WO2024032492A1

WO2024032492A1 - Minimally invasive surgical instrument assembly

Info

Publication number: WO2024032492A1
Application number: PCT/CN2023/111208
Authority: WO
Inventors: 姜鹏; 韦巍; 赵磊; 孙大为; 芦欢欢; 李小明
Original assignee: 生一科技(北京)有限公司; 清大生一(厦门)医疗科技有限公司
Priority date: 2022-08-09
Filing date: 2023-08-04
Publication date: 2024-02-15
Also published as: CN115024768A; CN115024768B

Abstract

A minimally invasive surgical instrument assembly. An abutting member (33) is provided in the minimally invasive surgical instrument assembly to abut against a first limiting protrusion (30) of a fixing rod (5), so that the fixing rod (5) is mounted on a handle (31), and meanwhile, a quickly-detachable member (35) capable of being connected to a first telescopic rod (8) is arranged on the handle (31), so that the first telescopic rod (8) is mounted on the handle (31). The abutting member (33) is detachably connected to the handle (31), and the quickly-detachable member (35) is connected to the first telescopic rod (8) by means of a quickly-detachable structure, so that the fixing rod (5) and the first telescopic rod (8) can be quickly and simply detached from the handle (31), and thus a rod body and the handle (31) can be separately cleaned and disinfected, thereby effectively reducing the space required for cleaning and disinfection operations, and enabling to improve the cleaning and disinfection effects.

Description

Minimally invasive surgical instrument components

Technical field

The present invention relates to the field of surgical instruments, and in particular to a minimally invasive surgical instrument assembly and a minimally invasive surgical instrument.

Background technique

Minimally invasive surgery is to make one or several small incisions with a diameter of 5 to 12 mm in the human abdomen. Endoscopes and various special surgical instruments are inserted through these small incisions, and the abdominal cavity photographed by the endoscope inserted into the abdominal cavity is Images of various organs are transmitted to the TV screen, and the surgeon completes the operation by observing the images and operating outside the body with various surgical instruments.

Since minimally invasive surgical instruments need to be inserted into the body and operated outside the body, the structure of the minimally invasive surgical instruments is to provide a slender rod body on the operating handle for extending into the human body, and a movable end is provided at the end of the rod body actuator. However, in the existing technology, the slender rod body and the handle cannot be quickly and easily separated. Therefore, when minimally invasive surgical instruments are cleaned and disinfected after surgery, the slender rod body and handle can only be cleaned and disinfected as a whole, resulting in cleaning and disinfection operations. The space required is large, and the cleaning and disinfection effect is difficult to achieve.

Contents of the invention

The purpose of the present invention is to overcome the existing problems in the prior art that the slender rod body and handle of minimally invasive surgical instruments cannot be disassembled quickly and easily, resulting in a large space required for cleaning and disinfection operations, and the difficulty of achieving the cleaning and disinfection effect, and provides A minimally invasive surgical instrument component and a minimally invasive surgical instrument.

In order to achieve the above objects, one aspect of the present invention provides a minimally invasive surgical instrument assembly, including:

A fixed rod, the proximal end of the fixed rod is provided with a first limiting protrusion located on the outer peripheral wall;

A handle, the handle is provided with a first contact portion that contacts the proximal end of the first limiting protrusion;

abutting member, the abutting member is detachably connected to the handle, and the abutting member is provided with a second abutting portion that abuts the distal end of the first limiting protrusion;

A first telescopic rod, the first telescopic rod is arranged along the length direction of the fixed rod; and

A quick-release component, the quick-release component can be telescopically disposed on the handle along the length direction of the first telescopic rod, and the quick-release component is connected to the vicinity of the first telescopic rod through a quick-release structure. The hand ends are detachably connected, so that the quick release component can drive the first telescopic rod to telescopically move.

Optionally, the quick release structure includes:

The clamping slot is provided on the outer peripheral wall of the proximal hand end of the first telescopic rod;

The buckle is provided at the distal end of the quick-release component and has a snap-on position connected to the snap-in slot and a disengagement position disconnected from the snap-in slot; and

A driving mechanism is provided on the quick-release component, and the driving mechanism can drive the buckle to move between the buckling position and the disengagement position.

Optionally, the quick-release component is in the shape of a rod extending along the length direction of the first telescopic rod,

The buckle is a hook structure radially movably provided on the quick release piece,

The driving mechanism includes a collar that is sleeved on the outside of the quick-release component. The collar can be driven to move along the length direction of the quick-release component, so that part of the inner peripheral wall of the collar abuts the entire surface of the quick-release component. The buckle is disengaged so that the buckle is located at the distal end position of the buckling position, and the buckle is disengaged so that the buckle is located at the proximal end position of the disengaged position.

Optionally, the driving mechanism also includes:

The first elastic member is sleeved on the outer peripheral wall of the quick-release member, and the quick-release member is provided with a boss that contacts the proximal end of the first elastic member, and the distal end of the first elastic member is an end abutting the collar to provide a driving force to the collar to move toward the distal end position; or

An external thread is provided on the outer peripheral wall of the quick release piece, and the inner peripheral wall of the collar is provided with an internal thread that matches the external thread.

Optionally, the buckle is disposed on the distal end of the quick-release component so as to be movable in a direction perpendicular to the length of the first telescopic rod, and the buckle is a ring body with a strip-shaped through hole,

The driving mechanism includes a second elastic member and a pressing member provided on both sides of the buckle. The second elastic member provides the buckle with a driving force to move toward the pressing member, so that the buckle moves toward the pressing member. Partially engaged in the slot, the pressing member can drive the buckle to move in the reverse direction, so that the proximal end of the first telescopic rod can enter and exit the strip-shaped through hole.

Optionally, the clamping groove is an annular groove surrounding the outer peripheral wall of the proximal hand end of the first telescopic rod.

Optionally, the handle includes a handle body and a rotating dial rotatably provided on the handle body, the rotating dial is provided with a through hole located on its rotation axis, and the rotating dial is provided with a first strip-shaped limiting groove extending along its rotation axis, the first strip-shaped limiting groove being connected with the said through hole;

The proximal end of the quick-release piece is rotatably connected to the handle body, the distal end of the quick-release piece passes through the through hole of the rotating dial, and the outer periphery of the distal end of the quick-release piece A first circumferential limiting boss is provided on the wall, and the first The circumferential limiting boss is adapted to be embedded in the first strip limiting groove and can move along the length direction of the first strip limiting groove, and the first strip limiting groove is located on the rotating dial. The circumferentially upward side walls are in slidable contact with the first circumferential limiting boss.

Optionally, the handle body is provided with an annular holding part, and the inner peripheral wall of the holding part is provided with a finger clip protruding part, and the finger clip protruding part divides the internal space of the holding part into It is suitable to extend into the top space of the human body's middle finger and suitable to extend into the bottom space of the human body's ring finger. The outer peripheral wall of the holding part is provided with a finger-catching protrusion, and the distal end surface of the finger-catching protrusion is set to Suitable for holding the arc of the human body's little finger.

Optionally, the fixed rod is a tube structure that is sleeved on the outside of the first telescopic rod, and the proximal end of the first telescopic rod extends out of the fixed rod, and the proximal end of the fixed rod extends out of the fixed rod. An installation groove is provided, and the outer peripheral wall of the first telescopic rod is provided with a second strip-shaped limiting groove extending along its length direction;

The minimally invasive surgical instrument assembly further includes a circumferential stopper, the circumferential stopper is adapted to be installed in the installation groove of the fixed rod, and the circumferential stopper is provided with a circumferential stopper adapted to be embedded in the third The second circumferential limiting boss of the two strip-shaped limiting grooves, the second circumferential limiting boss can move in the second strip-shaped limiting groove along the length direction of the first telescopic rod, And the two side walls of the second strip-shaped limiting groove located in the circumferential direction of the first telescopic rod are in slidable contact with the second circumferential limiting boss.

Optionally, the minimally invasive surgical instrument assembly further includes a sleeve, which is sleeved outside the part of the fixing rod where the installation groove is provided, and the inner peripheral wall of the sleeve is in contact with the circumferential limit. The positioning parts are in contact with each other, and the outer peripheral wall of the casing is provided with a second limiting protrusion;

The rotating thumb wheel is provided with an external thread segment surrounding its rotation axis, and the distal end of the rotating thumb wheel forms the first contact portion, and the first contact portion is provided with the first strip limit slot;

The abutment piece is provided with a hole for the first telescopic rod and the fixed rod to pass through, and the proximal end of the hole is provided with an internal thread threadedly connected to the external thread section of the rotating dial. section, the middle part of the hole is provided with a receiving section suitable for accommodating the first contact part, the distal end of the quick release component and the first limiting protrusion, and the distal part of the hole is The hand end is provided with a contact section that is in contact with the outer peripheral wall of the casing. Two hole steps are formed between the contact section and the accommodation section, one of which forms the second contact section. The other hole step abuts the distal end of the second limiting protrusion, and the proximal end of the second limiting protrusion abuts the first limiting protrusion.

Optionally, the minimally invasive surgical instrument assembly further includes:

A first trigger, the first trigger is rotatably hingedly connected to the handle through a first trigger hinge axis; and

a rotating mounting base, the rotating mounting base is rotatably disposed on the non-handheld end of the first trigger, and the The rotation axis of the rotary mounting base is parallel to the first trigger hinge axis, the rotary mounting base is provided with a mounting hole, and the axis of the mounting hole is perpendicular to the first trigger hinge axis, and the quick release component It is disposed in the mounting hole rotatably around the axis of the mounting hole, so that when the first trigger rotates around the first trigger hinge axis, it can drive the quick-release component along the first telescopic rod. Telescopic movement in the length direction.

Optionally, a rotary connection sleeve is fixedly provided on the inner peripheral wall of the installation hole, and the rotary connection sleeve is rotatably sleeved on the proximal end of the quick release piece; and/or

The distal end face of the hand-held end of the first trigger is configured in an arc shape suitable for holding the index finger of a human body.

An arc-shaped ratchet piece, the arc-shaped ratchet piece is arranged on the handle around the first trigger hinge axis, and the arc-shaped ratchet piece is provided with a plurality of ratchet grooves arranged along its arc direction; and

A locking piece, the locking piece is provided with a tooth portion for inserting the ratchet, and the locking piece is rotatably disposed on the first trigger, so that the locking piece has the teeth The locking position where the tooth part is embedded in the ratchet groove, and the active position where the tooth part is separated from the ratchet groove. When the locking member is in the locking position, the first trigger can only move along the arc-shaped ratchet piece. The arc direction moves in one direction.

Optionally, the minimally invasive surgical instrument assembly further includes a third elastic member disposed along the length direction of the first telescopic rod, the handle and the proximal end of the first telescopic rod. The third elastic member is connected to each other, or the handle and the first trigger are connected to each other through the third elastic member, or the handle and the rotating mounting base are connected to each other through the third elastic member. A three-elastic member provides force to the first trigger in a direction opposite to the one-way movement.

Optionally, the minimally invasive surgical instrument assembly further includes a fourth elastic member, the fourth elastic member is provided on the first trigger, and the fourth elastic member is connected to the lock position in the locking position. The parts are in contact with each other to provide the locking part with pressure in the direction in which the tooth portion moves into the ratchet groove.

A second telescopic rod, the second telescopic rod is arranged along the length direction of the fixed rod, and the proximal end of the second telescopic rod is provided with a ball head; and

A second trigger. The second trigger is rotatably connected to the handle through a second trigger hinge axis. The non-hand-held end of the second trigger is provided with a fan-shaped chute, and the plane formed by the fan-shaped chute is vertical. On the second trigger hinge axis, the arc-shaped groove bottom of the sector-shaped chute is configured in a shape that restricts the ball head from sliding only along its arc direction.

Another aspect of the present invention provides a minimally invasive surgical instrument, including the minimally invasive surgical instrument assembly described above.

Through the above technical solution, the abutment piece is arranged to abut the first limiting protrusion of the fixed rod, so that the fixed rod is installed on the handle. At the same time, a quick-release part capable of connecting the first telescopic rod is provided on the handle, so that the first telescopic rod is installed on the handle, because the abutment part is detachably connected to the handle, and the quick-release part is connected to the first telescopic rod through the quick-release structure. The rods are connected, so that the fixed rod and the first telescopic rod can be quickly and easily separated from the handle, so that the rod body and the handle can be cleaned and disinfected separately, effectively reducing the space required for cleaning and disinfection operations, and improving the efficiency of cleaning and disinfection. Effect.

Description of drawings

Figure 1 is a front view of an embodiment of the minimally invasive surgical instrument provided by the present invention;

Figure 2 is a schematic structural diagram of the minimally invasive surgical instrument in Figure 1;

Figure 3 is a cross-sectional view of a first embodiment of the distal end of the minimally invasive surgical instrument provided by the present invention;

Figure 4 is a bottom view of the distal end of the minimally invasive surgical instrument in Figure 3;

Figure 5 is a cross-sectional view of a second embodiment of the distal end of the minimally invasive surgical instrument provided by the present invention;

Figure 6 is a cross-sectional view of a third embodiment of the distal end of the minimally invasive surgical instrument provided by the present invention;

Figure 7 is a schematic structural diagram of the distal end of the minimally invasive surgical instrument in Figure 6;

Figure 8 is a schematic structural diagram of the connector in Figure 3;

Figure 9 is a schematic structural diagram of the distal end of the fixed rod in the present invention;

Figure 10 is a schematic structural diagram of the fixed pipe body in Figure 9;

Figure 11 is a schematic structural diagram of the first embodiment of the fixed pipe body connector in Figure 9;

Figure 12 is a schematic structural view of the second embodiment of the fixed pipe connector in Figure 9;

Figure 13 is a schematic structural diagram of the proximal end of the fixed rod in the present invention;

Figure 14 is a schematic structural diagram of the distal end of the first telescopic rod in the present invention;

Figure 15 is a schematic structural view of the first telescopic rod tube body connector in Figure 14;

Figure 16 is a schematic structural view of the first telescopic rod tube body in Figure 14;

Figure 17 is a left view of Figure 16;

Figure 18 is an exploded view of the end effector of the present invention;

Figure 19 is a front view of the first embodiment of the quick release component of the present invention;

Figure 20 is a front cross-sectional view of the quick-release component in Figure 19;

Figure 21 is a schematic structural diagram of the second embodiment of the quick release component of the present invention;

Figure 22 is a front cross-sectional view of the quick release component in Figure 21;

Figure 23 is a front cross-sectional view of the third embodiment of the quick-release component of the present invention;

Figure 24 is a partial structural diagram of the quick release component in Figure 23;

Figure 25 is a front cross-sectional view of the minimally invasive surgical instrument assembly provided by the present invention;

Figure 26 is a front cross-sectional view of the proximal end of the fixed rod and the first telescopic rod in Figure 25;

Figure 27 is a schematic structural diagram of the rotating dial in Figure 25;

Figure 28 is a schematic diagram of the installation of the first trigger in Figure 25;

Figure 29 is a schematic structural diagram of the first trigger in Figure 25;

Figure 30 is a schematic structural diagram of the second trigger in Figure 25;

Figure 31 is a top view of the second trigger in Figure 30;

Figure 32 is an exploded schematic view of part of the structure of the minimally invasive surgical instrument assembly provided by the present invention in a cleaning state.

Explanation of reference signs
1. Rotating wrist; 2. End effector; 3. First connection part; 4. Second connection part; 5. Fixed rod; 5-1. Fixed pipe body;
5-2. Fixed pipe body connector; 6. First hinge axis; 7. Connecting rod; 8. First telescopic rod; 8-1. First telescopic rod body; 8-2. First telescopic rod body Connector; 9. First hinge shaft mounting seat; 10. First accommodation groove; 11. L-shaped groove; 12. Limiting protrusion; 13. Second accommodation groove; 14. Sliding space; 15. Connector; 16 .The second telescopic rod; 16-1. The second telescopic rod body; 16-2. The second telescopic rod body connecting piece; 17. The second hinge shaft mounting base; 18. Bayonet; 19. Elastic hook; 20. Claw; 21. Arc-shaped limit hole; 22. Clamp mounting seat; 23. Linear limit hole; 24. Limit pin; 25. Opening and closing groove; 26. First rotation groove; 27. First rotation Protrusion; 28. Second rotating protrusion; 29. Second rotating groove; 30. First limiting protrusion; 30-1. Positioning block; 31. Handle; 31-1. Handle body; 31-2. Turn the dial; 32. The first contact part; 33. The contact piece; 34. The second contact part; 35. Quick release piece; 36. Slot; 37. Buckle; 38. Collar; 39. Chapter An elastic member; 40. Strip-shaped through hole; 41. Second elastic member; 42. Pressing member; 43. First strip-shaped limiting groove; 44. First circumferential limiting boss; 45. Second strip-shaped Limit groove; 46. Circumferential limiter; 47. Bushing; 48. Second limit protrusion; 49. First trigger; 50. First trigger hinge axis; 51. Rotating mounting base; 52. Installation Hole; 53. Rotating connection bushing; 54. Arc-shaped ratchet piece; 55. Locking member; 56. Third elastic member; 57. Fourth elastic member; 58. Ball head; 59. Second trigger; 60. Sector-shaped Chute; 61. Small diameter section; 62. Second circumferential limiting boss; 63. Limiting rod; 64. Finger clip protrusion; 65. Top space; 66. Bottom space; 67. Finger catching protrusion .

Detailed ways

Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.

In the present invention, unless otherwise stated, the locative words "near hand end, far hand end" used are e.g. The position of the hand holding the surgical instrument during use is used as the reference, that is, the end close to the hand is the proximal end, and the end far away from the hand is the distal end.

On the one hand, the present invention provides a minimally invasive surgical instrument assembly, which includes a fixed rod 5, a handle 31, a contact member 33, a first telescopic rod 8 and a quick release part 35. The proximal end of the fixed rod 5 is provided with a The first limiting protrusion 30 on the wall; the handle 31 is provided with a first contact portion 32 that contacts the proximal end of the first limiting protrusion 30; the contact piece 33 and the The handle 31 is detachably connected, and the contact member 33 is provided with a second contact portion 34 that contacts the distal end of the first limiting protrusion 30; the first telescopic rod 8 extends along the fixed rod. 5; the quick-release piece 35 can be telescopically disposed on the handle 31 along the length direction of the first telescopic rod 8, and the quick-release piece 35 is connected to the handle 31 through a quick-release structure. The proximal end of the first telescopic rod 8 is detachably connected, so that the quick-release component 35 can drive the first telescopic rod 8 to telescopically move.

Among them, the first limiting protrusion 30 and the contact piece 33 can be integrally connected or detachably connected. As shown in Figure 13, the end surface of the first limiting protruding part 30 is provided with an eccentric positioning block 30-1, and the positioning block 30-1 can be accommodated in the groove or hole on the end surface of the first contact part 32, The relative positioning of the first limiting protruding portion 30 and the first abutting portion 32 in the circumferential direction is achieved so that they will not rotate relative to each other.

Through the above technical solution, the abutment piece 33 is arranged to abut the first limiting protrusion 30 of the fixed rod 5 so that the fixed rod 5 is installed on the handle 31 , and at the same time, a quick release that can connect the first telescopic rod 8 is provided on the handle 31 35, so that the first telescopic rod 8 is installed on the handle 31. Since the abutment part 33 is detachably connected to the handle 31, and the quick-release part 35 is connected to the first telescopic rod 8 through the quick-release structure, the fixed rod 5 and The first telescopic rod 8 can be quickly and easily separated from the handle 31, so that the rod body and the handle can be cleaned and disinfected separately, effectively reducing the space required for cleaning and disinfection operations, and improving the cleaning and disinfection effect.

The quick-release structure includes a slot 36 , a buckle 37 and a driving mechanism. The slot 36 is provided on the outer peripheral wall of the proximal end of the first telescopic rod 8 ; the buckle 37 is provided on the quick-release piece 35 The distal end has a clamping position connected to the clamping slot 36 and a disengagement position disconnected from the clamping slot 36; the driving mechanism is provided on the quick release part 35, and the The driving mechanism can drive the buckle 37 to move between the clamping position and the disengagement position, that is, by operating the driving mechanism, the quick connection and disassembly of the quick-release component 35 and the first telescopic rod 8 can be realized. . Of course, in other embodiments, the quick-release structure may also include a slot provided on the distal end surface of the quick-release component 35, and a plug and a pin provided on the proximal end surface of the first telescopic rod 8. The slot is adapted to the plug, and the slot wall of the slot and the plug are provided with pin holes extending in the radial direction of the first telescopic rod 8 for the plug to detachably penetrate the slot and the plug.

In the minimally invasive surgical instrument assembly provided by the present invention, the quick-release part 35 can adopt two different types of structures, and three implementation modes are provided for the two types of quick-release parts 35.

The first type of quick release component 35 is a rod shape extending along the length direction of the first telescopic rod 8 , and the buckle 37 is a hook structure movably disposed on the quick release component 35 in the radial direction. , the driving mechanism includes a collar 38 that is sleeved on the outside of the quick-release component 35. The collar 38 can be driven to move along the length direction of the quick-release component 35, so that the collar 38 has Part of the inner peripheral wall abuts the buckle 37 so that the buckle 37 is located at the distal end of the buckling position, and disengages from the buckle 37 so that the buckle 37 is located at the proximal end of the disengaged position. . The buckle 37 can be provided with one or two axially symmetrical ones. When the collar 38 moves to the distal end position, the buckle 37 is embedded in the groove 36 by the pressure provided by the inner wall of the collar 38. Preferably The proximal end of the buckle 37 is provided with a chamfer to avoid jamming the collar 38. When the collar 38 moves to the proximal end position, the buckle 37 can be separated from the slot 36 by shaking the hand, or it can be A spring leaf is provided to provide elastic force to the buckle 37 to automatically disengage from the buckle 36 .

The first type of quick release part 35 has two embodiments. In the first embodiment of the quick release part 35 as shown in Figures 19 and 20, the driving mechanism also includes a The first elastic member 39 on the outer peripheral wall of 35 is preferably a spring, of course it can be a rubber sleeve, and the quick-release part 35 is provided with a boss that abuts the proximal end of the first elastic member 39. The distal end of the first elastic member 39 abuts the collar 38 to provide a driving force for the collar 38 to move toward the distal end position. That is, the elastic force of the first elastic member 39 causes the collar 38 to be positioned at the position of the distal end. From the distal end position, when the collar 38 needs to be moved to the proximal end position, the user needs to push or pull the collar 38 to move. In the second embodiment of the quick release part 35 shown in Figures 21 and 22, the driving mechanism further includes external threads provided on the outer peripheral wall of the quick release part 35, and the inner part of the collar 38 is The peripheral wall is provided with internal threads that match the external threads, and the movement of the collar 38 is achieved by the user rotating the collar 38 .

The second type of quick-release component 35 is shown in Figures 23 and 24, which is the third embodiment of the quick-release component 35. The buckle 37 can move in a direction perpendicular to the length of the first telescopic rod 8. Disposed at the distal end of the quick-release component 35 , the buckle 37 is a ring body with a strip-shaped through hole 40 , and the driving mechanism includes a second elastic member 41 provided on both sides of the buckle 37 and Pressing member 42, the second elastic member 41 is preferably a spring, of course, it can also be a rubber cylinder or a sphere. The second elastic member 41 provides the buckle 37 with a driving force to move toward the pressing member 42, so that the buckle 37 can move toward the pressing member 42. The buckle 37 is partially engaged in the slot 36, and the pressing member 42 can drive the buckle 37 to move in the reverse direction, so that the proximal end of the first telescopic rod 8 can enter and exit the first telescopic rod 8. The strip-shaped through hole 40 and the elastic force of the second elastic member 41 keep the buckle 37 in the engaging position. When the buckle 37 needs to move to the disengaged position, the user needs to press the pressing member 42 to push the buckle 37 to move. In this embodiment, the pressing member 42 and the buckle 37 are of an integrated structure. Of course, in other embodiments, The pressing member 42 and the buckle 37 may also have a separate structure, and the pressing member 42 and the buckle 37 are in contact with each other. In this embodiment, the clamping groove 36 is an annular groove surrounding the proximal end peripheral wall of the first telescopic rod 8 . Of course, in other embodiments, the clamping groove 36 can also be provided on the first telescopic rod 8 . 8 towards the groove on one side of the buckle 37. In this embodiment, the buckle 37 is a ring body that directly snaps into the groove 36. Of course, in other embodiments, a protrusion can also be provided on the inner peripheral wall of the buckle 37, and the protrusion extends into the groove. Within 36.

As shown in Figure 25, Figure 27, Figure 19 and Figure 21, the handle 31 includes a handle body 31-1 and a rotating dial 31-2 rotatably provided on the handle body 31-1. The thumbwheel 31-2 is provided with a through hole located on its axis of rotation, and the thumbwheel 31-2 is provided with a first strip-shaped limiting groove 43 extending along its axis of rotation. The groove 43 is connected with the through hole; the proximal end of the quick release part 35 is rotatably connected to the handle body 31-1. Preferably, the proximal end of the quick release part 35 is set in a shaft shape, and the handle body 31 -1 is provided with a shaft hole that matches it, and the proximal end of the quick-release piece 35 is rotatably inserted into the shaft hole, thereby realizing a detachable connection between the quick-release piece 35 and the handle body 31-1. The distal end of the quick-release component 35 passes through the through hole of the rotating dial 31-2, and the outer peripheral wall of the distal end of the quick-release component 35 is provided with a first circumferential limiting boss 44. The circumferential limiting boss 44 is adapted to be embedded in the first strip-shaped limiting groove 43 and can move along the length direction of the first strip-shaped limiting groove 43, and the first strip-shaped limiting groove 43 is located at The circumferential side walls of the rotating dial 31-2 are in sliding contact with the first circumferential limiting boss 44, and the first strip-shaped limiting groove 43 and the first circumferential limiting boss are provided. The platform 44 enables the rotating dial 31-2 to drive the quick-release component 35 and the first telescopic rod 8 to rotate around the central axis of the first telescopic rod 8. At the same time, since the first strip-shaped limiting groove 43 is strip-shaped, it will not hinder The quick release part 35 and the first telescopic rod 8 telescopically move along the length direction of the first telescopic rod 8, so that the end effector 2 can face each other around the first hinge axis 6 through the connecting rod 7 and the rotating wrist 1 described below. When the fixed rod 5 rotates and rotates around the central axis of the first telescopic rod 8, in order to facilitate the first circumferential limiting boss 44 to enter the first strip limiting groove 43, the rotating dial 31-2 is set The part with the first strip-shaped limiting groove 43 is made of elastically deformable material, such as plastic, so that the rotating dial 31-2 and the quick-release component 35 can be quickly installed and disassembled. Of course, in other embodiments, the rotating dial 31-2 may not be provided and only the handle body 31-1 may be provided. In this case, the quick-release component 35 and the first telescopic rod 8 can only telescope along the length direction of the first telescopic rod 8. move without being able to rotate around the central axis of the first telescopic rod 8 .

In the embodiment shown in Figure 25, the handle body 31-1 is provided with an annular holding portion, and the inner peripheral wall of the holding portion is provided with a finger clip protruding portion 64. The finger clip protruding portion 64 The internal space of the grip is divided into a top space 65 suitable for extending into the human body's middle finger and a bottom space 66 suitable for extending into the human body's ring finger, so that the position of the handle body 31-1 can be moved by the middle finger and the ring finger. The finger clip protruding portion 64 is for causing the middle finger and ring finger to protrude toward the finger clip. The part 64 plays a clamping role, so that the middle finger and the ring finger can move the handle body 31-1 more stably. The outer peripheral wall of the holding part is provided with a finger-catching protrusion 67, and the finger-catching protrusion 67 The distal hand end face is set in an arc shape suitable for holding the little finger of the human body. Of course, in other embodiments, the handle body 31-1 can also be configured as other existing structures, for example, a grip is provided on the handle body 31-1.

In the embodiment shown in Figure 26, the fixed rod 5 is a tube structure that is sleeved on the outside of the first telescopic rod 8, and the proximal end of the first telescopic rod 8 extends out of the fixed rod. 5. The proximal end of the fixed rod 5 is provided with a mounting groove, and the outer peripheral wall of the first telescopic rod 8 is provided with a second strip-shaped limiting groove 45 extending along its length direction; the minimally invasive surgical instrument assembly It also includes a circumferential stopper 46, which is suitable for being installed in the installation groove of the fixed rod 5. The circumferential stopper 46 is provided with a device suitable for embedding the second strip. The second circumferential limiting boss 62 of the limiting groove 45 , the second circumferential limiting boss 62 can be in the second strip-shaped limiting groove 45 along the length direction of the first telescopic rod 8 move, and the two side walls of the second strip-shaped limiting groove 45 located in the circumferential direction of the first telescopic rod 8 are in sliding contact with the second circumferential limiting boss 62. By setting the circumferential limiting The positioning member 46, the second strip-shaped limiting groove 45 and the second circumferential limiting boss 62 enable the fixed rod 5 and the first telescopic rod 8 to rotate synchronously around the central axis of the first telescopic rod 8, and enable the first telescopic rod 8 to rotate synchronously. The rod 8 can telescopically move relative to the fixed rod 5 along the length direction of the fixed rod 5. That is, when the rotating dial 31-2 is turned, the fixed rod 5 and the first telescopic rod 8 rotate with the rotating dial 31-2 at the same time. Of course, in other embodiments, when the rotating dial 31-2 is not provided, the circumferential limiting member 46, the second strip-shaped limiting groove 45 and the second circumferential limiting boss 62 may not be provided. Of course, in other embodiments, the fixed rod 5 and the rotating dial 31-2 can also be detachably connected. In this case, the circumferential limiter 46, the second strip limiter groove 45 and the third bar-shaped limiter groove 45 may not be provided. With two circumferential limiting bosses 62, the fixed rod 5 rotates around the central axis of the first telescopic rod 8 driven by the rotating dial 31-2. Of course, in other embodiments, the fixed rod 5 can also be a solid rod structure, and the fixed rod 5 and the first telescopic rod 8 are arranged in parallel.

In order to ensure that the circumferential stopper 46 is always located in the installation groove and does not deviate from the installation groove, thereby causing the fixed rod 5 and the first telescopic rod 8 to be unable to rotate synchronously, in the embodiment shown in Figures 25 and 26 , the minimally invasive surgical instrument assembly also includes a sleeve 47. The sleeve 47 is sleeved outside the part of the fixed rod 5 where the installation groove is provided, and the inner peripheral wall of the sleeve 47 is in contact with the circumferential direction. The limiting member 46 is in contact, and the outer peripheral wall of the sleeve 47 is provided with a second limiting protrusion 48; the rotating dial 31-2 is provided with an external thread segment surrounding its rotation axis, and the rotating dial is The distal end of the wheel 31-2 forms the first contact portion 32, and the first contact portion 32 is provided with the first strip limiting groove 43; the contact member 33 is provided with the The first telescopic rod 8 and the fixed rod 5 pass through the hole. The proximal end of the hole is provided with an internal thread section threadedly connected to the external thread section of the rotating dial 31-2, so that the rotation The dial wheel 31-2 is detachably connected to the abutment piece 33, thereby realizing the detachable connection between the handle 31 and the abutment piece 33. The middle part of the hole path is provided with an appropriate In order to accommodate the first contact portion 32, the distal end of the quick-release component 35 and the first limiting protrusion 30, the distal end of the hole is provided with the sleeve. The outer peripheral wall of the tube 47 abuts the connected abutment section, and two hole steps are formed between the abutment section and the accommodation section, one of which forms the second abutment portion 34 to secure the fixed The rod 5 is installed on the handle 31, the other hole step abuts the distal end of the second limiting protrusion 48, and the proximal end of the second limiting protrusion 48 abuts the third A limiting protrusion 30 is used to limit the position of the sleeve 47 on the fixed rod 5 to prevent the sleeve 47 from sliding on the fixed rod 5 and causing the circumferential limiter 46 to disengage, thereby causing the circumferential limiter 46 to disengage. installation groove, and at the same time, the outer peripheral wall of the sleeve 47 is rotationally connected to the inner peripheral wall of the distal end of the hole of the abutment piece 33, which also prevents the inner peripheral wall of the distal end of the hole from directly abutting the circumferential stopper 46 and causing wear. The hole path provided in the abutting component 33 also protects the quick-release structure, preventing misoperation from causing the first telescopic rod 8 to become detached from the quick-release component 35 . Of course, in other embodiments, if the rotating dial 31-2 is not provided, the contact member 33 can also be set in an L shape, with one end set along the length direction of the first telescopic rod 8 and connected to the handle body 31-1. The other end is arranged along the radial direction of the first telescopic rod 8 , and the first limiting protrusion 30 is clamped in the middle by the other end of the abutment piece 33 and the handle body 31 - 1 . Of course, in other embodiments, the sleeve 47 can also be sleeved on the fixed rod 5 through a threaded structure, without providing the second limiting protrusion 48 .

As shown in Figures 25, 28 and 29, the minimally invasive surgical instrument assembly also includes a first trigger 49 and a rotating mounting base 51. The first trigger 49 and the handle 31 are removable through the first trigger hinge shaft 50. Rotating hinges are connected. In this embodiment, the first trigger hinge axis 50 is located at the non-hand-held end of the first trigger 49. Of course, in other embodiments, the first trigger hinge axis 50 can also be disposed in the middle of the first trigger 49. , the rotary mounting base 51 is rotatably disposed on the non-handheld end of the first trigger 49, and the rotation axis of the rotary mounting base 51 is parallel to the first trigger hinge axis 50. In this embodiment, Protruding shaft-shaped protrusions are provided on both sides of the rotating mounting base 51, and the shaft-shaped protrusions are rotationally connected to the first trigger 49. The rotating mounting base 51 is provided with a mounting hole 52, and the axis of the mounting hole 52 is in line with the position of the first trigger 49. The first trigger hinge axis 50 is perpendicular to the opposite plane, and the quick-release component 35 is rotatably disposed in the mounting hole 52 around the axis of the mounting hole 52, so that the first trigger 49 rotates around the first axis. When the trigger hinge shaft 50 rotates, the quick-release component 35 can be driven to telescopically move along the length direction of the first telescopic rod 8 , so that the quick-release component 35 can rotate around the central axis of the first telescopic rod 8 and move along the first telescopic rod 8 . A telescopic rod 8 moves telescopically in its length direction. Of course, in other embodiments, when the rotating dial 31-2 is not provided, the rotating mounting base 51 may not be provided, and the proximal end of the quick release 35 is directly hinged with the first trigger 49, that is, the first trigger 49 The driving quick-release component 35 and the first telescopic rod 8 can move along the length direction of the first telescopic rod 8 .

As shown in Figure 25, the inner peripheral wall of the mounting hole 52 is fixedly provided with a rotary connection sleeve 53. The rotary connection sleeve 53 is rotatably sleeved on the proximal end of the quick-release component 35, thereby avoiding the possibility of quick release. The proximal end of the disassembly 35 is in the first pull position. Stress concentration occurs when the machine 49 rotates, which in turn causes damage to the proximal hand end of the quick-release component 35 . Of course, in other embodiments, when the mounting hole 52 has a certain distance along its axial direction, the rotary connection sleeve 53 may not be provided.

In the embodiment shown in FIG. 25 , the distal end surface of the hand-held end of the first trigger 49 is set in an arc shape suitable for holding the human index finger, and the first trigger 49 is located at the holding portion of the handle body 31 - 1 the far hand side. Of course, in other embodiments, the first trigger 49 may also be of other existing structures.

In the embodiment shown in Figure 25, the minimally invasive surgical instrument assembly further includes an arc-shaped ratchet piece 54 and a locking member 55. The arc-shaped ratchet piece 54 is arranged around the first trigger hinge axis 50. On the handle 31, the arc-shaped ratchet piece 54 is provided with a plurality of ratchet grooves arranged along its arc direction, the locking member 55 is provided with a tooth portion for inserting the ratchet, and the locking member 55 is provided with a tooth portion for inserting the ratchet. The member 55 is rotatably disposed on the first trigger 49, so that the locking member 55 has a locking position in which the tooth portion is inserted into the ratchet groove, and a locking position in which the tooth portion is disengaged from the ratchet groove. In the active position, when the locking member 55 is in the locked position, the first trigger 49 can only move in one direction along the arc direction of the arc-shaped ratchet piece 54. In Figure 25, the one-way movement direction is counterclockwise. By changing the setting direction of the arc-shaped ratchet piece 54, the one-way movement direction can be adjusted. By arranging the arc-shaped ratchet piece 54 and the locking piece 55, it is possible to lock the first trigger 49 when the first trigger 49 is not pulled. The locking member 55 of the position realizes the locking of the first telescopic rod 8 in its length direction position. In the following, the function of the first telescopic rod 8 is to adjust the end effector 2 around the first hinge axis 6 relative to the The fixed rod 5 rotates, that is, the rotation angle of the end effector 2 is limited by the locking member 55, and when the locking member 55 is in the locked position, the first trigger 49 can only move along the arc of the arc-shaped ratchet piece 54. One-way movement in one direction realizes the restriction of reverse movement. At this time, only the locking member 55 can be moved to the active position to make the first trigger 49 move in the reverse direction. That is, the locking member 55 realizes the function of the limit switch. effect. Of course, in other embodiments, the arc-shaped ratchet piece 54 and the locking member 55 may not be provided. In this case, the operator needs to always control the position of the first trigger 49 to limit and adjust the first telescopic rod 8 , thereby realizing the limitation and adjustment of the rotation angle of the end effector 2.

As shown in the embodiment shown in Figure 25, the minimally invasive surgical instrument assembly further includes a third elastic member 56. The third elastic member 56 is provided along the length direction of the first telescopic rod 8. In this embodiment, The handle 31 and the rotating mounting base 51 are connected through the third elastic member 56. The third elastic member 56 provides the first trigger 49 with a force in a direction opposite to the one-way movement. In this embodiment, The third elastic member 56 provides the first trigger 49 with a force to move toward the distal end, that is, the third elastic member 56 plays the role of driving the first trigger 49 to reset. When the locking member 55 is moved to the active position, The third elastic member 56 drives the first trigger 49 to automatically reset, which can automatically eliminate the rotation angle of the end effector 2 and automatically reset the end effector 2 to the central axis of the first telescopic rod 8. The operator can After the operation of the end effector 2 is completed, the locking member 55 only needs to be moved to the active position, and the minimally invasive The surgical instrument assembly is removed from the human body without operating the first trigger 49 to reset the end effector 2 . Of course, in other embodiments, the handle 31 and the proximal end of the first telescopic rod 8 may be connected through the third elastic member 56 , or the handle 31 and the first trigger 49 may be connected through The third elastic members 56 are connected. Of course, in other embodiments, the third elastic member 56 may not be provided. In this embodiment, the third elastic member 56 is a spring sleeved on the proximal end of the quick release member 35 and the second telescopic rod 16 described below. Of course, in other embodiments, the third elastic member 56 may also be a rubber collar or a rubber rod, and the third elastic member 56 may not be sleeved on the proximal end of the quick-release component 35 and the second telescopic rod 16 described below. , and directly connects the proximal end of the quick-release component 35 and the handle 31 , and the third elastic member 56 can also have a certain angle with the axial direction of the first telescopic rod 8 .

In the embodiment shown in FIG. 25 , the minimally invasive surgical instrument assembly further includes a fourth elastic member 57 , which is disposed on the first trigger 49 . The fourth elastic member 57 is connected to the first trigger 49 . The locking member 55 in the locking position abuts to provide the locking member 55 with pressure in the direction of movement of the tooth portion into the ratchet groove, thereby preventing the locking member 55 from defining the first When the trigger 49 is pulled, the teeth of the locking member 55 may be separated from the ratchet groove, thereby affecting the surgical operation. In this embodiment, the fourth elastic member 57 is a spring piece. Of course, in other embodiments, the fourth elastic member 57 may also be a spring, or the fourth elastic member 57 may not be provided.

As shown in Figures 25, 30 and 31, the minimally invasive surgical instrument assembly also includes a second telescopic rod 16 and a second trigger 59. The second telescopic rod 16 is arranged along the length direction of the fixed rod 5. The proximal hand end of the second telescopic rod 16 is provided with a ball head 58. The second trigger 59 is rotatably hingedly connected to the handle 31 through a second trigger hinge axis. The non-hand-held end of the second trigger 59 A sector-shaped chute 60 is provided, and the plane formed by the sector-shaped chute 60 is perpendicular to the second trigger hinge axis. The arc-shaped groove bottom of the sector-shaped chute 60 is configured to limit the ball head 58 to only follow its arc. In this embodiment, a second telescopic rod 16 is further provided. As can be seen from the following, the second telescopic rod 16 is used to drive the position of the end effector 2 along the length direction of the fixed rod 5 to achieve the end effect. Finely adjust the position of the end effector 2 or realize the opening and closing operation of the clamp as the end effector 2. The second trigger is used to drive the second telescopic rod 16 to telescopically move along the length direction of the fixed rod 5, thereby realizing the end execution. When the device 2 is driven, a ball head 58 is provided at the proximal end of the second telescopic rod 16, and a fan-shaped chute 60 is provided at the non-hand-held end of the second trigger 59, so that the second trigger 59 and the second telescopic rod 16 realize Detachable connection, by turning the second trigger 59, the proximal end of the second telescopic rod 16 can be disengaged from or entered into the fan-shaped chute 60, and at the same time, the arc-shaped groove bottom of the fan-shaped chute 60 is set to limit all The shape of the ball head 58 that only slides along its arc direction is to drive the ball head 58 to telescopically move along the length direction of the fixed rod 5 when the second trigger 59 is pulled, thereby driving the second telescopic rod 16 to move. Of course, in other embodiments, when the end effector 2 is fixedly provided on the rotating wrist 1 described below, the second telescopic rod 16 and the second trigger 59 may not be provided, or Or when the end effector 2 is fixedly arranged on the first telescopic rod 8, the second telescopic rod 16 and the second trigger 59 may not be provided. At this time, the first trigger 49 is used to drive the first telescopic rod 8 along the fixed The length direction of the rod 5 moves, thereby driving the end effector 2 to move along the length direction of the fixed rod 5 , instead of driving the rotating wrist 1 to rotate around the first hinge axis 6 relative to the fixed rod 5 .

In the embodiment shown in FIG. 25 , the second trigger 59 is configured as a ring-shaped structure suitable for extending into the human thumb, and the second trigger 59 is located on the proximal hand side of the gripping portion of the handle body 31 - 1 . Of course, in other embodiments, the second trigger 59 can also be configured as other existing structures.

In the embodiment shown in FIG. 25 , the first telescopic rod 8 is a tube structure sleeved outside the second telescopic rod 16 , and the proximal end of the second telescopic rod 16 extends out of the The first telescopic rod 8, the proximal end of the second telescopic rod 16 is provided with a small diameter section 61 with a diameter smaller than the inner diameter of the second telescopic rod 16, and the ball head 58 is arranged on the small diameter section 61 Near the hand end, and the diameter of the ball head 58 is not larger than the inner diameter of the second telescopic rod 16 , a small diameter section 61 is provided to form a ball head with a diameter not larger than the inner diameter of the second telescopic rod 16 58, and the diameter of the ball head 58 is not larger than the inner diameter of the second telescopic rod 16 in order to enable the proximal end of the second telescopic rod 16 to extend into the first telescopic rod 8, thereby realizing the second telescopic rod 16 and Disassembly of the first telescopic rod 8. Of course, in other embodiments, the first telescopic rod 8 can also be a solid rod structure, and the second telescopic rod 16 is arranged parallel to the first telescopic rod 8. In this case, the diameter of the ball head 58 does not need to be limited.

In the embodiment shown in Figures 3, 5 and 6, the minimally invasive surgical instrument assembly also includes a rotating wrist 1 and a connecting rod 7. The distal end of the rotating wrist 1 can be installed with an end effector 2. The proximal end of the rotating wrist 1 is provided with a first connecting part 3 and a second connecting part 4; the distal end of the fixed rod 5 and the first connecting part 3 are rotatably connected through a first hinge shaft 6; so The distal end of the connecting rod 7 is rotatably hinged with the second connecting portion 4; the first telescopic rod 8 is detachably connected to the fixed rod 5, and the distal end of the first telescopic rod 8 It is rotatably hingedly connected to the proximal end of the connecting rod 7, and the first telescopic rod 8 can be driven to telescopically move along the length direction of the fixed rod 5 to drive the rotating wrist 1 around the The first hinge axis 6 rotates relative to the fixed rod 5 .

Through the above technical solution, a rotating arm 1 for installing the end effector 2 is provided. The rotating arm 1 is hinged with the fixed rod 5, and at the same time, a connecting rod 7 is provided to hinge the rotating arm 1 and the first telescopic rod 8 respectively, so that When the first telescopic rod 8 telescopes and moves along the length direction of the fixed rod 5, it can drive the rotating wrist 1 to rotate around the first hinge axis 6, thereby realizing the rotation of the end effector 2, and the above structure is compared with the existing structure. The articulating wrist structure in the technology has a smaller turning radius, thereby avoiding the problem of minimally invasive surgical instruments being unable to rotate the end effector 2 in a narrow space, or the problem of interference with other surgical instruments due to their large turning radius.

In the embodiment shown in Figures 3 and 9, the fixed rod 5 is a tube structure with a first hinge axis mounting seat 9 at the distal end, that is, the first hinge axis mounting seat 9 is along the fixed rod. 5 protrudes axially from the tube wall of the fixed rod 5, the first hinge shaft mounting seat 9 is hingedly connected to the first connecting portion 3, and the tube wall of the fixed rod 5 is provided with an internal space between the tube body The first telescopic rod 8 is located inside the fixed rod 5, and the distal end of the first telescopic rod 8 is located in the first receiving groove 10 to connect the The proximal end of the connecting rod 7 and the first receiving groove 10 play a limiting role on the distal end of the first telescopic rod 8, so that the distal end of the first telescopic rod 8 moves along the guide of the first receiving groove 10, At the same time, the first receiving groove 10 also plays the role of accommodating the proximal end of the connecting rod 7. When the minimally invasive surgical instrument assembly extends into or out of the human body, the end effector 2 and the rotating wrist 1 are located on the axis of the fixed rod 5. That is, the end effector 2 and the rotating wrist 1 do not rotate. At this time, the proximal end of the connecting rod 7 is located in the first receiving groove 10, so that the connecting rod 7 does not protrude on the outer peripheral wall of the fixed rod 5, so the connecting rod 7. It will not cause scratches to the human body when minimally invasive surgical instrument components extend into or out of the human body. Of course, in other embodiments, the fixed rod 5 can also be a solid rod structure. The first hinge shaft mounting seat 9 is provided at the distal end of the rod body of the fixed rod 5 without the need to provide the first receiving groove 10. The telescopic rod 8 is arranged parallel to the fixed rod 5. At this time, in order to enable the fixed rod 5 and the first telescopic rod 8 to extend into or out of the human body synchronously without causing scratches to the human body when moving, it is also necessary to The fixed rod 5 and the first telescopic rod 8 are integrally provided with a pipe sleeve on the outside, that is, the fixed rod 5 and the first telescopic rod 8 are located inside the pipe sleeve.

In the embodiment shown in Figures 9-11, the fixed rod 5 includes a detachably connected fixed pipe body 5-1 and a fixed pipe body connector 5-2. The fixed pipe body 5-1 is a straight pipe. structure, the distal end of the fixed pipe body connector 5-2 is provided with the first hinge shaft mounting seat 9 and the first receiving groove 10. Since the fixed rod 5 needs to be provided with the first hinge shaft mounting seat 9, Therefore, the fixed rod 5 is provided as a detachable structure including a fixed pipe body 5-1 and a fixed pipe body connecting piece 5-2. On the one hand, it can facilitate the production of the fixed rod 5, that is, the fixed pipe body 5- of the straight pipe structure 1 and the special-shaped tubular fixed pipe body connector 5-2 are manufactured separately. On the other hand, it also facilitates the disassembly and assembly of the fixed rod 5. Of course, in other embodiments, the fixed rod 5 may also have an integrated structure, that is, the fixed pipe body 5-1 and the fixed pipe body connecting piece 5-2 may be an integrated structure or fixedly connected.

In the embodiment shown in Figures 9 to 11, an L-shaped groove 11 is provided on the wall of the distal end of the fixed tube body 5-1, and the L-shaped groove 11 includes a line along the fixed tube body 5-1. The circumferentially extending limiting portion of 1 and the inlet and outlet channel extending along the axial direction of the fixed tube body 5-1, the inlet and outlet channel forms an opening at the end of the fixed tube body 5-1, the fixed tube The outer circumferential surface of the proximal end of the body connector 5-2 is provided with a radially protruding limiting protrusion 12. The limiting protrusion 12 can enter or escape from the limiting portion through the access channel. Along the The axial direction of the pipe body 5-1 is fixed, the length of the limiting portion is adapted to the length of the limiting protrusion 12, and the detachable connection structure of the L-shaped groove 11 and the limiting protrusion 12 can only be can limit the axial position of the fixed pipe body 5-1 and the fixed pipe body connecting piece 5-2, but cannot limit the circumferential position of the fixed pipe body 5-1 and the fixed pipe body connecting piece 5-2, that is, the fixed pipe body 5 -1 and the fixed pipe body connector 5-2 may rotate relative to each other around the central axis of the fixed rod 5. In this embodiment, the rotating dial 31-2 is provided to drive the first telescopic rod 8 to rotate around its central axis. , thereby driving the end effector 2 and the rotating wrist 1 to rotate. Therefore, when the first telescopic rod 8 rotates, the fixed pipe connector 5-2 will be driven by the rotating wrist 1 to be relatively fixed along the central axis of the fixed rod 5. The rotation of the pipe body 5-1 creates the risk of the fixed pipe body 5-1 and the fixed pipe body connecting piece 5-2 being detached. Therefore, in this embodiment, the proximal end of the fixed pipe body 5, that is, the fixed pipe body 5-1 is The proximal end is connected to the first telescopic rod 8 through the following circumferential limiting member 46, thereby achieving circumferential limiting of the first telescopic rod 8 and the fixed tube body 5-1 along the fixed rod 5, so that the first telescopic rod 8 can rotate synchronously with the fixed pipe body 5-1 to avoid the risk of the fixed pipe body 5-1 and the fixed pipe body connecting piece 5-2 being detached. Of course, in other embodiments, the rotating dial 31-2 may not be provided, that is, the first telescopic rod 8 and the fixed rod 5 do not have the function of rotating around the central axis of the fixed rod 5. In this case, the L-shaped groove 11 and the limiter are used. The detachable connection structure of the protrusion 12 will not cause the risk of the fixed pipe body 5-1 and the fixed pipe body connecting piece 5-2 being detached. Of course, in other embodiments, the fixed pipe body 5-1 and the fixed pipe body connecting piece 5-2 can also be connected using the detachable connection structure of the bayonet 18 and the elastic hook 19 described below.

In the embodiment shown in Figures 3 and 18, the tube wall of the proximal hand end portion of the rotating wrist 1 protrudes axially to form the first connecting portion 3, and the unprotruded tube wall forms the The second connecting part 4, and the axial position of the non-protruding tube wall forms a second receiving groove 13 on one side of the first connecting part 3. The second receiving groove 13 accommodates the distal end of the connecting rod 7, so that the connecting rod 7 will not protrude on the outer peripheral wall of the rotating wrist 1, so the connecting rod 7 will not cause scratches to the human body when the minimally invasive surgical instrument assembly extends into or out of the human body. In this embodiment, the outer peripheral wall of the rotating wrist 1 It is located on the same circumferential surface as the outer peripheral wall of the fixed rod 5 to avoid scratches on the human body caused by the connection position of the rotating wrist 1 and the fixed rod 5 when the minimally invasive surgical instrument component extends into or out of the human body.

As shown in Figures 3, 5 and 6, the rotating wrist 1 is provided with a sliding space 14; the minimally invasive surgical instrument assembly also includes an end effector 2, a bendable and deformable connecting piece 15 and a second telescopic rod. 16. The installation end of the end effector 2 is located in the sliding space 14; the connecting piece 15 is located at the connection position of the rotating wrist 1 and the fixed rod 5, and the far end of the connecting piece 15 The hand end is connected to the installation end of the end effector 2; the distal hand end of the second telescopic rod 16 is connected to the proximal hand end of the connector 15, and the second telescopic rod 16 can be driven Telescopic movement along the length direction of the fixed rod 5 drives the end effector 2 to telescopically move in the direction of extending into or out of the sliding space 14. In this embodiment, a sliding space is provided in the end effector 2 14, and the connecting piece 15 and the second telescopic rod 16 are provided to realize telescopic movement along the length direction of the fixed rod 5 by driving the second telescopic rod 16, In order to drive the telescopic movement of the end effector 2 guided by the sliding space 14, during the operation, the hand controls the depth of the minimally invasive surgical instrument assembly into the human body to roughly adjust the position of the end effector 2. Through the first The telescopic movement of the second telescopic rod 16 enables fine adjustment of the position of the end effector 2, thereby improving the convenience of operation. At the same time, the telescopic movement of the end effector 2 driven by the second telescopic rod 16 can also realize the position of the lesion. The scraping or cutting operation is performed. In addition, the bending and deformable connecting piece 15 can deform when the end effector 2 has a rotation angle, and when the second telescopic rod 16 drives the end effector 2, the connecting piece 15 itself The bending deformation position can be moved accordingly to always connect the end effector 2 and the second telescopic rod 16, and when the end effector 2 has a rotation angle, the second telescopic rod 16 can drive the end effector 2 to move. . Of course, in other embodiments, the end effector 2 can also be fixedly provided on the rotating wrist 1, and in this case, there is no need to provide the second telescopic rod 16.

In the embodiment shown in Figures 3 and 9, the fixed rod 5 is a tube structure with a first hinge shaft mounting seat 9 at the distal end, and the second telescopic rod 16 is located on the fixed rod. 5, and an opening is provided between the first hinge shaft mounting seat 9 and the tube wall of the fixed rod 5 for the connecting piece 15 to pass through; the rotating wrist 1 is hollow inside to form the sliding space. 14 and a passage for the connecting piece 15 to enter the sliding space 14. The passage for the connecting piece 15 to enter the sliding space 14 is preferably adapted to the shape of the peripheral wall of the connecting piece 15. In this embodiment , the opening of the fixed rod 5 is preferably shaped to match the outer peripheral wall of the connecting piece 15 to limit and guide the connecting piece 15. Similarly, the first connecting part 3 has a concave structure, and the bends at both ends The first hinge shaft 6 is provided with a shaft hole for installing the first hinge shaft 6. When the first hinge shaft 6 is installed, a hole is formed between the first hinge shaft 6 and the pipe wall between the two bending parts for the connecting piece 15 to pass through. The opening of the first connecting part 3 is preferably shaped to match the outer peripheral wall of the connecting piece 15, and also plays a limiting and guiding role in the connecting piece 15, so that the second telescopic rod 16 moves toward the distal hand. When the end moves, the opening of the fixed rod 5 and the opening of the first connecting part 3 can limit the connecting piece 15 to move toward the distal end under the thrust of the second telescopic rod 16, thereby pushing the end effector 2 to move toward the distal end. , to prevent the connecting member 15 from generating accumulation deformation in the internal space of the second telescopic rod 16 and/or the rotating wrist 1 under the thrust of the second telescopic rod 16 and the resistance of the end effector 2, thereby causing the second The telescopic rod 16 cannot push the end effector 2 to move. Of course, in other embodiments, the fixed rod 5 can also be a solid rod structure, and the second telescopic rod 16 is arranged parallel to the fixed rod 5. In this case, the sliding space 14 is a chute provided on the outer peripheral wall of the rotating wrist 1, and the sliding space 14 is a sliding groove. The groove extends along the length direction of the rotating wrist 1, and the installation end of the end effector 2 is slidingly connected to the chute. At this time, in order to avoid scratches on the human body, the outside of the installation ends of the rotating wrist 1 and the end effector 2, and the third Both the telescopic rod 16 and the fixed rod 5 need to be provided with pipe sleeves on their exteriors.

In the embodiment shown in FIGS. 5 and 12 , the connecting member 15 does not pass through another opening formed between the first hinge shaft 6 and the first connecting part 3 , but is installed on the first hinge shaft. The seat 9 is provided with a limiting rod 63, and the limiting rod 63 Arranged along the radial direction of the fixed rod 5, a limiting space suitable for the connector 15 to pass is formed between the limiting rod 63 and the first connecting portion 3. In this embodiment, the first connecting portion 3 is a concave structure, and the bent parts at both ends are respectively provided with shaft holes for installing the corresponding first hinge shaft 6, that is, the first hinge shaft 6 does not penetrate the first connecting part 3 of the concave structure, but is in A first hinge axis 6 is provided on one bending part, and another first hinge axis 6 is provided on the other bending part. The first hinge axis mounting seat 9 is located between the two bending parts, that is, the limiting rod 63 is located on both sides. Between the bending parts, the limiting space at this time plays a role in limiting and guiding the connecting piece 15. Under the limiting effect of the limiting space on the connecting piece 15, the connecting piece 15 moves from the center line of the rotating wrist 1 Extends to the center line of the fixed rod 5, that is, when the connecting member 15 is bent and deformed, it also extends from the center line of the rotating wrist 1 to the center line of the fixed rod 5, which is beneficial to the connecting member The axial movement of 15 after bending also improves the reliability. The connecting piece 15 is arranged along the two center lines, so that the connecting piece 15 does not affect the closing of the following clamps while bending, that is, these two forces will not A coupling phenomenon occurs, and the rotation of the rotating wrist 1 and the operation of the clamp can be performed at the same time. Of course, in other embodiments, the limiting rod 63 can also be provided, and the connecting piece 15 is misaligned with the two center lines. The connecting piece 15 can also be arranged along the two center lines without the limiting rod 63 .

In the embodiment shown in Figures 3, 5 and 6, the first telescopic rod 8 is a tube structure with a second hinge shaft mounting seat 17 provided at the distal end. The second hinge shaft mounting seat 17 is The seat 17 is hingedly connected to the proximal end of the connecting rod 7. The first telescopic rod 8 is coaxially sleeved on the outside of the second telescopic rod 16, and the second telescopic rod 16 can be driven relative to each other. The fixed rod 5 moves telescopically. Of course, in other embodiments, the first telescopic rod 8 can also be configured as a solid rod structure, and the second telescopic rod 16 and the first telescopic rod 8 are arranged in parallel and located in the fixed rod 5 at the same time.

In the embodiment shown in Figures 14-16, the first telescopic rod 8 includes a detachably connected first telescopic rod tube body 8-1 and a first telescopic rod tube body connecting piece 8-2. A telescopic rod tube body 8-1 is a straight tube structure, and the second hinge shaft mounting seat 17 is provided at the distal end of the first telescopic rod tube body connector 8-2, and the first telescopic rod tube The body connector 8-2 is also provided with an opening for the passage of the second telescopic rod 16 or the connector 15. Since the first telescopic rod 8 needs to be provided with the second hinge shaft mounting seat 17, the first telescopic rod 8 is provided as a detachable assembly including a first telescopic rod tube body 8-1 and a first telescopic rod tube body connecting piece 8-2. On the one hand, it can facilitate the production of the first telescopic rod 8, that is, the first telescopic rod body 8-1 of the straight tube structure and the first telescopic rod body connector 8-2 of the special-shaped tubular structure are manufactured separately. On the one hand, it also facilitates the disassembly and assembly of the first telescopic rod 8 . Of course, in other embodiments, the first telescopic rod 8 may also have an integrated structure, that is, the first telescopic rod tube body 8-1 and the first telescopic rod tube body connecting piece 8-2 may be an integrated structure or fixedly connected.

In the embodiment shown in Figures 14 to 17, two bayonet openings 18 are provided on the wall of the first telescopic rod tube body 8-1, and the first telescopic rod tube body connecting piece 8-2 has The proximal end is provided with two elastic hooks 19 that can extend into the first telescopic rod tube body 8-1 and adapt to the two bayonet openings 18 respectively. As shown in Figure 17, in order to facilitate elastic clamping. Check 19 to enter The first telescopic rod tube body 8-1 is then inserted into the bayonet 18. The first telescopic rod tube body 8-1 is provided with a radial axis arranged along the radial direction of the first telescopic rod tube body 8-1 corresponding to each bayonet 18. There are two groove channels on the pipe wall, one of which is connected to the corresponding bayonet 18, and the opening for the second telescopic rod 16 or the connector 15 to pass is located on the two elastic hooks. Between 19. Of course, in other embodiments, the first telescopic rod tube body 8-1 and the first telescopic rod tube body connecting piece 8-2 can also adopt the detachable structure in the form of the above-mentioned L-shaped groove 11 and limiting protrusion 12. In this case In order to avoid disengagement during use, the rotating dial 31-2 is not provided, that is, the first telescopic rod 8, the fixed rod 5, the rotating wrist 1 and the end effector 2 do not have a central axis around the fixed rod 5 The function of rotation is to provide an adapted plug socket or splice tooth shape at the distal end of the first telescopic rod tube body 8-1 and the proximal end of the first telescopic rod tube body connector 8-2. , circumferentially limiting the first telescopic rod tube body 8-1 and the first telescopic rod tube body connector 8-2 through the plug socket or the plug-in tooth shape, so that the first telescopic rod tube body 8-1 and the first telescopic rod tube body 8-2 can be circumferentially limited. The first telescopic rod tube body connecting piece 8-2 rotates synchronously when the dial wheel 31-2 is rotated.

In the embodiment shown in Figure 3, the second telescopic rod 16 includes a second telescopic rod body 16-1 and a second telescopic rod connecting piece 16-2. The second telescopic rod body 16-1 is located at In the first telescopic rod body 8-1, the distal end of the second telescopic rod connecting piece 16-2 is located at the fixed pipe connecting piece between the second hinge shaft mounting seat 17 and the fixed rod 5. 5-2, the proximal end of the second telescopic rod body connecting piece 16-2 passes through the opening on the first telescopic rod body connecting piece 8-2, and is connected with the first telescopic rod body connecting piece 8-2. The telescopic rod tube body 8-1 is detachably connected, and the second telescopic rod 16 is configured as a detachable second telescopic rod body 16-1 and a second telescopic rod body connecting piece 16-2 to facilitate production, processing, installation and disassembly. , in this embodiment, in order to avoid interference between the second telescopic rod body connecting piece 16-2 and the first telescopic rod tube connecting piece 8-2, that is, in order to enable the second telescopic rod connecting piece 16-2 to pass through the first telescopic rod body connecting piece 16-2. The opening on the telescopic rod tube body connecting member 8-2 is therefore configured as a Z-shape for the second telescopic rod body connecting member 16-2. Of course, in other embodiments, such as the embodiment shown in Figure 5, the second telescopic rod body connecting piece 16-2 is The two telescopic rod body connectors 16-2 can also be straight. Of course, in other embodiments, the second telescopic rod body 16-1 and the second telescopic rod body connecting member 16-2 can also be provided as a fixed connection or an integrated structure, such as the above-mentioned second telescopic rod 16 and the first telescopic rod. 8 are arranged in parallel, and the sliding space 14 is a chute provided on the peripheral wall of the rotating wrist 1, the second telescopic rod 16 can be an integral structure, and its distal end does not need to be set in a Z shape, or as In the embodiment shown in FIG. 6 , since the connecting member 15 uses a flexible rope, the second telescopic rod 16 can be a straight rod with an integrated structure, and the distal end of the second telescopic rod 16 is not set in a Z shape.

The connecting piece 15 is an elastic piece or an elastic rod or a flexible rope. In the embodiment shown in Figure 3, the connecting piece 15 is an elastic piece or an elastic rod. The structure of the elastic piece is as shown in Figure 8, and its two ends are connected by pins. connection, the elastic piece is composed of multiple It is assembled by combining layers of highly elastic stainless steel sheets, so that the multi-layer structure has better elasticity, and at the same time, the elastic sheet can effectively transmit power after receiving push and pull forces, thus making the end effector 2 of the clamp The opening and closing is smooth, and the clamping is more powerful. In the embodiment shown in Figures 6 and 7, the connector 15 is a flexible rope, such as a steel wire rope, a tungsten wire rope, etc. In the embodiment shown in Figures 6 and 7 , the connecting piece 15 also extends from the center line of the rotating arm 1 to the center line of the fixed rod 5 .

In the embodiment shown in Figures 2 and 18, the end effector 2 is a clamp that is driven to open and close by the second telescopic rod 16. The clamp includes two jaws 20. The mounting base 22 and the limiting pin 24, at least one of the jaws 20 is provided with an arc-shaped limiting hole 21, and the jaw 20 is rotatably connected to the rotating arm 1 through a first rotating structure, and the third jaw 20 is rotatably connected to the rotating arm 1 through a first rotating structure. The rotation axis of a rotating structure is perpendicular to the moving direction of the end effector 2; the first rotating structure is located on the side where the arc-shaped limiting hole 21 forms an arc opening; the jaw mounting base 22 is provided with There is a linear limiting hole 23 extending along the telescopic direction of the end effector 2, and an arc-shaped limiting hole is provided on the side of the linear limiting hole 23 facing the fixed rod 5 for contacting. The abutment platform of the jaw 20 of the position hole 21, and the jaw mounting seat 22 is connected to the connecting piece 15; the limit pin 24 is provided on the rotating wrist 1, and the limit pin 24 Penetrating the linear limit hole 23 and the arcuate limit hole 21, the clamp is opened and closed through the telescopic movement of the second telescopic rod 16, and the limit pin 24, the linear limit hole 23 and all The arc-shaped limiting hole 21 limits the opening and closing angle. At this time, the guided telescopic movement of the end effector 2 along the sliding space 14 is mainly to realize the opening and closing action of the clamp, rather than to fine-tune the position of the clamp. In this embodiment, both jaws 20 are provided with the arc-shaped limiting holes 21 and are respectively connected to the rotating wrist 1 through the corresponding first rotating structure. The jaw mounting base 22 is provided with One end of the linear limiting hole 23 is located between the two jaws 20 , that is, both jaws 20 can open and close on the jaw mounting base 22 , that is, the clamp can be a mesangial gripper. Types of forceps, non-traumatic forceps, anastomotic traction forceps, fixed forceps, V-shaped forceps, pointed-nosed forceps, etc., the structure may not have the arc-shaped limiting hole 21 and the first rotation structure. Of course, in other embodiments, only one jaw 20 can be used to open, close, and rotate, and the other jaw 20 is fixedly connected to the jaw mounting base 22 or is configured as an integrated structure, that is, the clamp is a gastric grasping forceps or a single forceps. Mouse tooth graspers and other types. Of course, in other embodiments, the end effector 2 can also be scissors, cutting knives, electric knife, electric hook and other components.

In the embodiment shown in Figure 18, the distal end of the rotating wrist 1 is provided with an opening and closing groove 25 for the opening and closing movement of the jaw 20, and the first rotating structure includes a The first rotation groove 26 on the side wall of the groove 25, and the first rotation protrusion 27 provided on the jaw 20 and adapted to the first rotation groove 26, the first rotation protrusion 27 is located at the The arc-shaped limiting hole 21 forms one side of the arc opening. The first rotating structure of this embodiment can facilitate the disassembly of the jaw 20 from the rotating arm 1 .

In the embodiment shown in FIG. 18 , the jaw 20 provided with an arc-shaped limiting hole 21 and the jaw mounting base 22 are rotatably connected through a second rotating structure, and the second rotating structure The rotation axis is perpendicular to the movement direction of the end effector 2. The second rotation structure is located on the side of the arc-shaped limiting hole 21 different from the arc opening. The second rotation structure is provided to ensure the jaw mounting seat. 22 and the stability of the jaws 20 when opening and closing. When both jaws 20 can open and close, one end of the jaw mounting base 22 is provided with the linear limit hole 23 and is located on both sides. Between the jaws 20, the two second rotation structures are connected to the two jaws 20 in a one-to-one correspondence. Of course, in other embodiments, the second rotation structure may not be provided.

In the embodiment shown in Figure 18, the second rotation structure includes a second rotation protrusion 28 provided on the jaw mounting base 22 and a second rotation groove 29 provided on the jaw 20. The second rotation groove 29 is located on the side of the arc-shaped limiting hole 21 different from the arc opening, and the second rotating protrusion 28 is located on the side of the linear limiting hole 23 in the width direction. The first rotation structure of the embodiment can facilitate the disassembly of the jaw 20 from the end effector 2 .

Another aspect of the present invention provides a minimally invasive surgical instrument, which includes the minimally invasive surgical instrument assembly described above.

Since the minimally invasive surgical instrument adopts the above minimally invasive surgical instrument components, the fixed rod 5 and the first telescopic rod 8 can be quickly and easily separated from the handle 31, so that the rod body and the handle can be cleaned and disinfected separately, effectively reducing the need for cleaning. It takes up less space required for disinfection operations and can improve the effect of cleaning and disinfection.

In the embodiment shown in Figure 32, since the fixed rod 5, the first telescopic rod 8 and the second telescopic rod 16 are all configured to be quickly detachable from the handle 31, when minimally invasive surgical instruments need to be cleaned, During disinfection, the fixed rod 5, the first telescopic rod 8 and the second telescopic rod 16 can be quickly separated from the handle 31 respectively. The separated structure is shown in Figure 32. At this time, the fixed tube body 5-1 The first telescopic rod tube body 8-1 is divided into independent parts, the second telescopic rod 16, the fixed tube body connector 5-2, the first telescopic rod tube body connector 8-2 and The rotating wrist 1 is still connected together, and the above three parts can be cleaned and disinfected separately, thereby improving the cleaning and disinfection effect and effectively reducing the space required for cleaning and disinfection operations.

When operating minimally invasive surgical instruments, the index finger is pressed on the first trigger 49, the thumb is hooked on the second trigger 59, and the middle finger, ring finger and little finger are respectively placed on the handle body 31-1 from top to bottom, so that the grasp can be carried out It is a convenient operating instrument. The second trigger 59 controls the opening and closing of the clamp used as the end effector 2. The first trigger 49 hooks backward to realize the relative movement of the end effector 2 and the rotating wrist 1 around the first hinge axis 6. Due to the rotation of the fixed rod 5, the locking member 55 and the third elastic member 56 can quickly realize the end effector 2 and the rotating wrist 1 to return directly and quickly from the position with the rotation angle to the state of the straight clamp head, that is, the end The actuator 2 and the rotating wrist 1 are located on the central axis of the fixed rod 5, so that they can be quickly and easily The distal end of the minimally invasive surgical instrument is taken out from the small hole on the patient's body surface. In addition, the rotating dial 31-2 is rotated by the index finger when it is necessary to rotate the end effector 2 around the central axis of the fixed rod 5. Of course, further splitting is possible in other implementations.

The preferred embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, including the combination of specific technical features in any suitable manner. In order to avoid unnecessary repetition, the present invention describes various possible combinations. No further explanation will be given. However, these simple modifications and combinations should also be regarded as the disclosed content of the present invention, and all belong to the protection scope of the present invention.

Claims

A minimally invasive surgical instrument assembly, which is characterized by including:

Fixed rod (5), the proximal end of the fixed rod (5) is provided with a first limiting protrusion (30) located on the outer peripheral wall;

Handle (31), the handle (31) is provided with a first contact portion (32) that contacts the proximal end of the first limiting protrusion (30);

The contact piece (33) is detachably connected to the handle (31), and the contact piece (33) is provided with the first limiting protrusion (30). ) The second contact portion (34) of the distal end;

A first telescopic rod (8), the first telescopic rod (8) is arranged along the length direction of the fixed rod (5); and

A quick release piece (35), the quick release piece (35) is telescopically disposed on the handle (31) along the length direction of the first telescopic rod (8), and the quick release piece (35) 35) Detachably connected to the proximal end of the first telescopic rod (8) through a quick-release structure, so that the quick-release component (35) can drive the first telescopic rod (8) to telescopically move;

The quick release structure includes:

A clamping slot (36) is provided on the outer peripheral wall of the proximal hand end of the first telescopic rod (8);

The buckle (37) is provided at the distal end of the quick-release component (35) and has a snap-in position that is snap-connected to the snap slot (36) and a snap-in connection with the snap-in slot (36). The disengagement position of the groove (36) disengagement; and

A driving mechanism, the driving mechanism is provided on the quick release part (35), and the driving mechanism can drive the buckle (37) to move between the clamping position and the disengagement position;

The quick-release component (35) is in the shape of a rod extending along the length direction of the first telescopic rod (8).

The buckle (37) is a hook structure movably disposed on the quick-release component (35) in the radial direction.

The driving mechanism includes a collar (38) that is sleeved on the outside of the quick release component (35). The collar (38) can be driven to move along the length direction of the quick release component (35) to Make the collar (38) have part of the inner peripheral wall to abut the buckle (37) so that the buckle (37) is located at the distal end of the buckle position and disengage from the buckle (37) ) so that the buckle (37) is located near the hand end of the disengaged position.
The minimally invasive surgical instrument assembly according to claim 1, characterized in that the driving mechanism includes: a first elastic member (39) sleeved on the outer peripheral wall of the quick release member (35), and the quick release member (35) The detachable piece (35) is provided with a boss that abuts the proximal end of the first elastic member (39), and the distal end of the first elastic member (39) abuts the collar (38). providing a driving force to the collar (38) to move toward the distal end position;

Alternatively, the driving mechanism includes: external threads provided on the outer peripheral wall of the quick-release component (35), and the inner peripheral wall of the collar (38) is provided with internal threads that are adapted to the external threads.
The minimally invasive surgical instrument assembly according to claim 1, characterized in that the buckle (37) can be along The buckle (37) is a ring body with a strip-shaped through hole (40).

The driving mechanism includes a second elastic member (41) and a pressing member (42) provided on both sides of the buckle (37). The second elastic member (41) provides direction to the buckle (37). The driving force of the movement of the pressing member (42) causes the buckle (37) to be partially engaged in the slot (36), and the pressing member (42) can drive the buckle (37) ) moves in reverse direction so that the proximal end of the first telescopic rod (8) can enter and exit the strip-shaped through hole (40).
The minimally invasive surgical instrument assembly according to claim 3, characterized in that the clamping groove (36) is an annular groove surrounding the proximal end peripheral wall of the first telescopic rod (8).
The minimally invasive surgical instrument assembly according to claim 1 or 2, characterized in that the handle (31) includes a handle body (31-1) and a handle rotatably provided on the handle body (31-1). Rotating wheel (31-2), the rotating wheel (31-2) is provided with a through hole located on its rotation axis, and the rotating wheel (31-2) is provided with a third hole extending along its rotation axis. A strip-shaped limiting groove (43), the first strip-shaped limiting groove (43) is connected with the through hole;

The proximal end of the quick-release component (35) is rotatably connected to the handle body (31-1), and the distal end of the quick-release component (35) passes through the rotating dial (31-2). ), and a first circumferential limiting boss (44) is provided on the outer peripheral wall of the distal end of the quick release part (35), and the first circumferential limiting boss (44) is suitable for It is embedded in the first strip-shaped limiting groove (43) and can move along the length direction of the first strip-shaped limiting groove (43), and the first strip-shaped limiting groove (43) is located on the rotating The circumferential side walls of the dial wheel (31-2) are in slidable contact with the first circumferential limiting boss (44).
The minimally invasive surgical instrument assembly according to claim 5, characterized in that the handle body (31-1) is provided with an annular holding part, and the inner peripheral wall of the holding part is provided with a finger clip protruding part ( 64), the finger clip protruding portion (64) divides the internal space of the holding portion into a top space (65) suitable for extending into the human body's middle finger and a bottom space (66) suitable for extending into the human body's ring finger, The outer peripheral wall of the holding portion is provided with a finger-catching protrusion (67), and the distal end surface of the finger-catching protrusion (67) is set in an arc shape suitable for holding the little finger of a human body.
The minimally invasive surgical instrument assembly according to claim 5, characterized in that the fixed rod (5) is a tube structure sleeved outside the first telescopic rod (8), and the first telescopic rod The proximal end of (8) extends out of the fixed rod (5). The proximal end of the fixed rod (5) is provided with a mounting groove. The outer peripheral wall of the first telescopic rod (8) is provided with a mounting groove along its length. A second strip-shaped limiting groove (45) extending in the direction;

The minimally invasive surgical instrument assembly also includes a circumferential stopper (46). The circumferential stopper (46) is suitable for installation in the installation groove of the fixed rod (5). The circumferential stopper (46) The member (46) is provided with a second bar-shaped limiter suitable for embedding The second circumferential limiting boss (62) of the groove (45), the second circumferential limiting boss (62) can move along the length direction of the first telescopic rod (8) on the second strip and the second strip-shaped limiting groove (45) is located between the circumferential side walls of the first telescopic rod (8) and the second circumferential limiting boss. (62) Sliding abutment.
The minimally invasive surgical instrument assembly according to claim 7, characterized in that the minimally invasive surgical instrument assembly further includes a sleeve (47), and the sleeve (47) is sleeved on the fixed rod (5). Part of the installation groove is outside, and the inner peripheral wall of the sleeve (47) is in contact with the circumferential limiter (46). The outer peripheral wall of the sleeve (47) is provided with a second limiting protrusion. Out of the Department (48);

The rotating wheel (31-2) is provided with an external thread segment surrounding its rotation axis, and the distal end of the rotating wheel (31-2) forms the first contact portion (32). The first contact portion (32) is provided with the first strip-shaped limiting groove (43);

The abutting member (33) is provided with a hole for the first telescopic rod (8) and the fixed rod (5) to pass through, and the proximal end of the hole is provided with the rotating dial. The external thread section of (31-2) is threadedly connected to the internal thread section, and the middle part of the hole is provided with a distal end suitable for accommodating the first contact portion (32) and the quick release piece (35). and the accommodating section of the first limiting protrusion (30). The distal end of the hole is provided with an abutting section that is in contact with the outer peripheral wall of the sleeve (47). Two hole steps are formed between the section and the accommodation section, one of which forms the second contact portion (34), and the other hole step contacts the second limiting protrusion (34). The distal end of the second limiting protrusion (48) is in contact with the first limiting protrusion (30).
The minimally invasive surgical instrument assembly according to claim 5, wherein the minimally invasive surgical instrument assembly further includes:

A first trigger (49), the first trigger (49) is rotatably hingedly connected to the handle (31) through a first trigger hinge shaft (50); and

A rotary mounting base (51) is rotatably disposed on the non-handheld end of the first trigger (49), and the rotation axis of the rotary mounting base (51) is in line with the first trigger (49). A trigger hinge axis (50) is parallel, the rotating mounting base (51) is provided with a mounting hole (52), and the axis of the mounting hole (52) is perpendicular to the first trigger hinge axis (50). The quick release piece (35) is rotatably disposed in the mounting hole (52) around the axis of the mounting hole (52), so that the first trigger (49) hinges around the first trigger axis. (50) When rotating, the quick-release component (35) can be driven to telescopically move along the length direction of the first telescopic rod (8).
The minimally invasive surgical instrument assembly according to claim 9, characterized in that a rotary connecting sleeve (53) is fixedly provided on the inner peripheral wall of the mounting hole (52), and the rotary connecting sleeve (53) is rotatable. It is sleeved on the proximal end of the quick-release component (35);

The distal end surface of the hand-held end of the first trigger (49) is configured in an arc shape suitable for holding the index finger of a human body.
The minimally invasive surgical instrument assembly according to claim 9, wherein the minimally invasive surgical instrument assembly further includes:

Arc-shaped ratchet piece (54), the arc-shaped ratchet piece (54) is arranged on the handle (31) around the first trigger hinge axis (50), and the arc-shaped ratchet piece (54) is provided with There are a plurality of ratchet grooves arranged along the arc direction thereof; and

Locking part (55), the locking part (55) is provided with a tooth part for inserting the ratchet, and the locking part (55) is rotatably arranged on the first trigger (49) , so that the locking member (55) has a locking position in which the teeth are inserted into the ratchet groove, and a movable position in which the teeth are separated from the ratchet groove, and the locking member (55) is located In the locked position, the first trigger (49) can only move in one direction along the arc direction of the arc-shaped ratchet piece (54).
The minimally invasive surgical instrument assembly according to claim 11, characterized in that the minimally invasive surgical instrument assembly further includes a third elastic member (56), the third elastic member (56) extends along the first telescopic rod. (8) is arranged in the length direction, the handle (31) and the proximal end of the first telescopic rod (8) are connected through the third elastic member (56), or the handle (31) and the The first trigger (49) is connected through the third elastic member (56), or the handle (31) and the rotating mounting base (51) are connected through the third elastic member (56). The elastic member (56) provides a force in a direction opposite to the one-way movement to the first trigger (49).
The minimally invasive surgical instrument assembly according to claim 11, characterized in that the minimally invasive surgical instrument assembly further includes a fourth elastic member (57), the fourth elastic member (57) is arranged on the first trigger (49), the fourth elastic member (57) abuts the locking member (55) in the locking position to provide the tooth portion to the locking member (55) to the Pressure in the direction of movement within the ratchet groove.
The minimally invasive surgical instrument assembly according to claim 1, wherein the minimally invasive surgical instrument assembly further includes:

A second telescopic rod (16). The second telescopic rod (16) is arranged along the length direction of the fixed rod (5). The proximal end of the second telescopic rod (16) is provided with a ball head (58). ;and

A second trigger (59). The second trigger (59) is rotatably hingedly connected to the handle (31) through a second trigger hinge axis. The non-handheld end of the second trigger (59) is provided with a sector-shaped slide. slot (60), and the plane formed by the fan-shaped chute (60) is perpendicular to the second trigger hinge axis, and the arc-shaped groove bottom of the fan-shaped chute (60) is configured to limit the ball head (58) A shape that slides only in the direction of its arc.