WO2024032493A1 - 微创手术器械组件 - Google Patents

微创手术器械组件 Download PDF

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Publication number
WO2024032493A1
WO2024032493A1 PCT/CN2023/111210 CN2023111210W WO2024032493A1 WO 2024032493 A1 WO2024032493 A1 WO 2024032493A1 CN 2023111210 W CN2023111210 W CN 2023111210W WO 2024032493 A1 WO2024032493 A1 WO 2024032493A1
Authority
WO
WIPO (PCT)
Prior art keywords
telescopic rod
rod
fixed
connecting piece
rotating
Prior art date
Application number
PCT/CN2023/111210
Other languages
English (en)
French (fr)
Inventor
韦巍
姜鹏
邵萌
赵磊
孙大为
周旭
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 (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 生一科技(北京)有限公司, 清大生一(厦门)医疗科技有限公司 filed Critical 生一科技(北京)有限公司
Publication of WO2024032493A1 publication Critical patent/WO2024032493A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2904—Details of shaft curved, but rigid
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A61B2017/2912—Handles transmission of forces to actuating rod or piston
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A61B2017/2925—Pistol grips
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2946—Locking means

Definitions

  • 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.
  • 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.
  • 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. Since the position of the end effector in the human body needs to be adjusted according to surgical needs, existing minimally invasive surgical instruments are equipped with a multi-joint wrist structure in the middle of the rod body, and the end effector is driven by adjusting the multi-joint wrist structure. The rod segment to which the end effector is connected rotates. However, since the multi-joint wrist structure has a certain length, it has a large turning radius.
  • the existing minimally invasive surgical instruments cannot operate in the narrow space.
  • the end effector is rotated within the space, or interferes with other surgical instruments due to its large turning radius.
  • the purpose of the present invention is to overcome the existing minimally invasive surgical instruments in the prior art, which are provided with a multi-joint wrist structure in the middle of the rod body to realize the rotation of the end effector.
  • the large turning radius of the multi-joint wrist structure leads to minimally invasive surgery.
  • the instrument cannot rotate the end effector in a narrow space, or interferes with other surgical instruments due to its large turning radius.
  • a minimally invasive surgical instrument assembly and a minimally invasive surgical instrument are provided.
  • one aspect of the present invention provides a minimally invasive surgical instrument assembly, including:
  • a rotating wrist the distal end of the rotating wrist can be installed with an end effector, and the proximal end of the rotating wrist is provided with a first connecting part and a second connecting part;
  • a fixed rod, the distal end of the fixed rod is rotatably connected to the first connecting portion through a first hinge axis;
  • a connecting rod, the distal end of the connecting rod is rotatably hinged with the second connecting portion;
  • a first telescopic rod the first telescopic rod is detachably connected to the fixed rod, and the distal hand of the first telescopic rod
  • the end is rotatably hingedly connected to the proximal end of the connecting rod, and the first telescopic rod can be driven to telescopically move along the length direction of the fixed rod to drive the rotating wrist around the first hinge.
  • the shaft rotates relative to the fixed rod.
  • the fixed rod is a tube structure with a first hinge shaft mounting seat at the distal end, the first hinge shaft mounting seat is hingedly connected to the first connecting portion, and the fixed rod is
  • the pipe wall is provided with a first receiving groove connected with the internal space of the pipe body.
  • the first telescopic rod is located inside the fixed rod, and the distal end of the first telescopic rod is located in the first receiving groove. , to connect the proximal end of the connecting rod.
  • the fixed rod includes a detachably connected fixed pipe body and a fixed pipe connecting piece, the fixed pipe body is a straight pipe structure, and the distal end of the fixed pipe connecting piece is provided with the first hinge shaft mounting seat and the first receiving groove.
  • an L-shaped groove is provided on the wall of the distal end of the fixed tube body.
  • the L-shaped groove includes a limiting portion extending along the circumferential direction of the fixed tube body and a stopper extending along the circumferential direction of the fixed tube body.
  • An axially extending inlet and outlet channel forms an opening at the end of the fixed pipe body, and a radially protruding limiting protrusion is provided on the outer peripheral surface of the proximal end of the fixed pipe body connector, and the The limiting protrusion can enter or escape from the limiting portion through the inlet and outlet channel.
  • the length of the limiting portion is adapted to the length of the limiting protrusion.
  • the tube wall of the proximal hand end portion of the rotating wrist is axially protruded to form the first connecting portion, and the unprotruded tube wall forms the second connecting portion.
  • the rotating wrist is provided with a sliding space
  • the minimally invasive surgical instrument components also include:
  • An end effector, the installation end of the end effector is located in the sliding space
  • a connector that can bend and deform the connector is located at the connection position of the rotating wrist and the fixed rod, and the distal end of the connector is connected to the installation end of the end effector;
  • a second telescopic rod the distal end of the second telescopic rod is connected to the proximal end of the connecting piece, and the second telescopic rod can be driven to telescopically move along the length direction of the fixed rod to drive
  • the end effector moves telescopically in a direction extending into or out of the sliding space.
  • the fixed rod is a tube structure with a first hinge shaft mounting seat at the distal end, the second telescopic rod is located inside the fixed rod, and the first hinge shaft mounting seat is connected to the fixed rod. There is an opening between the tube walls of the fixed rod for the connecting piece to pass through;
  • the rotating wrist is hollow inside to form the sliding space and a passage for the connecting piece to enter the sliding space.
  • the first hinge axis mounting seat is provided with a limiting rod, and the limiting rod is arranged along the radial direction of the fixed rod, A limiting space suitable for the passage of the connecting piece is formed between the limiting rod and the first connecting portion; and/or
  • the connecting piece extends from the center line of the rotating arm to the center line of the fixed rod.
  • the first telescopic rod is a tube structure with a second hinge shaft mounting seat at the distal end, and the second hinge shaft mounting seat is hingedly connected to the proximal hand end of the connecting rod, so The first telescopic rod is coaxially sleeved on the outside of the second telescopic rod, and the second telescopic rod can be driven to telescopically move relative to the fixed rod.
  • the first telescopic rod includes a detachably connected first telescopic rod tube body and a first telescopic rod tube body connecting piece, the first telescopic rod tube body is a straight tube structure, and the first telescopic rod
  • the distal end of the pipe body connecting piece is provided with the second hinge shaft mounting seat, and the first telescopic rod pipe body connecting piece is also provided with an opening for the second telescopic rod or the connecting piece to pass through.
  • the tube wall of the first telescopic rod tube body is provided with two bayonet openings
  • the proximal end of the first telescopic rod tube body connecting piece is provided with a proximal end that can extend into the first telescopic rod tube body.
  • Two elastic hooks are respectively adapted to the two bayonet openings, and the opening for the second telescopic rod or the connecting piece to pass is located between the two elastic hooks.
  • the second telescopic rod includes a second telescopic rod body and a second telescopic rod body connecting piece.
  • the second telescopic rod body is located in the first telescopic rod tube body.
  • the second telescopic rod body is connected to the first telescopic rod body.
  • the distal end of the member is located between the second hinge shaft mounting seat and the pipe wall of the fixed pipe body connector of the fixed rod, and the proximal end of the second telescopic rod body connector passes through the first
  • the opening on the telescopic rod tube body connecting piece is detachably connected to the first telescopic rod tube body.
  • the connecting member is an elastic piece, an elastic rod, or a flexible rope.
  • the end effector is a clamp that is driven to open and close by the second telescopic rod, and the clamp includes:
  • Two jaws at least one of which is provided with an arc-shaped limiting hole, and the jaw is rotatably connected to the rotating arm through a first rotating structure, the rotation axis of the first rotating structure is connected to the rotating arm.
  • the moving direction of the end effector is vertical; the first rotation structure is located on the side where the arc-shaped limiting hole forms an arc opening;
  • the jaw mounting base is provided with a linear limiting hole extending along the telescopic direction of the end effector, and is provided with a linear limiting hole on one side of the linear limiting hole facing the fixed rod.
  • the abutment platform is in contact with the jaws provided with arc-shaped limiting holes, and the jaw mounting base is connected to the connecting piece;
  • a limiting pin is provided on the rotating wrist, and the limiting pin penetrates the linear limiting hole and the arc-shaped limiting hole.
  • the jaws provided with arc-shaped limiting holes and the jaw mounting base are rotatably connected through a second rotating structure, and the rotation axis of the second rotating structure is connected to the end effector The direction of movement is vertical, the second turn The moving structure is located on a side of the arc-shaped limiting hole different from the arc-shaped opening.
  • Another aspect of the present invention provides a minimally invasive surgical instrument, including the minimally invasive surgical instrument assembly described above.
  • a rotating wrist for installing the end effector is provided.
  • the rotating wrist is hinged to the fixed rod, and at the same time, connecting rods are provided to hinge the rotating wrist and the first telescopic rod respectively, so that the first telescopic rod moves along the fixed rod.
  • the rotating wrist can be driven to rotate around the first hinge axis, thereby realizing the rotation of the end effector, and the above structure has a smaller turning radius compared to the joint wrist structure in the prior art, thus It can avoid the problem that minimally invasive surgical instruments cannot rotate the end effector in a narrow space or interfere with other surgical instruments due to their large turning radius.
  • 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 the first embodiment of the minimally invasive surgical instrument assembly provided by the present invention.
  • Figure 4 is a bottom view of the minimally invasive surgical instrument assembly in Figure 3;
  • Figure 5 is a cross-sectional view of a second embodiment of the minimally invasive surgical instrument assembly provided by the present invention.
  • Figure 6 is a cross-sectional view of a third embodiment of the minimally invasive surgical instrument assembly provided by the present invention.
  • Figure 7 is a schematic structural diagram of the minimally invasive surgical instrument assembly 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 proximal end of the minimally invasive surgical instrument in Figure 1;
  • 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 a disassembled schematic diagram of the minimally invasive surgical instrument assembly provided by the present invention in a cleaning state.
  • the position words "near hand end, distal hand end” used are based on the position of the hand holding the minimally invasive surgical instrument when it is used, that is, close to One end of the hand is the proximal end, and the end far away from the hand is the distal end.
  • the present invention provides a minimally invasive surgical instrument assembly, which includes a rotating wrist 1, a fixed rod 5, a connecting rod 7 and a first telescopic rod 8.
  • the distal end of the rotating wrist 1 can be installed with an end effector 2, so
  • 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 is rotatably connected to the first connecting part 3 through a first hinge shaft 6;
  • the distal end of the connecting rod 7 is rotatably hinged to 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 is removably connected to the fixed rod 5.
  • the end 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 first hinge axis 6 rotates relative to the fixed rod 5 .
  • 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.
  • 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
  • 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,
  • the first receiving groove 10 also plays the role of accommodating the proximal end of the connecting rod 7.
  • 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.
  • 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. Will not harm people when minimally invasive surgical instrument components extend into or out of the human body. causing scratches on the body.
  • 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.
  • the fixed rod 5 includes a detachably connected fixed pipe body 5-1 and a fixed pipe connecting piece 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.
  • 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.
  • an L-shaped groove 11 is provided on the wall of the distal end of the fixed tube body 5-1.
  • 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.
  • 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 limit
  • the axial position of the fixed pipe body 5-1 and the fixed pipe body connecting piece 5-2 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
  • the rotating dial 31-2 is provided to drive the first telescopic rod 8 to rotate around its central axis.
  • the end effector 2 and the rotating wrist 1 are driven to rotate.
  • the fixed pipe body connector 5-2 will be driven by the rotating wrist 1 to produce a relatively fixed pipe body along the central axis of the fixed rod 5.
  • the rotation of 5-1 creates the risk of the fixed pipe body 5-1 and the fixed pipe body connector 5-2 being detached. Therefore, in this embodiment, the proximal end of the fixed rod 5, that is, the proximal hand of the fixed pipe body 5-1
  • the end is connected to the first telescopic rod 8 through the following circumferential limiting member 46, thereby realizing the circumferential limitation 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 and the fixed tube body 5-1 are connected to each other.
  • the fixed pipe body 5-1 can rotate synchronously to avoid the risk of the above-mentioned fixed pipe body 5-1 and the fixed pipe body connecting piece 5-2 being detached.
  • the rotating dial 31-2 may not be provided, that is, the first telescopic rod 8 and the fixed rod 5 are not It has the function of rotating around the central axis of the fixed rod 5.
  • the detachable connection structure of the L-shaped groove 11 and the limiting protrusion 12 will not cause the fixed pipe body 5-1 and the fixed pipe body connecting piece 5-2 to come off.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 the telescopic movement of the end effector 2 by driving the second telescopic rod 16 along the length direction of the fixed rod 5 to drive the telescopic movement of the end effector 2 guided by the sliding space 14,
  • 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, and the position of the end effector 2 is adjusted through the telescopic movement of the second telescopic rod 16. Fine-tuning thereby improves the convenience of operation.
  • the telescopic movement of the end effector 2 driven by the second telescopic rod 16 can also realize the operation of scraping or cutting the lesion location.
  • the bendable deformation connecting piece 15 can be The end effector 2 deforms when it has a rotation angle, and when the second telescopic rod 16 drives the end effector 2 to a position, the bending deformation position of the connecting piece 15 itself can move 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.
  • 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.
  • the fixed rod 5 is provided with a first hinge shaft mounting seat at the distal end.
  • the second telescopic rod 16 is located inside the fixed rod 5, and there is a connecting piece 15 between the first hinge shaft mounting seat 9 and the pipe wall of the fixed rod 5.
  • 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, and a passage for the connecting piece 15 to enter the sliding space 14.
  • the channel is preferably shaped to match the shape of the peripheral wall of the connecting piece 15.
  • the opening of the fixed rod 5 is preferably shaped to match the shape of the peripheral wall of the connecting piece 15 to limit and guide the connecting piece 15.
  • the first connecting part 3 has a concave structure, and the bending parts at both ends are provided with shaft holes for installing the first hinge shaft 6.
  • the first hinge shaft 6 When the first hinge shaft 6 is installed, the first hinge shaft 6 and the two bends Another opening is formed between the pipe walls between the folds for the connector 15 to pass through.
  • the opening of the first connecting portion 3 is also preferably shaped to match the peripheral wall of the connector 15. The same is true for the connector.
  • the opening of the fixed rod 5 and the opening of the first connecting portion 3 can limit the connection member 15 under the thrust of the second telescopic rod 16 Move toward the distal end, and then push the end effector 2 to move toward the distal end, thereby preventing the connector 15 from being moved by the second telescopic rod 16 under the thrust of the second telescopic rod 16 and the resistance of the end effector 2 And/or accumulation deformation occurs in the internal space of the rotating wrist 1 , causing the second telescopic rod 16 to be unable to push the end effector 2 to move.
  • 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.
  • 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.
  • 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.
  • 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 , which is arranged along the radial direction of the fixed rod 5 .
  • a formed space between the limiting rod 63 and the first connecting part 3 is suitable for the passage of the connecting piece 15 . limiting space.
  • the first connecting part 3 has a concave structure, and the bent parts at both ends are respectively provided with shaft holes for installing the corresponding first hinge shafts 6, that is, the first hinge shafts 6 are not Penetrating the first connecting part 3 of the concave structure, a first hinge axis 6 is provided at one bending part, and another first hinge axis 6 is provided at the other bending part.
  • the first hinge axis mounting seats 9 are located on both sides. Between the two bending parts, that is, the limiting rod 63 is located between the two bending parts. At this time, the limiting space plays a role in limiting and guiding the connecting piece 15.
  • the The connecting piece 15 extends from the center line of the rotating arm 1 to the center line of the fixed rod 5. That is, when the connecting piece 15 is bent and deformed, it also extends from the center line of the rotating arm 1 to the center line of the fixed rod 5. On the center line of the fixed rod 5, this is beneficial to the axial movement of the connecting piece 15 after bending, and 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 bending
  • the following clamps are closed, that is, the two forces will not be coupled and can be rotated at the same time. The rotation of the moving wrist 1 and the operation of the clamp.
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the hook 19 enters the first telescopic rod tube body 8-1 and then snaps into the bayonet 18.
  • the first telescopic rod tube body 8-1 is provided with a hook along the first telescopic rod tube body 8-1 corresponding to each bayonet 18.
  • 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.
  • 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.
  • first telescopic rod tube body 8-1 and 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 is synchronized when the dial wheel 31-2 is rotated. Rotate.
  • 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.
  • 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.
  • the second telescopic rod body connecting piece 16-2 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.
  • the second telescopic rod body connecting piece 16-2 is The two telescopic rod body connectors 16-2 can also be straight.
  • 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.
  • the connecting piece 15 is an elastic piece or an elastic rod.
  • the structure of the elastic piece is as shown in Figure 8. Its two ends Connected by pins, the elastic piece is assembled from multiple layers of highly elastic stainless steel sheets. This multi-layer structure has good elasticity, and at the same time, the elastic piece can effectively transmit power after being pushed and pulled. Therefore, To make the end effector 2 as a clamp open and close smoothly, and the clamping is more powerful.
  • the connector 15 is a flexible rope, such as a steel wire rope, a tungsten wire rope, etc., in In the embodiment shown in FIGS. 6 and 7 , the connecting member 15 also extends from the center line of the rotating wrist 1 to the center line of the fixed rod 5 .
  • 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 place along the way A linear limit hole 23 extends in the telescopic direction of the end effector 2, and an arc-shaped limit hole 21 is provided on the side of the linear limit hole 23 facing the fixed rod 5 for contact.
  • the abutment platform of the jaw 20, and the jaw mounting seat 22 is connected to the connector 15; the limit pin 24 is provided on the rotating wrist 1, and the limit pin 24 penetrates the
  • the linear limit hole 23 and the arc-shaped limit hole 21 enable the clamp to be opened and closed through the telescopic movement of the second telescopic rod 16, and the limit pin 24, the linear limit hole 23 and the arc-shaped limit hole 23 are connected to the arc-shaped limit hole 21.
  • the 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.
  • 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.
  • 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.
  • the clamp is a gastric grasping forceps or a single forceps.
  • the end effector 2 can also be scissors, cutting knives, electric knife, electric hook and other components.
  • 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 .
  • 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.
  • one end of the jaw mounting base 22 is provided with the linear limit hole 23 and is located on both sides.
  • the two second rotation structures are connected to the two jaws 20 in a one-to-one correspondence.
  • the second rotation structure may not be provided.
  • 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 rotating 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 linear limiting hole 21 .
  • the first rotation structure of this embodiment can facilitate the disassembly of the jaw 20 from the end effector 2 .
  • the minimally invasive surgical instrument assembly also includes a handle 31 , a contact piece 33 , and a quick release piece 35 .
  • the proximal end of the fixed rod 5 is provided with a first limiter located on the outer peripheral 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 is detachably connected to the handle 31, 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 is provided along the length direction of the fixed rod 5;
  • the quick-release part 35 is telescopically disposed on the handle 31 along the length direction of the first telescopic rod 8 , and the quick-release part 35 is connected to the first telescopic rod 8 through a quick-release structure.
  • the proximal end is detachably connected, so that the quick-release component 35 can drive the first telescopic rod 8 to telescopically move.
  • the first limiting protrusion 30 and the contact piece 33 can be integrally connected or detachably connected.
  • 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.
  • 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.
  • 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. .
  • 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.
  • 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
  • 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.
  • the buckle 37 is embedded in the groove 36 by the pressure provided by the inner wall of the collar 38.
  • the proximal end of the buckle 37 is provided with a chamfer to avoid jamming the collar 38.
  • 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.
  • 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.
  • 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.
  • the buckle 37 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.
  • the pressing member 42 and the buckle 37 are of an integrated structure.
  • 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.
  • the clamping groove 36 is an annular groove surrounding the proximal end peripheral wall of the first telescopic rod 8 .
  • 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.
  • the buckle 37 is a ring body that directly snaps into the groove 36.
  • a protrusion can also be provided on the inner peripheral wall of the buckle 37, and the protrusion extends into the groove.
  • 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.
  • 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.
  • 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.
  • the rotating dial 31-2 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.
  • the rotating dial 31-2 may not be provided and only the handle body 31-1 may be provided.
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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.
  • the circumferential limiting member 46, the second strip-shaped limiting groove 45 and the second circumferential limiting boss 62 may not be provided.
  • 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.
  • the fixed rod 5 rotates around the central axis of the first telescopic rod 8 driven by the rotating dial 31-2.
  • 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.
  • 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.
  • 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 .
  • 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 sleeve 47 can also be sleeved on the fixed rod 5 through a threaded structure, without providing the second limiting protrusion 48 .
  • 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.
  • the first trigger hinge axis 50 is located at the non-hand-held end of the first trigger 49.
  • 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.
  • 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.
  • the quick-release component 35 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.
  • the rotating dial 31-2 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 .
  • 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 .
  • the rotary connection sleeve 53 may not be provided.
  • 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.
  • the first trigger 49 may also be of other existing structures.
  • 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.
  • 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
  • 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.
  • the first trigger 49 can only move in one direction along the arc direction of the arc-shaped ratchet piece 54.
  • 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.
  • 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.
  • 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.
  • the arc-shaped ratchet piece 54 and the locking member 55 may not be provided.
  • 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.
  • 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.
  • 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.
  • 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.
  • the third elastic member 56 drives the first trigger 49 to automatically reset, that is, the rotation angle of the end effector 2 can be automatically eliminated, so that the end effector 2 can automatically reset to the central axis of the first telescopic rod 8, and the operation
  • 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.
  • the third elastic member 56 may not be provided.
  • 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.
  • 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.
  • the third elastic member 56 can also have a certain angle with the axial direction of the first telescopic rod 8 .
  • 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
  • the fourth elastic member 57 is a spring piece.
  • the fourth elastic member 57 may also be a spring, or the fourth elastic member 57 may not be provided.
  • 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.
  • a second telescopic rod 16 is further provided.
  • 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.
  • 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.
  • the second telescopic rod 16 and the second trigger 59 may not be provided, or else 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.
  • 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 .
  • 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 .
  • the second trigger 59 can also be configured as other existing structures.
  • 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 real
  • 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.
  • the diameter of the ball head 58 does not need to be limited.
  • Another aspect of the present invention provides a minimally invasive surgical instrument, which includes the minimally invasive surgical instrument assembly described above.
  • the minimally invasive surgical instrument adopts the above-mentioned minimally invasive surgical instrument assembly, 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 achieving The rotation of the end effector 2, and the above structure has a smaller turning radius compared to the joint wrist structure in the prior art, thereby avoiding the inability of minimally invasive surgical instruments to rotate the end effector 2 in a narrow space, or due to Its turning radius is large and interferes with other 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.
  • 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, 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 the distal end of the minimally invasive surgical instrument can be quickly and conveniently taken out from the small hole on the patient's body surface.
  • the rotating dial 31-2 can be used to move the end when needed. Ministry of Execution When the walking device 2 rotates around the central axis of the fixed rod 5, it is rotated by the index finger.
  • the fixed rod 5 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 the minimally invasive surgical instruments need to be cleaned and disinfected, the fixed rod can be 5.
  • the first telescopic rod 8 and the second telescopic rod 16 are quickly separated from the handle 31 respectively.
  • the structure after the separation is shown in Figure 32.
  • the fixed tube body 5-1 is separated into independent components.
  • the first telescopic rod tube body 8-1 is split into independent components, 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 are still connected together.
  • 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.
  • further splitting is possible in other implementations.

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  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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  • Ophthalmology & Optometry (AREA)
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Abstract

本发明涉及手术器械领域，公开了一种微创手术器械组件及微创手术器械，所述微创手术器械组件包括用于安装端部执行器的转动腕，通过将转动腕与固定杆铰接，并同时设置连杆分别铰接转动腕和第一伸缩杆，从而使第一伸缩杆沿固定杆的长度方向伸缩移动时，能够带动转动腕绕所述第一铰轴转动，从而实现了端部执行器的转动，且上述结构相较于现有技术中的关节腕结构转弯半径更小，从而能够避免微创手术器械无法在狭窄空间内使端部执行器进行转动，或者由于其转弯半径较大而与其他手术器械干涉的问题。

Description

微创手术器械组件 技术领域
本发明涉及手术器械领域，具体地涉及一种微创手术器械组件及微创手术器械。
背景技术
微创手术是在人体腹部做一个或数个直径5～12毫米的小切口，通过这些小切口插入内窥镜和各种特殊的手术器械，将插入腹腔内的内窥镜所拍摄的腹腔内各种脏器的图像传输到电视屏幕上，外科医生通过观察图像，用各种手术器械在体外进行操作来完成手术。
由于微创手术器械需要插入体内，并在体外进行操作，因此微创手术器械的结构是在操作手柄上设置用于伸入人体内的细长杆体，并在杆体的端部设置可以活动的端部执行器。由于端部执行器在人体内的位置需要根据手术需求进行调整，因此现有的微创手术器械是在杆体的中部设置多关节腕结构，通过调整多关节腕结构来带动端部执行器以及与端部执行器相连的杆体段进行转动。但是由于多关节腕结构具有一定的长度，因此其具有较大的转弯半径，当人体内病变位置的空间较为狭窄或者伸入多个手术器械同时操作时，现有的微创手术器械无法在狭窄空间内使端部执行器进行转动，或者由于其转弯半径较大而与其他手术器械干涉。
发明内容
本发明的目的是为了克服现有技术存在的微创手术器械是在杆体的中部设置多关节腕结构以实现端部执行器的转动，因多关节腕结构转弯半径较大而导致产生微创手术器械无法在狭窄空间内使端部执行器进行转动，或者由于其转弯半径较大而与其他手术器械干涉的问题，提供一种微创手术器械组件及微创手术器械。
为了实现上述目的，本发明一方面提供一种微创手术器械组件，包括：
转动腕，所述转动腕的远手端能够安装端部执行器，所述转动腕的近手端设有第一连接部和第二连接部；
固定杆，所述固定杆的远手端与所述第一连接部通过第一铰轴可转动地连接；
连杆，所述连杆的远手端与所述第二连接部可转动地铰接；以及
第一伸缩杆，所述第一伸缩杆与所述固定杆可拆卸的连接，所述第一伸缩杆的远手 端与所述连杆的近手端可转动地铰接相连，且所述第一伸缩杆能够受驱动地沿所述固定杆的长度方向伸缩移动，以带动所述转动腕绕所述第一铰轴相对于所述固定杆转动。
可选地，所述固定杆为远手端端部设有第一铰轴安装座的管体结构，所述第一铰轴安装座与所述第一连接部铰接，且所述固定杆的管壁设有与管体的内部空间连通的第一容纳槽，所述第一伸缩杆位于所述固定杆的内部，且所述第一伸缩杆的远手端位于所述第一容纳槽内，以连接所述连杆的近手端。
可选地，所述固定杆包括可拆卸连接的固定管体和固定管体连接件，所述固定管体为直管结构，所述固定管体连接件的远手端设有所述第一铰轴安装座和所述第一容纳槽。
可选地，所述固定管体的远手端的管壁上设有L形槽，所述L形槽包括沿所述固定管体的周向延伸的限位部和沿所述固定管体的轴向延伸的进出通道，所述进出通道在所述固定管体的端部形成开口，所述固定管体连接件的近手端的外周面上设有径向突出的限位凸起，所述限位凸起能够经所述进出通道进入或脱离所述限位部，沿所述固定管体的轴向方向，所述限位部的长度与所述限位凸起的长度适配。
可选地，所述转动腕的近手端的部分的管壁轴向凸出，以形成所述第一连接部，未凸出的管壁形成所述第二连接部。
可选地，所述转动腕设有滑动空间；
所述微创手术器械组件还包括：
端部执行器，所述端部执行器的安装端位于所述滑动空间内；
能够弯曲变形的连接件，所述连接件位于所述转动腕和所述固定杆的连接位置处，且所述连接件的远手端与所述端部执行器的安装端连接；以及
第二伸缩杆，所述第二伸缩杆的远手端与所述连接件的近手端相连，且所述第二伸缩杆能够受驱动地沿所述固定杆的长度方向伸缩移动，以带动所述端部执行器沿伸入或伸出所述滑动空间的方向伸缩移动。
可选地，所述固定杆为远手端端部设有第一铰轴安装座的管体结构，所述第二伸缩杆位于所述固定杆内部，且所述第一铰轴安装座与所述固定杆的管壁之间设有用于所述连接件穿过的开口；
所述转动腕内部中空以形成所述滑动空间以及用于所述连接件进入所述滑动空间的通道。
可选地，所述第一铰轴安装座设有限位杆，所述限位杆沿所述固定杆的径向设置， 所述限位杆与所述第一连接部之间形成适于所述连接件通过的限位空间；和/或
所述连接件从所述转动腕的中心线上延伸至所述固定杆的中心线上。
可选地，所述第一伸缩杆为远手端端部设有第二铰轴安装座的管体结构，所述第二铰轴安装座与所述连杆的近手端铰接相连，所述第一伸缩杆同轴地套设在所述第二伸缩杆外部，且所述第二伸缩杆能够受驱动地相对所述固定杆伸缩移动。
可选地，所述第一伸缩杆包括可拆卸连接的第一伸缩杆管体和第一伸缩杆管体连接件，所述第一伸缩杆管体为直管结构，所述第一伸缩杆管体连接件的远手端设有所述第二铰轴安装座，且所述第一伸缩杆管体连接件还设有用于所述第二伸缩杆或所述连接件通过的开口。
可选地，所述第一伸缩杆管体的管壁上设有两个卡口，所述第一伸缩杆管体连接件的近手端设有能够伸入所述第一伸缩杆管体内并与两个所述卡口分别适配的两个弹性卡勾，用于所述第二伸缩杆或所述连接件通过的开口位于两个所述弹性卡勾之间。
可选地，所述第二伸缩杆包括第二伸缩杆杆体和第二伸缩杆杆体连接件，所述第二伸缩杆杆体位于所述第一伸缩杆管体内，所述第二伸缩杆杆体连接件的远手端位于所述第二铰轴安装座与所述固定杆的固定管体连接件的管壁之间，所述第二伸缩杆杆体连接件的近手端穿过所述第一伸缩杆管体连接件上的开口，并与所述第一伸缩杆管体可拆卸连接。
可选地，所述连接件为弹性片或弹性杆或柔性绳。
可选地，所述端部执行器为受所述第二伸缩杆驱动而开合的夹钳，所述夹钳包括：
两个钳爪，其中至少一个所述钳爪设有弧形限位孔，且该钳爪通过第一转动结构与所述转动腕可转动的连接，所述第一转动结构的转动轴线与所述端部执行器的移动方向垂直；所述第一转动结构位于所述弧形限位孔形成弧线开口的一侧；
钳爪安装座，所述钳爪安装座设有沿所述端部执行器的伸缩方向延伸的直线形限位孔，并在所述直线形限位孔朝向所述固定杆的一侧设有用于抵接设有弧形限位孔的钳爪的抵接台，且所述钳爪安装座与所述连接件相连；以及
限位销，所述限位销设置在所述转动腕上，且所述限位销贯穿所述直线形限位孔和所述弧形限位孔。
可选地，所述设有弧形限位孔的钳爪与所述钳爪安装座通过第二转动结构可转动的连接，且所述第二转动结构的转动轴线与所述端部执行器的移动方向垂直，所述第二转 动结构位于所述弧形限位孔异于形成弧线开口的一侧。
本发明另一方面提供一种微创手术器械，包括以上所述的微创手术器械组件。
通过上述技术方案，设置用于安装端部执行器的转动腕，通过将转动腕与固定杆铰接，并同时设置连杆分别铰接转动腕和第一伸缩杆，从而使第一伸缩杆沿固定杆的长度方向伸缩移动时，能够带动转动腕绕所述第一铰轴转动，从而实现了端部执行器的转动，且上述结构相较于现有技术中的关节腕结构转弯半径更小，从而能够避免微创手术器械无法在狭窄空间内使端部执行器进行转动，或者由于其转弯半径较大而与其他手术器械干涉的问题。
附图说明
图1是本发明提供的微创手术器械的一种实施方式的正视图；
图2是图1中微创手术器械的结构示意图；
图3是本发明提供的微创手术器械组件的第一种实施方式的剖视图；
图4是图3中微创手术器械组件的仰视图；
图5是本发明提供的微创手术器械组件的第二种实施方式的剖视图；
图6是本发明提供的微创手术器械组件的第三种实施方式的剖视图；
图7是图6中微创手术器械组件的结构示意图；
图8是图3中连接件的结构示意图；
图9是本发明中固定杆的远手端的结构示意图；
图10是图9中固定管体的结构示意图；
图11是图9中固定管体连接件的第一种实施方式的结构示意图；
图12是图9中固定管体连接件的第二种实施方式的结构示意图；
图13是本发明中固定杆的近手端的结构示意图；
图14是本发明中第一伸缩杆的远手端的结构示意图；
图15是图14中第一伸缩杆管体连接件的结构示意图；
图16是图14中第一伸缩杆管体的结构示意图；
图17是图16的左视图；
图18是本发明中端部执行器的爆炸视图；
图19是本发明中快拆件的第一种实施方式的正视图；
图20是图19中快拆件的正剖视图；
图21是本发明中快拆件的第二种实施方式的结构示意图；
图22是图21中快拆件的正剖视图；
图23是本发明中快拆件的第三种实施方式的正剖视图；
图24是图23中快拆件的部分结构示意图；
图25是图1中微创手术器械的近手端的正剖视图；
图26是图25中固定杆与第一伸缩杆的近手端的正剖视图；
图27是图25中转动拨轮的结构示意图；
图28是图25中第一扳机的安装示意图；
图29是图25中第一扳机的结构示意图；
图30是图25中第二扳机的结构示意图；
图31是图30中第二扳机的俯视图；
图32为本发明提供的微创手术器械组件在清洗状态下的拆分示意图。
附图标记说明
1.转动腕；2.端部执行器；3.第一连接部；4.第二连接部；5.固定杆；5-1.固定管体；5-2.固定管体连接件；6.第一铰轴；7.连杆；8.第一伸缩杆；8-1.第一伸缩杆管体；8-2.第一伸缩杆管体连接件；9.第一铰轴安装座；10.第一容纳槽；11.L形槽；12.限位凸起；13.第二容纳槽；14.滑动空间；15.连接件；16.第二伸缩杆；16-1.第二伸缩杆杆体；16-2.第二伸缩杆杆体连接件；17.第二铰轴安装座；18.卡口；19.弹性卡勾；20.钳爪；21.弧形限位孔；22.钳爪安装座；23.直线形限位孔；24.限位销；25.开合槽；26.第一转动槽；27.第一转动凸起；28.第二转动凸起；29.第二转动槽；30.第一限位凸出部；30-1.定位块；31.手柄；31-1.手柄本体；31-2.转动拨轮；32.第一抵接部；33.抵接件；34.第二抵接部；35.快拆件；36.卡槽；37.卡扣；38.套环；39.第一弹性件；40.条形通孔；41.第二弹性件；42.按压件；43.第一条形限位槽；44.第一周向限位凸台；45.第二条形限位槽；46.周向限位件；47.套管；48.第二限位凸出部；49.第一扳机；50.第一扳机铰轴；51.转动安装座；52.安装孔；53.旋转连接轴套；54.弧形棘轮片；55.锁位件；56.第三弹性件；57.第四弹性件；58.球头；59.第二扳机；60.扇形滑槽；61.小径段；62.第二周向限位凸台；63.限位杆；64.指夹凸出部；65.顶部空间；66.底部空间；67.搭指凸出部。
具体实施方式
以下结合附图对本发明的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本发明，并不用于限制本发明。
在本发明中，在未作相反说明的情况下，使用的方位词“近手端，远手端”是以微创手术器械在使用时进行握持操作的手部的位置作为基准，即靠近手部的一端为近手端，远离手部的一端为远手端。
本发明一方面提供一种微创手术器械组件，包括转动腕1、固定杆5、连杆7以及第一伸缩杆8，所述转动腕1的远手端能够安装端部执行器2，所述转动腕1的近手端设有第一连接部3和第二连接部4；所述固定杆5的远手端与所述第一连接部3通过第一铰轴6可转动地连接；所述连杆7的远手端与所述第二连接部4可转动地铰接；所述第一伸缩杆8与所述固定杆5可拆卸的连接，所述第一伸缩杆8的远手端与所述连杆7的近手端可转动地铰接相连，且所述第一伸缩杆8能够受驱动地沿所述固定杆5的长度方向伸缩移动，以带动所述转动腕1绕所述第一铰轴6相对于所述固定杆5转动。
通过上述技术方案，设置用于安装端部执行器2的转动腕1，通过将转动腕1与固定杆5铰接，并同时设置连杆7分别铰接转动腕1和第一伸缩杆8，从而使第一伸缩杆8沿固定杆5的长度方向伸缩移动时，能够带动转动腕1绕所述第一铰轴6转动，从而实现了端部执行器2的转动，且上述结构相较于现有技术中的关节腕结构转弯半径更小，从而能够避免微创手术器械无法在狭窄空间内使端部执行器2进行转动，或者由于其转弯半径较大而与其他手术器械干涉的问题。
如图3和图9所示的实施方式中，所述固定杆5为远手端端部设有第一铰轴安装座9的管体结构，即第一铰轴安装座9是沿固定杆5的轴向凸出于固定杆5的管壁，所述第一铰轴安装座9与所述第一连接部3铰接，且所述固定杆5的管壁设有与管体的内部空间连通的第一容纳槽10，所述第一伸缩杆8位于所述固定杆5的内部，且所述第一伸缩杆8的远手端位于所述第一容纳槽10内，以连接所述连杆7的近手端，第一容纳槽10一方面对第一伸缩杆8的远手端起到限定作用，使第一伸缩杆8的远手端沿第一容纳槽10的导向移动，同时，第一容纳槽10还起到容纳连杆7的近手端的作用，当微创手术器械组件伸入或伸出人体时，端部执行器2和转动腕1位于固定杆5的轴线，即端部执行器2和转动腕1不转动，此时连杆7的近手端位于第一容纳槽10内，使得连杆7不会在固定杆5的外周壁上凸出，因此连杆7不会在微创手术器械组件伸入或伸出人体时对人 体造成划伤。当然，在其他实施方式中，固定杆5也可以为实心的杆体结构，固定杆5的杆体的远手端端部设置第一铰轴安装座9，而无需设置第一容纳槽10，第一伸缩杆8与固定杆5平行设置，此时，为使固定杆5和第一伸缩杆8能够同步的伸入或伸出人体，且在移动时不会对人体造成划伤，因此还需要在固定杆5和第一伸缩杆8的整体的外部设置管套，即固定杆5和第一伸缩杆8位于管套的内部。
如图9-图12所示的实施方式中，所述固定杆5包括可拆卸连接的固定管体5-1和固定管体连接件5-2，所述固定管体5-1为直管结构，所述固定管体连接件5-2的远手端设有所述第一铰轴安装座9和所述第一容纳槽10，由于固定杆5需要设置第一铰轴安装座9，因此将固定杆5设置为包括固定管体5-1和固定管体连接件5-2的可拆分结构，一方面能够便于固定杆5的生产制造，即将直管结构的固定管体5-1和异形管状的固定管体连接件5-2进行分别制造，另一方面也便于固定杆5的拆装。当然，在其他实施方式中，固定杆5也可以为一体结构，即固定管体5-1和固定管体连接件5-2为一体结构或固定连接。
如图9-图12所示的实施方式中，所述固定管体5-1的远手端的管壁上设有L形槽11，所述L形槽11包括沿所述固定管体5-1的周向延伸的限位部和沿所述固定管体5-1的轴向延伸的进出通道，所述进出通道在所述固定管体5-1的端部形成开口，所述固定管体连接件5-2的近手端的外周面上设有径向突出的限位凸起12，所述限位凸起12能够经所述进出通道进入或脱离所述限位部，沿所述固定管体5-1的轴向方向，所述限位部的长度与所述限位凸起12的长度适配，L形槽11和限位凸起12的可拆分连接结构仅能够限定固定管体5-1和固定管体连接件5-2的轴向位置，并无法限定固定管体5-1和固定管体连接件5-2的周向位置，即固定管体5-1和固定管体连接件5-2存在绕固定杆5的中心轴线产生相对转动的情况，本实施方式中，由于设置有转动拨轮31-2带动第一伸缩杆8绕其中心轴线旋转，进而带动端部执行器2和转动腕1旋转，因此在第一伸缩杆8旋转时，固定管体连接件5-2会在转动腕1的带动下产生沿固定杆5的中心轴线相对固定管体5-1的旋转，产生固定管体5-1和固定管体连接件5-2脱开的风险，因此本实施方式在固定杆5的近手端，即固定管体5-1的近手端通过下述的周向限位件46与第一伸缩杆8相连，从而实现第一伸缩杆8与固定管体5-1沿固定杆5的周向限位，使第一伸缩杆8与固定管体5-1能够同步旋转，避免上述固定管体5-1和固定管体连接件5-2脱开的风险。当然，在其他实施方式中，也可以不设置转动拨轮31-2，即第一伸缩杆8和固定杆5不 具备绕固定杆5中心轴线旋转的功能，此时采用L形槽11和限位凸起12的可拆分连接结构也不会出现固定管体5-1和固定管体连接件5-2脱开的风险。当然，在其他实施方式中，固定管体5-1和固定管体连接件5-2也可以采用下述的卡口18和弹性卡勾19的可拆分连接结构相连。
如图3和图18所示的实施方式中，所述转动腕1的近手端的部分的管壁轴向凸出，以形成所述第一连接部3，未凸出的管壁形成所述第二连接部4，且未凸出的管壁的轴向位置形成位于第一连接部3一侧的第二容纳槽13，第二容纳槽13容纳连杆7的远手端，使得连杆7不会在转动腕1的外周壁上凸出，因此连杆7不会在微创手术器械组件伸入或伸出人体时对人体造成划伤，本实施方式中，转动腕1的外周壁与所述固定杆5的外周壁位于同一圆周面上，以避免微创手术器械组件伸入或伸出人体时，转动腕1与固定杆5的连接位置对人体造成划伤。
如图3、图5和图6所示，所述转动腕1设有滑动空间14；所述微创手术器械组件还包括端部执行器2、能够弯曲变形的连接件15以及第二伸缩杆16，所述端部执行器2的安装端位于所述滑动空间14内；所述连接件15位于所述转动腕1和所述固定杆5的连接位置处，且所述连接件15的远手端与所述端部执行器2的安装端连接；所述第二伸缩杆16的远手端与所述连接件15的近手端相连，且所述第二伸缩杆16能够受驱动地沿所述固定杆5的长度方向伸缩移动，以带动所述端部执行器2沿伸入或伸出所述滑动空间14的方向伸缩移动，本实施方式通过在端部执行器2设置滑动空间14，并设置连接件15和第二伸缩杆16，实现了通过驱动第二伸缩杆16沿固定杆5的长度方向伸缩移动，以带动端部执行器2能够受滑动空间14导向的伸缩移动，在进行手术时，手部控制微创手术器械组件伸入人体的深度实现对端部执行器2的位置进行粗调，通过第二伸缩杆16的伸缩移动实现对端部执行器2的位置进行微调，从而提升了操作的便捷性，同时端部执行器2受第二伸缩杆16驱动的伸缩移动，也可以实现对病变位置进行刮或切割的操作，此外能够弯曲变形的连接件15能够在端部执行器2具有转动角度时产生变形，并在第二伸缩杆16驱动端部执行器2的位置时，连接件15自身的弯曲变形位置能够随之移动，以始终连接端部执行器2和第二伸缩杆16，并在端部执行器2具有转动角度时，能够使第二伸缩杆16驱动端部执行器2移动。当然，在其他实施方式中，端部执行器2也可以固定设置在转动腕1上，此时则无需设置第二伸缩杆16。
如图3和图9所示的实施方式中，所述固定杆5为远手端端部设有第一铰轴安装座 9的管体结构，所述第二伸缩杆16位于所述固定杆5内部，且所述第一铰轴安装座9与所述固定杆5的管壁之间设有用于所述连接件15穿过的开口；所述转动腕1内部中空以形成所述滑动空间14以及用于所述连接件15进入所述滑动空间14的通道，用于所述连接件15进入所述滑动空间14的通道优选为与连接件15的外周壁形状适配，本实施方式中，固定杆5的开口优选为形状与连接件15的外周壁适配，以对连接件15起到限定和导向作用，同样的，第一连接部3呈为凹形结构，其两端的弯折部设有用于安装第一铰轴6的轴孔，当第一铰轴6安装后，第一铰轴6与两个弯折部之间的管壁之间形成用于所述连接件15穿过的另一开口，第一连接部3的该开口也优选为形状与连接件15的外周壁适配，同样对连接件15起到限定和导向作用，以使第二伸缩杆16向远手端移动时，固定杆5的开口与第一连接部3的开口能够限定连接件15在第二伸缩杆16的推力作用下向远手端移动，进而推动端部执行器2向远手端移动，而避免连接件15在第二伸缩杆16的推力作用和端部执行器2的阻力作用下，在第二伸缩杆16和/或转动腕1的内部空间内产生堆积变形，进而导致第二伸缩杆16无法推动端部执行器2移动。当然，在其他实施方式中，固定杆5也可以为实心杆体结构，第二伸缩杆16与固定杆5平行设置，此时滑动空间14为设置在转动腕1外周壁上的滑槽，且滑槽沿转动腕1的长度方向延伸，端部执行器2的安装端与滑槽滑动连接，此时为避免对人体造成划伤，转动腕1和端部执行器2的安装端外部，以及第二伸缩杆16和固定杆5的外部均需要设置管套。
如图5和图12所示的实施方式中，连接件15则不是在第一铰轴6与第一连接部3之间形成的另一开口穿过，而是在所述第一铰轴安装座9设有限位杆63，所述限位杆63沿所述固定杆5的径向设置，所述限位杆63与所述第一连接部3之间形成适于所述连接件15通过的限位空间，本实施方式中，第一连接部3呈为凹形结构，其两端的弯折部分别设有用于安装对应的第一铰轴6的轴孔，即第一铰轴6不贯穿凹形结构的第一连接部3，而是在一个弯折部设置一个第一铰轴6，在另一弯折部设置另一第一铰轴6，第一铰轴安装座9位于两个弯折部之间，即限位杆63位于两个弯折部之间，此时限位空间对连接件15起到限定和导向作用，在限位空间对连接件15的限定作用下，所述连接件15从所述转动腕1的中心线上延伸至所述固定杆5的中心线上，即在连接件15弯曲变形时，其也是从所述转动腕1的中心线上延伸至所述固定杆5的中心线上，这样有利于连接件15弯曲后的轴向移动，同时也提高了可靠性，连接件15沿两个中心线设置，使得连接件15在弯曲的同时也不影响下述夹钳的关闭，即这两个力不会产生耦合现象，可同时进行转 动腕1的转动和夹钳的操作。当然，在其他实施方式中，也可以设置限位杆63，而连接件15与两个中心线错位，也可以连接件15沿两个中心线设置，而不设置限位杆63。
如图3、图5和图6所示的实施方式中，所述第一伸缩杆8为远手端端部设有第二铰轴安装座17的管体结构，所述第二铰轴安装座17与所述连杆7的近手端铰接相连，所述第一伸缩杆8同轴地套设在所述第二伸缩杆16外部，且所述第二伸缩杆16能够受驱动地相对所述固定杆5伸缩移动。当然，在其他实施方式中，第一伸缩杆8也可以设置为实心的杆体结构，第二伸缩杆16和第一伸缩杆8平行设置并同时位于固定杆5内。
如图14-图16所示的实施方式中，所述第一伸缩杆8包括可拆卸连接的第一伸缩杆管体8-1和第一伸缩杆管体连接件8-2，所述第一伸缩杆管体8-1为直管结构，所述第一伸缩杆管体连接件8-2的远手端设有所述第二铰轴安装座17，且所述第一伸缩杆管体连接件8-2还设有用于所述第二伸缩杆16或所述连接件15通过的开口。由于第一伸缩杆8需要设置第二铰轴安装座17，因此将第一伸缩杆8设置为包括第一伸缩杆管体8-1和第一伸缩杆管体连接件8-2的可拆分结构，一方面能够便于第一伸缩杆8的生产制造，即将直管结构的第一伸缩杆管体8-1和异形管状的第一伸缩杆管体连接件8-2进行分别制造，另一方面也便于第一伸缩杆8的拆装。当然，在其他实施方式中，第一伸缩杆8也可以为一体结构，即第一伸缩杆管体8-1和第一伸缩杆管体连接件8-2为一体结构或固定连接。
如图14-图17所示的实施方式中，所述第一伸缩杆管体8-1的管壁上设有两个卡口18，所述第一伸缩杆管体连接件8-2的近手端设有能够伸入所述第一伸缩杆管体8-1内并与两个所述卡口18分别适配的两个弹性卡勾19，如图17所示，为便于弹性卡勾19进入第一伸缩杆管体8-1内，进而卡入卡口18，第一伸缩杆管体8-1上对应每个卡口18设有沿第一伸缩杆管体8-1的径向设置在管壁上的两个槽体通道，其中一个槽体通道与对应的卡口18连通，用于所述第二伸缩杆16或所述连接件15通过的开口位于两个所述弹性卡勾19之间。当然，在其他实施方式中，第一伸缩杆管体8-1和第一伸缩杆管体连接件8-2也可以采用上述L形槽11和限位凸起12形式的可拆卸结构，此时为避免出现使用中脱开的情况，则不设置转动拨轮31-2，即第一伸缩杆8、固定杆5、转动腕1和端部执行器2不具备绕固定杆5的中心轴线旋转的功能，或者在第一伸缩杆管体8-1的远手端端部和第一伸缩杆管体连接件8-2的近手端端部设置适配的插头插口或者插接齿形，通过插头插口或插接齿形对第一伸缩杆管体8-1和第一伸缩杆管体连接件8-2进行周向限位，以能够使第一伸缩杆管体8-1和第一伸缩杆管体连接件8-2在转动转动拨轮31-2时同步 旋转。
如图3所示的实施方式中，所述第二伸缩杆16包括第二伸缩杆杆体16-1和第二伸缩杆杆体连接件16-2，所述第二伸缩杆杆体16-1位于所述第一伸缩杆管体8-1内，所述第二伸缩杆杆体连接件16-2的远手端位于所述第二铰轴安装座17与所述固定杆5的固定管体连接件5-2的管壁之间，所述第二伸缩杆杆体连接件16-2的近手端穿过所述第一伸缩杆管体连接件8-2上的开口，并与所述第一伸缩杆管体8-1可拆卸连接，将第二伸缩杆16设置为可拆卸的第二伸缩杆杆体16-1和第二伸缩杆杆体连接件16-2同样是为了便于生产加工和安装拆卸，本实施方式中，为了避免第二伸缩杆杆体连接件16-2与第一伸缩杆管体连接件8-2干涉，即为了使第二伸缩杆杆体连接件16-2能够穿过第一伸缩杆管体连接件8-2上的开口，因此将第二伸缩杆杆体连接件16-2设置为Z形，当然，在其他实施方式中，例如如图5所示的实施方式中，第二伸缩杆杆体连接件16-2也可以是直形。当然，在其他实施方式中，也可以将第二伸缩杆杆体16-1和第二伸缩杆杆体连接件16-2设置为固定连接或者一体结构，例如上述第二伸缩杆16与第一伸缩杆8平行设置，滑动空间14为设置在转动腕1外周壁上的滑槽的实施方案中，第二伸缩杆16即可以为一体结构，且其远手端也可以不设置为Z形，或者如图6所示的实施方式中，由于连接件15采用柔性绳，则第二伸缩杆16为一体结构的直杆即可，且第二伸缩杆16的远手端不设置为Z形。
所述连接件15为弹性片或弹性杆或柔性绳，如图3和图5所示的实施方式中连接件15为弹性片或弹性杆，弹性片的结构如图8所示，其两端通过销钉进行连接，弹性片是由多层高弹性的不锈钢片组合装配而成，这样多层的结构具有较好的弹性，同时使弹性片在受到推力和拉力后，可以有效的传递动力，因而使作为夹钳的端部执行器2开合顺畅，且夹持更有力度，如图6和图7所示的实施方式中，连接件15为柔性绳，例如钢丝绳、钨丝绳等，在图6和图7所示的实施方式中，连接件15也是从所述转动腕1的中心线上延伸至所述固定杆5的中心线上。
如图2和图18所示的实施方式中，所述端部执行器2为受所述第二伸缩杆16驱动而开合的夹钳，所述夹钳包括两个钳爪20，钳爪安装座22以及限位销24，其中至少一个所述钳爪20设有弧形限位孔21，且该钳爪20通过第一转动结构与所述转动腕1可转动的连接，所述第一转动结构的转动轴线与所述端部执行器2的移动方向垂直；所述第一转动结构位于所述弧形限位孔21形成弧线开口的一侧；所述钳爪安装座22设有沿所 述端部执行器2的伸缩方向延伸的直线形限位孔23，并在所述直线形限位孔23朝向所述固定杆5的一侧设有用于抵接设有弧形限位孔21的钳爪20的抵接台，且所述钳爪安装座22与所述连接件15相连；所述限位销24设置在所述转动腕1上，且所述限位销24贯穿所述直线形限位孔23和所述弧形限位孔21，从而通过第二伸缩杆16的伸缩移动实现夹钳的开合，且限位销24、直线形限位孔23和所述弧形限位孔21实现对开合角度的限定，此时端部执行器2沿滑动空间14的导向伸缩移动主要在于实现夹钳的开合动作，而不在于对夹钳的位置微调。本实施方式中两个所述钳爪20均设有所述弧形限位孔21，并分别通过对应的所述第一转动结构与所述转动腕1连接，所述钳爪安装座22设有所述直线形限位孔23的一端位于两个所述钳爪20之间，即两个钳爪20均能够在钳爪安装座22上进行开合转动，即夹钳可以是系膜抓钳、无创伤抓钳、吻合牵引钳、固定抓钳、V形抓钳、尖嘴抓钳等类型，其结构也可以不具备弧形限位孔21和第一转动结构。当然，在其他实施方式中，也可以仅用一个钳爪20能够进行开合转动，另一个钳爪20与钳爪安装座22固定连接或设置为一体结构，即夹钳为胃抓钳、单动鼠牙抓钳等类型。当然，在其他实施方式中，端部执行器2也可以是剪刀、切割刀、电刀、电勾等部件。
如图18所示的实施方式中，所述转动腕1的远手端设有用于所述钳爪20进行开合移动的开合槽25，所述第一转动结构包括设置在所述开合槽25侧壁上的第一转动槽26，以及设置在所述钳爪20上并与所述第一转动槽26适配的第一转动凸起27，所述第一转动凸起27位于所述弧形限位孔21形成弧线开口的一侧，本实施方式的第一转动结构能够便于将钳爪20从转动腕1上拆卸。
如图18所示的实施方式中，所述设有弧形限位孔21的钳爪20与所述钳爪安装座22通过第二转动结构可转动的连接，且所述第二转动结构的转动轴线与所述端部执行器2的移动方向垂直，所述第二转动结构位于所述弧形限位孔21异于形成弧线开口的一侧，设置第二转动结构保证钳爪安装座22和钳爪20在开合转动时的稳定性，当两个钳爪20均能够进行开合转动时，所述钳爪安装座22设有所述直线形限位孔23的一端位于两个所述钳爪20之间，并通过两个所述第二转动结构与两个所述钳爪20一一对应相连。当然，在其他实施方式中，也可以不设置第二转动结构。
如图18所示的实施方式中，所述第二转动结构包括设置在所述钳爪安装座22上的第二转动凸起28以及设置在所述钳爪20上的第二转动槽29，所述第二转动槽29位于所述弧形限位孔21异于形成弧线开口的一侧，所述第二转动凸起28位于所述直线形限位 孔23的宽度方向一侧，本实施方式的第一转动结构能够便于将钳爪20从端部执行器2上拆卸。
如图25所示的实施方式中，微创手术器械组件还包括手柄31，抵接件33，以及快拆件35，所述固定杆5的近手端设有位于外周壁上的第一限位凸出部30；所述手柄31设有抵接所述第一限位凸出部30的近手端的第一抵接部32；所述抵接件33与所述手柄31可拆卸相连，且所述抵接件33设有抵接所述第一限位凸出部30的远手端的第二抵接部34；所述第一伸缩杆8沿所述固定杆5的长度方向设置；所述快拆件35可沿所述第一伸缩杆8的长度方向可伸缩移动地设置在所述手柄31上，且所述快拆件35通过快拆结构与所述第一伸缩杆8的近手端可拆卸的相连，以使所述快拆件35能够带动所述第一伸缩杆8伸缩移动。
其中，第一限位凸出部30和抵接件33可以一体连接，也可以可拆卸地接合。如图13所示，第一限位凸出部30的端面设置有偏心的定位块30-1，定位块30-1可以容纳在第一抵接部32的端面上的凹槽或孔中，实现第一限位凸出部30和第一抵接部32沿周向方向的相对定位，使得二者不会相对地旋转。
通过上述技术方案，设置抵接件33抵接固定杆5的第一限位凸出部30使固定杆5安装在手柄31上，同时在手柄31上设置能够连接第一伸缩杆8的快拆件35，使第一伸缩杆8安装在手柄31上，由于抵接件33与手柄31可拆卸相连，且快拆件35通过快拆结构与第一伸缩杆8相连，从而使固定杆5和第一伸缩杆8能够与手柄31实现快速简单的拆分，进而实现杆体和手柄能够进行分别清洗消毒，有效降低清洗消毒操作所需的占用空间，并能够提升清洗消毒的效果。
快拆结构包括卡槽36，卡扣37以及驱动机构，所述卡槽36设置在所述第一伸缩杆8的近手端的外周壁上；所述卡扣37设置在所述快拆件35的远手端，并具有与所述卡槽36卡接相连的卡接位置和与所述卡槽36脱开的脱开位置；所述驱动机构设置在所述快拆件35上，且所述驱动机构能够驱动所述卡扣37在所述卡接位置和所述脱开位置之间移动，即通过操作驱动机构即能够实现快拆件35与第一伸缩杆8的快速连接和拆分。当然，在其他实施方式中，快拆结构也可以包括设置在快拆件35的远手端端面上的插槽，设置在第一伸缩杆8的近手端端面上的插头和插销，所述插槽和所述插头适配，且插槽的槽壁和插头均设有沿第一伸缩杆8的径向延伸的销孔，以用于插销可拆卸的贯穿插槽和插头。
在本发明提供的微创手术器械组件中，快拆件35可以采用两种不同类型的结构，并针对两种类型的快拆件35提供了三种实施方式。
第一种类型的快拆件35为沿所述第一伸缩杆8的长度方向延伸的杆状，所述卡扣37为径向可移动地设置在所述快拆件35上的卡勾结构，所述驱动机构包括套设在所述快拆件35外部的套环38，所述套环38能够受驱动的沿所述快拆件35的长度方向移动，以使所述套环38具有部分内周壁抵接所述卡扣37以使所述卡扣37位于所述卡接位置的远手端位置，和脱离所述卡扣37以使卡扣37位于脱开位置的近手端位置。其中卡扣37可以设置为一个，也可以设置为轴对称的两个，当套环38向远手端位置移动时，卡扣37受到套环38内壁提供的压力而嵌入卡槽36内，优选的卡扣37的近手端设有倒角，以避免与卡住套环38，当套环38向近手端位置移动时，卡扣37可以通过手部的抖动脱离卡槽36，也可以设置弹簧片向卡扣37提供弹力以自动脱离卡槽36。
第一种类型的快拆件35具有两种实施方式，如图19和图20所示的快拆件35的第一种实施方式中，所述驱动机构还包括套设在所述快拆件35外周壁上的第一弹性件39，优选为弹簧，当然可以是橡胶套管，且所述快拆件35上设有抵接所述第一弹性件39的近手端的凸台，所述第一弹性件39的远手端抵接所述套环38，以向所述套环38提供朝向所述远手端位置移动的驱动力，即第一弹性件39的弹力使套环38位于远手端位置，当需要套环38向近手端位置时，需要使用人员推动或拉动套环38进行移动。如图21和图22所示的快拆件35的第二种实施方式中，所述驱动机构还包括设置在所述快拆件35外周壁上的外螺纹，且所述套环38的内周壁设有与所述外螺纹适配的内螺纹，套环38的移动是通过使用人员转动套环38实现的。
第二种类型的快拆件35如图23和图24所示，即快拆件35的第三种实施方式，所述卡扣37可沿垂直于所述第一伸缩杆8长度方向移动地设置在所述快拆件35的远手端，所述卡扣37为具有条形通孔40的环体，所述驱动机构包括设置在所述卡扣37两侧的第二弹性件41和按压件42，所述第二弹性件41优选为弹簧，当然也可以是橡胶柱体或球体，第二弹性件41向所述卡扣37提供朝向所述按压件42移动的驱动力，以使所述卡扣37部分地卡接在所述卡槽36中，所述按压件42能够带动所述卡扣37反向移动，以使所述第一伸缩杆8的近手端能够进出所述条形通孔40，第二弹性件41的弹力使卡扣37位于卡接位置，当需要卡扣37移动至脱开位置时，需要使用人员按压按压件42，以推动卡扣37移动。本实施方式中，按压件42与卡扣37为一体结构，当然，在其他实施方式中， 按压件42与卡扣37也可以为分体结构，按压件42与卡扣37抵接。本实施方式中，所述卡槽36为环绕所述第一伸缩杆8的近手端外周壁的环形槽体，当然，在其他实施方式中，卡槽36也可以为设置在第一伸缩杆8朝向所述卡扣37一侧的凹槽。本实施方式中，卡扣37是环体直接卡入卡槽36内，当然，在其他实施方式中，也可以在卡扣37的内周壁上设置凸出部，由凸出部伸入卡槽36内。
如图25，图27、图19和图21所示，所述手柄31包括手柄本体31-1和可转动地设置在所述手柄本体31-1上的转动拨轮31-2，所述转动拨轮31-2设有位于其转动轴线上的通孔，且所述转动拨轮31-2设有沿其转动轴线延伸的第一条形限位槽43，所述第一条形限位槽43与所述通孔连通；所述快拆件35的近手端与所述手柄本体31-1可转动地相连，优选的快拆件35的近手端设置为轴状，手柄本体31-1上设置与其适配的轴孔，且快拆件35的近手端可转动的插在轴孔内，实现了快拆件35与手柄本体31-1的可拆卸连接，所述快拆件35的远手端穿过所述转动拨轮31-2的通孔，且所述快拆件35的远手端的外周壁上设有第一周向限位凸台44，所述第一周向限位凸台44适于嵌入所述第一条形限位槽43内，并能够沿第一条形限位槽43的长度方向移动，且所述第一条形限位槽43位于所述转动拨轮31-2周向上的两侧壁与所述第一周向限位凸台44可滑动的抵接，通过设置第一条形限位槽43和第一周向限位凸台44使转动拨轮31-2能够带动快拆件35以及第一伸缩杆8绕第一伸缩杆8的中心轴线旋转，同时由于第一条形限位槽43为条形，因此不会阻碍快拆件35以及第一伸缩杆8沿第一伸缩杆8长度方向的伸缩移动，从而通过下述的连杆7和转动腕1使端部执行器2能够绕所述第一铰轴6相对于所述固定杆5转动以及绕所述第一伸缩杆8的中心轴线旋转，为了便于第一周向限位凸台44能够进入第一条形限位槽43，转动拨轮31-2设有第一条形限位槽43的部分采用可弹性变形的材料，例如塑料，从而使转动拨轮31-2和快拆件35实现快速的安装和拆卸。当然，在其他实施方式中，也可以不设置转动拨轮31-2而仅设置手柄本体31-1，此时快拆件35和第一伸缩杆8仅能够沿第一伸缩杆8长度方向伸缩移动，而不能够绕第一伸缩杆8的中心轴线旋转。
如图25所示的实施方式中，所述手柄本体31-1设有环形的握持部，所述握持部的内周壁设有指夹凸出部64，所述指夹凸出部64将所述握持部的内部空间分隔为适于伸入人体中指的顶部空间65和适于伸入人体无名指的底部空间66，从而通过中指和无名指能够移动手柄本体31-1的位置，而设置指夹凸出部64是为了使中指和无名指对指夹凸出 部64起到夹持的作用，从而使中指和无名指能够更稳定的移动手柄本体31-1，所述握持部的外周壁设有搭指凸出部67，所述搭指凸出部67的远手端端面设置为适于搭持人体小指的弧形。当然，在其他实施方式中，手柄本体31-1也可以设置为其他的现有结构，例如在手柄本体31-1设置握把。
如图26所示的实施方式中，所述固定杆5为套设在所述第一伸缩杆8外部的管体结构，且所述第一伸缩杆8的近手端伸出所述固定杆5，所述固定杆5的近手端设有安装槽，所述第一伸缩杆8的外周壁设有沿其长度方向延伸的第二条形限位槽45；所述微创手术器械组件还包括周向限位件46，所述周向限位件46适于安装在所述固定杆5的安装槽中，所述周向限位件46设有适于嵌入所述第二条形限位槽45的第二周向限位凸台62，所述第二周向限位凸台62能够沿所述第一伸缩杆8的长度方向在所述第二条形限位槽45内移动，且所述第二条形限位槽45位于所述第一伸缩杆8周向上的两侧壁与所述第二周向限位凸台62可滑动的抵接，通过设置周向限位件46、第二条形限位槽45和第二周向限位凸台62使固定杆5和第一伸缩杆8能够绕第一伸缩杆8的中心轴线同步转动，并使第一伸缩杆8能够相对固定杆5沿固定杆5的长度方向伸缩移动，即转动转动拨轮31-2时，固定杆5和第一伸缩杆8同时随转动拨轮31-2旋转。当然，在其他实施方式中，在不设置转动拨轮31-2时，也可以不设置周向限位件46、第二条形限位槽45和第二周向限位凸台62。当然，在其他实施方式中，也可以将固定杆5与转动拨轮31-2进行可拆卸的连接，此时也可以不设置周向限位件46、第二条形限位槽45和第二周向限位凸台62，固定杆5在转动拨轮31-2的驱动下绕第一伸缩杆8的中心轴线旋转。当然，在其他实施方式中，固定杆5也可以是实心杆体结构，固定杆5和第一伸缩杆8平行设置。
为了使周向限位件46始终位于安装槽内，而不会脱离安装槽，进而导致固定杆5与第一伸缩杆8无法同步旋转的情况，如图25和图26所示的实施方式中，所述微创手术器械组件还包括套管47，所述套管47套设在所述固定杆5设置所述安装槽的部分外，且所述套管47的内周壁与所述周向限位件46抵接，所述套管47的外周壁设有第二限位凸出部48；所述转动拨轮31-2设有环绕其转动轴线的外螺纹段，且所述转动拨轮31-2的远手端形成所述第一抵接部32，所述第一抵接部32设有所述第一条形限位槽43；所述抵接件33设有用于所述第一伸缩杆8和所述固定杆5穿过的孔路，所述孔路的近手端设有与所述转动拨轮31-2的外螺纹段螺纹连接的内螺纹段，以使转动拨轮31-2和抵接件33可拆卸的相连，进而实现手柄31与抵接件33可拆卸的相连，所述孔路的中部设有适 于容纳所述第一抵接部32、所述快拆件35的远手端和所述第一限位凸出部30的容纳段，所述孔路的远手端设有与所述套管47的外周壁抵接相连的抵接段，所述抵接段与所述容纳段之间形成两个孔阶，其一所述孔阶形成所述第二抵接部34，以将固定杆5安装在手柄31上，另一所述孔阶抵接所述第二限位凸出部48的远手端，所述第二限位凸出部48的近手端抵接所述第一限位凸出部30，以限定套管47在固定杆5上的位置，避免套管47在固定杆5上滑动而导致脱离周向限位件46，进而导致周向限位件46脱出安装槽，同时套管47的外周壁与抵接件33的孔路的远手端的内周壁转动相连，也避免孔路的远手端的内周壁直接抵接周向限位件46而产生磨损，抵接件33设置孔路还对快拆结构起到保护作用，避免误操作而导致第一伸缩杆8与快拆件35脱开。当然，在其他实施方式中，若不设置转动拨轮31-2，抵接件33也可以设置为L形，其一端沿第一伸缩杆8的长度方向设置并与手柄本体31-1相连，另一端沿第一伸缩杆8的径向设置，第一限位凸出部30被抵接件33的另一端与手柄本体31-1夹持在中间。当然，在其他实施方式中，套管47也可以通过螺纹结构套设在固定杆5上，而无需设置第二限位凸出部48。
如图25、图28和图29所示，所述微创手术器械组件还包括第一扳机49和转动安装座51，所述第一扳机49与所述手柄31通过第一扳机铰轴50可转动的铰接相连，本实施方式中，第一扳机铰轴50位于第一扳机49的非手持端，当然，在其他实施方式中，第一扳机铰轴50也可以设置在第一扳机49的中部，所述转动安装座51可转动的设置在所述第一扳机49的非手持端上，且所述转动安装座51的转动轴线与所述第一扳机铰轴50平行，本实施方式中，转动安装座51的两侧设置凸出的轴状凸起，轴状凸起与第一扳机49转动相连，所述转动安装座51设有安装孔52，且所述安装孔52的轴线与所述第一扳机铰轴50异面垂直，所述快拆件35可绕所述安装孔52的轴线转动地设置在所述安装孔52内，以使所述第一扳机49绕所述第一扳机铰轴50转动时能够驱动所述快拆件35沿所述第一伸缩杆8的长度方向伸缩移动，从而使快拆件35能够绕第一伸缩杆8的中心轴线旋转，并能够沿第一伸缩杆8的长度方向伸缩移动。当然，在其他实施方式中，当不设置转动拨轮31-2时，也可以不设置转动安装座51，快拆件35的近手端直接与第一扳机49铰接，即实现通过第一扳机49驱动快拆件35和第一伸缩杆8能够沿第一伸缩杆8的长度方向移动。
如图25所示，所述安装孔52的内周壁固定设置有旋转连接轴套53，所述旋转连接轴套53可转动地套设在所述快拆件35的近手端，从而避免快拆件35的近手端在第一扳 机49转动时出现应力集中，进而导致快拆件35的近手端受损的问题。当然，在其他实施方式中，当安装孔52沿其轴向具有一定距离时，也可以不设置旋转连接轴套53。
如图25所示的实施方式中，所述第一扳机49的手持端的远手端端面设置为适于搭持人体食指的弧形，且第一扳机49位于手柄本体31-1的握持部的远手侧。当然，在其他实施方式中，第一扳机49也可以是现有的其他结构。
如图25所示的实施方式中，所述微创手术器械组件还包括弧形棘轮片54和锁位件55，所述弧形棘轮片54环绕所述第一扳机铰轴50的设置在所述手柄31上，且所述弧形棘轮片54设有沿其弧度方向设置的多个棘齿槽，所述锁位件55设有用于嵌入所述棘齿的齿部，且所述锁位件55可转动的设置在所述第一扳机49上，以使所述锁位件55具有所述齿部嵌入所述棘齿槽的锁定位置，和所述齿部脱离所述棘齿槽的活动位置，所述锁位件55位于所述锁定位置时，所述第一扳机49仅能够沿弧形棘轮片54的弧线方向单向移动，图25中，单向移动方向为逆时针方向，通过改变弧形棘轮片54的设置方向，能够实现对单向移动方向的调整，通过设置弧形棘轮片54和锁位件55，实现了在不扳动第一扳机49时，通过位于锁定位置的锁位件55实现对第一伸缩杆8位于其长度方向位置的锁定，下述中第一伸缩杆8的作用是调整端部执行器2绕所述第一铰轴6相对于所述固定杆5转动，即通过锁位件55实现对端部执行器2转动角度的限定，且当锁位件55位于锁定位置时，第一扳机49也仅能够沿弧形棘轮片54的弧线方向单向移动，实现了对反向移动的限制，此时只能将锁位件55移动至活动位置才能够使第一扳机49进行反向移动，即锁位件55实现了限位开关的作用。当然，在其他实施方式中，也可以不设置弧形棘轮片54和锁位件55，此时需要操作人员始终控制第一扳机49的位置，以实现对第一伸缩杆8的限位和调整，进而实现对端部执行器2转动角度的限定和调整。
如图25所示的实施方式中，所述微创手术器械组件还包括第三弹性件56，所述第三弹性件56沿所述第一伸缩杆8的长度方向设置，本实施方式中，所述手柄31和所述转动安装座51通过所述第三弹性件56相连，所述第三弹性件56向所述第一扳机49提供沿逆于所述单向移动方向的力，本实施方式中第三弹性件56向所述第一扳机49提供朝向远手端移动的力，即第三弹性件56起到驱动第一扳机49复位的作用，当将锁位件55移动至活动位置时，第三弹性件56驱动第一扳机49自动复位，即能够使端部执行器2的转动角度自动消除，使端部执行器2自动复位至位于第一伸缩杆8的中心轴线上，操作人员在对端部执行器2的操作结束后，仅需将锁位件55移动至活动位置，即能够将微 创手术器械组件从人体内取出，而无需操作第一扳机49使端部执行器2复位。当然，在其他实施方式中，也可以是所述手柄31和所述第一伸缩杆8的近手端通过所述第三弹性件56相连，或者所述手柄31和所述第一扳机49通过所述第三弹性件56相连。当然，在其他实施方式中，也可以不设置第三弹性件56。本实施方式中，第三弹性件56为套设在快拆件35近手端与下述第二伸缩杆16上的弹簧。当然，在其他实施方式中，第三弹性件56也可以是橡胶套环或橡胶杆，第三弹性件56也可以不套设在快拆件35近手端与下述第二伸缩杆16上，而直接连接快拆件35的近手端和手柄31，且第三弹性件56也可以与第一伸缩杆8的轴向具有一定夹角。
如图25所示的实施方式中，所述微创手术器械组件还包括第四弹性件57，所述第四弹性件57设置在所述第一扳机49上，所述第四弹性件57与位于所述锁定位置的所述锁位件55抵接，以向所述锁位件55提供所述齿部向所述棘齿槽内移动方向的压力，从而避免当锁位件55限定第一扳机49时，出现锁位件55的齿部脱离棘齿槽的情况，进而影响手术操作，本实施方式中，第四弹性件57采用弹片。当然，在其他实施方式中，第四弹性件57也可以采用弹簧，或者不设置第四弹性件57。
如图25，图30和图31所示，所述微创手术器械组件还包括第二伸缩杆16和第二扳机59，所述第二伸缩杆16沿所述固定杆5的长度方向设置，所述第二伸缩杆16的近手端设有球头58，所述第二扳机59与所述手柄31通过第二扳机铰轴可转动的铰接相连，所述第二扳机59的非手持端设有扇形滑槽60，且所述扇形滑槽60形成的平面垂直于所述第二扳机铰轴，所述扇形滑槽60的弧形槽底设置为限制所述球头58仅沿其弧线方向滑动的形状，本实施方式中，进一步设置第二伸缩杆16，由下述可知第二伸缩杆16用于驱动端部执行器2沿固定杆5的长度方向的位置，以实现为端部执行器2的位置微调或者实现作为端部执行器2的夹钳的开合操作，第二扳机用于驱动第二伸缩杆16沿固定杆5的长度方向伸缩移动，进而实现对端部执行器2的驱动，将第二伸缩杆16的近手端设置球头58，并在第二扳机59的非手持端设有扇形滑槽60，使得第二扳机59与第二伸缩杆16实现了可拆卸连接，通过转动第二扳机59，能够使第二伸缩杆16的近手端从扇形滑槽60中脱出或进入扇形滑槽60，同时扇形滑槽60的弧形槽底设置为限制所述球头58仅沿其弧线方向滑动的形状是为了在扳动第二扳机59时能够带动球头58沿固定杆5的长度方向伸缩移动，进而驱动第二伸缩杆16移动。当然，在其他实施方式中，当端部执行器2固定设置在下述的转动腕1上时，也可以不设置第二伸缩杆16和第二扳机59，或 者当端部执行器2固定设置在第一伸缩杆8上时，也可以不设置第二伸缩杆16和第二扳机59，此时第一扳机49是用于驱动第一伸缩杆8沿固定杆5的长度方向移动，进而驱动端部执行器2沿固定杆5的长度方向移动，而不是实现驱动转动腕1绕所述第一铰轴6相对于所述固定杆5转动的作用。
如图25所示的实施方式中，所述第二扳机59设置为适于伸入人体拇指的环形结构，且第二扳机59位于手柄本体31-1的握持部的近手侧。当然，在其他实施方式中，第二扳机59也可以设置为其他现有结构。
如图25所示的实施方式中，所述第一伸缩杆8为套设在所述第二伸缩杆16外部的管体结构，且所述第二伸缩杆16的近手端伸出所述第一伸缩杆8，所述第二伸缩杆16的近手端设有直径小于所述第二伸缩杆16的管体内径的小径段61，所述球头58设置在所述小径段61的近手端部，且所述球头58的直径不大于所述第二伸缩杆16的管体内径，设置小径段61以形成直径不大于所述第二伸缩杆16的管体内径的球头58，而球头58直径不大于所述第二伸缩杆16的管体内径是为了使第二伸缩杆16的近手端能够伸入第一伸缩杆8内，进而实现第二伸缩杆16和第一伸缩杆8的拆卸。当然，在其他实施方式中，第一伸缩杆8也可以是实心的杆体结构，第二伸缩杆16与第一伸缩杆8平行设置，此时球头58的直径无需进行限定。
本发明另一方面提供一种微创手术器械，其包括以上所述的微创手术器械组件。
微创手术器械由于采用上述的微创手术器械组件，因此在第一伸缩杆8沿固定杆5的长度方向伸缩移动时，能够带动转动腕1绕所述第一铰轴6转动，从而实现了端部执行器2的转动，且上述结构相较于现有技术中的关节腕结构转弯半径更小，从而能够避免微创手术器械无法在狭窄空间内使端部执行器2进行转动，或者由于其转弯半径较大而与其他手术器械干涉的问题。
在微创手术器械操作时，食指扣在第一扳机49处，大拇指钩在第二扳机59里，中指无名指和小指从上到下分别放在手柄本体31-1上，这样抓握可以进行方便的操作器械，第二扳机59控制作为端部执行器2的夹钳的开合，第一扳机49往后钩可以实现端部执行器2和转动腕1绕所述第一铰轴6相对于所述固定杆5的转动，锁位件55和第三弹性件56可以快速实现端部执行器2和转动腕1从具有转动角度的位置直接快速返回到直夹钳的状态，即端部执行器2和转动腕1位于固定杆5的中心轴线上，从而能够快速便捷的将微创手术器械的远手端从患者体表小孔取出，此外，转动拨轮31-2在需要使端部执 行器2发生绕固定杆5的中心轴线转动时由食指拨动旋转。
同时，由于固定杆5、第一伸缩杆8和第二伸缩杆16均设置为与手柄31可快速拆分的连接，因此，当微创手术器械需要进行进行清洗消毒时，即能够将固定杆5、第一伸缩杆8和第二伸缩杆16分别与手柄31进行快速拆分，拆分后的结构如图32所示，此时，固定管体5-1被拆分为独立部件，第一伸缩杆管体8-1被拆分为独立部件，第二伸缩杆16、固定管体连接件5-2、第一伸缩杆管体连接件8-2和转动腕1仍连接在一起，上述三部分即能够分别进行清洗消毒，从而提升清洗消毒效果，并使得清洗消毒操作所需占用的空间得到有效降低。当然，在其他实施方式中也可以进一步的拆分。
以上结合附图详细描述了本发明的优选实施方式，但是，本发明并不限于此。在本发明的技术构思范围内，可以对本发明的技术方案进行多种简单变型，包括各个具体技术特征以任何合适的方式进行组合，为了避免不必要的重复，本发明对各种可能的组合方式不再另行说明。但这些简单变型和组合同样应当视为本发明所公开的内容，均属于本发明的保护范围。

Claims (9)

  1. 一种微创手术器械组件，其特征在于，包括：
    转动腕(1)，所述转动腕(1)的远手端能够安装端部执行器(2)，所述转动腕(1)的近手端设有第一连接部(3)和第二连接部(4)；
    固定杆(5)，所述固定杆(5)的远手端与所述第一连接部(3)通过第一铰轴(6)可转动地连接；
    连杆(7)，所述连杆(7)的远手端与所述第二连接部(4)可转动地铰接；以及
    第一伸缩杆(8)，所述第一伸缩杆(8)与所述固定杆(5)可拆卸的连接，所述第一伸缩杆(8)的远手端与所述连杆(7)的近手端可转动地铰接相连，且所述第一伸缩杆(8)能够受驱动地沿所述固定杆(5)的长度方向伸缩移动，以带动所述转动腕(1)绕所述第一铰轴(6)相对于所述固定杆(5)转动；
    所述转动腕(1)设有滑动空间(14)；
    所述微创手术器械组件还包括：
    端部执行器(2)，所述端部执行器(2)的安装端位于所述滑动空间(14)内；
    能够弯曲变形的连接件(15)，所述连接件(15)位于所述转动腕(1)和所述固定杆(5)的连接位置处，且所述连接件(15)的远手端与所述端部执行器(2)的安装端连接；以及
    第二伸缩杆(16)，所述第二伸缩杆(16)的远手端与所述连接件(15)的近手端相连，且所述第二伸缩杆(16)能够受驱动地沿所述固定杆(5)的长度方向伸缩移动，以带动所述端部执行器(2)沿伸入或伸出所述滑动空间(14)的方向伸缩移动；
    其中，所述固定杆(5)为远手端端部设有第一铰轴安装座(9)的管体结构，所述第二伸缩杆(16)位于所述固定杆(5)内部，且所述第一铰轴安装座(9)与所述固定杆(5)的管壁之间设有用于所述连接件(15)穿过的开口；
    所述转动腕(1)内部中空以形成所述滑动空间(14)以及用于所述连接件(15)进入所述滑动空间(14)的通道；
    其中，所述第一铰轴安装座(9)设有限位杆(63)，所述限位杆(63)沿所述固定杆(5)的径向设置，所述限位杆(63)与所述第一连接部(3)之间形成适于所述连接件(15)通过的限位空间；和/或
    所述连接件(15)从所述转动腕(1)的中心线上延伸至所述固定杆(5)的中心线上；
    其中，所述连接件(15)为弹性片或弹性杆或柔性绳；
    所述端部执行器(2)为受所述第二伸缩杆(16)驱动而开合的夹钳，所述夹钳包括：
    两个钳爪(20)，其中至少一个所述钳爪(20)设有弧形限位孔(21)，且该钳爪(20)通过第一转动结构与所述转动腕(1)可转动的连接，所述第一转动结构的转动轴线与所述端部执行器(2)的移动方向垂直；所述第一转动结构位于所述弧形限位孔(21)形成弧线开口的一侧；
    钳爪安装座(22)，所述钳爪安装座(22)设有沿所述端部执行器(2)的伸缩方向延伸的直线形限位孔(23)，并在所述直线形限位孔(23)朝向所述固定杆(5)的一侧设有用于抵接设有弧形限位孔(21)的钳爪(20)的抵接台，且所述钳爪安装座(22)与所述连接件(15)相连；以及
    限位销(24)，所述限位销(24)设置在所述转动腕(1)上，且所述限位销(24)贯穿所述直线形限位孔(23)和所述弧形限位孔(21)；
    其中，所述设有弧形限位孔(21)的钳爪(20)与所述钳爪安装座(22)通过第二转动结构可转动的连接，且所述第二转动结构的转动轴线与所述端部执行器(2)的移动方向垂直，所述第二转动结构位于所述弧形限位孔(21)异于形成弧线开口的一侧。
  2. 根据权利要求1所述的微创手术器械组件，其特征在于，所述固定杆(5)为远手端端部设有第一铰轴安装座(9)的管体结构，所述第一铰轴安装座(9)与所述第一连接部(3)铰接，且所述固定杆(5)的管壁设有与管体的内部空间连通的第一容纳槽(10)，所述第一伸缩杆(8)位于所述固定杆(5)的内部，且所述第一伸缩杆(8)的远手端位于所述第一容纳槽(10)内，以连接所述连杆(7)的近手端。
  3. 根据权利要求2所述的微创手术器械组件，其特征在于，所述固定杆(5)包括可拆卸连接的固定管体(5-1)和固定管体连接件(5-2)，所述固定管体(5-1)为直管结构，所述固定管体连接件(5-2)的远手端设有所述第一铰轴安装座(9)和所述第一容纳槽(10)。
  4. 根据权利要求3所述的微创手术器械组件，其特征在于，所述固定管体(5-1)的远手端的管壁上设有L形槽(11)，所述L形槽(11)包括沿所述固定管体(5-1)的周向延伸的限位部和沿所述固定管体(5-1)的轴向延伸的进出通道，所述进出通道在所述固定管体(5-1)的端部形成开口，所述固定管体连接件(5-2)的近手端的外周面上设 有径向突出的限位凸起(12)，所述限位凸起(12)能够经所述进出通道进入或脱离所述限位部，沿所述固定管体(5-1)的轴向方向，所述限位部的长度与所述限位凸起(12)的长度适配。
  5. 根据权利要求2所述的微创手术器械组件，其特征在于，所述转动腕(1)的近手端的部分的管壁轴向凸出，以形成所述第一连接部(3)，未凸出的管壁形成所述第二连接部(4)。
  6. 根据权利要求1所述的微创手术器械组件，其特征在于，所述第一伸缩杆(8)为远手端端部设有第二铰轴安装座(17)的管体结构，所述第二铰轴安装座(17)与所述连杆(7)的近手端铰接相连，所述第一伸缩杆(8)同轴地套设在所述第二伸缩杆(16)外部，且所述第二伸缩杆(16)能够受驱动地相对所述固定杆(5)伸缩移动。
  7. 根据权利要求6所述的微创手术器械组件，其特征在于，所述第一伸缩杆(8)包括可拆卸连接的第一伸缩杆管体(8-1)和第一伸缩杆管体连接件(8-2)，所述第一伸缩杆管体(8-1)为直管结构，所述第一伸缩杆管体连接件(8-2)的远手端设有所述第二铰轴安装座(17)，且所述第一伸缩杆管体连接件(8-2)还设有用于所述第二伸缩杆(16)或所述连接件(15)通过的开口。
  8. 根据权利要求7所述的微创手术器械组件，其特征在于，所述第一伸缩杆管体(8-1)的管壁上设有两个卡口(18)，所述第一伸缩杆管体连接件(8-2)的近手端设有能够伸入所述第一伸缩杆管体(8-1)内并与两个所述卡口(18)分别适配的两个弹性卡勾(19)，用于所述第二伸缩杆(16)或所述连接件(15)通过的开口位于两个所述弹性卡勾(19)之间。
  9. 根据权利要求7所述的微创手术器械组件，其特征在于，所述第二伸缩杆(16)包括第二伸缩杆杆体(16-1)和第二伸缩杆杆体连接件(16-2)，所述第二伸缩杆杆体(16-1)位于所述第一伸缩杆管体(8-1)内，所述第二伸缩杆杆体连接件(16-2)的远手端位于所述第二铰轴安装座(17)与所述固定杆(5)的固定管体连接件(5-2)的管壁之间，所述第二伸缩杆杆体连接件(16-2)的近手端穿过所述第一伸缩杆管体连接件(8-2)上的开口，并与所述第一伸缩杆管体(8-1)可拆卸连接。
PCT/CN2023/111210 2022-08-09 2023-08-04 微创手术器械组件 WO2024032493A1 (zh)

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