CN219814191U

CN219814191U - Medical surgical instrument

Info

Publication number: CN219814191U
Application number: CN202320718768.7U
Authority: CN
Inventors: 王义向; 梁润黎; 李柏毅; 董玉勇
Original assignee: Zhongke Yitong Technology Nanjing Co ltd
Current assignee: Zhongke Yitong Technology Nanjing Co ltd
Priority date: 2023-04-04
Filing date: 2023-04-04
Publication date: 2023-10-13
Anticipated expiration: 2033-04-04

Abstract

The utility model discloses a medical surgical instrument which comprises an instrument box assembly, a joint assembly, a clamp assembly and an instrument rod. One end of the instrument rod is rotatably arranged on the instrument rod rotating mechanism, and the other end of the instrument rod is fixedly arranged on the near side of the joint assembly. The joint component comprises a proximal connecting piece and a distal connecting piece, the proximal connecting piece and the distal connecting piece are rotationally connected, the proximal connecting piece is fixedly connected with the instrument rod, the distal connecting piece is fixedly connected with the clamp component, and the instrument box component pulls the distal connecting piece through a traction cable to realize rotation work between the clamp component and the instrument rod. The clamp fixing seat is fixedly arranged on the far-end connecting piece, and the instrument box assembly realizes sliding operation of the clamp push-pull end in the clamp fixing seat through reciprocating motion of the telescopic rod. The utility model can realize decoupling of the wrist joint and the opening and closing movement of the instrument, simultaneously ensure that the clamp at the tail end of the instrument generates larger opening and closing force, simplify the tail end structure of the surgical instrument and reduce the manufacturing difficulty and cost of the surgical instrument.

Description

Medical surgical instrument

Technical Field

The utility model relates to the field of medical instruments, in particular to a medical surgical instrument.

Background

Compared with the traditional handheld minimally invasive surgical instrument, the endoscopic surgical robot can realize more flexible surgical operation and has better surgical effect. One of the important reasons is that dedicated minimally invasive surgical instruments used with laparoscopic surgical robots have more degrees of freedom, typically including a wrist joint at the end of the instrument that has two degrees of freedom and can be rotated in two mutually perpendicular directions. The driving motor of the surgical instrument is usually arranged on a mechanical arm outside the surgical instrument, and the interface of the surgical instrument is in butt joint with the interface on the mechanical arm, so that the motion of the motor can be transmitted to the surgical instrument, and the surgical instrument is controlled to perform surgical operation. This approach can increase the flexibility of the surgical instrument without increasing the volume of the surgical instrument.

However, the above manner also results in a more complex end structure of the minimally invasive robotic surgical instrument, which usually requires at least 4 wires to drive the wrist structure with two degrees of freedom, and at least two additional wires to drive clamps at the end of the instrument to complete the surgical operation, which means that the end of the minimally invasive robotic surgical instrument needs to accommodate at least 6 wires. On one hand, the number of steel wires at the tail end of the instrument is large, so that the structure of the tail end of the instrument is complex, the manufacturing difficulty and cost of the surgical instrument are increased, on the other hand, because the space of the tail end is limited, only thinner steel wires can be allowed to pass through the tail end to drive the wrist structure, the clamp, the scissors and the like, and because the tension of the steel wires is limited, the opening and closing force of the clamp and the like at the tail end of the instrument is small, and sometimes the requirement of surgical operation is difficult to meet.

The medical surgical instrument is required, and can realize decoupling of the opening and closing motions of the wrist joint and the instrument, simultaneously enable the clamp at the tail end of the instrument to generate larger opening and closing force, simplify the tail end structure of the surgical instrument and reduce the manufacturing difficulty and cost of the surgical instrument.

Disclosure of Invention

The utility model aims to solve the technical problems of the prior art, and provides a medical surgical instrument which can realize the decoupling of the opening and closing motions of a wrist joint and the instrument, simultaneously enable an instrument tail end clamp to generate larger opening and closing force, simplify the structure of the surgical instrument tail end and reduce the manufacturing difficulty and cost of the surgical instrument.

In order to solve the technical problems, the utility model adopts the following technical scheme:

a medical surgical instrument includes an instrument case assembly, a joint assembly, a clamp assembly, and an instrument bar.

The instrument cassette assembly is located proximal to the surgical instrument and the clamp assembly is located distal to the surgical instrument.

The instrument box component is internally provided with a traction cable, an instrument rod rotating mechanism and a telescopic rod.

One end of the instrument rod is rotatably arranged on the instrument rod rotating mechanism, and the other end of the instrument rod is fixedly arranged on the near side of the joint assembly.

The joint component comprises a proximal connecting piece and a distal connecting piece, the proximal connecting piece and the distal connecting piece are rotationally connected, the proximal connecting piece is fixedly connected with the instrument rod, the distal connecting piece is fixedly connected with the clamp component, and the instrument box component pulls the distal connecting piece through a traction cable to realize rotation work between the clamp component and the instrument rod.

The clamp assembly comprises a clamp fixing seat and a clamp push-pull end, the clamp fixing seat is fixedly arranged on the distal end connecting piece, the clamp push-pull end is arranged inside the clamp fixing seat, and the instrument box assembly realizes sliding operation of the clamp push-pull end inside the clamp fixing seat through reciprocating motion of the telescopic rod.

The instrument box assembly further includes an instrument box base.

The instrument rod rotating mechanism comprises a bevel gear shaft and a bevel gear, the bevel gear shaft is rotatably arranged at the upper end of the instrument box base, and the bevel gear is fixedly arranged at the proximal end of the instrument rod.

The bevel gear shaft is connected with the bevel gear in a meshed mode, and the axis of the bevel gear shaft is perpendicular to the axis of the bevel gear.

The far-end connecting piece comprises four cable fixing ends, and the four cable fixing ends are fixedly arranged on the inner side face of the far-end connecting piece.

The instrument box assembly further comprises a winch assembly, the winch assembly comprises a winch I and a winch II, the winch I and the winch II are both rotatably arranged above the instrument box base, a cable groove I is formed in the winch I, and a cable groove II is formed in the winch II.

The traction cable comprises a first cable, a second cable, a third cable and a fourth cable.

One end of the first cable and one end of the second cable are wound on the first cable groove in opposite rotation directions and are fixedly connected with the first winch, and one end of the third cable and one end of the fourth cable are wound on the second cable groove in opposite rotation directions and are fixedly connected with the second winch.

The other end of the first cable, the other end of the second cable, the other end of the third cable and the other end of the fourth cable are fixedly connected with the four cable fixing ends respectively.

The joint assembly also includes a joint middleware.

The joint middle piece is rotationally connected with the far-end connecting piece through a pin shaft, and the rotation axis is; perpendicular to each other and intersecting.

A cable baffle is fixedly arranged on the instrument box base, a central hole and four cable holes are arranged on the cable baffle, the instrument rod is of a circular hollow tubular structure, the central hole is positioned on the axial center of the instrument rod, and four cable holes are circumferentially and uniformly distributed on the outer side of the central hole; four cable holes are used to form the passage paths for the first, second, third and fourth cables, respectively.

The joint middle piece is provided with a joint middle piece center hole and four joint middle piece cable holes, the joint middle piece center hole is positioned on the shaft center of the instrument rod, and the four joint middle piece cable holes are circumferentially and uniformly distributed on the outer side of the center hole; four articulating intermediate cable holes are used to form the passage paths of cable one, cable two, cable three and cable four, respectively.

The proximal side of the distal connecting piece is provided with a distal connecting piece central hole and a distal connecting piece cable hole, the distal connecting piece central hole is positioned in the center of the proximal surface of the distal connecting piece, and the four distal connecting piece cable holes are circumferentially and uniformly distributed on the outer side of the central hole; four distal connector cable holes are used to form the passage paths of cable one, cable two, cable three and cable four, respectively.

The instrument box assembly further comprises a pulley assembly, and the pulley assembly comprises a pulley block I and a pulley block II.

The pulley block I comprises a pulley I and a pulley II, and the pulley block II comprises a pulley III and a pulley IV.

The other end of the first cable is wound on the side surface of the first pulley, sequentially passes through the cable hole at the corresponding position, the cable hole of the joint intermediate piece and the cable hole of the far-end connecting piece along a straight line, and is finally fixedly connected to the cable fixing end.

The other end of the second cable is wound on the side surface of the second pulley, sequentially passes through the cable hole at the corresponding position, the cable hole of the joint intermediate piece and the cable hole of the far-end connecting piece along a straight line, and is finally fixedly connected to the cable fixing end.

The other end of the cable III is wound on the side surface of the pulley III, sequentially passes through the cable hole at the corresponding position, the cable hole of the joint intermediate piece and the cable hole of the far-end connecting piece along a straight line, and is finally fixedly connected to the cable fixing end.

The other end of the cable IV is wound on the side surface of the pulley IV, sequentially passes through the cable hole at the corresponding position, the cable hole of the joint intermediate piece and the cable hole of the far-end connecting piece along a straight line, and is finally fixedly connected to the cable fixing end.

The four cable fixing ends are distributed in a rectangular shape along the periphery of the central hole of the far-end connecting piece, and the cable fixing end connected with the cable one and the cable fixing end connected with the cable two are respectively positioned on the same diagonal line of the rectangle.

The traction cable further comprises a cable five and a cable six.

The winch assembly further comprises a winch III, a cable groove III is formed in the winch III, and one end of the cable five and one end of the cable six are wound on the cable groove III in opposite rotation directions and fixedly connected with the winch III.

The proximal end of the telescopic rod is provided with a telescopic rod fixing piece, the pulley block II further comprises a pulley five, and the other end of the cable five is wound on the side face of the pulley five and then fixedly connected with the telescopic rod fixing piece.

The pulley assembly further comprises a pulley block III, the pulley block III comprises a pulley six, and the other end of the cable six is fixedly connected with the telescopic rod after being wound on the side face of the pulley six.

The clamp assembly further comprises a transmission connecting rod, a short rotating shaft, an upper clamp, a lower clamp and a long rotating shaft.

The upper clamp comprises an upper clamp connecting rod, an upper clamp base body and an upper clamp body, and the lower clamp comprises a lower clamp connecting rod, a lower clamp base body and a lower clamp body.

The clamp fixing seat is in rotary connection with the upper clamp base body and the lower clamp base body through the long rotating shaft.

The clamp push-pull end distal end face is provided with an end connector, two transmission connecting rods are arranged, two sides of the end connector are respectively connected with the two transmission connecting rods through a short rotating shaft, the other end of one transmission connecting rod is rotationally connected to an upper clamp connecting rod of an upper clamp through the short rotating shaft, and the other end of the other transmission connecting rod is rotationally connected to a lower clamp connecting rod of a lower clamp through the short rotating shaft.

The clamp push-pull end also comprises an end post.

The end connector is arranged on the distal end face of the end post, and the side face of the end post is provided with an end groove.

The telescopic rod is characterized in that a telescopic rod fixing end is arranged at the distal end of the telescopic rod, the telescopic rod fixing end penetrates through the end groove and is embedded into the end column, and the telescopic rod fixing end is rotationally connected with the end column.

The utility model has the following beneficial effects:

1. the utility model can drive the push-pull rod at the far end of the instrument box to move by adopting the reciprocating motion of the pulled cable by adopting the cable group, and because the space in the instrument box can allow the push-pull force on the push-pull rod to be increased by using a steel wire thicker than the steel wire transmitted to the tail end, compared with the mode of controlling the opening and closing by using the steel wire transmission, the utility model can generate larger opening and closing force at the tail end and can meet the requirement of operation.

2. According to the utility model, the push-pull rod of the surgical instrument is fixedly connected with the transmission steel wire in the instrument box, and no additional part is added for fixed installation, so that the internal structure of the surgical instrument can be simplified, and the manufacturing difficulty and cost of the surgical instrument are reduced.

3. The telescopic rod for pushing and pulling is formed by wrapping the flexible steel wire by the rigid sleeve part, so that the telescopic rod can pass through the bent wrist, meanwhile, as the push-pull rod passes through the center of the wrist structure, the movement of the wrist joint can not cause the push-pull rod to generate additional movement, the number of steel wire ropes extending to the tail end of the surgical instrument is reduced, the structure of the tail end of the surgical instrument is simplified, and meanwhile, the decoupling of the opening and closing movement of the wrist joint and the instrument is realized.

Drawings

Fig. 1 is a schematic view of a medical surgical instrument according to the present utility model.

Fig. 2 shows a schematic structural view of the instrument box assembly of the present utility model.

Fig. 3 shows a second schematic structural view of the instrument box assembly of the present utility model.

FIG. 4 is a schematic view of the joint assembly and clamp assembly of the present utility model mated.

Figure 5 shows a cross-sectional view of the joint assembly in cooperation with the clamp assembly of the present utility model.

Fig. 6 shows a cable routing of the joint assembly of the present utility model.

FIG. 7 is a schematic view showing the cooperation of the joint assembly and the clamp assembly of the clamp removing fixing seat.

Fig. 8 shows a third schematic structural view of the cartridge assembly of the present utility model.

Fig. 9 shows a cable routing of the declamp assembly of the present utility model.

The method comprises the following steps:

1. an instrument box assembly;

100. an instrument box base; 101. a winch I; 1011. a first cable groove; 102. a second winch; 1021. a cable groove II; 103. a winch III; 1031. a cable groove III;

111. a pulley block I; 1111. a pulley I; 1112. a second pulley; 112. a pulley block II; 1121. a third pulley; 1122. a fourth pulley; 1123. fifth pulley; 113. a pulley block III; 1131. a pulley six;

12. a traction cable; 121. a first cable; 122. a second cable; 123. a third cable; 124. a cable IV; 125. a fifth cable; 126. a cable six;

131. a telescopic rod; 1311. the telescopic rod is fixed at the end head; 132. a telescopic rod fixing member;

14. an instrument bar rotation mechanism; 141. a bevel gear shaft; 142. bevel gear;

150. a cable baffle; 1501. a central bore; 1502. a cable hole;

2. a joint assembly;

201. a proximal connector;

202. a joint middleware; 2021. a joint middleware cable hole; 2022. a central aperture of the articular middleware;

203. a distal connector; 2031. a distal connector cable hole; 2032. a distal connector central bore; 2033. the inner side of the distal connector;

211. a cable fixing end;

3. a clamp assembly;

301. a clamp fixing seat;

302. a clamp push-pull end; 3021. a terminal post; 3022. an end groove; 3023. an end connector;

303. a transmission link;

304. a short rotating shaft; 305. an upper clamp; 3051. an upper clamp link; 3052. an upper clamp base; 3053. an upper clamp body;

306. a lower clamp; 3061. a lower clamp link; 3062. a lower clamp base; 3063. a lower clamp body;

307. a long rotating shaft;

4. an instrument bar.

Description of the embodiments

The utility model will be described in further detail with reference to the accompanying drawings and specific preferred embodiments.

In the description of the present utility model, it should be understood that the terms "left", "right", "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and "first", "second", etc. do not indicate the importance of the components, and thus are not to be construed as limiting the present utility model. The specific dimensions adopted in the present embodiment are only for illustrating the technical solution, and do not limit the protection scope of the present utility model.

As shown in fig. 1, a medical surgical instrument includes an instrument case assembly 1, a joint assembly 2, a clamp assembly 3, and an instrument bar 4. The instrument cassette assembly is located proximal to the surgical instrument and the clamp assembly is located distal to the surgical instrument.

The instrument box assembly is internally provided with a traction cable 12, an instrument bar rotation mechanism 14 and a telescopic bar 131. One end of the instrument rod is rotatably arranged on the instrument rod rotating mechanism, the other end of the instrument rod is fixedly arranged on the near side of the clamp assembly, and the instrument rod can drive the joint assembly to rotate relative to the instrument box assembly under the driving of the instrument rod rotating mechanism.

The joint assembly comprises a proximal connector 201 and a distal connector 203, the proximal connector and the distal connector are rotationally connected, the proximal connector is fixedly connected with the instrument rod, the distal connector is fixedly connected with the clamp assembly, and the instrument box assembly can pull the distal connector through a traction cable to realize rotation work between the clamp assembly and the instrument rod.

The clamp assembly comprises a clamp fixing seat 301 and a clamp push-pull end 302, the clamp fixing seat is fixedly arranged on the distal end connecting piece, the clamp push-pull end is arranged inside the clamp fixing seat, the instrument box assembly realizes sliding operation of the clamp push-pull end inside the clamp fixing seat through reciprocating motion of the telescopic rod, and further the distal end of the clamp assembly is controlled to open and close.

As shown in fig. 2 and 6, the cartridge assembly further includes a cartridge base 100. The instrument rod rotating mechanism comprises a bevel gear shaft 141 and a bevel gear 142, wherein the bevel gear shaft is rotatably arranged at the upper end of the instrument box base, and the bevel gear is fixedly arranged at the proximal end of the instrument rod. The bevel gear shaft is connected with the bevel gear in a meshed mode, and the axis of the bevel gear shaft is perpendicular to the axis of the bevel gear. The bevel gear shaft drives the bevel gear to rotate when rotating, and the bevel gear drives the instrument rod to rotate around the axis of the bevel gear shaft, namely, the bevel gear shaft drives the tail end clamp assembly 3 of the surgical instrument to rotate around.

As shown in fig. 5, the distal connector includes cable fixing heads 211, which are provided with four cable fixing heads, each of which is fixedly provided on an inner side surface 2033 of the distal connector.

The instrument box assembly further comprises a winch assembly, the winch assembly comprises a first winch 101 and a second winch 102, the first winch and the second winch are both rotatably arranged above the instrument box base, a first cable groove 1011 is formed in the first winch, and a second cable groove 1021 is formed in the second winch.

The traction cable includes a first cable 121, a second cable 122, a third cable 123, and a fourth cable 124. One end of the first cable and one end of the second cable are wound on the first cable groove in opposite rotation directions and are fixedly connected with the first winch, and one end of the third cable and one end of the fourth cable are wound on the second cable groove in opposite rotation directions and are fixedly connected with the second winch.

The other end of the first cable, the other end of the second cable, the other end of the third cable and the other end of the fourth cable are fixedly connected with the four cable fixing ends respectively, namely, the traction cable performs fixed connection work with the far-end connecting piece through the cable fixing ends, so that the traction cable can pull the far-end connecting piece to realize rotation work between the clamp assembly and the instrument rod.

As shown in fig. 4, the joint assembly also includes a joint middleware 202. The proximal connecting piece is rotationally connected with the joint intermediate piece through a pin shaft, the rotation axis is that the joint intermediate piece is rotationally connected with the distal connecting piece through a pin shaft, and the rotation axis is perpendicular to and intersects with each other, namely, the arrangement of the joint intermediate piece can enable the wrist joint of the surgical instrument to independently rotate around the wrist joint in two directions.

As shown in fig. 3 and 8, a cable baffle 150 is fixedly arranged on the base of the instrument box, a central hole 1501 and four cable holes 1502 are arranged on the cable baffle, the instrument rod is of a circular hollow tubular structure, the central hole is positioned on the axial center of the instrument rod, and the four cable holes are uniformly distributed on the outer side of the central hole in the circumferential direction; four cable holes are used to form the passage paths for the first, second, third and fourth cables, respectively.

As shown in fig. 5, the joint intermediate is provided with a joint intermediate central hole 2022 and four joint intermediate cable holes 2021, the joint intermediate central hole is positioned on the axis of the instrument rod, and the four joint intermediate cable holes are uniformly distributed on the outer side of the central hole in the circumferential direction; four articulating intermediate cable holes are used to form the passage paths of cable one, cable two, cable three and cable four, respectively.

As shown in fig. 1, 2, 3 and 8, the instrument box assembly further includes a pulley assembly including a pulley block one 111 and a pulley block two 112. The pulley block I comprises a pulley I1111 and a pulley II 1112, and the pulley block II comprises a pulley III 1121 and a pulley IV 1122.

The other end of the first cable is wound on the side surface of the first pulley, sequentially passes through the cable hole at the corresponding position, the cable hole of the joint intermediate piece and the cable hole of the far-end connecting piece along a straight line, and is finally fixedly connected to the cable fixing end. Because the cable securing end is disposed on the inner side of the distal connector, the cable securing end is restrained from movement in the direction of the instrument box assembly, thereby restraining the cable one in position.

Similarly, the other end of the second cable is wound on the side surface of the second pulley, sequentially passes through the cable hole at the corresponding position, the cable hole of the joint intermediate piece and the cable hole of the far-end connecting piece along a straight line, and is finally fixedly connected to the fixed end of the second cable to limit the position of the second cable.

The working principle of the cable above the winch I is that when the winch I rotates anticlockwise, the cable I is continuously wound on the winch I, the cable II simultaneously continuously releases the part of the cable wound on the winch I, and for the internal cable movement condition of the instrument rod, the cable contracts towards the proximal direction of the instrument rod, and the cable extends towards the distal direction of the instrument rod; when the first winch rotates clockwise, the first cable continuously releases the part wound on the first winch, the second cable continuously winds on the first winch, and the first cable extends in the distal direction and contracts in the proximal direction of the instrument rod for the inside of the instrument rod.

Similarly, after the other end of the cable III is wound on the side surface of the pulley III, the cable III sequentially passes through the cable hole at the corresponding position, the cable hole of the joint intermediate piece and the cable hole of the far-end connecting piece along a straight line, and finally is fixedly connected to the fixed end of the cable to limit the position of the cable II. The other end of the cable IV is wound on the side surface of the pulley IV and sequentially passes through the cable hole at the corresponding position, the cable hole of the joint intermediate piece and the cable hole of the far-end connecting piece along a straight line, and finally, the cable is fixedly connected to the cable fixing end head to limit the position of the cable II.

As shown in fig. 9, the four cable fixing ends are distributed in a rectangular shape along the periphery of the central hole of the distal connecting piece, and the cable fixing end connected with the cable one and the cable fixing end connected with the cable two are respectively positioned on the same diagonal line of the rectangle. Because the device needs to pull the cable to pull the distal connecting piece to turn over the clamp assembly, the pulling operation is usually realized by synchronously shrinking two cable fixing ends at two adjacent vertexes of a rectangle along the proximal direction of the instrument rod, so the cable fixing ends corresponding to the cables on the same winch are distributed along opposite angles.

The working principle of the winch I and the winch II for driving the wrist joint to rotate around the same direction is that when the winch I and the winch II rotate anticlockwise, the cable I and the cable III shrink, the cable II and the cable IV stretch, and the far-end connecting piece drives the clamp assembly to rotate anticlockwise around the shaft; when both winch one and winch two are rotated clockwise, cable one and cable three 123, cable two and cable four retract, and the distal link drives the clamp assembly to rotate clockwise about the shaft.

When the winch I rotates anticlockwise and the winch II rotates clockwise, the cable I and the cable IV shrink, the cable II and the cable III stretch, and the joint intermediate piece drives the far-end connecting piece and the clamp assembly to rotate anticlockwise around the shaft; when the first winch rotates clockwise, the second winch rotates anticlockwise, the first cable and the fourth cable extend, the second cable and the third cable shrink, and the joint intermediate piece drives the distal connecting piece and the clamp assembly to rotate clockwise around the shaft.

As shown in fig. 1, 2, 3 and 8, the traction cable further includes a fifth cable 125 and a sixth cable 126. The winch assembly further comprises a winch three 103, a cable groove three 1031 is formed in the winch three, and one ends of the cable five and the cable six are wound on the cable groove three in opposite rotation directions and fixedly connected with the winch three.

The proximal end of the telescopic rod is provided with a telescopic rod fixing piece 132, the pulley block II further comprises a pulley five 1123, and the other end of the cable five is wound on the side surface of the pulley five and then fixedly connected with the telescopic rod fixing piece. The pulley assembly further comprises a pulley block III 113, the pulley block III comprises a pulley six 1131, and the other end of the cable six is fixedly connected with the telescopic rod after being wound on the six side surfaces of the pulley.

Therefore, when the winch III rotates anticlockwise, the cable five is tightened and gradually wound on the winch III, and the part of the cable six wound on the winch III is gradually released, so that the telescopic rod fixing piece and the telescopic rod are driven to move in a direction away from the distal end of the instrument rod. Similarly, when the winch rotates three times clockwise, the telescopic rod fixing piece and the telescopic rod move towards the distal end direction of the instrument rod, so that the reciprocating motion of the telescopic rod is realized.

As shown in fig. 7, the clamp assembly further includes a drive link 303, a short shaft 304, an upper clamp 305, a lower clamp 306, and a long shaft 307. Wherein the upper clamp comprises an upper clamp link 3051, an upper clamp base 3052 and an upper clamp body 3053, and the lower clamp comprises a lower clamp link 3061, a lower clamp base 3062 and a lower clamp body 3063.

The clamp fixing seat is in rotary connection with the upper clamp base body and the lower clamp base body through the long rotating shaft. The end connectors are arranged on the distal end face of the push-pull end of the clamp, two transmission connecting rods are arranged on the two sides of the end connectors, the two transmission connecting rods are respectively connected through short rotating shafts, the other end of one transmission connecting rod is rotationally connected to the upper clamp connecting rod of the upper clamp through the short rotating shaft, and the other end of the other transmission connecting rod is rotationally connected to the lower clamp connecting rod of the lower clamp through the short rotating shaft.

The clamp push-pull tip also includes a tip post 3021. The end connector 3023 is provided on the distal end face of the end post, and the side face of the end post is provided with an end groove 3022. The telescopic link distal end is provided with telescopic link fixed end 1311, and the telescopic link fixed end passes the end groove and imbeds in the end post, and the telescopic link fixed end rotates with the end post to be connected, when can restricting the telescopic link along instrument pole axial direction motion, the telescopic link does not receive the instrument pole and drives the clamp assembly and rotate the time influence.

In the utility model, the telescopic rod for pushing and pulling is preferably formed by cladding a flexible steel wire by adopting a rigid sleeve part, when the telescopic rod is positioned in the instrument box assembly and the instrument rod, the section of the telescopic rod is not in a rotating bending area, the telescopic rod is arranged as a combining piece of the rigid sleeve cladding flexible steel wire, bending phenomenon of the flexible steel wire in pushing operation is avoided, when the telescopic rod enters the joint assembly to the clamp assembly, the telescopic rod is the flexible steel wire, the rotation operation of a wrist joint can be met, meanwhile, the gap between a near-end connecting piece, a joint intermediate piece and a far-end connecting piece in the joint assembly is smaller because the flexible steel wire has larger diameter, the condition that the flexible steel wire generates U-shaped bending extrusion at the gap is not met, and the flexible steel wire can be pushed to extrude the push-pull end of the clamp along a set path under the cooperation operation of the pulley assembly and the traction cable, so that the opening and closing operation of the far end of the clamp assembly is realized. Wherein, the flexible steel wire is preferably 304 braided steel wire rope, and the rigid sleeve for coating the flexible steel wire is preferably 304 steel tube. Therefore, as the telescopic rod passes through the center of the wrist structure of the surgical instrument, and the motion of the wrist joint does not cause the push-pull rod to generate additional motion, the number of steel wires extending to the tail end of the surgical instrument is effectively reduced, the structure of the tail end of the surgical instrument is simplified, and meanwhile, the decoupling of the opening and closing motion of the wrist joint and the instrument is realized.

Therefore, the telescopic rod drives the clamp assembly through the reciprocating telescopic motion, as shown in fig. 2, when the winch rotates three anticlockwise, the telescopic rod drives the clamp push-pull end to move in a direction away from the far end of the surgical instrument, the included angle between the two transmission connecting rods and the axis is reduced, the upper clamp rotates clockwise, the lower clamp rotates anticlockwise, and the clamp assembly realizes the closing motion. On the contrary, when the winch rotates clockwise, the telescopic rod drives the clamp push-pull end to move towards the distal end direction of the instrument rod through the telescopic rod fixing piece, the included angle between the two transmission connecting rods and the axis is increased, the upper clamp rotates anticlockwise, the lower clamp rotates clockwise, and the clamp assembly realizes opening movement.

The preferred embodiments of the present utility model have been described in detail above, but the present utility model is not limited to the specific details of the above embodiments, and various equivalent changes can be made to the technical solution of the present utility model within the scope of the technical concept of the present utility model, and all the equivalent changes belong to the protection scope of the present utility model.

Claims

1. A medical surgical instrument, characterized in that: comprises an instrument box assembly, a joint assembly, a clamp assembly and an instrument rod;

the instrument box assembly is positioned at the proximal side of the surgical instrument, and the clamp assembly is positioned at the distal side of the surgical instrument;

the traction cable, the instrument rod rotating mechanism and the telescopic rod are arranged in the instrument box assembly;

one end of the instrument rod is rotatably arranged on the instrument rod rotating mechanism, and the other end of the instrument rod is fixedly arranged on the near side of the joint assembly;

the joint component comprises a proximal connecting piece and a distal connecting piece, the proximal connecting piece and the distal connecting piece are rotationally connected, the proximal connecting piece is fixedly connected with the instrument rod, the distal connecting piece is fixedly connected with the clamp component, and the instrument box component pulls the distal connecting piece through a traction cable to realize the rotation work between the clamp component and the instrument rod;

2. The medical surgical instrument according to claim 1, wherein: the instrument box assembly further comprises an instrument box base;

the instrument rod rotating mechanism comprises a bevel gear shaft and a bevel gear, the bevel gear shaft is rotatably arranged at the upper end of the instrument box base, and the bevel gear is fixedly arranged at the proximal end of the instrument rod;

3. The medical surgical instrument according to claim 1, wherein: the remote connecting piece comprises four cable fixing ends, and the four cable fixing ends are fixedly arranged on the inner side surface of the remote connecting piece;

the instrument box assembly further comprises a winch assembly, the winch assembly comprises a winch I and a winch II, the winch I and the winch II are both rotatably arranged above the instrument box base, a cable groove I is formed in the winch I, and a cable groove II is formed in the winch II;

the traction cable comprises a first cable, a second cable, a third cable and a fourth cable;

one end of the first cable and one end of the second cable are wound on the first cable groove in opposite rotation directions and are fixedly connected with the first winch, and one end of the third cable and one end of the fourth cable are wound on the second cable groove in opposite rotation directions and are fixedly connected with the second winch;

4. A medical surgical instrument according to claim 3, wherein: the joint assembly further includes a joint middleware;

5. The medical surgical instrument according to claim 4, wherein: a cable baffle is fixedly arranged on the instrument box base, a central hole and four cable holes are arranged on the cable baffle, the instrument rod is of a circular hollow tubular structure, the central hole is positioned on the axial center of the instrument rod, and four cable holes are circumferentially and uniformly distributed on the outer side of the central hole; the four cable holes are used for forming a passage path of a first cable, a second cable, a third cable and a fourth cable respectively;

the joint middle piece is provided with a joint middle piece center hole and four joint middle piece cable holes, the joint middle piece center hole is positioned on the shaft center of the instrument rod, and the four joint middle piece cable holes are circumferentially and uniformly distributed on the outer side of the center hole; the four joint intermediate piece cable holes are used for forming a passage path of a cable I, a cable II, a cable III and a cable IV respectively;

6. The medical surgical instrument according to claim 5, wherein: the instrument box assembly further comprises a pulley assembly, wherein the pulley assembly comprises a pulley block I and a pulley block II;

the pulley block I comprises a pulley I and a pulley II, and the pulley block II comprises a pulley III and a pulley IV;

the other end of the first cable is wound on the side surface of the first pulley, sequentially passes through the cable hole at the corresponding position, the cable hole of the joint intermediate piece and the cable hole of the far-end connecting piece along a straight line, and is finally fixedly connected to the cable fixing end;

the other end of the second cable is wound on the side surface of the second pulley, sequentially passes through the cable hole at the corresponding position, the cable hole of the joint intermediate piece and the cable hole of the far-end connecting piece along a straight line, and is finally fixedly connected to the cable fixing end;

the other end of the cable III is wound on the side surface of the pulley III, sequentially passes through the cable hole at the corresponding position, the cable hole of the joint intermediate piece and the cable hole of the far-end connecting piece along a straight line, and is finally fixedly connected to the cable fixing end;

the other end of the cable IV is wound on the side surface of the pulley IV, sequentially passes through the cable hole at the corresponding position, the cable hole of the joint intermediate piece and the cable hole of the far-end connecting piece along a straight line, and is finally fixedly connected to the cable fixing end;

7. The medical surgical instrument according to claim 6, wherein: the traction cable further comprises a cable five and a cable six;

the winch assembly further comprises a winch III, a cable groove III is formed in the winch III, and one end of the cable V are wound on the cable groove III in opposite rotation directions and are fixedly connected with the winch III;

the proximal end of the telescopic rod is provided with a telescopic rod fixing piece, the pulley block II also comprises a pulley V, and the other end of the cable V is fixedly connected with the telescopic rod fixing piece after being wound on the side surface of the pulley V;

8. The medical surgical instrument according to claim 1, wherein: the clamp assembly also comprises a transmission connecting rod, a short rotating shaft, an upper clamp, a lower clamp and a long rotating shaft;

the upper clamp comprises an upper clamp connecting rod, an upper clamp base body and an upper clamp body, and the lower clamp comprises a lower clamp connecting rod, a lower clamp base body and a lower clamp body;

the clamp fixing seat is in rotary connection with the upper clamp base body and the lower clamp base body through the long rotating shaft;

9. The medical surgical instrument according to claim 8, wherein: the clamp push-pull end also comprises an end post;

the end connector is arranged on the distal end face of the end column, and the side face of the end column is provided with an end groove;

10. The medical surgical instrument according to claim 1, wherein: the telescopic rod is an assembly of a rigid sleeve and a flexible steel wire, the flexible steel wire is a 304-woven steel wire rope, and the rigid sleeve is a 304 steel tube.