axis; one end of the first manual lock catch is provided with a first lock tongue, a first notch is formed in the position corresponding to the first lock tongue, and the first notch is matched with the first lock tongue.

Furthermore, the first plug base further comprises a first base connecting rod, one end of the first base connecting rod is provided with a third notch, and one end of the first bolt is provided with a fourth notch; and in the decoupling state, the fourth notch is matched with the shifting piece of the first tensioning blocking piece.

Furthermore, the first plug-in module comprises a first supporting piece, a first indication mark used for marking the plug-in positions of the first plug-in module and the second plug-in module is arranged on the first supporting piece, and the lower end of the first supporting piece is connected with the first plug base.

Further, the instrument power box comprises a power transmission module, and the power transmission module is connected with the upper end of the first supporting piece.

Further, the power transmission module comprises a driving piece, the driving piece is a cable assembly or a rigid rod, and one end of the driving piece is rigidly connected with the upper pair of plug assemblies.

Furthermore, the second plug-in module includes second plug base and a plurality of lower to plug subassembly, install on second plug base down to plug subassembly, be equipped with second coupling portion down to the terminal of plug subassembly.

Furthermore, the second plug-in module further comprises a second elastic unit, a second tensioning blocking piece and a second manual lock catch, the second elastic unit comprises a second tensioning spring and a second locking spring, one end of the second tensioning spring is connected with the second tensioning blocking piece, and the second locking spring is connected with the second manual lock catch.

Furthermore, a clamping groove is formed in the lower end of the lower plug assembly, and a plurality of shifting pieces are arranged on the second tensioning blocking piece.

Further, the second plug base comprises a second notch and a second rotating shaft, a second lock tongue is arranged at one end of the second manual lock catch, the second notch is formed in the position corresponding to the second lock tongue, the second notch is matched with the second lock tongue, and the second rotating shaft penetrates through the second tensioning separation blade to be inserted into the second tensioning spring.

Furthermore, the second plug base further comprises a second base connecting rod, one end of the second base connecting rod is provided with a fifth notch, and one end of the second bolt is provided with a sixth notch; and in a coupling state, the fifth notch is matched with the shifting sheet of the first tensioning blocking sheet, the third notch is matched with the shifting sheet of the second tensioning blocking sheet, and in a decoupling state, the sixth notch is matched with the shifting sheet of the second tensioning blocking sheet.

Furthermore, the second plug-in module comprises a second supporting piece, a second indicating mark used for marking the plug-in positions of the first plug-in module and the second plug-in module is arranged on the second supporting piece, the upper end of the second supporting piece is connected with the second plug base, and the lower end of the second supporting piece is connected with the actuator.

Compared with the prior art, the beneficial effects of the utility model are embodied in that:

(1) the utility model adopts a structure that the power box end and the actuator end of the instrument can be quickly separated and replaced, the power box of the instrument can be repeatedly used, and the use cost is reduced;

(2) the utility model discloses simple structure and easily operation provide work efficiency, have reduced the loaded down with trivial details procedure of executor end use back disinfection, and have alleviateed working strength for medical staff.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural diagram of a driving unit in the first embodiment;

FIG. 3 is a bottom schematic view of the instrument power cartridge;

fig. 4 is an exploded view of the structure of the first plug-in module;

FIG. 5 is an enlarged view of a portion of FIG. 4;

fig. 6 is an exploded view of the structure of the second plug-in module;

FIG. 7 is a schematic structural view of an actuator in the first embodiment;

FIG. 8 is a partial installation schematic of the first embodiment;

FIG. 9 is a schematic cross-sectional view of a first pair of plugs in the first embodiment;

FIG. 10 is a schematic view showing the connection of a first coupling part and a second coupling part in the embodiment;

FIG. 11 is a schematic view of the connection of the first tensioning tab to the fifth slot in the first embodiment;

FIG. 12 is a schematic view of the connection of the second tensioning flap to the third slot in the first embodiment;

FIG. 13 is a partial schematic view of the first tensioning tab and the fifth slot in the first embodiment;

FIG. 14 is a partial schematic view of a second tensioning flap and a third slot in the first embodiment;

FIG. 15 is a schematic structural view of the second embodiment;

FIG. 16 is a diagram of an execution unit in the second embodiment;

fig. 17 is a schematic structural diagram of a first plug-in module in the second embodiment;

the reference numbers are as follows: 1. a drive unit; 10. an instrument power cartridge; 101. a power transmission module; 1010. a gear; 1011. a first cable; 1012. a second cable; 1013. a third cable; 1014. a fourth cable; 1015. a fifth cable; 1016. a sixth cable; 1017. a reel assembly; 11. a first plug-in module; 110. a first plug base; 1101. a first notch; 1102. a first positioning member; 1103. a first base connecting rod; 1104. a first rotating shaft; 1105. a third notch; 111. an upper pair of plug assemblies; 1110. a first coupling part; 1111. a first upper pair of plugs; 1112. a second upper pair of plugs; 1113. a third upper pair of plugs; 1114. a fourth upper pair of plugs; 1115. a fifth upper pair of plugs; 1116. a sixth upper pair of plugs; 112. a first manual latch; 1121. a first bolt; 1122. a fourth notch; 113. a first support member; 114. a first elastic unit; 1141. a first tension spring; 1142. a first locking spring; 115. a first tensioning stop sheet; 1150. a shifting sheet; 2. an execution unit; 20. an actuator; 201. an actuator base; 202. a jaw assembly; 2021. a first jaw; 2022. a second jaw; 203. a rotating shaft assembly; 2031. a first joint rotation shaft; 2032. a second joint rotation shaft; 2033. a third joint shaft; 204. a pitch module; 205. a guide wheel assembly; 2051. a first set of guide wheels; 2052. a second set of guide wheels; 2053. a third set of guide wheels; 2054. a fourth set of guide wheels; 21. a second plug-in module; 210. a second plug base; 2101. a second notch; 2102. a second positioning member; 2103. a second base connecting rod; 2104. a second rotation shaft; 2105. a fifth notch; 211. a lower pair of plug assemblies; 2110. a second coupling part; 2111. a first lower pair of plugs; 2112. a second lower pair of plugs; 2113. a third lower pair of plugs; 2114. a fourth lower pair of plugs; 2115. a fifth lower pair of plugs; 2116. a sixth lower pair of plugs; 212. a second manual lock catch; 2121. a second bolt; 2122. a sixth notch; 213. a second support member; 214. a second elastic unit; 2141. a second tension spring; 2142. a second locking spring; 215. a second tensioning baffle; 221 a seventh cable; 222. an eighth cable; 223. a ninth cable; 224. a tenth cable; 225. an eleventh cable; 226. a twelfth cable; 23. a rigid drive rod assembly; 24. a push rod assembly.

Detailed Description

In order to make the objects and technical solutions of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the following embodiments.

Example 1

1-14, the surgical instrument comprises a drive unit 1 and an execution unit 2, the drive unit 1 comprises an instrument power box 10 and a first plug-in module 11, and the execution unit 2 comprises an actuator 20 and a second plug-in module 21; the first plug-in module 11 includes a first coupling part 1110, the second plug-in module 21 includes a second coupling part 2110, and the first coupling part 1110 and the second coupling part 2110 are coupled.

The first plug-in module 11 includes a first plug base 110 and a plurality of upper pair plug assemblies 111, as shown in fig. 4, the upper pair plug assemblies 111 include six upper pair plugs, which can be a first upper pair plug 1111, a second upper pair plug 1112, a third upper pair plug 1113, a fourth upper pair plug 1114, a fifth upper pair plug 1115, and a sixth upper pair plug 1116; the upper plug component 111 is mounted on the first plug base 110, a first coupling portion 1110 is arranged at the tail end of the upper plug component 111, at least one clamping groove is formed in the upper end portion of the upper plug component 111, the first coupling portion 1110 is arranged at the tail end of the upper plug component 111, and one end of the power transmission module 101 is rigidly connected with the upper plug component 111. The first coupling part 1110 of the upper pair of plug assemblies 111 as shown in fig. 10 may be provided with a hole structure but is not limited to the hole structure. The axial cross-section of the upper pair of plug assemblies 111 as shown in fig. 9 may be a sector, a quadrangle, etc. for ensuring that the respective upper pair of plugs do not rotate by themselves, except for a circle.

The first plug-in module 11 further includes a first elastic unit 114, a first tensioning block piece 115 and a first manual locking buckle 112, the first elastic unit 114 includes a first tensioning spring 1141 and a first locking spring 1142, one end of the first tensioning spring 1141 is connected to the first tensioning block piece 115, and the first locking spring 1142 is connected to the first manual locking buckle 112. The first manual-lock catch 112 is provided on an outer surface of the first plug base 110. A clamping groove is formed in the upper end portion of the upper plug component 111, and a plurality of shifting pieces 1150 are arranged on the outer side of the first tensioning blocking piece 115.

The first plug base 110 further includes a first slot 1101, a first base connecting rod 1103 and a first rotating shaft 1104, a first locking tongue 1121 is disposed at one end of the first manual locking catch 112, the first slot 1101 is disposed at a position corresponding to the first locking tongue 1121, the first slot 1101 is matched with the first locking tongue 1121, and when the first plug-in module 11 and the second plug-in module 21 are completely butted, the first locking tongue 1121 is inserted into the first slot 1101 to limit the degree of freedom of the first plug base 110. A third slot 1105 is formed at one end of the first base connecting rod 1103, and a fourth slot 1122 is formed at one end of the first latch 1121; the first rotation shaft 1104 is inserted into the first tension spring 1141 through the first tension fence 115.

The first plug-in module 11 further includes a first supporting member 113, a first indication mark for identifying the plug-in position of the first plug-in module 11 and the second plug-in module 21 is disposed on the first supporting member 113, and the lower end of the first supporting member 113 is connected to the first plug base 110.

The instrument power box 10 comprises a power transmission module 101, wherein the power transmission module 101 is connected with the first plug-in module 11, and the upper end of the first supporting piece 113 is connected with the power transmission module 101. The outer surface of the first supporting member 113 is provided with a slot, the first manual locking buckle 112 is movably disposed at the inner side of the first supporting member 113 corresponding to the slot, and the first locking spring 1142 and the first manual locking buckle 115 are disposed on the same horizontal line along the axial direction of the first supporting member 113.

As shown in fig. 2, the power transmission module 101 includes a driving member, one end of the driving member is rigidly connected to the upper pair of plug assemblies 111, the driving member may include a cable assembly, a reel assembly 1017 and a gear 1010, a rotating shaft of the gear 1010 passes through a bottom plate of the power box 10, and the gear 1010 passes through the rotating shaft of the bottom plate and is connected to an upper end of the first supporting member 113 by welding or other rigid connection. The reel assembly 1017 shown in fig. 2 includes a first reel, a second reel, and a third reel.

The cable assembly as shown in fig. 3 and 4 includes a first cable 1011, a second cable 1012, a third cable 1013, a fourth cable 1014, a fifth cable 1015, a sixth cable 1016; the first cable 1011 and the second cable 1012 are wound on a first reel, the third cable 1013 and the fourth cable 1014 are wound on a second reel, the fifth cable 1015 and the sixth cable 1016 are wound on a third reel, one end of the first cable 1011 is rigidly connected with the upper pair of plug components, one end of the second cable 1012 is rigidly connected with the second upper pair of plug 1112, one end of the third cable 1013 is rigidly connected with the third upper pair of plug 1113, one end of the fourth cable 1014 is rigidly connected with the fourth upper pair of plug 1114, one end of the fifth cable 1015 is rigidly connected with the fifth upper pair of plug 1115, and one end of the sixth cable 1016 is rigidly connected with the sixth upper pair of plug 1116. The upper pair of plug assemblies 111 mounted on the first plug base 110 can perform up-and-down movement along the axial direction of the first support 113 by retracting and releasing the cable assembly, and the shape of the upper pair of plug assemblies 111 itself restricts rotational movement thereof. The number of cables and the number of sheaves are not limited, and preferably, the ratio of the number of cables to the number of sheaves is 2: 1.

the second plug-in module 21 includes a second plug base 210 and a plurality of lower pair of plug assemblies 211, the lower pair of plug assemblies 211 are mounted on the second plug base 210, at least one locking slot is provided at the lower end of the lower pair of plug assemblies 211, a second coupling portion 2110 is provided at the upper end of the lower pair of plug assemblies 211, the shape of the second coupling portion 2110 is not limited, the second coupling portion 2110 and the first coupling portion 1110 are coupled with each other, and the second coupling portion 2110 on the lower pair of plug assemblies 211 shown in fig. 10 may be cylindrical but is not limited to a cylindrical structure. As shown in fig. 6, the lower pair of plug assemblies 211 are provided with six lower pair plugs, which may be a first lower pair plug 2111, a second lower pair plug 2112, a third lower pair plug 2113, a fourth lower pair plug 2114, a fifth lower pair plug 2115, and a sixth lower pair plug 2116; the axial cross section of the lower pair of plug assemblies 211 can be fan-shaped, quadrilateral, etc., and is the same as the cross section of the upper pair of plug assemblies, so as to ensure that the lower pair of plugs do not rotate per se, except for a circle. The lower end of the second plug-in module 21 is connected with the actuator 20; the power transmission module 101 drives the first plug-in module 11 to move, the first plug-in module 11 drives the second plug-in module 21 coupled with the first plug-in module, and then the second plug-in module 21 drives the actuator 20 connected with the second plug-in module to rotate.

The second plug-in module 21 further includes a second elastic unit 214, a second tensioning stop piece 215, a second manual latch 212 and a second support member 213, the second elastic unit 214 includes a second tensioning spring 2141 and a second locking spring 2142, one end of the second tensioning spring 2141 is connected to the second tensioning stop piece 215, and the second locking spring 2142 is connected to the second manual latch 212. The second support member 213 is provided with a second indication mark for identifying the plugging position of the first plugging module 11 and the second plugging module 21, the lower end of the lower plug assembly 211 is provided with a clamping groove, and the outer side of the second tensioning blocking piece 215 is provided with a plurality of shifting pieces 1150. The second manual latch 212 is disposed on an outer surface of the second plug base 210, and one end of the second manual latch 212 is provided with a second locking tongue 2121, and the second locking tongue 2121 limits a degree of freedom of the second plug base 210. The upper end of the second supporting member 213 is connected to the second plug base 210, a slot is disposed on the outer surface of the second supporting member 213, the second manual latch 212 is movably disposed at the inner side of the second supporting member 213 corresponding to the slot, and the second locking spring 2142 and the second manual latch 212 are disposed on the same horizontal line along the axial direction of the second supporting member 213.

The second plug base 210 comprises a second notch 2101, a second base connecting rod 2103 and a second rotating shaft 2104, one end of the second manual lock catch 212 is provided with a second lock tongue 2121, the second notch 2101 is opened at a position corresponding to the second lock tongue 2121, and the second notch 2101 is matched with the second lock tongue 2121; one end of the second base connecting rod 2103 is provided with a fifth notch 2105, and one end of the second locking tongue 2121 is provided with a sixth notch 2122.

Specifically, in the coupled state, the third slot 1105 is matched with the pulling piece 1150 of the second tensioning blocking piece 215, so as to ensure that when the first plug base 110 rotates, not only the first base connecting rod 1103 can be driven to rotate, but also the second tensioning blocking piece 215 can rotate along with the first base connecting rod 1103; the fifth notch 2105 is matched with the shifting piece 1150 of the first tensioning stop piece 115, so that the second plug base 210 can drive the second base connecting rod 2103 to rotate when rotating, and the first tensioning stop piece 115 can rotate along with the second base connecting rod 2103; and when coupled, the plurality of paddles 1150 of the first tensioning flap 115 mate with the slots of the upper pair of plug assemblies 111 and the plurality of paddles 1150 of the second tensioning flap 215 mate with the slots of the lower pair of plug assemblies 211. In the decoupled state, the fourth notch 1122 mates with the paddle 1150 of the first tensioning tab 115; the sixth notch 2122 mates with the paddle 1150 of the second tensioning stop 215; and the plurality of tabs 1150 of the first tensioning tab 115 disengage from the slots of the upper pair of plug assemblies 111 and the plurality of tabs 1150 of the second tensioning tab 215 disengage from the slots of the lower pair of plug assemblies 211.

The actuator 20 shown in fig. 7 includes a power driving module and an actuator base 201, wherein one end of the power driving module is rigidly connected to the lower pair of plug assemblies 211, and the actuator base 201 is connected to the lower end of the second support member 213.

The power driving module on the actuator 20 comprises a clamping jaw assembly 202, a rotating shaft assembly 203, a pitching module 204 and a guide wheel assembly 205; the actuator base 201 is connected to the lower end of the second support member 213, the rotating shaft assembly 203 includes a first joint rotating shaft 2031, a second joint rotating shaft 2032 and a third joint rotating shaft 2033, the guide wheel assembly 205 is provided with a first set of guide wheels 2051, a second set of guide wheels 2052, a third set of guide wheels 2053 and a fourth set of guide wheels 2054, and each set of guide wheels includes an inner guide wheel and an outer guide wheel. The same cable is wound around the outer guide wheel of the first group of guide wheels 2051 and the outer guide wheel of the third group of guide wheels 2053, the same cable is set as a seventh cable 221, the seventh cable 221 is guided by a guide groove on the guide wheel, penetrates through the actuator base 201, enters the second support 213 and is connected with the first lower pair plug 2111, the same cable is wound around the outer guide wheel of the second group of guide wheels 2052 and the outer guide wheel of the fourth group of guide wheels 2054, the same cable is set as an eighth cable 222, the eighth cable 222 is guided by a guide groove on the guide wheel, penetrates through the actuator base 201, enters the second support 213 and is connected with the second lower pair plug 2112, the same cable is wound around the inner guide wheel of the first group of guide wheels 2051 and the inner guide wheel of the third group of guide wheels 2053, the same cable is set as a ninth cable 223, and the ninth cable 223 is guided by a guide groove on the guide wheel, penetrates through the actuator base 201, enters the second support 213 and is connected with the third lower pair plug 2113; the inner guide wheel of the second group of guide wheels 2052 and the inner guide wheel of the fourth group of guide wheels 2054 are wound by the same cable, which is set as a tenth cable 224, and the tenth cable 224 is guided by the guide groove on the guide wheels, passes through the actuator base 201, enters the second support 213 and is connected with the fourth lower pair of plugs 2114; the pitch module 204 has a guide groove, and two cables, an eleventh cable 225 and a twelfth cable 226, are fixed to the guide groove of the pitch module 204. An eleventh cable 225 is guided through the actuator base 201 into the second support 213 via a guide slot on the pitch module 204 and is connected to the fifth lower pair of plugs 2115, and a twelfth cable 226 is guided through the actuator base 201 into the second support 213 via a guide slot on the pitch module 204 and is connected to the sixth lower pair of plugs 2116.

The jaw assembly 202 is provided with a first jaw 2021 and a second jaw 2022, and the first jaw 2021 and the second jaw 2022 are connected to the pitch module 204 through a first joint shaft 2031; the first guide wheel 2051 and the second guide wheel 2052 are fixed to the outer side of the pitch module 204 by a second joint rotation shaft 2032, the third guide wheel 2053 and the fourth guide wheel 2054 are provided on the outer side of the lower end of the pitch module 204 by a third joint rotation shaft 2033, and the actuator base 201 is provided on the outer side of the third guide wheel 2053 and the fourth guide wheel 2054 by a third joint rotation shaft 2033.

The first plug-in module 11 further includes a first positioning member 1102 and a first indication mark, the second plug-in module 21 further includes a second positioning member 2102 and a second indication mark,

according to a method of installing a surgical instrument as illustrated in fig. 1-14, the installing step comprises:

step S1: in the initial state, the fourth notch 1122 blocks the pull tab 1150 of the first tensioning stop sheet 115; the sixth notch 2122 captures the pull tab 1150 of the second tensioning stop 215, wherein the pull tab 1150 functions as a positioning;

step S2: aligning the first indicator mark and the second indicator mark; the first indication mark and the second indication mark may be provided as notch features or other features that can serve as marks, and this is mainly to ensure that the first plug-in module 11 and the second plug-in module 21 can be spliced in the axial direction of the first support 113 and the second support 213;

step S3: simultaneously pressing the first manual latch 112 and the second manual latch 212, correspondingly inserting the end of the second base connecting rod 2103 on the second plug-in module 21 into the first notch 1101 and contacting with the end face of the first plug base 110, correspondingly inserting the end of the first base connecting rod 1103 on the first plug-in module 11 into the second notch 2101 and contacting with the end face of the second plug base 210, wherein the first positioning piece 1102 abuts against the second tensioning blocking piece 2102 215, and the second positioning piece abuts against the first tensioning blocking piece 115;

step S4: when the second jack module 21 is rotated, the end of the second base connecting rod 2103 completely enters the first slot 1101, the end of the first base connecting rod 1103 completely enters the second slot 2101, the first coupling portion 1110 is coupled with the second coupling portion 2110 to release the first manual latch 112 and the second manual latch 212, the first manual latch 112 is locked in the second slot 2101 by the first locking spring 1142, and the second manual latch 212 is locked in the first slot 1101 by the second locking spring 2142, so that the positions of the first jack module 11 and the second jack module 21 are fixed and locked. The principle of rotating the first plug-in module 11 and the second plug-in module 21 is the same.

Step S5: completing the installation;

specifically, in an initial state, when the first tensioning stop 115 is not plugged into a product, the poking piece 1150 of the first tensioning stop 115 is inserted into the card slot of each upper pair of plugs, and is matched with the first tensioning spring 1141 to limit the initial positions of the first upper pair of plugs 1111, the second upper pair of plugs 1112, the third upper pair of plugs 1113, the fourth upper pair of plugs 1114, the fifth upper pair of plugs 1115 and the sixth upper pair of plugs 1116 in the upper pair of plug assemblies 111 and maintain the initial tensioning tension of the first cable 1011, the second cable 1012, the third cable 1013, the fourth cable 1014, the fifth cable 1015 and the sixth cable 1016, and under the combined tension of the first cable 1011, the second cable 1012, the third cable 1013, the fourth cable 1014, the fifth cable 1015 and the sixth cable 1016, the poking piece 1150 is tightly attached to the end face in each upper pair of plug card slot; the first tensioning spring 1141 is in a compressed state in this state, and the first tensioning spring 1141 pushes the first tensioning flap 115 to provide a spring tension, which is selected according to the tension requirement of each cable and ensures that it can rotate under the action of the second plug base 210 after tensioning.

When the first plug module 11 and the second plug module 21 are mated, the second plug base connection rod 2103 and the second positioning member 2102 abut against the first tensioning barrier 115, and the pull tab 1150 of the first tensioning barrier 115 is clamped in the fifth notch 2105 of the second plug base connection rod 2103, as shown in fig. 11; when the second plug base 210 rotates, the first tensioning flap 115 also rotates synchronously, at this time, the pulling piece 1150 of the first tensioning flap 115 is removed from the clamping slot of each upper plug pair in the upper plug assembly 111, and then each plug pair can move up and down in the first plug base 110 along the axial direction of the first support 113.

According to a method of disassembling a surgical instrument as illustrated in fig. 1-14, the disassembling step is:

step 1, confirming whether the actuator 20 reaches a specified state, and if not, controlling the actuator to reach the state through the instrument power box 10 and then carrying out disassembly; the designated state refers to an initial state at the time of assembly of the actuator 20;

step 2: simultaneously pressing the first manual lock catch 112 and the second manual lock catch 212, and rotating the second plug-in module 21 to align the first indication mark and the second indication mark;

and step 3: withdrawing the second plug-in module 21, so that the end of the second base connecting rod 2103 is completely separated from the first notch 1101, the end of the first base connecting rod 1103 is completely separated from the second notch 2101, and the first coupling part 1110 is decoupled from the second coupling part 2110;

and 4, step 4: withdrawing the end of the second base connecting rod 2103 of the second plug-in module 21 out of the first slot 1101 and out of contact with the end face of the first plug base 110, withdrawing the end of the first base connecting rod 1103 of the first plug-in module 11 out of the second slot 2101 and out of contact with the end face of the second plug base 210, the first positioning member 1102 releasing the second tensioning stop 215, and the second positioning member 2102 releasing the first tensioning stop 115; the first manual lock catch 112 and the second manual lock catch 212 are released, and the fourth slot 1122 catches the pull tab 1150 of the first tension stop sheet 115; the sixth notch 2122 captures the paddle 1150 of the second tensioning catch 215;

and 5: and (5) completing the disassembly.

In the process of installation and disassembly, the actuator 20 can be replaced at any time, and the instrument power box 10 can be reused, so that the cost is reduced.

Example 2

According to one surgical instrument shown in fig. 15-17, the present embodiment differs from embodiment 1 in that the cable assembly in the power transmission module 101 is replaced by a rigid transmission rod assembly 23, the rigid transmission rod assembly 23 has a power transmission function, for example, the rigid transmission rod assembly 23 in fig. 13, and the actuator pusher rod assembly 24 in the actuator unit 2 replaces the seventh cable 221, the eighth cable 222, the ninth cable 223, the tenth cable 224, the eleventh cable 225 and the twelfth cable 226 to achieve the power transmission function, as shown in fig. 14. The rigid transmission rod assembly 23 is rigidly connected with the upper pair of plugs in the upper pair of plug assemblies 111 and can drive the upper pair of plugs to move up and down, the actuator push rod assembly 24 is rigidly connected with the lower pair of plugs in the lower pair of plug assemblies 211, and the actuator push rod assembly 24 can control the actuator 20 to realize actions such as clamping, cutting, deflection and the like.

Each pair of plugs in the upper pair of plug assemblies 111 is positioned as shown by the pair of card slots in the first tensioning flap 115 in fig. 17, ensuring that each pair of plugs in the upper pair of plug assemblies 111 extends a height above the location of the first plug base 110.

A surgical instrument according to fig. 15-17, which is carried out on the same principle as in example 1: before the mating, each pair of plugs in the first plug-in module 11 is restrained at the initial state position by the first tensioning stop 115, each pair of plugs in the second plug-in module 21 is restrained at the initial state position by the second tensioning stop 215, and the positions of the first tensioning stop 115 and the second tensioning stop 215 are fixed by the first manual latch 112 and the second manual latch 212, which are the same as the principle in embodiment 1. When the plug connector is aligned to the indication position, the first manual latch 112 and the second manual latch 212 are pushed, the first plug module 11 is inserted into the second plug module 21, the shifting piece 1150 of the first tensioning blocking piece 115 is clamped into the clamping groove of the first plug base 110 in the insertion process until the first base connecting rod 1103 abuts against the first plug base 110, and the axial position is completely butted; then, the second plug-in module 21 is rotated by a certain angle until the second plug-in module 21 cannot rotate, at this time, the end feature of the first base connecting rod 1103 is embedded into the second notch 2101, the first coupling part 1110 of the first plug-in module 11 is coupled with the second coupling part 2110 of the second plug-in module 21, the shifting piece 1150 rotates along with the second plug-in module 21, and the rotary butt joint is completed; and the first manual lock catch 112 and the second manual lock catch 212 are released, and the butt joint is completed. After the use is finished, the operation returns to the setting position of the initial state, and the process of disassembly can be completed by reversing the process, namely the execution unit 2 can be disassembled.

The above description is only for the embodiments of the present invention, and the description is specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several changes and modifications can be made, which all fall within the scope of the present invention.

Claims

1. A surgical instrument with a separated structure is characterized by comprising a driving unit and an execution unit, wherein the driving unit comprises an instrument power box and a first plug-in module;

the first plug-in module comprises a first coupling part, the second plug-in module comprises a second coupling part, and the first coupling part is coupled with the second coupling part;

the instrument power box is connected with the upper end of the first plug-in module, and the lower end of the second plug-in module is connected with the actuator.

2. A surgical instrument having a split configuration according to claim 1, wherein the first plug-in module includes a first plug base and a plurality of upper pair of plug members mounted on the first plug base, the upper pair of plug members having first coupling portions at distal ends thereof.

3. The surgical instrument of claim 2, wherein the first plug-in module further comprises a first elastic unit, a first tension stop and a first manual lock catch, the first elastic unit comprises a first tension spring and a first locking spring, one end of the first tension spring is connected with the first tension stop, and the first locking spring is connected with the first manual lock catch.

4. A surgical instrument of claim 3, wherein the upper pair of plug assemblies has a slot at the upper end thereof, and the first tensioning block has a plurality of fingers thereon.

5. A surgical instrument having a split configuration, as claimed in claim 4, wherein the first plug base includes a first notch and a first rotational axis; one end of the first manual lock catch is provided with a first lock tongue, a first notch is formed in the position corresponding to the first lock tongue, and the first notch is matched with the first lock tongue.

6. The surgical instrument of claim 5, wherein the first plug base further comprises a first base connecting rod, one end of the first base connecting rod is provided with a third notch, and one end of the first lock tongue is provided with a fourth notch; and in the decoupling state, the fourth notch is matched with the shifting piece of the first tensioning blocking piece.

7. The surgical instrument with the separation structure as claimed in claim 2, wherein the first plug-in module comprises a first support member, the first support member is provided with a first indicator for indicating the plugging position of the first plug-in module and the second plug-in module, and the lower end of the first support member is connected with the first plug base.

8. A surgical instrument having a split configuration according to claim 7, wherein the instrument power cartridge includes a power transmission module connected to the upper end of the first support member.

9. A surgical instrument of split construction, wherein the power transfer module includes a drive member that is a cable assembly or a rigid rod, and one end of the drive member is rigidly connected to the upper pair of plug assemblies.

10. A surgical instrument having a split structure according to claim 1, wherein the second plug-in module includes a second plug base and a plurality of lower pair of plug assemblies mounted on the second plug base, the lower pair of plug assemblies having second coupling portions at ends thereof.

11. The surgical instrument of claim 10, wherein the second plug-in module further comprises a second elastic unit, a second tensioning stop and a second manual latch, the second elastic unit comprises a second tensioning spring and a second locking spring, one end of the second tensioning spring is connected with the second tensioning stop, and the second locking spring is connected with the second manual latch.

12. A surgical instrument of claim 11, wherein the lower end of the lower pair of plug assemblies is provided with a slot, and the second tensioning block is provided with a plurality of fingers.

13. The surgical instrument with a separable structure of claim 12, wherein the second plug base includes a second slot and a second rotation shaft, one end of the second manual lock catch is provided with a second lock tongue, the second slot is opened at a position corresponding to the second lock tongue, the second slot is matched with the second lock tongue, and the second rotation shaft is inserted into the second tensioning spring through the second tensioning blocking piece.

14. The surgical instrument of claim 13, wherein the second plug base further comprises a second base connecting rod, one end of the second base connecting rod is provided with a fifth notch, and one end of the second locking tongue is provided with a sixth notch; and in the decoupling state, the sixth notch is matched with the shifting piece of the second tensioning blocking piece.

15. The surgical instrument of claim 14, wherein the second plug module comprises a second support member, the second support member has a second indicator for indicating the plugging positions of the first plug module and the second plug module, the upper end of the second support member is connected to the second plug base, and the lower end of the second support member is connected to the actuator.