CN220236930U - Rotating device and minimally invasive surgical instrument - Google Patents

Abstract

The utility model discloses a rotating device and a minimally invasive surgical instrument, which comprise a connecting component, a rotating main body, a first driving tendon and a second driving tendon, wherein the rotating main body is rotatably arranged in the connecting component, and an end effector of the minimally invasive surgical instrument is fixedly connected with the rotating main body; the first driving tendon and the second driving tendon are connected with the rotating main body; in addition, the first driving tendon is used for driving the rotating body to rotate in a first rotating direction in the connecting assembly, the second driving tendon is used for driving the rotating body to rotate in a second rotating direction in the connecting assembly, and the first rotating direction is opposite to the second rotating direction. The rotating device can realize the bidirectional independent rotation of the end effector relative to the tail end of the minimally invasive surgical instrument, can adjust the angle of the end effector of the tail end of the minimally invasive surgical instrument under the condition that the visual field of an endoscope is unchanged, is suitable for tissue forms, is convenient to clamp, and is more visual and simple to operate on the premise of meeting the surgical requirements.

Description

Rotating device and minimally invasive surgical instrument

Technical Field

The utility model relates to the technical field of medical instruments, in particular to a rotating device and a minimally invasive surgical instrument.

Background

In the diagnosis and treatment process of modern medicine, in order to meet the requirements of small surgical wound, light pain, quick postoperative recovery, attractive appearance and the like, minimally invasive surgery has an increasingly important role in the field of medical surgery. The minimally invasive surgical instrument plays a vital role in the minimally invasive surgical process, and can enter the human body through the natural cavity of the human body to complete surgical operations such as cutting focus and the like. Because of the complexity of the internal environment such as the human digestive tract, the positions of partial pathological tissues are in different shapes, and the operation is difficult to complete by only adjusting the angles of the instruments such as an endoscope. The existing rotatable minimally invasive surgical instrument is complex in main structure and rotation driving mode, low in flexibility, and particularly when an end effector at the tail end of the surgical instrument is required to be rotated, the whole surgical instrument is required to be rotated, then the field of view of an endoscope can also be changed, the target tissue can be required to be repeatedly operated, the operation is very complicated, and even adverse effects such as the integrity of sampling of the target tissue can be influenced.

Therefore, how to solve the problem that the end effector of the minimally invasive surgical instrument is complicated to operate to meet the surgical requirement has become a technical problem to be solved urgently by those skilled in the art.

Disclosure of Invention

In view of the above, the utility model provides a rotating device and a minimally invasive surgical instrument, so as to solve the problem that an end effector of the minimally invasive surgical instrument is complicated to operate in order to meet the surgical requirements.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

a rotating device for use with a minimally invasive surgical instrument, comprising:

the connecting component is arranged at the tail end of the minimally invasive surgical instrument;

a rotating body rotatably disposed within the connection assembly, and an end effector of the minimally invasive surgical instrument fixedly connected to the rotating body;

the first driving tendon and the second driving tendon are arranged in the minimally invasive surgical instrument and the connecting component and are connected with the rotating main body;

the first driving tendon is used for driving the rotating body to rotate in a first rotating direction in the connecting assembly, the second driving tendon is used for driving the rotating body to rotate in a second rotating direction in the connecting assembly, and the first rotating direction is opposite to the second rotating direction.

Optionally, the connecting assembly includes a connecting sleeve and a driving tendon guide, the connecting sleeve is disposed at the tail end of the minimally invasive surgical instrument, the rotating body is rotatably disposed in the connecting sleeve, the driving tendon guide is disposed in the connecting sleeve in a rotation limiting manner, a first guide hole and a second guide hole are disposed on the driving tendon guide, the first guide hole is used for conducting constraint guiding on an introduction path of the first driving tendon led to the rotating body, and the second guide hole is used for conducting constraint guiding on an introduction path of the second driving tendon led to the rotating body.

Optionally, the outer ring of the rotating body is provided with a limiting ring, the connecting sleeve is provided with an annular groove for limiting the axial direction of the limiting ring, and the limiting ring is arranged in the annular groove in a manner of rotating around the axis of the connecting sleeve.

Optionally, a drive tendon guide groove is formed between the mating surfaces of the rotating body and the connecting sleeve, and the drive tendon guide groove is used for forming a planned movement path of the first drive tendon and the second drive tendon.

Optionally, the driving tendon guide groove includes a first guide portion disposed on the rotating body and a second guide portion disposed in the connecting sleeve and disposed corresponding to the first guide portion, and the first guide portion and the second guide portion cooperate to form the driving tendon guide groove.

Optionally, the first guiding part includes a first guiding groove and a second guiding groove, the second guiding part includes a first guiding groove, a third guiding groove, a second guiding groove and a fourth guiding groove, the first guiding groove is used for guiding the first driving tendon into the third guiding groove, the third guiding groove is correspondingly combined with the first guiding groove to form a planned movement path of the first driving tendon, the second guiding groove is used for guiding the second driving tendon into the fourth guiding groove, and the fourth guiding groove is correspondingly combined with the second guiding groove to form a planned movement path of the second driving tendon;

the first driving tendon is wound in the first guide groove, the tail end of the first driving tendon is fixed to the first guide groove, the second driving tendon is wound in the second guide groove, the tail end of the second driving tendon is fixed to the second guide groove, and the winding directions of the first driving tendon and the second driving tendon are opposite.

Alternatively, the first guide groove and the second guide groove are sequentially arranged in the axial direction of the rotating body.

Optionally, a first fixing groove is formed in the first guide groove, and the tail end of the first driving tendon is fixed to the first fixing groove through a first fixing block; the second guide groove is provided with a second fixing groove, and the tail end of the second driving tendon is fixed in the second fixing groove through a second fixing block.

Optionally, the connecting sleeve includes sleeve body and seat support, the front end of sleeve body is provided with the tang ring, the seat support with the tang ring cooperation is in order to enclose to establish and is formed the ring channel.

Optionally, the inner ring surface of the spigot ring is provided with a first annular step surface matched with the first end side of the limiting ring, the inner ring surface of the seat support is provided with a second annular step surface matched with the second end side of the limiting ring, and the first annular step surface and the second annular step surface are assembled to form the annular groove.

Optionally, the seat support is fixedly connected with the outer ring surface of the spigot ring in a detachable mode.

Optionally, the drive tendon guide is provided with a radially arranged limit protrusion, and the connecting sleeve is internally provided with a rotation limiting chute adapted to the limit protrusion, and the rotation limiting chute is arranged along the axial direction of the connecting sleeve.

Optionally, the outer annular surface of the drive tendon guide is configured as a conical surface.

Compared with the background technical introduction, the rotating device is applied to a minimally invasive surgical instrument and comprises a connecting component, a rotating main body, a first driving tendon and a second driving tendon, wherein the connecting component is arranged at the tail end of the minimally invasive surgical instrument; the rotary main body is rotatably arranged in the connecting assembly, and an end effector of the minimally invasive surgical instrument is fixedly connected with the rotary main body; the first driving tendon and the second driving tendon are arranged in the minimally invasive surgical instrument and the connecting component and are connected with the rotating main body; in addition, the first driving tendon is used for driving the rotating body to rotate in a first rotating direction in the connecting assembly, the second driving tendon is used for driving the rotating body to rotate in a second rotating direction in the connecting assembly, and the first rotating direction is opposite to the second rotating direction. This rotary device, in practical application in-process, through installing its coupling assembling at the end of minimally invasive surgery apparatus, because rotating body sets up in coupling assembling with rotatable mode in coupling assembling, and the end effector fixed connection of minimally invasive surgery apparatus is in rotating body, first drive tendon and second drive tendon all set up in minimally invasive surgery apparatus and coupling assembling, and both are connected with rotating body, and first drive tendon is used for driving rotating body and rotates along first rotation direction in coupling assembling, second drive tendon is used for driving rotating body and rotates along second rotation direction in coupling assembling, and first rotation direction is opposite with the second rotation direction, consequently, can drive the end effector and rotate along first rotation direction at the end of minimally invasive surgery apparatus through first drive tendon, can drive the end effector and rotate along second rotation direction at the end of minimally invasive surgery apparatus through second drive tendon, also the end effector can realize relative minimally invasive surgery's end and independently rotate along second rotation direction, can reduce the relative minimally invasive surgery apparatus and carry on with the instrument of the partial instrument of rotation of the second rotation, and the demand of the visual field of view under the instrument of the fact that the instrument is difficult to carry out, the visual demand of the visual adjustment of the instrument of the tip is satisfied, the instrument is convenient for the tip-to be adjusted.

In addition, the utility model also provides a minimally invasive surgical instrument which comprises a rotating device, wherein the rotating device is the rotating device described in any scheme. Since the rotating device has the technical effects, the minimally invasive surgical instrument with the rotating device has the corresponding technical effects and is not described in detail herein.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a front view of a rotary device with an end effector mounted thereon according to an embodiment of the present utility model;

FIG. 2 is a schematic cross-sectional view of a rotary device (only a portion of the end effector is shown) provided in accordance with an embodiment of the present utility model;

FIG. 3 is a schematic diagram of a structure of a rotating body disposed in a connecting assembly according to an embodiment of the present utility model;

FIG. 4 is a schematic cross-sectional view of a rotating body disposed within a connection assembly according to an embodiment of the present utility model;

fig. 5 is a schematic structural diagram of a seat support provided in an embodiment of the present utility model under a first view angle;

fig. 6 is a schematic structural diagram of a seat support provided in an embodiment of the present utility model under a second view angle;

FIG. 7 is a schematic axial side view of a drive tendon guide according to an embodiment of the present utility model;

FIG. 8 is a schematic diagram of an axial structure of a connection assembly according to an embodiment of the present utility model;

fig. 9 is a schematic cross-sectional structure of a sleeve body according to an embodiment of the present utility model cut at a first driving tendon and a second driving tendon introducing position;

FIG. 10 is a schematic cross-sectional view of a sleeve body according to an embodiment of the present utility model cut at a rotation limiting chute;

FIG. 11 is a schematic view of an axial structure of a rotating body according to an embodiment of the present utility model;

fig. 12 is a schematic structural view of a rotating body provided with a first fixing block and a second fixing block according to an embodiment of the present utility model.

Wherein, in fig. 1-12:

the connection assembly 1, the connection sleeve 11, the annular groove 110, the second guide portion 111, the third guide groove 111a, the fourth guide groove 111b, the first introduction groove 111c, the second introduction groove 111d, the sleeve body 112, the seat 113, the second annular stepped surface 1131, the spigot ring 114, the first annular stepped surface 1141, the rotation limiting chute 115, the driving tendon guide 12, the first guide hole 121, the second guide hole 122, and the limiting boss 123;

the rotary body 2, the stopper ring 21, the first guide portion 22, the first guide groove 221, the first fixing groove 221a, the second guide groove 222, and the second fixing groove 222a;

an end effector 3;

a first drive tendon 4, a first fixed block 41;

a second drive tendon 5 and a second fixed block 51;

and a rotating device 6.

Detailed Description

The utility model aims at providing a rotating device and a minimally invasive surgical instrument so as to solve the problem that an end effector of the minimally invasive surgical instrument is complicated to operate in order to meet the surgical requirement.

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-12, the utility model specifically provides a rotating device 6, which is applied to a minimally invasive surgical instrument and comprises a connecting component 1, a rotating main body 2, a first driving tendon 4 and a second driving tendon 5, wherein the connecting component 1 is arranged at the tail end of the minimally invasive surgical instrument; the rotating body 2 is rotatably arranged in the connecting assembly 1, and the end effector 3 of the minimally invasive surgical instrument is fixedly connected to the rotating body 2, and it should be noted that the end effector 3 is mainly used for the minimally invasive surgical instrument to perform related surgical operations such as clamping and sampling, and the corresponding minimally invasive surgical instrument should have a device linked with the device and some other auxiliary functional devices, so the middle parts of the corresponding connecting assembly 1 and the rotating body 2 should have through holes for the devices to pass through; the first driving tendon 4 and the second driving tendon 5 are arranged in the minimally invasive surgical instrument and the connecting component 1 and are connected with the rotating main body 2; and the first driving tendon 4 is used to drive the rotation body 2 to rotate in a first rotation direction within the connection assembly 1, and the second driving tendon 5 is used to drive the rotation body 2 to rotate in a second rotation direction within the connection assembly 1, and the first rotation direction is opposite to the second rotation direction, specifically, one of the first rotation direction and the second rotation direction is designed as a clockwise rotation direction, and the other is designed as a counterclockwise rotation direction.

In the practical application process, the rotating device 6 is arranged at the tail end of the minimally invasive surgical instrument by the connecting component 1, because the rotating main body 2 is rotatably arranged in the connecting component 1, and the end effector 3 of the minimally invasive surgical instrument is fixedly connected with the rotating main body 2, the first driving tendon 4 and the second driving tendon 5 are respectively arranged in the minimally invasive surgical instrument and the connecting component 1 and are both connected with the rotating main body 2, the first driving tendon 4 is used for driving the rotating main body 2 to rotate in the connecting component 1 along the first rotating direction, the second driving tendon 5 is used for driving the rotating main body 2 to rotate in the connecting component 1 along the second rotating direction, and the first rotating direction is opposite to the second rotating direction, therefore, the end effector 3 can be driven to rotate along the first rotating direction by the first driving tendon 4 and rotate along the first rotating direction by driving the rotating body 2 along the second rotating direction by driving the rotating body 2 by the second driving tendon 5, and the end effector 3 can be driven to rotate along the second rotating direction by driving the tail end of the minimally invasive surgical instrument, namely, the end effector 3 can realize bidirectional independent rotation relative to the tail end of the minimally invasive surgical instrument, the friction force generated by rotation of the contact part of the minimally invasive surgical instrument and the carrying instrument can be reduced, the angle of the end effector of the tail end of the minimally invasive surgical instrument can be adjusted under the condition that the view of an endoscope is unchanged, the tissue shape is adapted, the clamping is convenient, and the operation is more visual and simple on the premise of meeting the operation requirement.

In some specific embodiments, referring to fig. 2-4, in conjunction with fig. 7, the above-mentioned connection assembly 1 may specifically include a connection sleeve 11 and a driving tendon guide 12, wherein the connection sleeve 11 is disposed at the distal end of the minimally invasive surgical instrument, the rotating body 2 is rotatably disposed in the connection sleeve 11, the driving tendon guide 12 is disposed in the connection sleeve 11 in a rotation-limiting manner, a first guide hole 121 and a second guide hole 122 are disposed on the driving tendon guide 12, the first guide hole 121 is used for performing constraint guiding on an introduction path of the first driving tendon 4 introduced to the rotating body 2, and the second guide hole 122 is used for performing constraint guiding on an introduction path of the second driving tendon 5 introduced to the rotating body 2. In order to ensure that the rotary body 2 can smoothly rotate, a certain gap should be provided between the rotary body 2 and the driving tendon guide 12. By designing the connection assembly 1 in the above-described structural form, the introduction of the first and second drive tendons 4 and 5 into the corresponding positions on the rotating body 2 is made more stable.

In a further embodiment, referring to fig. 2-4, in conjunction with fig. 7, a specific structural form of the rotating body 2 for realizing rotation on the connecting sleeve 11 may be that an outer ring of the rotating body 2 is provided with a limiting ring 21, the connecting sleeve 11 is provided with an annular groove 110 for axially limiting the limiting ring 21, and the limiting ring 21 is disposed in the annular groove 110 in a manner of being rotatable around its own axis. By designing into this kind of structural style, not only can guarantee to have stable rotation cooperation between rotating body 2 and connecting sleeve 11, but also can guarantee to have sufficient space between connecting sleeve 11 and the rotating body 2 for first drive tendon 4 and second drive tendon 5 motion.

In still further embodiments, referring to fig. 2-4, and referring to fig. 9-12, a driving tendon guide groove may be specifically formed between the mating surfaces of the rotating body 2 and the connecting sleeve 11, where the driving tendon guide groove is used to form the planned movement paths of the first driving tendon 4 and the second driving tendon 5. The driving tendon guiding groove is designed to enable the movement paths of the first driving tendon 4 and the second driving tendon 5 to be more stable and controllable, so that the rotation stability of the driving rotating main body 2 is ensured.

Specifically, referring to fig. 2 to 4, as shown in conjunction with fig. 9 to 12, the above-mentioned driving tendon guide groove may include a first guide portion 22 provided on the rotating body 2 and a second guide portion 111 provided in the connection sleeve 11 and disposed in correspondence with the first guide portion 22, the first guide portion 22 and the second guide portion 111 cooperating to constitute the driving tendon guide groove. By designing in this way, in particular, on the one hand, the first drive tendons 4 and the second drive tendons 5 can be introduced more smoothly onto the rotating body 2 by the second guide 111, and on the other hand, the first drive tendons 4 and the second drive tendons 5 can be arranged more orderly on the rotating body 2 by the first guide 22 on the rotating body 2. It will be understood, of course, that in practice, it is also possible to alternatively design the second guide 111 only inside the connecting sleeve 11, or alternatively, the first guide 22 only inside the rotating body 2, and also to implement the basic function of introducing the first and second drive tendons 4 and 5, although the utility model is preferably designed to arrange the first and second guides 22 and 111 simultaneously.

In some more specific embodiments, referring to fig. 2 to 4, as shown in conjunction with fig. 9 to 12, the first guide portion 22 may include a first guide groove 221 and a second guide groove 222, and the second guide portion 111 may include a first introduction groove 111c, a third guide groove 111a, a second introduction groove 111d, and a fourth guide groove 111b, the first introduction groove 111c for introducing the first driving tendon 4 into the third guide groove 111a. The third guiding groove 111a and the first guiding groove 221 are correspondingly combined to form a planned movement path of the first driving tendon 4, the second guiding groove 111d is used for guiding the second driving tendon 5 into the fourth guiding groove 111b, the fourth guiding groove 111b and the second guiding groove 222 are correspondingly combined to form a planned movement path of the second driving tendon 5, wherein the first driving tendon 4 is wound around the first guiding groove 221 and fixed at the end of the first guiding groove 221, the second driving tendon 5 is wound around the second guiding groove 222 and fixed at the end of the second guiding groove 222, and the winding directions of the first driving tendon 4 and the second driving tendon 5 are opposite. In addition, the specific structure of the first guide groove 221 and the second guide groove 222 may be designed as a semi-annular groove or an arc-shaped groove that exceeds one semi-ring and is smaller than a full ring. In the practical application process, the angle of the end effector 3 arranged on the rotating device 6 can be easily adjusted by controlling the first driving tendon 4 and the second driving tendon 5 at the proximal end of the minimally invasive surgical instrument. For example, by manipulating the first drive tendon 4 to tighten and the second drive tendon 5 to loosen, the rotary body 2 can be controlled to drive the end effector to rotate clockwise; by manipulating the first drive tendon 4 to relax and the second drive tendon 5 to tighten, the rotating body 2 can be controlled to rotate the end effector counterclockwise. For another example, by controlling the first driving tendon 4 to tighten and the second driving tendon 5 to loosen, the rotating body 2 can be controlled to drive the end effector to rotate anticlockwise; by manipulating the first drive tendon 4 to relax and the second drive tendon 5 to tighten, the rotating body 2 can be controlled to rotate the end effector clockwise.

By designing the first guide portion 22 and the second guide portion 111 into the above structural form, the planned movement paths of the first driving tendon 4 and the second driving tendon 5 have a good dividing effect, and mutual interference between the first driving tendon 4 and the second driving tendon 5 can be effectively avoided.

In a further embodiment, referring to fig. 2 and 4, as shown in conjunction with fig. 11 and 12, the above-described first guide groove 221 and second guide groove 222 may be specifically designed in such a manner as to be sequentially arranged in the axial direction of the rotary body 2. By designing the structure, the first driving tendon 4 and the second driving tendon 5 respectively realize movement path planning in different guide grooves, so that the risk of mutual interference of the first driving tendon 4 and the second driving tendon 5 is reduced.

In other specific embodiments, referring to fig. 11 and 12, the first guide groove 221 may be provided with a first fixing groove 221a, and the end of the first driving tendon 4 may be fixed to the first fixing groove 221a by a first fixing block 41; the second guide groove 222 may be provided with a second fixing groove 222a, and the end of the second driving tendon 5 may be fixed to the second fixing groove 222a by the second fixing block 51. The tail end of the driving tendon is fixed in a mode that the fixing block is matched with the fixing groove, so that the fixing structure of the driving tendon is simpler, and the fixing and the dismounting are more convenient. It should be understood, of course, that the above-mentioned structure is merely an example of the fixing manner of the ends of the first driving tendon 4 and the second driving tendon 5 in the embodiment of the present utility model, and other fixing manners may be designed in the practical application process, which is not limited in any way.

In some specific embodiments, referring to fig. 1-12, the connecting sleeve 11 may specifically include a sleeve body 112 and a seat 113, where a spigot ring 114 is disposed at a front end of the sleeve body 112, and the seat 113 cooperates with the spigot ring 114 to form the annular groove 110. Specifically, the inner annular surface of the spigot ring 114 may be provided with a first annular step surface 1141 adapted to the first end side of the stop collar 21, the inner annular surface of the seat support 113 may be provided with a second annular step surface 1131 adapted to the second end side of the stop collar 21, and the first annular step surface 1141 and the second annular step surface 1131 are assembled to form the annular groove 110. Through designing connecting sleeve 11 into above-mentioned structural style for rotating body 2 packs into connecting sleeve 11 more conveniently, and cooperates with tang ring 114 through seat support 113, not only can guarantee that spacing ring 21 on rotating body 2 has stable rotating structure, but also can guarantee the axial spacing effect to spacing ring 21.

It should be noted that, the outer ring surfaces of the seat 113 and the spigot 114 are preferably configured to be detachably and fixedly connected, for example, by a threaded connection. The detachable connection mode is designed, so that the disassembly, assembly and maintenance of the rotating main body 2 in the rotating device 6 are more convenient. It will be understood, of course, that the detachable manner is merely a preferred example of the embodiment of the present utility model, and that the detachable manner may be designed to be non-detachable during the practical application, such as directly using ultrasonic welding for fixing connection.

In other specific embodiments, referring to fig. 1-4, in conjunction with fig. 7-10, the above-mentioned rotation limiting structure of the tendon guide 12 in the connecting sleeve 11 may be that a radially arranged limiting protrusion 123 is provided on the tendon guide 12, a rotation limiting chute 115 adapted to the limiting protrusion 123 is provided in the connecting sleeve 11, and the rotation limiting chute 115 is arranged along the axial direction of the connecting sleeve 11. By designing into this kind of structural style, not only can guarantee that drive tendon guide 12 does not rotate relative to adapter sleeve 11 in the direction in-process to also make drive tendon guide 12 install in adapter sleeve 11 more convenient, specifically, drive tendon guide 12 can slide into the appointed position in adapter sleeve 11 through this limit protrusion 123 and limit to the cooperation structure of changeing spout 115. It should be noted that, the number of the above-mentioned limiting protrusions 123 corresponding to the rotation limiting sliding grooves 115 may be selected and arranged according to actual needs, for example, may be arranged in one group, two groups or more than two groups, which is not limited herein in more detail.

In some particular embodiments, referring to fig. 7, the outer annular surface of the drive tendon guide 12 described above may be configured as a tapered surface. By designing the structure into the conical surface, on the one hand, the driving tendon guide 12 can be guaranteed to be installed into the connecting sleeve 11 to have a good limiting effect, and when the first guide hole 121 and the second guide hole 122 are arranged on the conical surface, the first driving tendon 4 and the second driving tendon 5 can have a certain radial climbing effect, so that the stability of guiding the first driving tendon 4 and the second driving tendon 5 onto the rotating main body 2 can be guaranteed to be better.

In addition, the utility model also provides a minimally invasive surgical instrument which comprises a rotating device, wherein the rotating device is the rotating device described in any scheme. Since the rotating device has the technical effects, the minimally invasive surgical instrument with the rotating device should have the corresponding technical effects, and will not be described in detail herein.

It should be noted that, in the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described as different from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.

As used in this application and in the claims, the terms "a," "an," "the," and/or "the" are not specific to the singular, but may include the plural, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that the steps and elements are explicitly identified, and they do not constitute an exclusive list, as other steps or elements may be included in a method or apparatus. The inclusion of an element defined by the phrase "comprising one … …" does not exclude the presence of additional identical elements in a process, method, article, or apparatus that comprises an element.

Wherein, in the description of the embodiments of the present application, "/" means or is meant unless otherwise indicated, for example, a/B may represent a or B; "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, in the description of the embodiments of the present application, "plurality" means two or more than two.

In addition, the terms "first," "second," are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature.

The principles and embodiments of the present utility model have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the core concepts of the utility model. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the utility model can be made without departing from the principles of the utility model and these modifications and adaptations are intended to be within the scope of the utility model as defined in the following claims.

Claims (14)

1. A rotary device for use with minimally invasive surgical instruments, comprising:

the connecting component (1) is arranged at the tail end of the minimally invasive surgical instrument;

a rotating body (2) rotatably arranged in the connecting assembly (1), and an end effector (3) of the minimally invasive surgical instrument is fixedly connected to the rotating body (2);

the first driving tendon (4) and the second driving tendon (5) are arranged in the minimally invasive surgical instrument and the connecting component (1) and are connected with the rotating main body (2);

the first driving tendon (4) is used for driving the rotating body (2) to rotate in a first rotating direction in the connecting assembly (1), the second driving tendon (5) is used for driving the rotating body (2) to rotate in a second rotating direction in the connecting assembly (1), and the first rotating direction is opposite to the second rotating direction.

2. The rotating device according to claim 1, wherein the connection assembly (1) comprises a connection sleeve (11) and a drive tendon guide (12), the connection sleeve (11) being arranged at the end of the minimally invasive surgical instrument, the rotating body (2) being rotatably arranged in the connection sleeve (11), the drive tendon guide (12) being arranged in the connection sleeve (11) in a rotation-limiting manner, the drive tendon guide (12) being provided with a first guide hole (121) and a second guide hole (122), the first guide hole (121) being used for constraining and guiding an introduction path of the first drive tendon (4) to the rotating body (2), the second guide hole (122) being used for constraining and guiding an introduction path of the second drive tendon (5) to the rotating body (2).

3. A rotating device according to claim 2, characterized in that the outer ring of the rotating body (2) is provided with a stop collar (21), the connecting sleeve (11) is provided with an annular groove (110) for axially limiting the stop collar (21), and the stop collar (21) is arranged in the annular groove (110) in a manner of being rotatable around the axis of the connecting sleeve.

4. A rotary device according to claim 3, characterized in that a drive tendon guide groove is formed between the mating surfaces of the rotary body (2) and the connecting sleeve (11), which drive tendon guide groove is used to form the planned movement path of the first drive tendon (4) and the second drive tendon (5).

5. A rotary device according to claim 4, wherein the drive tendon guide groove comprises a first guide portion (22) provided on the rotary body (2) and a second guide portion (111) provided in the connection sleeve (11) and arranged in correspondence with the first guide portion (22), the first guide portion (22) and the second guide portion (111) cooperating to constitute the drive tendon guide groove.

6. The rotary device according to claim 5, wherein the first guide portion (22) comprises a first guide groove (221) and a second guide groove (222), the second guide portion (111) comprises a first guide groove (111 c), a third guide groove (111 a), a second guide groove (111 d) and a fourth guide groove (111 b), the first guide groove (111 c) is used for guiding the first drive tendon (4) into the third guide groove (111 a), the third guide groove (111 a) and the first guide groove (221) are correspondingly combined to form a planned movement path of the first drive tendon (4), the second guide groove (111 d) is used for guiding the second drive tendon (5) into the fourth guide groove (111 b), and the fourth guide groove (111 b) and the second guide groove (222) are correspondingly combined to form a planned movement path of the second drive tendon (5);

the first driving tendon (4) is wound in the first guiding groove (221) and the tail end of the first driving tendon is fixed in the first guiding groove (221), the second driving tendon (5) is wound in the second guiding groove (222) and the tail end of the second driving tendon is fixed with the second guiding groove (222), and the winding directions of the first driving tendon (4) and the second driving tendon (5) are opposite.

7. The rotating device according to claim 6, characterized in that the first guide groove (221) and the second guide groove (222) are arranged in sequence in the axial direction of the rotating body (2).

8. The rotating device according to claim 6, wherein a first fixing groove (221 a) is provided on the first guiding groove (221), and the end of the first driving tendon (4) is fixed to the first fixing groove (221 a) by a first fixing block (41); the second guide groove (222) is provided with a second fixing groove (222 a), and the tail end of the second driving tendon (5) is fixed to the second fixing groove (222 a) through a second fixing block (51).

9. A rotary device according to any one of claims 3-8, characterized in that the connecting sleeve (11) comprises a sleeve body (112) and a seat support (113), the front end of the sleeve body (112) being provided with a spigot ring (114), the seat support (113) cooperating with the spigot ring (114) to enclose the annular groove (110).

10. The rotary device according to claim 9, wherein the inner annular surface of the spigot ring (114) is provided with a first annular step surface (1141) adapted to the first end side of the stop ring (21), the inner annular surface of the seat support (113) is provided with a second annular step surface (1131) adapted to the second end side of the stop ring (21), and the first annular step surface (1141) and the second annular step surface (1131) are assembled to form the annular groove (110).

11. A rotary device according to claim 9, characterized in that the seat (113) is fixedly connected in a detachable manner to the outer circumferential surface of the spigot ring (114).

12. A rotary device according to any one of claims 2-8, 10 and 11, wherein the drive tendon guide (12) is provided with radially arranged limit lugs (123), and wherein the coupling sleeve (11) is provided with rotation limiting slide grooves (115) adapted to the limit lugs (123), and wherein the rotation limiting slide grooves (115) are arranged in the axial direction of the coupling sleeve (11).

13. The rotating device according to any one of claims 2-8, 10 and 11, characterized in that the outer annular surface of the drive tendon guide (12) is configured as a conical surface.

14. Minimally invasive surgical instrument comprising a rotation device (6), characterized in that the rotation device (6) is a rotation device according to any one of claims 1-13.