WO2019105289A1 - 手术器械 - Google Patents

手术器械 Download PDF

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Publication number
WO2019105289A1
WO2019105289A1 PCT/CN2018/117102 CN2018117102W WO2019105289A1 WO 2019105289 A1 WO2019105289 A1 WO 2019105289A1 CN 2018117102 W CN2018117102 W CN 2018117102W WO 2019105289 A1 WO2019105289 A1 WO 2019105289A1
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WO
WIPO (PCT)
Prior art keywords
assembly
axis
link
coupled
surgical instrument
Prior art date
Application number
PCT/CN2018/117102
Other languages
English (en)
French (fr)
Inventor
袁帅
蒋友坤
何超
何裕源
Original Assignee
微创（上海）医疗机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 微创（上海）医疗机器人有限公司 filed Critical 微创（上海）医疗机器人有限公司
Priority to US16/768,222 priority Critical patent/US11523840B2/en
Publication of WO2019105289A1 publication Critical patent/WO2019105289A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00314—Separate linked members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A61B2017/00323—Cables or rods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00353—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery one mechanical instrument performing multiple functions, e.g. cutting and grasping
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/0042—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping
    • A61B2017/00424—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping ergonomic, e.g. fitting in fist
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/0042—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping
    • A61B2017/00438—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping connectable to a finger
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00477—Coupling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A61B2017/291—Handles the position of the handle being adjustable with respect to the shaft

Definitions

  • the present invention relates to the field of medical device technology, and in particular to surgical instruments.
  • minimally invasive surgical instruments are often used because of the small wounds, in order to achieve better therapeutic effects and reduce damage to other tissues during the operation.
  • unnecessary movement during operation is easily transmitted to the end effector of the surgical instrument, affecting the movement of the surgical instrument.
  • Chinese patent application CN107072684A provides an attachment device for a remote access tool comprising a ferrule configured to be secured to an operator's forearm and configured to connect the ferrule to a frame such that the ferrule can be moved relative to the frame A joint between 1 and 4 degrees of freedom.
  • this design is complicated, the axis of the coupling joint needs to pass through the central area of the operator's wrist, and since the ferrule is fixed to the operator's forearm, unnecessary movement of the forearm may be transmitted to the remote access during the operation.
  • the end effector of the tool that affects the motion of the remote access tool.
  • Chinese patent application CN105592801A provides a control unit for a medical device, comprising: a palm interface engageable by a palm of a hand; a beam member elastically deformable to apply a binding force to the back of the hand; and a finger interface, It can be engaged by one or more fingers of the hand.
  • a palm interface engageable by a palm of a hand
  • a beam member elastically deformable to apply a binding force to the back of the hand
  • a finger interface It can be engaged by one or more fingers of the hand.
  • this design is complicated and the control complexity is relatively large.
  • the Chinese patent application CN107080588A and the Chinese patent application CN107260307A provide a wire-driven minimally invasive surgical robot control device and a clamping device, both of which have the problem that unnecessary motion may be transmitted to the end effector.
  • a surgical instrument includes a surgical performance assembly, a flexible serpentine mechanism, a linkage member, and a manipulation assembly, a distal end of the flexible serpentine mechanism being coupled to the surgical performance assembly, a proximal end of the flexible serpentine mechanism and the a distal end of the linkage member, the proximal end of the linkage member is coupled to the steering assembly; the linkage member is rotatable about a first axis, a second axis; the flexible serpentine mechanism can surround the fifth axis, sixth Axis rotation
  • the flexible serpentine mechanism is driven to rotate about a fifth axis when the steering assembly drives the linkage member to rotate about the first axis, and the flexible serpentine mechanism rotates about the fifth axis and surrounds the linkage member The first axis rotates in the same direction;
  • the flexible serpentine mechanism rotates about a sixth axis when the steering assembly drives the linkage member to rotate about the second axis, and the flexible serpentine mechanism rotates about the sixth axis and the linkage member surrounds the second
  • the direction of rotation of the axis is the same.
  • the above surgical instrument uses a linkage member having two rotational degrees of freedom such that the manipulation assembly drives the surgical actuator assembly to rotate on the fifth rotational degree of freedom and/or the sixth rotational degree of freedom by the linkage member, the surgical execution component and the manipulation assembly are
  • the first rotational freedom and the second rotational freedom have the same swing direction, so that the surgical instrument has the technical effect of improving the accuracy of the movement direction of the surgical execution component, improving the accuracy of the operation of the surgical instrument, and facilitating the surgical operation.
  • the linkage member includes a ball joint
  • the ball hinge includes a ball and a spherical shell
  • the ball and the spherical shell have a common center of the ball
  • the ball joint is restricted from being able to surround the spherical shell The axis rotates.
  • the linkage member further includes a limit pin disposed on a surface of the ball, a central axis of the limit pin passing through the common center, the limit pin a central axis as the first axis;
  • the inner surface of the spherical shell is provided with a guiding groove, the guiding groove extends in a circumferential direction around the center of the ball, and the limiting pin is located in the guiding groove, so that the limiting pin can follow
  • the extending direction of the guiding groove is circularly moved;
  • the side wall of the limiting groove is for preventing the limiting pin from rotating about the axis of the spherical shell, and the limiting pin is circumferentially extending along the extending direction of the guiding groove An axis surrounded by the movement as the second axis;
  • the axis of the spherical shell, the central axis of the limiting pin, and the axis surrounded by the limiting pin in the circumferential direction of the guiding groove are perpendicular to each other.
  • the surgical instrument further includes a hand-held portion and a connecting portion that are sequentially connected, a proximal end of the hand-held portion is coupled to the linkage member, a distal end of the connecting portion and the flexible serpentine mechanism connection.
  • the hand piece includes an arcuate body, the proximal end of the arcuate body is provided with a proximal support seat, and the distal end is provided with a distal support seat, the distal end of the proximal support base A fixed connection is made to the linkage member, and a distal end of the distal support base is fixedly coupled to the connecting portion.
  • the surgical instrument further includes a flexible transmission structure, a proximal end of the flexible transmission structure is coupled to the linkage member, a distal end is coupled to the flexible serpentine mechanism, and the flexible transmission structure The position to which the linkage member is coupled is disposed opposite to the position at which the flexible transmission structure is coupled to the flexible serpentine mechanism.
  • the surgical instrument further includes a hand-held portion and a connecting portion that are sequentially connected, a proximal end of the hand-held portion is coupled to the linkage member, a distal end of the connecting portion and the flexible serpentine mechanism
  • the connecting portion and the connecting portion are each provided with a through hole, and the flexible transmission structure passes through the through hole of the hand portion and the connecting portion.
  • the surgical instrument further includes at least one steering wheel disposed in the through hole of the handpiece, the flexible transmission structure passing the steering wheel to change the direction of extension.
  • the surgical performance assembly includes a support portion and an end effector, the support portion being coupled to the flexible serpentine mechanism, the end effector being movable relative to the support portion.
  • the surgical instrument further includes an opening and closing transmission assembly, a distal end of the opening and closing transmission assembly is coupled to the end effector, and a proximal end of the opening and closing transmission assembly is coupled to the steering assembly The steering assembly rotates the end effector relative to the support portion through the opening and closing transmission assembly.
  • the manipulation assembly includes a grip portion and at least one control flap, the grip portion is coupled to the ball hinge, and a proximal end of the control flap is rotatably coupled to the grip portion;
  • a proximal end of the opening and closing transmission assembly is coupled to the control flap, and the control flap is rotated relative to the grip portion to drive the opening and closing transmission assembly to drive the end effector such that the end is executed
  • the device rotates relative to the support portion.
  • the end effector includes two first and second tool lobes that are relatively rotatable, the first and second tool lobes being rotatably coupled to the support.
  • the opening and closing transmission assembly includes a transmission shaft, a first opening and closing connection assembly, and a second opening and closing connection assembly; the proximal end of the first opening and closing connection assembly is coupled to at least one control flap. a distal end of the first opening and closing connection assembly is coupled to the transmission shaft; a distal end of the second opening and closing connection assembly is coupled to the first tool flap and the second tooling, respectively, the second opening a proximal end of the coupling assembly is coupled to the drive shaft;
  • control flap drives the first opening and closing connection assembly to move, so that the first opening and closing connection assembly drives the transmission shaft to move, so that the The drive shaft drives the second opening and closing connection assembly to move, so that the second opening and closing connection assembly drives the first tool flap and the second tool flap to rotate relative to each other.
  • the steering assembly includes a first control flap and a second control flap, the first opening and closing connection assembly including a first link and a second link, a proximal end of the first link Rotatingly coupled to the distal end of the first control flap, the proximal end of the second link is rotationally coupled to the distal end of the second control flap, the distal end of the first link and the second link The distal end is rotatably connected to the drive shaft;
  • the first control flap and the second control flap can drive the first link and the second link to rotate relative to each other.
  • the first link and the second link drive the drive shaft to move in a direction in which the drive shaft extends.
  • the second opening and closing connection assembly includes a third link and a fourth link, the distal end of the third link being rotatably coupled to the proximal end of the first tool flap, a distal end of the fourth link is rotatably coupled to the proximal end of the second tool flap, and a proximal end of the third link and a proximal end of the fourth link are rotatably coupled to the drive shaft;
  • the transmission shaft moves in the extending direction of the transmission shaft, the transmission shaft drives the third link and the fourth link to rotate relative to each other, so that the third link and the fourth link The first tool flap and the second tool flap are relatively rotated.
  • the opening and closing transmission assembly further includes a first elastic member disposed between the first link and the second link.
  • the opening and closing transmission assembly further includes a second elastic member disposed between the third link and the fourth link.
  • the opening and closing transmission assembly further includes a third elastic member, at least one of the third elastic members being disposed between the control flap and the grip.
  • the opening and closing transmission assembly further includes a fourth elastic member disposed between the first tool flap and the second tool flap.
  • the surgical instrument further includes a first locking component coupled to the ball hinge, the first locking component for preventing or allowing the ball to be hinged around Rotating the first axis and the second axis; and/or the first locking member is coupled to the steering assembly, the first locking member for locking or releasing the actuation of the steering assembly to the ball hinge And thereby preventing or allowing the ball to pivot about the first axis and the second axis.
  • a first through hole is defined in an axis of the spherical shell, and a second through hole is formed in the ball, a central axis of the first through hole and a center of the second through hole
  • the axis is collinear
  • the transmission shaft passes through the first through hole and the second through hole
  • the spherical shell is located between the grip portion and the ball
  • the ball is provided with a tapered space a cavity, the tapered cavity being in communication with the second through hole, a central axis of the tapered cavity coincides with a central axis of the second through hole, the tapered cavity being opened at the ball Near the side of the steering assembly.
  • the steering assembly is rotatable about a central axis of the first through hole such that the steering assembly rotates the drive shaft to cause the drive shaft to rotate the surgical actuator.
  • the surgical instrument further includes a second locking component coupled to the steering component, the second locking component for preventing or allowing the steering component to bypass the first The central axis of a through hole rotates.
  • Figure 1 is a schematic illustration of a surgical instrument of an embodiment
  • FIG. 2 is a schematic view showing the connection relationship between the manipulation assembly and the ball joint of the surgical instrument shown in FIG. 1;
  • Figure 3 is an exploded perspective view of the spherical shell and the ball of the surgical instrument shown in Figure 1;
  • FIG. 4 is a schematic view of the flexible serpentine mechanism of the surgical instrument of FIG. 1 swinging in a first rotational degree of freedom and a second rotational degree of freedom;
  • FIG. 5 is a schematic view showing a connection relationship between a first flexible transmission wire set and a second flexible transmission wire set of the surgical instrument shown in FIG. 1 and a manipulation assembly and a flexible serpentine mechanism;
  • FIG. 6 is a schematic view showing the connection relationship between the first flexible transmission wire set of the surgical instrument shown in FIG. 1 and the steering wheel and the linkage member;
  • Figure 7 is a schematic view showing the connection relationship between the surgical execution assembly, the opening and closing transmission assembly and the flexible serpentine mechanism of the surgical instrument shown in Figure 1;
  • Figure 8 is a schematic view showing the connection relationship between the manipulation assembly and the opening and closing transmission assembly of the surgical instrument shown in Figure 1;
  • Figure 9 is a schematic view showing a state in which the spherical shell driving control assembly shown in Figure 1 rotates relative to the ball;
  • FIG. 10 is a schematic view showing another state in which the spherical shell driving control assembly shown in FIG. 1 rotates relative to the ball.
  • the surgical instrument 10 of an embodiment includes a surgical execution assembly 100 , a linkage component 200 , a manipulation assembly 300 , and a flexible serpentine mechanism 400 .
  • the linkage component 200 is coupled to the manipulation assembly 300 , and the linkage component 200 can surround the first axis, The second axis rotates, thus having a first rotational freedom R1 and a second rotational freedom R2;
  • the flexible serpentine mechanism 400 is coupled to the surgical performance assembly 100 and is rotatable about the fifth axis and the sixth axis, thereby having a fifth rotational freedom Degree R5 and sixth rotational freedom R6.
  • the flexible serpentine mechanism 400 When the manipulation assembly 300 drives the linkage member 200 to rotate about the first axis, the flexible serpentine mechanism 400 is driven to rotate about the fifth axis, and the direction in which the flexible serpentine mechanism 400 rotates on the fifth rotational freedom R5 and the linkage member 200 are
  • the direction of rotation on a rotational degree of freedom R1 is the same; when the steering assembly 300 drives the linkage member 200 to rotate about the second axis, the flexible serpentine mechanism 400 is driven to rotate about the sixth axis, and the flexible serpentine mechanism 400 is in the sixth rotational freedom.
  • the direction of rotation on R6 is the same as the direction in which the linkage member 200 rotates on the second rotational freedom R2.
  • the directions of the first rotational freedom R1, the second rotational freedom R2, the fifth rotational freedom R5, and the sixth rotational freedom R6 are as illustrated in FIG. 1, preferably, the first axis
  • the second axis is perpendicular to each other, and the fifth axis and the sixth axis are perpendicular to each other, and the first axis and the fifth axis are parallel to each other.
  • the surgical execution component 100 can be an actuator such as a surgical forceps, a surgical scissors, or a surgical clamp, and is used for performing an action such as grasping during surgery.
  • the surgical performance assembly 100 is coupled to the flexible serpentine mechanism 400 having two degrees of rotational freedom. Therefore, when the manipulation assembly 300 drives the linkage member 200 to rotate about the first rotational axis, the flexible serpentine mechanism 400 is driven around the first The five-axis rotation, thereby driving the surgical performance assembly 100 to rotate about the fifth axis, so that the surgical performance assembly 100 has a rotational freedom R5'; when the manipulation assembly 300 drives the linkage member 200 to rotate about the second rotation axis, the flexible snake The mechanism 400 is driven to rotate about a sixth axis, thereby causing the surgical performance assembly 100 to rotate about a sixth axis, such that the surgical performance assembly 100 has a rotational freedom R6'.
  • the steering unit 300 is in the same direction as the swinging direction of the surgical component 100, so that the surgical instrument 10 can improve the accuracy of the motion direction of the surgical component 100, improve the accuracy of the operation of the surgical instrument 10, and facilitate the surgical operation.
  • the surgical instrument 10 can improve the accuracy of the motion direction of the surgical component 100, improve the accuracy of the operation of the surgical instrument 10, and facilitate the surgical operation.
  • the linkage member 200 includes a ball joint 210 that includes a raised ball 211 and a spherical shell 212 having a common center of the ball.
  • the axis of the projection on the ball 211 passes through the center of the ball. Since the linkage member 200 has two rotational degrees of freedom, and the ball joint 210 itself has three rotational degrees of freedom, in the present embodiment, it is necessary to limit the third degree of rotational freedom of the ball joint 210 such that the ball joint 210 has two The degree of freedom of rotation, i.e., the ball joint, is limited to be unable to rotate about the axis on which the projection on the ball 211 is located.
  • the ball hinge 210 structure it is easy to control the degree of freedom of rotation to form the linkage member 200 having two degrees of rotational freedom, which has the technical effect of being convenient to use.
  • the ball hinge is constrained to be rotatable about the axis of the spherical shell (i.e., the axis on which the projections on the initial state ball 211 are located) as follows: the linkage member 200 also includes a limit The pin 213 is disposed on the surface of the ball 211. The central axis of the limiting pin 213 passes through a common center of the ball. The inner surface of the spherical shell 212 is provided with a guiding groove 201. The guiding groove 201 extends in a circle around the center of the ball.
  • the direction pin 213 is located in the guiding groove 201, so that the limiting pin 213 can move circumferentially along the extending direction of the guiding groove 201; the side wall of the guiding groove is used to prevent the limiting pin 213 from surrounding the axis of the spherical shell, that is, the initial The axis of the protrusion of the state ball 211 is rotated; the axis of the spherical shell, the central axis of the limit pin 213 (ie, the first axis), and the axis around which the limit pin 213 is circumferentially moved in the extending direction of the guide groove 201
  • the second axis is configured to be perpendicular to each other.
  • a guide groove 201 surrounding the center of the ball is opened on the inner surface of the spherical shell 212, and the guide groove 201 is located on the axis of the spherical shell and the A plane defined by the central axis of the limit pin 213.
  • the axis of the spherical shell, the central axis of the limiting pin 213, and the axis around which the limiting pin 213 is circumferentially moved in the extending direction of the guiding groove 201 are perpendicular to each other so that the limiting pin 213 can extend around the guiding groove 201.
  • the limiting pin 213 can also rotate about the central axis of the limiting pin 213, and the side wall of the limiting slot can prevent the limiting pin 213 from moving about the axis of the protrusion of the ball 211, so that the ball 211 has only Two degrees of freedom of rotation.
  • the steering assembly 300 can rotate the surgical performance assembly 100 about the fifth axis and the sixth axis through the ball hinge 210.
  • the flexible serpentine mechanism 400 is a flexible structure
  • the flexible serpentine mechanism 400 can drive the surgical actuator assembly 100 to rotate about the fifth axis and the sixth axis to form two Rotational degrees of freedom R5, R6, preferably the surgically performing assembly 100 can also be rotated to form a degree of freedom of rotation R7. Therefore, the surgical execution assembly 100 has three degrees of freedom, and can flexibly change the posture of the surgical execution assembly 100, thereby adapting to the requirements of different clamping postures in a narrow space, and improving the convenience of the surgical operation.
  • the surgical instrument 10 further includes a flexible transmission structure 500, the proximal end of the flexible transmission structure 500 The linkage member 200 is coupled and the distal end is coupled to the flexible serpentine mechanism 400.
  • the flexible transmission structure 500 is disposed opposite the position where the flexible transmission structure 500 is coupled to the flexible serpentine mechanism 400 at a position where the linkage member 200 is coupled.
  • the reverse configuration herein refers to a configuration in which, for example, when the position at which the proximal end of the flexible transmission structure 500 is coupled to the flexible serpentine mechanism 400 is above, the position at which the distal end of the flexible transmission structure 500 is coupled to the linkage member 200 is below; When the position at which the proximal end of the flexible transmission structure 500 is coupled to the flexible serpentine mechanism 400 is on the left side, the position at which the distal end of the flexible transmission structure 500 is coupled to the linkage member 200 is on the right side.
  • the linkage member 200 includes a ball joint 210 including a ball 211 and a ball housing 212
  • the flexible transmission structure 500 includes four flexible bodies 51a, 51b, 51c, 51d
  • the flexible serpentine mechanism 400 includes four fixed points, wherein the upper and lower fixed points are used to control the flexible serpentine mechanism 400 to swing up and down, and the left and right fixed points are used to control the left and right rotation of the flexible serpentine mechanism 400.
  • the spherical shell 212 also has four fixed points. The fixing points of the spherical shell 212 are respectively connected to the four flexible bodies 51a, 51b, 51c, 51d in the counterclockwise order from the left side.
  • the serpentine joint 41 includes four fixed points which are respectively connected to the other end of the flexible bodies 51c, 51d, 51a, 51b in the counterclockwise order from the left side.
  • 51b is taken as an example, and the connection positions of the ends of 51b are indicated by broken lines.
  • the first axis passes through a fixed point of the flexible body 51b, 51d and the spherical shell 212
  • the second axis passes through a fixed point of the flexible body 51a, 51c and the spherical shell 212.
  • the fifth axis passes through the fixed points of the flexible body 51b, 51d and the flexible serpentine mechanism 400
  • the sixth axis passes through the flexible points 51a, 51c and the fixed point of the flexible serpentine mechanism 400.
  • the flexible serpentine mechanism 400 can realize the operation of rotating about the fifth axis and the sixth axis, while causing the flexible serpentine mechanism 400 to move in the same direction as the manipulation assembly 300 under the control of the manipulation assembly 300. That is, the motion configuration of the two is the same and the direction of motion is consistent, so that the operator's operation motion is prevented from being reversely transmitted to the end effect component and affecting the motion accuracy of the instrument.
  • the fixed point of the flexible serpentine mechanism 400/spherical shell 212 is not limited to four, and may be six, eight or the like. The increased number of fixed points allows for more precise control of the flexible serpentine mechanism 400/spherical shell 212.
  • the surgical instrument 10 further includes a hand piece 810 and a connecting portion 800 that are sequentially connected.
  • the connection portion 800 is for supporting a surgically performing assembly, a flexible serpentine mechanism.
  • the connecting portion 800 is provided with a through hole, the flexible transmission structure 500 passes through the through hole of the connecting portion 800, the proximal end of the connecting portion 800 is connected with the hand portion 810, and the distal end of the connecting portion 800 is connected with the flexible serpentine mechanism 400.
  • the flexible transmission structure 500 is passed through the through hole of the connecting portion 800, so that the connecting portion 800 can protect the flexible transmission structure 500, so that the flexible transmission structure 500 is not disturbed and damaged outside the cavity of the connecting portion 800, thereby being able to improve The accuracy of the operation of the surgical instrument 10.
  • the hand portion 810 includes an arcuate body.
  • the proximal end of the curved body is provided with a proximal support seat and the distal end is provided with a distal support seat.
  • the specific curved shape of the curved body is not particularly limited and can be designed according to ergonomics.
  • the distal end of the distal support base is fixedly coupled to the connecting portion 800.
  • the distal end of the proximal support base is fixedly coupled to the linkage member 200 to support the linkage member 200, and is also convenient for hand-held.
  • the hand-held portion 810 is provided with a through hole to facilitate the passage of the flexible transmission structure 500. Further, referring to FIG.
  • the surgical instrument 10 further includes a steering wheel 700, and the number of the steering wheels 700 may be one or plural.
  • the steering wheel 700 By disposing the steering wheel 700 in the through hole of the hand portion 810 such that the flexible transmission structure 500 passes through the through hole of the hand portion 810, the steering of the steering wheel 700 causes the flexible transmission structure 500 to be in the hand portion 810 having the curvature. The direction of extension is changed within the through hole.
  • the surgical performance assembly 100 includes a support portion 110 that is coupled to a flexible serpentine mechanism 400 and an end effector that is movable relative to the support portion, such as moving or rotating.
  • the end effector includes a first tool flap 120 and a second tool flap 130.
  • the proximal end of the first tool flap 120 is rotationally coupled to the support portion 110, and the distal end of the first tool flap 120 is At the free end, the proximal end of the second tool flap 130 is coupled to the support portion 110, and the distal end of the second tool flap 130 is a free end, such that the end effector has a degree of opening and closing freedom.
  • the surgical instrument 10 also includes an opening and closing transmission assembly 900 for driving end effector motion.
  • the distal end of the opening and closing transmission assembly 900 is coupled to the first tooling 120, and the proximal end of the opening and closing transmission assembly 900 is coupled to the steering assembly 300.
  • the operation of the steering assembly 300 drives the opening and closing transmission assembly 900 to act, thereby driving the first tooling 120 and the second tooling 130 relative to each other by the transmission of the opening and closing transmission assembly 900, so that the first tooling 120 and the second tool
  • the tool flap 130 can be relatively opened or closed by relative rotation, so that grasping, clamping, and the like can be performed during the operation.
  • the second tool lobes 130 and the support portion 110 may be fixedly connected.
  • the opening and closing transmission assembly 900 is actuated by the manipulation of the steering assembly 300, so that the first tool lobes 120 are actuated by the transmission action of the opening and closing transmission assembly 900, so that the first The tool flap 120 is rotated relative to the second tool flap 130 such that the first tool flap 120 and the second tool flap 130 can be relatively opened or closed by relative rotation, so that grasping, clamping, and the like can be performed during the operation.
  • the second tool flap 130 and the support portion 110 can also be rotatably connected.
  • the distal end of the opening and closing transmission assembly 900 is also connected to the second tool lobes 120, and the opening and closing transmission assembly 900 is actuated by the manipulation of the manipulation assembly 300, so as to pass the opening and closing.
  • the transmission of the transmission assembly 900 causes the first tool flap 120 and the second tool lobes 130 to act such that the second tool lobes 130 and the first tool lobes 120 are relatively rotated, such that the first tool lobes 120 and the second tool lobes 130 are relatively rotated. It can be opened or closed relatively, so that it can be grasped, clamped, etc. during surgery.
  • the steering assembly 300 includes a grip 310 and a first control flap 320.
  • the grip portion 310 is coupled to the ball joint 210.
  • One end of the first control flap 320 is rotatably coupled to the grip portion 310, and the other end of the first control flap 320 is a free end.
  • the proximal end of the surgical instrument 10 has a fourth degree of freedom R4.
  • the proximal end of the opening and closing transmission assembly 900 is coupled to the first control valve 320, and the first control valve 320 and the grip portion 310 are relatively rotated by actuation, so as to drive the transmission of the opening and closing transmission assembly 900, thereby causing the first tool flap 120 to be
  • the first tool flap 120 and the second tool flap 130 are relatively opened and closed by relative rotation, so that the grasping and clamping can be performed during the operation. Hold the same action.
  • the steering assembly 300 further includes a second control flap 330.
  • One end of the second control flap 330 is rotatably coupled to the grip portion 310, and the other end of the second control flap 330 is a free end.
  • the proximal end of the opening and closing transmission assembly 900 is also connected to the second control valve 330.
  • the second control flap 330 and the grip portion 310 can also be rotated relative to each other by the manipulation, so as to drive the transmission of the opening and closing transmission assembly 900, thereby enabling the first tool.
  • the flap 120 rotates relative to the second tool flap 130.
  • first control valve 320 and the grip portion 310 are relatively rotated by the manipulation, and/or the second control valve 330 and the grip portion 310 are relatively rotated by the manipulation, thereby driving the opening and closing transmission component 900 to act.
  • the first tool lobes 120 and/or the second tool lobes 130 are actuated by the transmission action of the opening and closing transmission assembly 900 such that the first tool lobes 120 and the second tool lobes 130 can be rotated by relative rotation to enable the first tool lobes 120 and
  • the two tool flaps 130 are relatively open or closed, so that grasping, clamping, and the like can be performed during the operation.
  • a finger sleeve 340 may be respectively disposed on the first control flap 320 and the second control flap 330, and the finger may be put into the finger sleeve 340 during operation to facilitate control of the first control flap 310 and the second control flap 320.
  • first control flap 320 and the second control flap 330 may be symmetrically disposed on both sides of the grip portion 310 for easy operation.
  • the opening and closing transmission assembly 900 includes a drive shaft 910, a first opening and closing connection assembly 930, and a second opening and closing connection.
  • Component 920 the drive shaft 910 may be a nickel titanium wire, a steel wire, a flexible shaft, or the like.
  • first opening and closing connection assembly 930 is respectively connected to the first control valve 320 and the second control valve 330, and the other end of the first opening and closing connection assembly 930 is connected to the proximal end of the transmission shaft 910; the second opening and closing connection assembly 920 One end is connected to the first tool lobes 120 and the second tool lobes 130 respectively, and the other end of the second opening and closing connection assembly 920 is connected to the distal end of the propeller shaft 910; wherein the first control lobes 320 and the grip portion 310 are relatively rotated When the second control flap 330 and the grip portion 310 are relatively rotated, the first control flap 320 and the second control flap 330 can drive the first opening and closing connection assembly 930 to move, so that the first opening and closing connection assembly 930 drives the transmission shaft 910 to move.
  • the driving shaft 910 drives the second opening and closing connection assembly 920 to move, so that the second opening and closing connection assembly 920 drives the first tooling 120 and the second tooling 130 to rotate relative to each other, so that the first tooling 120 and the second tooling 130 By relative rotation, it can be relatively opened or closed, so that grasping, clamping, and the like can be performed during surgery.
  • the first opening and closing connection assembly 930 includes a first link 931 and a second link 932.
  • the proximal end of the first link 931 is rotationally coupled to the distal end of the first control flap 320, and the second link
  • the proximal end of the 932 is rotationally coupled to the distal end of the second control flap 330, and the distal end of the first link 931 and the distal end of the second link 932 are rotatably coupled to the drive shaft 910; the first control flap 320 and the second control flap
  • the first control flap 320 and the second control flap 330 can drive the first link 931 and the second link 932 to rotate relative to each other, so that the first link 931 and the second link 932 drive the proximal end of the drive shaft 910.
  • the second movement of the transmission shaft 910 moves the second opening and closing connection assembly 920, and the second opening and closing connection assembly 920 drives the first tool flap 120 and the second tool holder 130 to rotate relative to each other.
  • the tool flap 120 and the second tool flap 130 can be relatively opened or closed by relative rotation, so that grasping, clamping, and the like can be performed during the operation.
  • the second opening and closing connection assembly 920 includes a third link 921 and a fourth link 922.
  • the distal end of the third link 921 is rotatably coupled to the proximal end of the first tool flap 120, and the fourth link
  • the distal end of the 922 is rotatably coupled to the proximal end of the second tool lobes 130, and the proximal end of the third link 921 and the proximal end of the fourth link 922 are rotatably coupled to the drive shaft 910;
  • the drive shaft 910 extends along the direction of the drive shaft 910 During the movement, the transmission shaft 910 can drive the third link 921 and the fourth link 922 to rotate relative to each other, so that the third link 921 and the fourth link 922 drive the first tool flap 120 and the second tool flap 130 to rotate relative to each other, thereby
  • the first tool flap 120 and the second tool flap 130 can be relatively opened or closed by relative rotation, so that grasping, clamping, and the like can be performed during the operation
  • the opening and closing transmission assembly 900 further includes a first elastic member (not shown), which may be a compression spring or the like.
  • the first elastic member is disposed between the first link 931 and the second link 932 such that the elastic force from the first elastic member can relatively rotate the first link 931 and the second link 932. Due to the elastic force from the first elastic member, the first link 931 and the second link 932 can be in a relatively open state, so that the first link 931 and the second link 932 can drive the first control flap 320 and the first
  • the second control flap 330 causes the first control flap 320 and the second control flap 330 to be in a relatively open state such that the first tool flap 120 and the second tool flap 130 are in a relatively open state.
  • the first control flap 320 and the second control flap 330 are in a relatively closed state by manipulation, and the first control flap 320 and the second control flap 330 drive the first link 931 and the second.
  • the connecting rod 932 is so as to overcome the elastic force of the first elastic member, so that the first link 931 and the second link 932 are relatively closed, and the first link 931 and the second link 932 drive the drive shaft 910, so that the drive shaft 910 drives
  • the third link 921 and the fourth link 922 are relatively closed such that the first tool flap 120 and the second tool flap 130 are relatively closed.
  • the opening and closing transmission assembly 900 further includes a second elastic member (not shown), and the second elastic member may be a compression spring or the like.
  • the second elastic member is disposed between the third link 921 and the fourth link 922 such that the elastic force from the second elastic member can relatively rotate the third link 921 and the fourth link 922. Due to the elastic force from the second elastic member, the third link 921 and the fourth link 922 can be in a relatively open state, so that the third link 921 and the fourth link 922 can drive the first tool flap 120 and the first
  • the second tool flap 130 causes the first tool flap 120 and the second tool flap 130 to be in a relatively open state.
  • the first control flap 320 and the second control flap 330 are in a relatively closed state by manipulation such that the first link 931 and the second link 932 drive the drive shaft 910, and thus the drive shaft 910
  • the third link 921 and the fourth link 922 are driven to overcome the elasticity of the second elastic member, so that the third link 921 and the fourth link 922 are relatively closed, further causing the first tool flap 120 and the second tool flap 130 to be relatively closed.
  • the opening and closing transmission assembly 900 further includes a third elastic member (not shown), and the third elastic member may be a compression spring or the like. At least one third elastic member is disposed between the first control flap 320 and the grip portion 310 such that the elastic force from the third elastic member can rotate the first control flap 320 and the grip portion 310 relative to each other; or at least one third The elastic member is disposed between the second control flap 330 and the grip portion 310 such that the elastic force from the third elastic member can relatively rotate the second control flap 330 with the grip portion 310.
  • a third elastic member is disposed between the first control flap 320 and the grip portion 310 while another third elastic member is disposed between the second control flap 330 and the grip portion 310 as an example. Due to the elastic force from the third elastic member, the first control flap 320 is in a relatively open state relative to the grip portion 310, and the second control flap 330 is in a relatively open state relative to the grip portion 310. Thus, the first control flap 320 and the second control flap 330 can drive the first link 931 and the second link 932 such that the first link 931 and the second link 932 are in a relatively open state.
  • the first control valve 320 and the second control valve 330 are both in a relatively closed state by the elastic force of the third elastic member, and the first control valve 320 and the first control valve 320 are in a relatively closed state.
  • the second control valve 330 drives the first link 931 and the second link 932 respectively, so that the first link 931 and the second link 932 are relatively closed, and the first link 931 and the second link 932 drive the drive shaft 910 to The proximal end moves such that the drive shaft 910 drives the third link 921 and the fourth link 922 to be relatively closed such that the first tool flap 120 and the second tool flap 130 are relatively closed.
  • the opening and closing transmission assembly 900 further includes a fourth elastic member (not shown), and the fourth elastic member may be a compression spring or the like.
  • the fourth resilient member is disposed between the first tooling 120 and the second tooling 130 such that the spring force from the fourth resilient member is capable of relatively rotating the first tooling 120 and the second tooling 130.
  • the first tool flap 120 and the second tool flap 130 can be in a relatively open state.
  • the first control flap 320 and the second control flap 330 are in a relatively closed state by manipulation such that the first link 931 and the second link 932 drive the drive shaft 910, and thus the drive shaft 910 Driving the third link 921 and the fourth link 922 such that the third link 921 and the fourth link 922 are relatively closed, further causing the first tool flap 120 and the second tool flap 130 to overcome the elastic force of the fourth elastic member, so that The first tool flap 120 and the second tool flap 130 are relatively closed.
  • the surgical instrument 10 further includes a first locking member (not shown), the first locking member being connectable to the ball hinge 210, the first locking member for locking or releasing the first of the ball hinge 210
  • the surgical performance assembly 100 needs to be stopped from rotating about the fifth axis and/or the sixth axis for viewing the sample.
  • the first rotational freedom R1 and the second rotational freedom R2 of the ball joint 210 can then be locked, so that the ball joint 210 cannot rotate the surgical performance assembly 100 about the fifth axis and/or the sixth axis to facilitate viewing of the sample.
  • the first rotational degree of freedom R1 and the second rotational degree of freedom R2 of the ball joint 210 can be released by the first locking member to pass again.
  • the ball joint 210 rotates the surgical performance assembly 100 about a fifth axis and/or a sixth axis.
  • the first locking member may be a buckle by which the first rotational freedom R1 and the second rotational freedom R2 of the steering assembly 300 and/or the ball joint 210 may be locked.
  • the first locking component can also be coupled to the steering assembly 300 for locking or releasing the actuation of the ball hinge by the steering assembly 300, ie by blocking or allowing the ball hinge Rotating about the first axis and the second axis to lock or release the first rotational freedom R1 and the second rotational freedom R2 of the ball joint.
  • the first rotational freedom R1 and the second rotational freedom R2 of the ball joint can be locked by the locking manipulation assembly 300, thereby locking the first rotational degree of rotation R1 and the second rotational degree of freedom R2 of the ball joint, so that the manipulation assembly 300 cannot control the surgical execution assembly 100 about the fifth axis.
  • the sixth axis is rotated to facilitate viewing of the sample.
  • the driving of the ball hinge by the manipulation assembly 300 can be released by the first locking member, thereby releasing the first rotation of the ball hinge.
  • the degree of freedom R1 and the second degree of freedom of rotation R2 are used to control the surgical actuator assembly 100 to rotate about the fifth axis and/or the sixth axis again by the steering assembly 300.
  • the spherical shell 212 is provided with a through hole 203
  • the ball 211 is provided with a through hole 202.
  • the central axis of the through hole 203 of the spherical shell 212 and the ball 211 are The central axis of the through hole 202 is collinear and passes through a common center of the ball, and the through hole 202 of the ball 211 passes through a projection on the ball 211.
  • the drive shaft 910 passes through the through hole 203 of the spherical shell 212 and the through hole 202 of the ball 211. By passing the drive shaft 910 through the through hole 203 of the spherical shell 212 and the through hole 202 of the ball 211, it is easy to place the drive shaft 910, so that the surgical instrument 10 is compact in structure.
  • the spherical shell 212 is located between the grip portion 310 and the ball 211, and the proximal end of the ball 211 is provided with a tapered cavity 204, and the tapered cavity 204 communicates with the through hole 202 of the ball 211, and the center of the tapered cavity 204 The axis coincides with the central axis of the through hole 202.
  • the steering assembly 300 drives the spherical shell 212 to rotate about the first axis or the second axis, the portion of the transmission shaft 910 located in the tapered cavity 204 rotates around the common spherical center in the tapered cavity 204 without causing transmission.
  • the movement of the shaft 910 in the extending direction of the transmission shaft 910, so that the steering assembly 300 drives the spherical shell 212 to rotate about the first axis or the second axis, does not interfere with the movement of the transmission shaft 910 in the extending direction of the transmission shaft 910.
  • the steering assembly 300 is further rotatable relative to the spherical shell 212 about a central axis of the through hole 203 of the spherical shell 212 to form a third rotational degree of freedom R3, so that the steering assembly
  • the 300 drive shaft 910 rotates, and the drive shaft 910 drives the surgical actuator 100 to rotate to form a seventh rotational degree of freedom R7.
  • the surgical instrument further includes a second locking component, the second locking component being coupled to the steering component, the second locking component for preventing or allowing the steering component to wrap around the center of the first through hole
  • the axis rotates to lock or release the third rotational freedom of the steering assembly.
  • the above embodiment is performed by the linkage member 200 having two rotational degrees of freedom such that the manipulation assembly 300 causes the surgical performance assembly 100 to rotate on the fifth rotational degree of freedom R5 and/or the sixth rotational degree of freedom R6, the surgically performing assembly 100 and the manipulation
  • the swinging direction of the assembly 300 on the first rotational degree of freedom R1 and the second rotational degree of freedom R2 is the same, so that the surgical instrument 10 has the ability to improve the accuracy of the movement direction of the surgically executing assembly 100, and improve the accuracy of the operation of the surgical instrument 10.
  • the technical effect of the surgical operation is performed by the linkage member 200 having two rotational degrees of freedom such that the manipulation assembly 300 causes the surgical performance assembly 100 to rotate on the fifth rotational degree of freedom R5 and/or the sixth rotational degree of freedom R6, the surgically performing assembly 100 and the manipulation
  • the swinging direction of the assembly 300 on the first rotational degree of freedom R1 and the second rotational degree of freedom R2 is the same, so that the surgical instrument 10 has the ability to improve the accuracy of the movement

Abstract

一种手术器械（10），包括：手术执行组件（100）、联动部件（200）以及操控组件（300），联动部件（200）的远端与手术执行组件（100）连接，联动部件（200）的近端与操控组件（300）连接。该手术器械（10）通过使用具有两个转动自由度的联动部件（200），使得操控组件（300）通过联动部件（200）带动手术执行组件（100）在第五转动自由度（R5）和/或第六转动自由度（R6）上转动时，手术执行组件（100）和操控组件（300）在第一转动自由度（R1）和第二转动自由度（R2）上的摆动方向一致，故使得手术器械（10）具有能够提高手术执行组件（100）的运动方向准确性、提高手术器械（10）动作的准确性、便于手术操作的技术效果。

Description

手术器械 技术领域
本发明涉及医疗器械技术领域，特别是涉及手术器械。
背景技术
在微创伤手术过程中，特别是腹腔镜或内窥镜手术，由于创口很小，为达到更佳的治疗效果，减少手术过程中对于其他组织的损害，多采用微创手术器械。一般的微创手术器械在手术过程中，操作时的不必要的运动易传递给手术器械的末端执行器，影响手术器械的运动。
中国专利申请CN107072684A提供了一种用于远程访问工具的附接装置，包括配置成固定至操作者的前臂的套圈和配置成将该套圈连接至框架使得该套圈可以相对于该框架移动1个和4个之间的自由度的联接接头。但是这种设计方案复杂，联接接头的轴线均需穿过操作者的手腕的中心区域，且由于套圈固定至操作者的前臂，手术过程中，前臂的不必要的运动可能被传递给远程访问工具的末端执行器，影响远程访问工具的运动。
中国专利申请CN105592801A提供了一种用于医学装置的控制单元，包含：手掌接口，其可由手的掌部接合；束件，其能够弹性变形以将约束力施加到手的背部；以及手指接口，其可由所述手的一或多个手指接合。但是这种设计方案复杂，并且控制复杂度也比较大。
中国专利申请CN107080588A和中国专利申请CN107260307A提供了一种由线驱动的微创手术机器人控制装置和夹持装置，两者都存在不必要的运动可能被传递给末端执行器的问题。
发明内容
基于此，有必要针对一般的手术器械在操作时不必要的运动易传递给手术器械末端执行器的问题，提供一种改进的手术器械。
一种手术器械，包括手术执行组件、柔性蛇形机构、联动部件以及操控组件，所述柔性蛇形机构的远端与所述手术执行组件连接，所述柔性蛇形机 构的近端与所述联动部件的远端连接，所述联动部件的近端与所述操控组件连接；所述联动部件可以围绕第一轴线、第二轴线转动；所述柔性蛇形机构可以围绕第五轴线、第六轴线转动；
所述操控组件驱动所述联动部件围绕第一轴线转动时，所述柔性蛇形机构被驱动围绕第五轴线转动，且所述柔性蛇形机构围绕第五轴线转动的方向与所述联动部件围绕第一轴线转动的方向相同；
所述操控组件驱动所述联动部件围绕第二轴线转动时，所述柔性蛇形机构围绕第六轴线转动，且所述柔性蛇形机构围绕第六轴线转动的方向与所述联动部件围绕第二轴线转动的方向相同。
上述手术器械通过使用具有两个转动自由度的联动部件，使得操控组件通过联动部件带动手术执行组件在第五转动自由度和/或第六转动自由度上转动时，手术执行组件和操控组件在第一转动自由度和第二转动自由度上的摆动方向一致，故使得手术器械具有能够提高手术执行组件的运动方向准确性、提高手术器械动作的准确性，便于手术操作的技术效果。
在其中一个实施例中，所述联动部件包括球铰，所述球铰包括球和球壳，所述球和所述球壳具有共同球心，且所述球铰被限制不能围绕球壳的轴线自转。
在其中一个实施例中，所述联动部件还包括限位销，所述限位销设置在所述球的表面，所述限位销的中心轴线经过所述共同球心，所述限位销的中心轴线作为所述第一轴线；
所述球壳的内表面开设有导向槽，所述导向槽的延伸方向为环绕所述球心的圆周方向，所述限位销位于所述导向槽内，以致所述限位销能够沿所述导向槽的延伸方向做圆周运动；所述限位槽的侧壁用于阻止所述限位销绕所述球壳的轴线转动，所述限位销沿所述导向槽的延伸方向做圆周运动时所环绕的轴线作为所述第二轴线；
其中，所述球壳的轴线、所述限位销的中心轴线、所述限位销沿所述导向槽的延伸方向做圆周运动时所环绕的轴线两两相互垂直。
在其中一个实施例中，所述手术器械还包括依次连接的手持部和连接部，所述手持部的近端与所述联动部件连接，所述连接部的远端与所述柔性蛇形 机构连接。
在其中一个实施例中，所述手持部包括一弧形本体，所述弧形本体的近端设有近端支撑座，远端设有远端支撑座，所述近端支撑座的远端与所述联动部件固定连接，所述远端支撑座的远端与所述连接部固定连接。
在其中一个实施例中，所述手术器械还包括柔性传动结构，所述柔性传动结构的近端与所述联动部件连接，远端与所述柔性蛇形机构连接，并且，所述柔性传动结构与所述联动部件连接的位置，与柔性传动结构与所述柔性蛇形机构连接的位置成相反配置。
在其中一个实施例中，所述手术器械还包括依次连接的手持部和连接部，所述手持部的近端与所述联动部件连接，所述连接部的远端与所述柔性蛇形机构连接，所述手持部和所述连接部均开设有通孔，所述柔性传动结构穿过所述手持部和所述连接部的通孔。
在其中一个实施例中，所述手术器械还包括至少一个转向轮，所述转向轮置于所述手持部的通孔中，所述柔性传动结构通过所述转向轮以改变延伸的方向。
在其中一个实施例中，所述手术执行组件包括支撑部和末端执行器，所述支撑部与所述柔性蛇形机构连接，所述末端执行器可相对于所述支撑部运动。
在其中一个实施例中，所述手术器械还包括开合传动组件，所述开合传动组件的远端与所述末端执行器连接，所述开合传动组件的近端与所述操控组件连接，所述操控组件通过所述开合传动组件，使得所述末端执行器相对于所述支撑部转动。
在其中一个实施例中，所述操控组件包括握持部和至少一个控制瓣，所述握持部与所述球铰连接，所述控制瓣的近端与所述握持部转动连接；
所述开合传动组件的近端与所述控制瓣连接，所述控制瓣与所述握持部相对转动进而带动所述开合传动组件，以驱动所述末端执行器，以致所述末端执行器相对于所述支撑部转动。
在其中一个实施例中，所述末端执行器包括两个可相对转动的第一工具瓣和第二工具瓣，所述第一工具瓣和第二工具瓣与所述支撑部转动连接。
在其中一个实施例中，所述开合传动组件包括传动轴、第一开合连接组件以及第二开合连接组件；所述第一开合连接组件的近端至少与一控制瓣连接，所述第一开合连接组件的远端与所述传动轴连接；所述第二开合连接组件的远端分别与所述第一工具瓣和所述第二工具瓣连接，所述第二开合连接组件的近端与所述传动轴连接；
其中，所述控制瓣和所述握持部相对转动时，所述控制瓣带动所述第一开合连接组件运动，以致所述第一开合连接组件带动所述传动轴运动，以致所述传动轴带动所述第二开合连接组件运动，以致所述第二开合连接组件带动所述第一工具瓣和所述第二工具瓣相对转动。
在其中一个实施例中，所述操控组件包括第一控制瓣和第二控制瓣，所述第一开合连接组件包括第一连杆和第二连杆，所述第一连杆的近端与所述第一控制瓣远端转动连接，所述第二连杆的近端与所述第二控制瓣远端转动连接，所述第一连杆的远端和所述第二连杆的远端均与所述传动轴转动连接；
所述第一控制瓣和所述第二控制瓣相对转动时，所述第一控制瓣和所述第二控制瓣能够带动所述第一连杆和所述第二连杆相对转动，以致所述第一连杆和所述第二连杆带动所述传动轴沿所述传动轴延伸的方向运动。
在其中一个实施例中，所述第二开合连接组件包括第三连杆和第四连杆，所述第三连杆的远端与所述第一工具瓣的近端转动连接，所述第四连杆的远端与所述第二工具瓣的近端转动连接，所述第三连杆的近端和所述第四连杆的近端均与所述传动轴转动连接；
所述传动轴向所述传动轴的延伸方向运动时，所述传动轴带动所述第三连杆和所述第四连杆相对转动，以致所述第三连杆和所述第四连杆带动所述第一工具瓣和所述第二工具瓣相对转动。
在其中一个实施例中，所述开合传动组件还包括第一弹性部件，所述第一弹性部件设置在所述第一连杆和所述第二连杆之间。
在其中一个实施例中，所述开合传动组件还包括第二弹性部件，所述第二弹性部件设置在所述第三连杆和所述第四连杆之间。
在其中一个实施例中，所述开合传动组件还包括第三弹性部件，至少一个所述第三弹性部件设置在所述控制瓣和所述握持部之间。
在其中一个实施例中，所述开合传动组件还包括第四弹性部件，所述第四弹性部件设置在所述第一工具瓣和所述第二工具瓣之间。
在其中一个实施例中，所述手术器械还包括第一锁定部件，所述第一锁定部件与所述球铰相连接，所述第一锁定部件用于阻止或允许所述球铰绕所述第一轴线和所述第二轴线转动；和/或，所述第一锁定部件与所述操控组件连接，所述第一锁定部件用于锁定或释放所述操控组件对所述球铰的驱动，进而阻止或允许所述球铰绕所述第一轴线和所述第二轴线转动。
在其中一个实施例中，所述球壳的轴线上开设有第一通孔，所述球上开设有第二通孔，所述第一通孔的中心轴线和所述第二通孔的中心轴线共线，所述传动轴穿过所述第一通孔和所述第二通孔，所述球壳位于所述握持部和所述球之间，所述球上开设有锥形空腔，所述锥形空腔与所述第二通孔连通，所述锥形空腔的中心轴线与所述第二通孔的中心轴线重合，所述锥形空腔开设在所述球的靠近所述操控组件的一侧。
在其中一个实施例中，所述操控组件能够绕所述第一通孔的中心轴线转动，以致所述操控组件带动所述传动轴转动，进而使所述传动轴带动所述手术执行组件自转。
在其中一个实施例中，所述手术器械还包括第二锁定部件，所述第二锁定部件与所述操控组件连接，所述第二锁定部件用于阻止或允许所述操控组件绕所述第一通孔的中心轴线转动。
附图说明
图1为一实施例的手术器械的示意图；
图2为图1所示手术器械的操控组件和球铰的连接关系示意图；
图3为图1所示手术器械的球壳和球的分解图示意图；
图4为图1所示手术器械的柔性蛇形机构在第一转动自由度和第二转动自由度上摆动的示意图；
图5为图1所示手术器械的第一柔性传动丝组和第二柔性传动丝组与操控组件、柔性蛇形机构的连接关系示意图；
图6为图1所示手术器械的第一柔性传动丝组与转向轮、联动部件的连 接关系示意图；
图7是图1所示手术器械的手术执行组件、开合传动组件和柔性蛇形机构的连接关系示意图；
图8是图1所示手术器械的操控组件和开合传动组件的连接关系示意图；
图9是图1所示的球壳带动操控组件相对球转动的一种状态示意图；
图10是图1所示的球壳带动操控组件相对球转动的另一种状态示意图。
具体实施方式
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图对本发明的具体实施方式做详细的说明。
请参考图1，一实施例的手术器械10包括手术执行组件100、联动部件200、操控组件300以及柔性蛇形机构400，联动部件200与操控组件300连接，联动部件200可以围绕第一轴线、第二轴线转动，因而具有第一转动自由度R1和第二转动自由度R2；柔性蛇形机构400与手术执行组件100连接，可以围绕第五轴线、第六轴线转动，因而具有第五转动自由度R5和第六转动自由度R6。操控组件300驱动联动部件200围绕第一轴线转动时，柔性蛇形机构400被驱动围绕第五轴线转动，且柔性蛇形机构400在第五转动自由度R5上转动的方向与联动部件200在第一转动自由度R1上转动的方向相同；操控组件300驱动联动部件200围绕第二轴线转动时，柔性蛇形机构400被驱动围绕第六轴线转动，且柔性蛇形机构400在第六转动自由度R6上转动的方向与联动部件200在第二转动自由度R2上转动的方向相同。其中，在本实施例中，第一转动自由度R1、第二转动自由度R2、第五转动自由度R5、第六转动自由度R6的方向如图1中所示意，优选地，第一轴线、第二轴线相互垂直，第五轴线、第六轴线相互垂直，且第一轴线与第五轴线相互平行。其中，手术执行组件100可以是手术钳、手术剪、或手术夹具等执行器，用于手术中实现夹取等动作。
进一步，手术执行组件100与具有两个转动自由度的所述柔性蛇形机构400连接，因此，操控组件300驱动所述联动部件200围绕第一转轴转动时，柔性蛇形机构400被驱使围绕第五轴线转动，进而带动所述手术执行组件100 围绕第五轴线转动，因而所述手术执行组件100具有转动自由度R5’；操控组件300驱动所述联动部件200围绕第二转轴转动时，柔性蛇形机构400被驱使围绕第六轴线转动，进而带动所述手术执行组件100围绕第六轴线转动，因而所述手术执行组件100具有转动自由度R6’。同时，由于操控组件300的自由端与手术执行组件100的自由端朝向相同，且柔性蛇形机构400在第五转动自由度R5和第六转动自由度R6上的摆动方向与联动部件200的摆动方向一致，所述操控组件300与所述手术执行组件100的摆动方向一致，故使得手术器械10具有能够提高手术执行组件100的运动方向准确性、提高手术器械10动作的准确性，便于手术操作的技术效果。
参考图2和图3，在其中一个实施例中，联动部件200包括球铰210，球铰210包括带凸起的球211和球壳212，球211和球壳212具有共同球心。球211上的凸起的轴线经过球心。由于联动部件200具有两个转动自由度，而球铰210本身具有三个转动自由度，因此，在本实施例中，需要限制球铰210的第三个转动自由度使得球铰210具有两个转动自由度，即球铰被限制为不能围绕球211上的凸起所在的轴线转动。通过使用球铰210结构，便于控制转动自由度，以形成具有两个转动自由度的联动部件200，具有方便使用的技术效果。
具体参考图3，在其中一个实施例中，球铰被限制为不能围绕球壳的轴线(也即初始状态球211上的凸起所在的轴线)转动的方法如下：联动部件200还包括限位销213，限位销213设置在球211的表面，限位销213的中心轴线经过共同球心；球壳212的内表面开设有导向槽201，导向槽201的延伸方向为环绕球心的圆周方向；限位销213位于导向槽201内，以致限位销213能够沿导向槽201的延伸方向做圆周运动；导向槽的侧壁用于阻止限位销213绕球壳的轴线，亦即初始状态球211的凸起所在的轴线转动；球壳的轴线、限位销213的中心轴线(亦即第一轴线)和限位销213沿导向槽201的延伸方向做圆周运动时所环绕的轴线(亦即第二轴线)被配置为两两相互垂直。
更具体而言，通过在球211的表面设置限位销213，在球壳212的内表面开设有环绕球心的导向槽201，所述导向槽201坐落于所述球壳的轴线与所述限位销213的中心轴线所限定的平面。球壳的轴线、限位销213的中心轴线 和限位销213沿导向槽201的延伸方向做圆周运动时所环绕的轴线两两相互垂直，以致限位销213能够绕导向槽201的延伸方向做圆周运动，限位销213也能绕限位销213的中心轴线转动，而限位槽的侧壁能够阻止限位销213绕球211的凸起所在的轴线运动，故使得球211只具有两个转动自由度。从而操控组件300可以通过球铰210带动手术执行组件100围绕第五轴线、第六轴线转动。
参考图4，由于柔性蛇形机构400为柔性结构，联动部件200带动柔性蛇形机构400运动时，柔性蛇形机构400能带动手术执行组件100围绕第五轴线、第六轴线转动，形成两个转动自由度R5、R6，优选所述手术执行组件100还能自转形成自转自由度R7。以致手术执行组件100具有三个自由度，能够灵活的改变手术执行组件100的姿态，从而适应在狭小空间内不同夹持姿态的需求，提高手术操作的便捷性。
为保证操控组件300与手术执行组件100在相同指向情况下具有相同的运动方向，参考图5，在其中一个实施例中，手术器械10还包括柔性传动结构500，柔性传动结构500的近端与联动部件200连接，远端与柔性蛇形机构400连接。柔性传动结构500在联动部件200连接的位置与柔性传动结构500在柔性蛇形机构400连接的位置成相反配置。此处的相反配置指按如下方式配置：例如，当柔性传动结构500近端与柔性蛇形机构400连接的位置在上方时，则柔性传动结构500远端与联动部件200连接的位置在下方；当柔性传动结构500近端与柔性蛇形机构400连接的位置在左侧，则柔性传动结构500远端与联动部件200连接的位置在右侧。
在一个优选的实施例中，如图5所示，联动部件200包括球铰210，球铰210包括球211和球壳212，柔性传动结构500包括四根柔性体51a，51b，51c，51d，此时柔性蛇形机构400包括四个固定点，其中上下两个固定点用于控制柔性蛇形机构400上下摆动，左右两个固点定用于控制柔性蛇形机构400左右转动。相应的，球壳212也具有四个固定点。球壳212的固定点从左侧以逆时针的顺序分别与四根柔性体51a，51b，51c，51d连接。蛇形关节41包括四个固定点，从左侧以逆时针的顺序分别与柔性体51c，51d，51a，51b的另一端连接。图5中以51b为例，用虚线示意出了51b两端的连接位置。优选， 所述第一轴线经过柔性体51b，51d与球壳212的固定点，第二轴线经过柔性体51a，51c与球壳212的固定点。相应的，所述第五轴线经过柔性体51b，51d与柔性蛇形机构400的固定点，第六轴线经过柔性体51a，51c与柔性蛇形机构400的固定点。
经过上述各结构的连接，柔性蛇形机构400可实现围绕第五轴线、第六轴线转动的操作，同时使得柔性蛇形机构400，在操控组件300的控制下与操控组件300朝相同的方向运动，即二者的运动构形相同且运动方向具有一致性，避免操作者的操作运动被反向传递给末端执行组件而影响器械的运动精度。本领域技术人员应理解柔性蛇形机构400/球壳212的固定点不限于4个，可以为6个，8个等。固定点数量的增加，可以实现对柔性蛇形机构400/球壳212更加精准的控制。
参考图1，在其中一个实施例中，手术器械10还包括依次连接的手持部810和连接部800。通过设置手持部810，在使用手术器械10时便于手持，从而便于操作。连接部800用于支撑手术执行组件、柔性蛇形机构。进一步，连接部800上开设有通孔，柔性传动结构500穿过连接部800的通孔，连接部800的近端与手持部810连接，连接部800的远端与柔性蛇形机构400连接。具体地，将柔性传动结构500穿过连接部800的通孔，从而使得连接部800能够保护柔性传动结构500，使得柔性传动结构500不受连接部800空腔外的干扰以及损害，从而能够提高手术器械10的动作的准确性。
参考图1，在其中一个实施例中，手持部810包括一弧形本体。弧形本体的近端设有近端支撑座，远端设有远端支撑座。其中，弧形本体的具体曲线形状没有特别的限制，可以根据人体工程学来设计。远端支撑座的远端与连接部800固定连接。近端支撑座的远端与联动部件200固定连接，以支撑联动部件200，也方便手持。进一步，手持部810开设有通孔，以便于柔性传动结构500通过。更进一步，参考图6，手术器械10还包括转向轮700，转向轮700的数量可以为一个，也可以为多个。通过将转向轮700设置于手持部810的通孔内，以致柔性传动结构500穿过手持部810的通孔时，通过转向轮700的转向，使得柔性传动结构500在具有弯度的手持部810的通孔内改变延伸方向。
手术执行组件100包括支撑部110和末端执行器，支撑部110与柔性蛇形机构400连接，末端执行器可相对于支撑部运动，例如移动或转动。参考图7，在一个实施例中，末端执行器包括第一工具瓣120以及第二工具瓣130，第一工具瓣120的近端与支撑部110转动连接，第一工具瓣120的远端为自由端，第二工具瓣130的近端与支撑部110连接，第二工具瓣130的远端为自由端，因此所述末端执行器具有开合自由度。手术器械10还包括开合传动组件900，开合传动组件900用于驱动末端执行器运动。具体到图7的实施例，开合传动组件900的远端与第一工具瓣120连接，开合传动组件900的近端与操控组件300连接。通过操控组件300的操控而带动开合传动组件900动作，进而通过开合传动组件900的传动作用而带动第一工具瓣120与第二工具瓣130相对转动，从而第一工具瓣120和第二工具瓣130通过相对转动而能够相对张开或闭合，从而在手术时可以进行抓取、夹持等动作。
进一步，第二工具瓣130与支撑部110可以为固定连接。第二工具瓣130与支撑部110为固定连接时，通过操控组件300的操控而带动开合传动组件900动作，以致通过开合传动组件900的传动作用使得第一工具瓣120动作，以致第一工具瓣120与第二工具瓣130相对转动，从而第一工具瓣120和第二工具瓣130通过相对转动而能够相对张开或闭合，从而在手术时可以进行抓取、夹持等动作。
或者，第二工具瓣130与支撑部110也可以转动连接。第二工具瓣130与支撑部110为转动连接时，开合传动组件900的远端还与第二工具瓣120连接，通过操控组件300的操控而带动开合传动组件900动作，以致通过开合传动组件900的传动作用使得第一工具瓣120、第二工具瓣130动作，以致第二工具瓣130和第一工具瓣120相对转动，从而第一工具瓣120和第二工具瓣130通过相对转动而能够相对张开或闭合，从而在手术时可以进行抓取、夹持等动作。
参考图2，在其中一个实施例中，操控组件300包括握持部310和第一控制瓣320。握持部310与球铰210连接，第一控制瓣320的一端与握持部310转动连接，第一控制瓣320的另一端为自由端。因此，所述手术器械10的近端具有第四自由度R4。开合传动组件900的近端与第一控制瓣320连接，通 过操控而使第一控制瓣320与握持部310相对转动，以致带动开合传动组件900的传动，进而使得第一工具瓣120动作，以致第一工具瓣120与第二工具瓣130相对转动，从而第一工具瓣120和第二工具瓣130通过相对转动而能够相对张开或闭合，从而在手术时可以进行抓取、夹持等动作。
进一步地，操控组件300还包括第二控制瓣330，第二控制瓣330的一端与握持部310转动连接，第二控制瓣330的另一端为自由端。开合传动组件900的近端还与第二控制瓣330连接，通过操控同样可以使第二控制瓣330与握持部310相对转动，以致带动开合传动组件900的传动，进而使得第一工具瓣120与第二工具瓣130相对转动。
具体地，通过操控而使第一控制瓣320与握持部310相对转动，和/或通过操控而使第二控制瓣330与握持部310相对转动，从而带动开合传动组件900动作，以致通过开合传动组件900的传动作用使得第一工具瓣120和/或第二工具瓣130动作，从而第一工具瓣120和第二工具瓣130通过相对转动而能够使第一工具瓣120和第二工具瓣130相对张开或闭合，从而在手术时可以进行抓取、夹持等动作。
进一步地，可以在第一控制瓣320和第二控制瓣330上分别设置指套340，在操作时可以将手指放入指套340，便于控制第一控制瓣310和第二控制瓣320。
进一步地，第一控制瓣320和第二控制瓣330可以对称设置在握持部310的两侧，便于操作。
参考图7和图8(图8为了简洁省去了握持部310)，在其中一个实施例中，开合传动组件900包括传动轴910、第一开合连接组件930和第二开合连接组件920。具体地，传动轴910可以为镍钛丝、钢丝、软轴等。第一开合连接组件930的一端分别与第一控制瓣320和第二控制瓣330连接，第一开合连接组件930的另一端与传动轴910的近端连接；第二开合连接组件920的一端分别与第一工具瓣120和第二工具瓣130连接，第二开合连接组件920的另一端与传动轴910的远端连接；其中，第一控制瓣320和握持部310相对转动，第二控制瓣330和握持部310相对转动时，第一控制瓣320和第二控制瓣330能够带动第一开合连接组件930运动，以致第一开合连接组件930 带动传动轴910运动，以致传动轴910带动第二开合连接组件920运动，以致第二开合连接组件920带动第一工具瓣120和第二工具瓣130相对转动，从而第一工具瓣120和第二工具瓣130通过相对转动而能够相对张开或闭合，从而在手术时可以进行抓取、夹持等动作。
在其中一个实施例中，第一开合连接组件930包括第一连杆931和第二连杆932，第一连杆931的近端与第一控制瓣320远端转动连接，第二连杆932的近端与第二控制瓣330远端转动连接，第一连杆931的远端和第二连杆932的远端均与传动轴910转动连接；第一控制瓣320和第二控制瓣330相对转动时，第一控制瓣320和第二控制瓣330能够带动第一连杆931和第二连杆932相对转动，以致第一连杆931和第二连杆932带动传动轴910近端部分向传动轴910的延伸方向运动，以致传动轴910带动第二开合连接组件920运动，进一步第二开合连接组件920带动第一工具瓣120和第二工具瓣130相对转动，从而第一工具瓣120和第二工具瓣130通过相对转动而能够相对张开或闭合，从而在手术时可以进行抓取、夹持等动作。
在其中一个实施例中，第二开合连接组件920包括第三连杆921和第四连杆922，第三连杆921的远端与第一工具瓣120近端转动连接，第四连杆922的远端与第二工具瓣130近端转动连接，第三连杆921的近端和第四连杆922的近端均与传动轴910转动连接；传动轴910沿传动轴910的延伸方向运动时，传动轴910能够带动第三连杆921和第四连杆922相对转动，以致第三连杆921和第四连杆922带动第一工具瓣120和第二工具瓣130相对转动，从而第一工具瓣120和第二工具瓣130通过相对转动而能够相对张开或闭合，从而在手术时可以进行抓取、夹持等动作。
在其中一个实施例中，开合传动组件900还包括第一弹性部件(未示出)，第一弹性部件可以为压簧等。第一弹性部件设置在第一连杆931和第二连杆932之间，以致来自第一弹性部件的弹力能够使第一连杆931和第二连杆932相对转动。由于受到来自第一弹性部件的弹力，第一连杆931和第二连杆932能够处于相对张开的状态，从而第一连杆931和第二连杆932能够带动第一控制瓣320和第二控制瓣330，使第一控制瓣320和第二控制瓣330处于相对张开的状态，从而使第一工具瓣120和第二工具瓣130处于相对张开的状态。 在使用手术器械10操作时，通过操控而使第一控制瓣320和第二控制瓣330处于相对闭合的状态，则第一控制瓣320和第二控制瓣330带动第一连杆931和第二连杆932，以致克服第一弹性部件的弹力，使得第一连杆931和第二连杆932相对闭合，进而第一连杆931和第二连杆932带动传动轴910，从而传动轴910带动第三连杆921和第四连杆922相对闭合，使得第一工具瓣120和第二工具瓣130相对闭合。
类似的，在其中一个实施例中，开合传动组件900还包括第二弹性部件(未示出)，第二弹性部件可以为压簧等。第二弹性部件设置在第三连杆921和第四连杆922之间，以致来自第二弹性部件的弹力能够使第三连杆921和第四连杆922相对转动。由于受到来自第二弹性部件的弹力，第三连杆921和第四连杆922能够处于相对张开的状态，从而第三连杆921和第四连杆922能够带动第一工具瓣120和第二工具瓣130，使第一工具瓣120和第二工具瓣130处于相对张开的状态。在使用手术器械10操作时，通过操控而使第一控制瓣320和第二控制瓣330处于相对闭合的状态，从而第一连杆931和第二连杆932带动传动轴910，进而传动轴910带动第三连杆921和第四连杆922克服第二弹性部件的弹性，以致第三连杆921和第四连杆922相对闭合，进一步使得第一工具瓣120和第二工具瓣130相对闭合。
在其中一个实施例中，开合传动组件900还包括第三弹性部件(未示出)，第三弹性部件可以为压簧等。至少一个第三弹性部件设置在第一控制瓣320和握持部310之间，以致来自第三弹性部件的弹力能够使第一控制瓣320与握持部310相对转动；或者，至少一个第三弹性部件设置在第二控制瓣330和握持部310之间，以致来自第三弹性部件的弹力能够使第二控制瓣330与握持部310相对转动。
具体地，以第三弹性部件设置在第一控制瓣320和握持部310之间同时另一第三弹性部件设置在第二控制瓣330和握持部310之间为例。由于受到来自第三弹性部件的弹力，第一控制瓣320相对于握持部310处于相对张开的状态，第二控制瓣330相对于握持部310处于相对张开的状态。从而第一控制瓣320和第二控制瓣330能够带动第一连杆931和第二连杆932，使第一连杆931和第二连杆932处于相对张开的状态。在使用手术器械10操作时， 通过克服第三弹性部件的弹力，使第一控制瓣320、第二控制瓣330均向握持部310处于相对闭合的状态，，则第一控制瓣320和第二控制瓣330分别带动第一连杆931和第二连杆932，使得第一连杆931和第二连杆932相对闭合，进而第一连杆931和第二连杆932带动传动轴910向近端移动，从而传动轴910带动第三连杆921和第四连杆922相对闭合，使得第一工具瓣120和第二工具瓣130相对闭合。
在其中一个实施例中，开合传动组件900还包括第四弹性部件(未示出)，第四弹性部件可以为压簧等。第四弹性部件设置在第一工具瓣120和第二工具瓣130之间，以致来自第四弹性部件的弹力能够使第一工具瓣120和第二工具瓣130相对转动。
由于受到来自第四弹性部件的弹力，可以使第一工具瓣120和第二工具瓣130处于相对张开的状态。在使用手术器械10操作时，通过操控而使第一控制瓣320和第二控制瓣330处于相对闭合的状态，从而第一连杆931和第二连杆932带动传动轴910，进而传动轴910带动第三连杆921和第四连杆922，以致第三连杆921和第四连杆922相对闭合，进一步使得第一工具瓣120和第二工具瓣130克服第四弹性部件的弹力，以致第一工具瓣120和第二工具瓣130相对闭合。
在其中一个优选实施例中，手术器械10还包括第一锁定部件(未示出)，第一锁定部件可以与球铰210相连接，第一锁定部件用于锁定或释放球铰210的第一转动自由度R1和第二转动自由度R2。示例性地，在手术时，当需要观察手术执行组件100夹持的观察样本时，需要使手术执行组件100停止围绕第五轴线和/或第六轴线的转动，以便进行观察该样本。则可以通过锁定球铰210的第一转动自由度R1和第二转动自由度R2，从而球铰210不能带动手术执行组件100围绕第五轴线和/或第六轴线转动，从而便于观察该样本。当需要再次控制手术执行组件100围绕第五轴线和/或第六轴线转动时，则可通过第一锁定部件释放球铰210的第一转动自由度R1和第二转动自由度R2，以便再次通过球铰210带动手术执行组件100围绕第五轴线和/或第六轴线转动。
示例性地，第一锁定部件可以是卡扣，通过卡扣可以将操控组件300和/ 或球铰210的第一转动自由度R1和第二转动自由度R2锁定。
在一个替代性的实施例中，第一锁定部件还可以与操控组件300连接，第一锁定部件用于锁定或释放操控组件300对所述球铰的驱动，即通过阻止或允许所述球铰绕所述第一轴线和所述第二轴线转动，进而锁定或释放所述球铰的第一转动自由度R1和第二转动自由度R2。则可以通过锁定操控组件300对所述球铰的驱动，进而锁定所述球铰的第一转动自由度R1和第二转动自由度R2，从而操控组件300不能控制手术执行组件100围绕第五轴线和/或第六轴线转动，从而便于观察样本。当需要再次控制手术执行组件100围绕第五轴线和/或第六轴线转动时，则可通过第一锁定部件释放操控组件300对所述球铰的驱动，进而释放所述球铰的第一转动自由度R1和第二转动自由度R2，以便再次通过操控组件300控制手术执行组件100围绕第五轴线和/或第六轴线转动。
此外，参考图9，在其中一个实施例中，球壳212上开设通孔203，球211上开设有通孔202，在初始状态下，球壳212的通孔203的中心轴线和球211的通孔202的中心轴线共线并经过共同球心，并且球211的通孔202经过球211上的凸起。传动轴910穿过球壳212的通孔203和球211的通孔202。通过将传动轴910穿过球壳212的通孔203和球211的通孔202，便于放置传动轴910，使得手术器械10的结构紧凑。
进一步，球壳212位于握持部310和球211之间，球211的近端开设有锥形空腔204，锥形空腔204与球211的通孔202连通，锥形空腔204的中心轴线与通孔202的中心轴线重合。在操控组件300带动球壳212围绕第一轴线或者第二轴线转动运动时，传动轴910的位于锥形空腔204的部分为绕共同球心在锥形空腔204内转动，不会引起传动轴910在传动轴910的延伸方向的运动，因此操控组件300带动球壳212围绕第一轴线或者第二轴线转动时，不干扰传动轴910在传动轴910的延伸方向的运动。
此外，参考图9，在其中一个优选实施例中，操控组件300还能够绕球壳212的通孔203的中心轴线相对于所述球壳212自转，形成第三转动自由度R3，以致操控组件300带动传动轴910自转，进而使传动轴910带动手术执行组件100自转，形成第七转动自由度R7。
进一步地，类似于第一锁定部件，手术器械还包括第二锁定部件，第二锁定部件与操控组件连接，第二锁定部件用于阻止或允许所述操控组件绕所述第一通孔的中心轴线转动，从而锁定或释放操控组件的第三转动自由度。
上述实施例通过具有两个转动自由度的联动部件200，使得操控组件300带动手术执行组件100在第五转动自由度R5和/或第六转动自由度R6上转动时，手术执行组件100和操控组件300在第一转动自由度R1和第二转动自由度R2上的摆动方向一致，故使得手术器械10具有能够提高手术执行组件100的运动方向准确性、提高手术器械10动作的准确性，便于手术操作的技术效果。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (23)

  1. 一种手术器械，其特征在于，包括手术执行组件、柔性蛇形机构、联动部件以及操控组件，所述柔性蛇形机构的远端与所述手术执行组件连接，所述柔性蛇形机构的近端与所述联动部件的远端连接，所述联动部件的近端与所述操控组件连接；所述联动部件可以围绕第一轴线、第二轴线转动；所述柔性蛇形机构可以围绕第五轴线、第六轴线转动；
    所述操控组件驱动所述联动部件围绕第一轴线转动时，所述柔性蛇形机构被驱动围绕第五轴线转动，且所述柔性蛇形机构围绕第五轴线转动的方向与所述联动部件围绕第一轴线转动的方向相同；
    所述操控组件驱动所述联动部件围绕第二轴线转动时，所述柔性蛇形机构围绕第六轴线转动，且所述柔性蛇形机构围绕第六轴线转动的方向与所述联动部件围绕第二轴线转动的方向相同。
  2. 根据权利要求1所述的手术器械，其特征在于，所述联动部件包括球铰，所述球铰包括球和球壳，所述球和所述球壳具有共同球心，且所述球铰被限制不能围绕球壳的轴线自转。
  3. 根据权利要求2所述的手术器械，其特征在于，
    所述联动部件还包括限位销，所述限位销设置在所述球的表面，所述限位销的中心轴线经过所述共同球心，所述限位销的中心轴线作为所述第一轴线；
    所述球壳的内表面开设有导向槽，所述导向槽的延伸方向为环绕所述球心的圆周方向，所述限位销位于所述导向槽内，以致所述限位销能够沿所述导向槽的延伸方向做圆周运动；所述限位槽的侧壁用于阻止所述限位销绕所述球壳的轴线转动，所述限位销沿所述导向槽的延伸方向做圆周运动时所环绕的轴线作为所述第二轴线；
    其中，所述球壳的轴线、所述限位销的中心轴线、所述限位销沿所述导向槽的延伸方向做圆周运动时所环绕的轴线两两相互垂直。
  4. 根据权利要求1所述的手术器械，其特征在于，还包括依次连接的手持部和连接部，所述手持部的近端与所述联动部件连接，所述连接部的远端 与所述柔性蛇形机构连接。
  5. 根据权利要求4所述的手术器械，其特征在于，所述手持部包括一弧形本体，所述弧形本体的近端设有近端支撑座，远端设有远端支撑座，所述近端支撑座的远端与所述联动部件固定连接，所述远端支撑座的远端与所述连接部固定连接。
  6. 根据权利要求1所述的手术器械，其特征在于，还包括柔性传动结构，所述柔性传动结构的近端与所述联动部件连接，远端与所述柔性蛇形机构连接，并且，所述柔性传动结构与所述联动部件连接的位置，与柔性传动结构与所述柔性蛇形机构连接的位置成相反配置。
  7. 根据权利要求6所述的手术器械，其特征在于，还包括依次连接的手持部和连接部，所述手持部的近端与所述联动部件连接，所述连接部的远端与所述柔性蛇形机构连接，所述手持部和所述连接部均开设有通孔，所述柔性传动结构穿过所述手持部和所述连接部的通孔。
  8. 根据权利要求7所述的手术器械，其特征在于，还包括至少一个转向轮，所述转向轮置于所述手持部的通孔中，所述柔性传动结构通过所述转向轮以改变延伸的方向。
  9. 根据权利要求2所述的手术器械，其特征在于，所述手术执行组件包括支撑部和末端执行器，所述支撑部与所述柔性蛇形机构连接，所述末端执行器可相对于所述支撑部运动。
  10. 根据权利要求9所述的手术器械，其特征在于，
    所述手术器械还包括开合传动组件，所述开合传动组件的远端与所述末端执行器连接，所述开合传动组件的近端与所述操控组件连接，所述操控组件通过所述开合传动组件，使得所述末端执行器相对于所述支撑部转动。
  11. 根据权利要求10所述的手术器械，其特征在于，
    所述操控组件包括握持部和至少一个控制瓣，所述握持部与所述球铰连接，所述控制瓣的近端与所述握持部转动连接；
    所述开合传动组件的近端与所述控制瓣连接，所述控制瓣与所述握持部相对转动进而带动所述开合传动组件，以驱动所述末端执行器，以致所述末端执行器相对于所述支撑部转动。
  12. 根据权利要求9-11任一项所述的手术器械，其特征在于，所述末端执行器包括两个可相对转动的第一工具瓣和第二工具瓣，所述第一工具瓣和第二工具瓣与所述支撑部转动连接。
  13. 根据权利要求12所述的手术器械，其特征在于，所述开合传动组件包括传动轴、第一开合连接组件以及第二开合连接组件；所述第一开合连接组件的近端至少与一控制瓣连接，所述第一开合连接组件的远端与所述传动轴连接；所述第二开合连接组件的远端分别与所述第一工具瓣和所述第二工具瓣连接，所述第二开合连接组件的近端与所述传动轴连接；
    其中，所述控制瓣和所述握持部相对转动时，所述控制瓣带动所述第一开合连接组件运动，以致所述第一开合连接组件带动所述传动轴运动，以致所述传动轴带动所述第二开合连接组件运动，以致所述第二开合连接组件带动所述第一工具瓣和所述第二工具瓣相对转动。
  14. 根据权利要求13所述的手术器械，其特征在于，所述操控组件包括第一控制瓣和第二控制瓣，所述第一开合连接组件包括第一连杆和第二连杆，所述第一连杆的近端与所述第一控制瓣远端转动连接，所述第二连杆的近端与所述第二控制瓣远端转动连接，所述第一连杆的远端和所述第二连杆的远端均与所述传动轴转动连接；
    所述第一控制瓣和所述第二控制瓣相对转动时，所述第一控制瓣和所述第二控制瓣能够带动所述第一连杆和所述第二连杆相对转动，以致所述第一连杆和所述第二连杆带动所述传动轴沿所述传动轴延伸的方向运动。
  15. 根据权利要求13所述的手术器械，其特征在于，所述第二开合连接组件包括第三连杆和第四连杆，所述第三连杆的远端与所述第一工具瓣的近端转动连接，所述第四连杆的远端与所述第二工具瓣的近端转动连接，所述第三连杆的近端和所述第四连杆的近端均与所述传动轴转动连接；
    所述传动轴向所述传动轴的延伸方向运动时，所述传动轴带动所述第三连杆和所述第四连杆相对转动，以致所述第三连杆和所述第四连杆带动所述第一工具瓣和所述第二工具瓣相对转动。
  16. 根据权利要求14所述的手术器械，其特征在于，所述开合传动组件还包括第一弹性部件，所述第一弹性部件设置在所述第一连杆和所述第二连 杆之间。
  17. 根据权利要求15所述的手术器械，其特征在于，所述开合传动组件还包括第二弹性部件，所述第二弹性部件设置在所述第三连杆和所述第四连杆之间。
  18. 根据权利要求11所述的手术器械，其特征在于，所述开合传动组件还包括第三弹性部件，至少一个所述第三弹性部件设置在所述控制瓣和所述握持部之间。
  19. 根据权利要求12所述的手术器械，其特征在于，所述开合传动组件还包括第四弹性部件，所述第四弹性部件设置在所述第一工具瓣和所述第二工具瓣之间。
  20. 根据权利要求13所述的手术器械，其特征在于，还包括第一锁定部件，所述第一锁定部件与所述球铰相连接，所述第一锁定部件用于阻止或允许所述球铰绕所述第一轴线和所述第二轴线转动；和/或，所述第一锁定部件与所述操控组件连接，所述第一锁定部件用于锁定或释放所述操控组件对所述球铰的驱动，进而阻止或允许所述球铰绕所述第一轴线和所述第二轴线转动。
  21. 根据权利要求13所述的手术器械，其特征在于，所述球壳的轴线上开设有第一通孔，所述球上开设有第二通孔，所述第一通孔的中心轴线和所述第二通孔的中心轴线共线，所述传动轴穿过所述第一通孔和所述第二通孔，所述球壳位于所述握持部和所述球之间，所述球上开设有锥形空腔，所述锥形空腔与所述第二通孔连通，所述锥形空腔的中心轴线与所述第二通孔的中心轴线重合，所述锥形空腔开设在所述球的靠近所述操控组件的一侧。
  22. 根据权利要求21所述的手术器械，其特征在于，所述操控组件能够绕所述第一通孔的中心轴线转动，以致所述操控组件带动所述传动轴转动，进而使所述传动轴带动所述手术执行组件自转。
  23. 根据权利要求22所述的手术器械，其特征在于，还包括第二锁定部件，所述第二锁定部件与所述操控组件连接，所述第二锁定部件用于阻止或允许所述操控组件绕所述第一通孔的中心轴线转动。
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