WO2024032495A1 - 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
WO2024032495A1
WO2024032495A1 PCT/CN2023/111213 CN2023111213W WO2024032495A1 WO 2024032495 A1 WO2024032495 A1 WO 2024032495A1 CN 2023111213 W CN2023111213 W CN 2023111213W WO 2024032495 A1 WO2024032495 A1 WO 2024032495A1
Authority
WO
WIPO (PCT)
Prior art keywords
telescopic rod
trigger
minimally invasive
surgical instrument
invasive surgical
Prior art date
Application number
PCT/CN2023/111213
Other languages
English (en)
French (fr)
Inventor
姜鹏
韦巍
赵磊
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 WO2024032495A1 publication Critical patent/WO2024032495A1/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
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/0042—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping
    • 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
    • A61B2017/2911—Handles rings
    • 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
    • A61B2017/2923—Toothed members, e.g. rack and pinion
    • 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
  • a trigger is provided on the operating handle that can drive the slender rod to telescopically move.
  • the human finger can pull or push the trigger to drive the slender rod to telescopically move, thereby driving the end effector to move.
  • the above-mentioned structure in the prior art can only control the trigger through human fingers. Keep it still, such as clamping the trigger to keep it fixed.
  • This method requires human fingers to always perform positioning control operations during the process of fixing the trigger. Therefore, on the one hand, it will occupy part of the human body's fingers and affect other finger operations. , which is not conducive to the operation.
  • the positioning control operation of the trigger will also occupy the user's energy and attention, causing the user's energy and attention to be unable to focus on the surgical operation of the end effector, affecting the surgical process. and effect.
  • the method of positioning and controlling the trigger through human fingers requires high refinement of the user's finger operations. Slight movements of the fingers will cause misoperation of the end effector.
  • the triggers of minimally invasive surgical instruments in the prior art are controlled and kept motionless by human fingers to achieve positioning, the trigger positioning operation of the minimally invasive surgical instruments in the prior art will affect the surgical process and effect. And it has high requirements on the user's finger operation.
  • the purpose of the present invention is to overcome the existing technology in which the trigger of minimally invasive surgical instruments is controlled by human fingers and remains motionless to achieve positioning, resulting in the prior art of minimally invasive surgical instruments having trigger positioning operations. It will affect the surgical process and effect, and requires high finger operation requirements for users.
  • a minimally invasive surgical instrument component and a minimally invasive surgical instrument are provided.
  • one aspect of the present invention provides a minimally invasive surgical instrument assembly, including:
  • a first telescopic rod which is disposed on the handle so as to be telescopically movable along its axial direction;
  • a first trigger the first trigger is rotatably hingedly connected to the handle through a first trigger hinge axis, and the first trigger is connected to the first telescopic rod to drive the first telescopic rod to telescopically move.
  • a positioning piece is provided on the handle, and the positioning piece is provided with positioning tooth slots;
  • a locking piece the locking piece is provided with a tooth portion for inserting into the positioning tooth slot, and the locking piece is movably provided on the first trigger, so that the locking piece has the The tooth portion is inserted into the positioning tooth groove to be able to lock the locking position of the first trigger, and the tooth portion is disengaged from the positioning tooth groove to be able to rotate the first trigger into an active position.
  • the positioning member includes an arc-shaped ratchet piece, the arc-shaped ratchet piece is arranged on the handle around the first trigger hinge axis, and the arc-shaped ratchet piece is provided with an arc-shaped ratchet piece arranged along its arc direction.
  • the locking piece is rotatably disposed on the first trigger between the locking position and the active position, and when the locking piece is in the locking position, the first trigger can only move along the locking position.
  • the arc-shaped ratchet piece moves in one direction in the arc direction.
  • the minimally invasive surgical instrument assembly further includes a third elastic member disposed along the length direction of the first telescopic rod, the handle and the proximal end of the first telescopic rod. are connected through the third elastic member, or the handle and the first trigger are connected through the third elastic member, so that the third elastic member can provide an edge to the first trigger that is counter to the single force in the direction of movement.
  • the minimally invasive surgical instrument assembly further includes a fourth elastic member, the fourth elastic member is provided on the first trigger, the fourth elastic member is at least in contact with the lock in the locking position.
  • the positioning parts are in contact with each other to provide the locking part with pressure in the direction in which the tooth portion moves into the positioning tooth groove.
  • the fourth elastic member is an elastic piece, and the elastic piece abuts the locking member in the locking position.
  • the minimally invasive surgical instrument assembly further includes a rotating mounting base, the rotating mounting base is rotatably disposed on the non-handheld end of the first trigger, and the rotating axis of the rotating mounting base is in line with the The first trigger hinge axis is parallel, the rotating mounting base is provided with a mounting hole, and the axis of the mounting hole is perpendicular to the first trigger hinge axis, and the A first telescopic rod or a telescopic rod connecting piece axially connected to the first telescopic rod is disposed in the mounting hole.
  • a rotary connection sleeve is fixedly provided on the inner peripheral wall of the installation hole, and the rotary connection sleeve is sleeved on the proximal end of the first telescopic rod or the proximal end of the telescopic rod connector.
  • the distal end surface of the hand-held end of the first trigger is configured in an arc shape suitable for holding the index finger of a human body.
  • the handle is provided with an annular holding part
  • the inner peripheral wall of the holding part is provided with a finger clip protruding part
  • the finger clip protruding part divides the internal space of the holding part into an appropriate space.
  • the outer peripheral wall of the holding part is provided with a finger-overlapping protrusion, and the distal end surface of the finger-overlap protrusion is set to fit It is used to hold the arc of the little finger of the human body.
  • Another aspect of the present invention provides a minimally invasive surgical instrument, including the minimally invasive surgical instrument assembly described above.
  • a positioning member with positioning tooth slots is provided on the handle, and a movable locking member is provided on the first trigger for driving the telescopic movement of the first telescopic rod, and the locking member has teeth.
  • the first trigger When in use, the first trigger can be positioned and unlocked by moving the locking piece, without the need to always control the trigger through human fingers as in the prior art. And remain motionless, which improves the convenience of operation, reduces the requirements for use, and can free the human fingers and the energy and attention of the user.
  • Figure 1 is a front view of an embodiment of the minimally invasive surgical instrument provided by the present invention
  • Figure 2 is a schematic structural diagram of the minimally invasive surgical instrument in Figure 1;
  • Figure 3 is a cross-sectional view of a first embodiment of the distal end of the minimally invasive surgical instrument provided by the present invention
  • Figure 4 is a bottom view of the distal end of the minimally invasive surgical instrument in Figure 3;
  • Figure 5 is a cross-sectional view of a second embodiment of the distal end of the minimally invasive surgical instrument provided by the present invention.
  • Figure 6 is a cross-sectional view of a third embodiment of the distal end of the minimally invasive surgical instrument provided by the present invention.
  • Figure 7 is a schematic structural diagram of the distal end of the minimally invasive surgical instrument in Figure 6;
  • Figure 8 is a schematic structural diagram of the connector in Figure 3.
  • Figure 9 is a schematic structural diagram of the distal end of the fixed rod in the present invention.
  • Figure 10 is a schematic structural diagram of the fixed pipe body in Figure 9;
  • Figure 11 is a schematic structural diagram of the first embodiment of the fixed pipe body connector in Figure 9;
  • Figure 12 is a schematic structural view of the second embodiment of the fixed pipe connector in Figure 9;
  • Figure 13 is a schematic structural diagram of the proximal end of the fixed rod in the present invention.
  • Figure 14 is a schematic structural diagram of the distal end of the first telescopic rod in the present invention.
  • Figure 15 is a schematic structural view of the first telescopic rod tube body connector in Figure 14;
  • Figure 16 is a schematic structural view of the first telescopic rod tube body in Figure 14;
  • Figure 17 is a left view of Figure 16
  • Figure 18 is an exploded view of the end effector of the present invention.
  • Figure 19 is a front view of the first embodiment of the quick release component of the present invention.
  • Figure 20 is a front cross-sectional view of the quick-release component in Figure 19;
  • Figure 21 is a schematic structural diagram of the second embodiment of the quick release component of the present invention.
  • Figure 22 is a front cross-sectional view of the quick release component in Figure 21;
  • Figure 23 is a front cross-sectional view of the third embodiment of the quick-release component of the present invention.
  • Figure 24 is a partial structural diagram of the quick release component in Figure 23;
  • Figure 25 is a front cross-sectional view of the minimally invasive surgical instrument assembly provided by the present invention.
  • Figure 26 is a front cross-sectional view of the proximal end of the fixed rod and the first telescopic rod in Figure 25;
  • Figure 27 is a schematic structural diagram of the rotating dial in Figure 25;
  • Figure 28 is a schematic diagram of the installation of the first trigger in Figure 25;
  • Figure 29 is a schematic structural diagram of the first trigger in Figure 25;
  • Figure 30 is a schematic structural diagram of the second trigger in Figure 25;
  • Figure 31 is a top view of the second trigger in Figure 30;
  • Figure 32 is an exploded schematic diagram of part of the structure of the minimally invasive surgical instrument 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, including a handle 31, a first telescopic rod 8, a first trigger 49, a positioning member and a locking member 55; the first telescopic rod 8 can telescopically move along its axial direction. is disposed on the handle 31; the first trigger 49 is rotatably hingedly connected to the handle 31 through the first trigger hinge shaft 50, and the first trigger 49 is connected to the first telescopic rod 8 to The first telescopic rod 8 can be driven to telescopically move; the positioning member is provided on the handle 31, and the positioning member is provided with a positioning tooth slot; the locking member 55 is provided with a positioning tooth slot for inserting into the positioning tooth slot.
  • the tooth portion, and the locking member 55 is movably disposed on the first trigger 49, so that the locking member 55 has the tooth portion embedded in the positioning tooth slot to be able to lock the third A trigger 49 is in a locked position, and the tooth portion is disengaged from the positioning tooth slot so that the first trigger 49 can be rotated to an active position.
  • a positioning member with positioning tooth slots is provided on the handle 31, and a movable locking member 55 is provided on the first trigger 49 for driving the telescopic movement of the first telescopic rod 8.
  • the positioning member 55 has a locking position where the teeth are inserted into the positioning tooth grooves and a movable position where the teeth are disengaged from the positioning tooth grooves.
  • the first trigger 49 can be positioned by moving the locking member 55. and unlocking, without requiring the human finger to always control the trigger and keep it still as in the existing technology, which improves the convenience of operation, reduces the usage requirements, and can free the human finger and the energy and attention of the user.
  • 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 positioning member includes an arc-shaped ratchet piece 54 , the arc-shaped ratchet piece 54 is arranged on the handle 31 around the first trigger hinge axis 50 , and the arc-shaped ratchet piece 54 is
  • the ratchet piece 54 is provided with a plurality of ratchet grooves arranged along its arc direction as the positioning tooth grooves; the locking member 55 can be rotatably arranged on the locking position and the active position. On the first trigger 49 and when the locking member 55 is in the locking position, 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 In the counterclockwise direction, by changing the setting direction of the arc-shaped ratchet piece 54, the one-way movement direction can be adjusted.
  • the first trigger 49 By arranging the arc-shaped ratchet piece 54 and the locking member 55, the first trigger 49 can be adjusted when the first trigger 49 is not pulled. , the first telescopic rod 8 is locked in its length direction position through the locking piece 55 in the locking position.
  • the function of the first telescopic rod 8 is to adjust the end effector 2 around the first hinge axis 6 Rotating relative to the fixed rod 5 means that the rotation angle of the end effector 2 is limited by the locking member 55 .
  • the first trigger 49 can only move along the arc-shaped ratchet blade. 54 moves in one direction in the arc direction, realizing the restriction of reverse movement. At this time, only the locking member 55 can be moved to the active position to make the first trigger 49 move in the reverse direction, that is, the locking member 55 has realized The function of limit switch.
  • the positioning member may not be configured as a ratchet plate structure, but may be configured as a gear plate structure. In this case, the locking member 55 is not rotatably disposed on the first trigger 49 , but is configured via a slide rail.
  • a guide structure such as a chute or a chute is disposed on the first trigger 49 that can move in the radial direction of the positioning member, and a driving member is provided on the first trigger 49 to drive the locking member 55 to move toward or away from the positioning member, thereby achieving locking.
  • the bit 55 moves between a locked position and an active position.
  • the number of positioning tooth slots on the positioning member may be multiple.
  • the positioning member is an arc-shaped ratchet piece 54 with multiple positioning tooth slots.
  • the locking member 55 is embedded in different positions.
  • the positioning tooth slots can realize the positioning of different telescopic displacement positions of the first telescopic rod 8, and further realize the positioning of the following rotating wrist 1 at different rotation angles.
  • the number of positioning tooth slots on the positioning member can also be only one.
  • the locking position of the locking member 55 only realizes the positioning of a fixed position of the first telescopic rod 8, that is, the positioning of the following rotating arm 1 at a fixed angle, for example, the positioning of the rotating arm 1 by 60 degrees. location positioning.
  • the positioning member can be welded, riveted or installed on the handle 31 through bolts and other connecting members, or it can be provided as an integrated structure with the handle 31 .
  • the minimally invasive surgical instrument assembly further includes a third elastic member 56.
  • Three elastic members 56 are arranged along the length direction of the first telescopic rod 8.
  • the handle 31 and the proximal end of the first telescopic rod 8 are connected through the third elastic member 56, or the handle 31 and the proximal end of the first telescopic rod 8 are connected.
  • the first trigger 49 is connected through the third elastic member 56, so that the third elastic member 56 can provide a force to the first trigger 49 in a direction opposite to the one-way movement.
  • the three elastic members 56 provide the first trigger 49 with a force to move toward the distal end, that is, the third elastic member 56 plays a role in driving the first trigger 49 to reset.
  • the third elastic member 56 moves to the active position.
  • the three elastic members 56 drive the first trigger 49 to automatically reset, which can automatically eliminate the rotation angle of the end effector 2 and automatically reset the end effector 2 to the central axis of the first telescopic rod 8.
  • the minimally invasive surgical instrument assembly can be taken out of the human body by simply moving the locking member 55 to the active position without operating the first trigger 49 to reset the end effector 2 .
  • the handle 31 and the rotation mounting base 51 described below may also be connected through the third elastic member 56 .
  • the third elastic member 56 is a spring sleeved on the proximal end of the quick-release component 35 and the second telescopic rod 16 .
  • 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 third elastic member 56 may not be provided.
  • the minimally invasive surgical instrument assembly further includes a fourth elastic member 57, which is provided on the first trigger 49.
  • the fourth elastic member 57 is at least in contact with the lock in the locking position.
  • the positioning member 55 abuts to provide pressure to the locking member 55 in the direction in which the tooth portion moves into the positioning tooth groove.
  • the fourth elastic member 57 may not be provided.
  • the fourth elastic member 57 is a spring piece, and the spring piece contacts the locking member 55 in the locking position, which can prevent the locking member 55 from defining the first When the trigger 49 is pulled, the tooth portion of the locking member 55 may be separated from the ratchet groove, thereby affecting the surgical operation.
  • the fourth elastic member 57 can also be a spring.
  • the fourth elastic member 57 can not only prevent the teeth of the locking member 55 from escaping from the ratchet groove, for example, the above-mentioned driving locking member 55 can move along the radial direction of the positioning member.
  • the driving member that drives the locking member 55 to move between the locking position and the active position can be the fourth elastic member 57 using a spring.
  • the fourth elastic member 57 It not only abuts against the locking member 55 in the locking position, but always abuts or connects with the locking member 55 , the fourth elastic member 57 provides the locking member 55 with the ability to move from the active position to the locked position.
  • the locking member 55 is in the locking position under the pressure of the fourth elastic member 57.
  • the locking member 55 is driven by the operation of human fingers. to the active position and at the same time capable of moving the first trigger 49.
  • the minimally invasive surgical instrument assembly also includes a rotating mounting base 51, which is rotatably provided on the non-handheld end of the first trigger 49, and The rotation axis of the rotating 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 in contact with the first trigger 49
  • the rotation mounting base 51 is provided with a mounting hole 52, and the axis of the mounting hole 52 is perpendicular to the first trigger hinge axis 50, and the first telescopic rod 8 may be in contact with the first telescopic rod 8.
  • the telescopic rod connector axially connected to the rod 8 is arranged in the mounting hole 52.
  • the telescopic rod connector is the following quick-release component 35.
  • the telescopic rod connector It can also be other components used for connection.
  • the quick-release component 35 serving as a telescopic rod connector can be driven along the length of the first telescopic rod 8.
  • the rotating mounting base 51 may not be provided, but a structure in which the first trigger 49 is hingedly connected to the first telescopic rod 8 or the telescopic rod connector may be used.
  • a rotary connection sleeve 53 is fixedly provided on the inner peripheral wall of the mounting hole 52 .
  • the rotary connection sleeve 53 is sleeved on the proximal end of the first telescopic rod 8 or on the other side.
  • the proximal end of the telescopic rod connector is used to avoid stress concentration on the proximal end of the first telescopic rod 8 or the proximal end of the quick-release component 35 as the telescopic rod connector when the first trigger 49 rotates, thereby causing the second The problem of damage to the proximal end of a telescopic rod 8 or the quick-release component 35 used as a connecting member of the telescopic rod.
  • the rotary connection sleeve 53 may not be provided.
  • the handle 31 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 connects the 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 31 can be moved by the middle finger and the ring finger, and the finger clip protrusion 64 is provided In order to allow the middle finger and the ring finger to clamp the finger clip protruding portion 64, so that the middle finger and the ring finger can move the handle 31 more stably, the outer peripheral wall of the gripping portion is provided with a finger catching protruding portion 67.
  • the distal end surface of the finger-catching protrusion 67 is configured in an arc shape suitable for holding the little finger of a human body, so as to facilitate grasping the handle 31 .
  • the handle 31 can also be provided with other existing structures, for example, a grip is provided on the handle 31 .
  • 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 distal end of the gripping part of the handle 31 side to facilitate operation of the first trigger 49.
  • the first trigger 49 may also be of other existing structures.
  • the minimally invasive surgical instrument assembly also includes a fixed rod 5 , a contact piece 33 and a quick release piece 35 .
  • the fixed rod 5 is arranged along the length direction of the first telescopic rod 8 , the proximal end of the fixed rod 5 is provided with a first limiting protrusion 30 located on the outer peripheral wall; the handle 31 is provided with a first protruding portion abutting the proximal end of the first limiting protrusion 30 Contact portion 32; wherein, the first limiting protruding portion 30 and the contact piece 33 can be integrally connected or detachably joined; as shown in Figure 13, the end surface of the first limiting protruding portion 30 is provided with an eccentric
  • the positioning block 30-1 can be accommodated in the groove or hole on the end surface of the first contact portion 32, so that the first limiting protrusion 30 and the first contact portion 32 can move along the circumferential direction.
  • the contact piece 33 is detachably connected to the handle 31, and the contact piece 33 is provided with abutment against the first limiting protrusion 30 the second contact portion 34 at the distal end of
  • the detachable structure is detachably connected to the proximal end of the first telescopic rod 8, so that the quick-release part 35 can drive the first telescopic rod 8 to telescopically move.
  • the proximal end of the quick-detachable part 35 is arranged at the In the mounting hole 52, in this embodiment, the abutment piece 33 is provided to abut the first limiting protrusion 30 of the fixed rod 5 so that the fixed rod 5 can be installed on the handle 31.
  • the quick-release part 35 of the telescopic rod 8 enables the first telescopic rod 8 to be installed on the handle 31. Since the abutment part 33 is detachably connected to the handle 31, and the quick-release part 35 is connected to the first telescopic rod 8 through the quick-release structure, Therefore, 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 efficiency of cleaning and disinfection. Effect.
  • the abutment part 33 and the quick release part 35 may not be provided, the fixed rod 5 is fixedly connected to the handle 31, and the proximal end of the first telescopic rod 8 is disposed in the installation hole 52. Moving the first trigger 49 directly drives the first telescopic rod 8 to telescopically move.
  • 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 component 35 can adopt two different types of structures. 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 be of separate structures, and the pressing member 42 and the buckle 37 are in contact.
  • 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 toward the buckle.
  • 37 Groove on one side.
  • 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.
  • a telescopic rod 8 is disposed on the handle body 31-1 so as to be telescopically movable along its axial direction.
  • the first trigger 49 is rotatably hingedly connected to the handle body 31-1 through the first trigger hinge shaft 50.
  • the positioning member is provided on the handle body 31-1, one end of the third elastic member 56 is connected to the handle body 31-1, the annular holding portion is also provided on the handle body 31-1, and the rotating dial 31-2 is provided with A through hole is located on its rotation axis, and the rotating dial 31-2 is provided with a first strip-shaped limiting groove 43 extending along its rotating axis.
  • the first strip-shaped limiting groove 43 and the through hole Connected; 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 is provided on the handle body 31-1 to adapt to it.
  • the shaft hole, and the proximal hand end of the quick release piece 35 is rotatably inserted into the shaft hole, realizing the detachable connection between the quick release piece 35 and the handle body 31-1, and the distal hand end of the quick release piece 35 passes through 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 first circumferential limiting boss 44 It is suitable 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 on the rotating dial 31- The two side walls in the circumferential direction are in sliding contact with the first circumferential limiting boss 44.
  • the rotating dial 31 -2 can drive the quick-release part 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.
  • the telescopic rod 8 telescopically moves along the length direction of the first telescopic rod 8, so that the end effector 2 can rotate around the first hinge axis 6 relative to the fixed rod 5 through the connecting rod 7 and the rotating wrist 1 described below.
  • the rotating dial 31-2 is provided with a first strip limiting
  • the 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 quick release piece 35 is rotatably disposed in the mounting hole 52 around the axis of the mounting hole 52 , and the rotary connection sleeve 53 is rotatably set in the mounting hole 52 .
  • the proximal end of the quick-release component 35 realizes two degrees of freedom of telescopic movement and rotation of the quick-release component 35 at the mounting hole 52, even if the quick-release component 35 can rotate around the central axis of the first telescopic rod 8, and It can telescopically move along the length direction of the first telescopic rod 8 .
  • the rotating dial 31-2 may not be provided but only the hand wheel 31-2 may be provided.
  • the handle body 31-1 at this time, the quick-release component 35 and the first telescopic rod 8 can only telescopically move along the length direction of the first telescopic rod 8, but cannot rotate around the central axis of the first telescopic rod 8.
  • the quick release part 35 may not be provided but the rotating dial 31-2 may be provided.
  • the first telescopic rod 8 is rotatably connected to the handle body 31-1.
  • the outer peripheral wall is provided with a first circumferential limiting boss 44.
  • the proximal end of the first telescopic rod 8 is located in the mounting hole 52, and the rotary connection sleeve 53 is rotatably sleeved on the first telescopic rod.
  • the first telescopic rod 8 and the handle 31 cannot be quickly disassembled at this time, but the first telescopic rod 8 can still have two degrees of freedom: telescopic movement and rotation.
  • 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-shaped limiting groove 43; so
  • the abutting member 33 is provided with a hole for the first telescopic rod 8 and the fixed rod 5 to pass through, and the proximal end of the hole is provided with an external thread section connected to the rotating dial 31-2.
  • the internal thread section of the threaded connection allows the rotating dial 31-2 to be 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 is provided with a space suitable for accommodating The first contact portion 32 , the distal end of the quick-release component 35 and the receiving section of the first limiting protrusion 30 , the distal end of the hole is provided with the sleeve 47
  • the outer peripheral wall of the abutment section is in contact with the connected abutment section. Two hole steps are formed between the abutment section and the accommodating section.
  • One of the hole steps forms the second abutment portion 34 to secure the fixing rod 5 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 first limit.
  • the protruding portion 30 is positioned 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 stopper 46 to disengage, which in turn causes the circumferential limiter 46 to disengage from the installation groove.
  • the outer peripheral wall of the sleeve 47 is rotationally connected with 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 and tear.
  • the hole path provided in the component 33 also protects the quick-release structure, preventing the first telescopic rod 8 from being detached from the quick-release component 35 due to misoperation.
  • the abutment member 33 can also be configured in an L shape, with one end provided 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 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 along the fixed rod 5 when the second trigger 59 is pulled.
  • the telescopic movement in the length direction drives the second telescopic rod 16 to move.
  • the second telescopic rod 16 and the second trigger 59 may not be provided, or when the end effector 2 is fixed on
  • the first telescopic rod 8 is 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 to move along the length direction of the fixed rod 5, thereby driving the end
  • the actuator 2 moves 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.
  • the minimally invasive surgical instrument assembly also includes a rotating wrist 1 and a connecting rod 7.
  • the distal end of the rotating wrist 1 can be installed with an end effector 2.
  • the proximal end of the rotating wrist 1 is provided with a first connecting part 3 and a second connecting part 4; the distal end of the fixed rod 5 and the first connecting part 3 are rotatably connected through a first hinge shaft 6; so The distal end of the connecting rod 7 is rotatably hinged with the second connecting portion 4; the first telescopic rod 8 is detachably connected to the fixed rod 5, and the distal end of the first telescopic rod 8 It is rotatably hingedly connected to the proximal end of the connecting rod 7, and the first telescopic rod 8 can be driven to telescopically move along the length direction of the fixed rod 5 to drive the rotating wrist 1 around the The first hinge axis 6 rotates relative to the fixed rod 5 .
  • 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, This can avoid the problem that minimally invasive surgical instruments cannot rotate the end effector 2 in a narrow space, or that the end effector 2 interferes with other surgical instruments due to its 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. It will not cause scratches to the human body when minimally invasive surgical instrument components extend into or out of the human 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 body connector 5-2.
  • the fixed pipe body 5-1 is a straight pipe. structure, the distal end of the fixed pipe body connector 5-2 is provided with the first hinge shaft mounting seat 9 and the first receiving groove 10. Since the fixed rod 5 needs to be provided with the first hinge shaft mounting seat 9, Therefore, the fixed rod 5 is provided as a detachable structure including a fixed pipe body 5-1 and a fixed pipe body connecting piece 5-2. On the one hand, it can facilitate the production of the fixed rod 5, that is, the fixed pipe body 5- of the straight pipe structure 1 and the special-shaped tubular fixed pipe body connector 5-2 are manufactured separately.
  • 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, and the L-shaped groove 11 includes a line along the fixed tube body 5-1.
  • 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 Entering or leaving the limiting part through the inlet and outlet channel, along the axial direction of the fixed pipe body 5-1, the length of the limiting part is adapted to the length of the limiting protrusion 12, L-shaped
  • the detachable connection structure of the 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 connector 5-2, but cannot limit the fixed pipe body 5-1 and the fixed pipe body.
  • the circumferential position of the connecting piece 5-2 that is, the fixed pipe body 5-1 and the fixed pipe connecting piece 5-2 may rotate relative to each other around the central axis of the fixed rod 5.
  • the wheel 31-2 drives the first telescopic rod 8 to rotate around its central axis, which in turn drives the end effector 2 and the rotating wrist 1 to rotate. Therefore, when the first telescopic rod 8 rotates, the fixed pipe connecting piece 5-2 will rotate. Driven by the wrist 1, rotation occurs along the central axis of the fixed rod 5 relative to the fixed tube body 5-1, resulting in the risk of the fixed tube body 5-1 and the fixed tube body connector 5-2 becoming detached.
  • this embodiment is fixed
  • the proximal end of the rod 5, that is, the proximal end of the fixed tube body 5-1 is connected to the first telescopic rod 8 through the following circumferential limiter 46, thereby realizing the first telescopic rod 8 and the fixed tube body 5-1
  • the circumferential limit of the fixed rod 5 allows the first telescopic rod 8 and the fixed pipe body 5-1 to rotate synchronously, thereby avoiding the risk of the 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 do not have the function of rotating around the central axis of the fixed rod 5.
  • the L-shaped groove 11 and the limiter are used.
  • the detachable connection structure of the protrusion 12 will not cause the risk of the fixed pipe body 5-1 and the fixed pipe body connecting piece 5-2 being detached.
  • 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 Telescopically move along the length direction of the fixed rod 5 to drive the end effector 2 to extend into or out of the sliding space.
  • 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.
  • the position of the end effector 2 can be finely adjusted through the telescopic movement of the second telescopic rod 16, thereby improving the convenience of operation.
  • the telescopic movement of the end effector 2 driven by the second telescopic rod 16 can also be realized.
  • the lesion location is scraped or cut.
  • the bendable and deformable connector 15 can deform when the end effector 2 has a rotation angle, and connect when the second telescopic rod 16 drives the end effector 2 to a position where it can be deformed.
  • the bending deformation position of the member 15 itself can be moved accordingly to always connect the end effector 2 and the second telescopic rod 16, and when the end effector 2 has a rotation angle, the second telescopic rod 16 can drive the end effector.
  • Device 2 moves.
  • 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 a tube structure with a first hinge shaft mounting seat 9 at the distal end, and the second telescopic rod 16 is located on the fixed rod. 5, and an opening is provided between the first hinge shaft mounting seat 9 and the tube wall of the fixed rod 5 for the connecting piece 15 to pass through; the rotating wrist 1 is hollow inside to form the sliding space. 14 and a passage for the connecting piece 15 to enter the sliding space 14.
  • the passage for the connecting piece 15 to enter the sliding space 14 is preferably adapted to the shape of the peripheral wall of the connecting piece 15.
  • the opening of the fixed rod 5 is preferably shaped to match the outer peripheral wall of the connecting piece 15 to limit and guide the connecting piece 15.
  • the first connecting part 3 has a concave structure, and the bends at both ends
  • the first hinge shaft 6 is provided with a shaft hole for installing the first hinge shaft 6.
  • a hole is formed between the first hinge shaft 6 and the pipe wall between the two bending parts for the connecting piece 15 to pass through.
  • the opening of the first connecting part 3 is preferably shaped to match the outer peripheral wall of the connecting piece 15, and also plays a limiting and guiding role in the connecting piece 15, so that the second telescopic rod 16 moves toward the distal hand.
  • the opening of the fixed rod 5 and the opening of the first connecting part 3 can limit the connecting piece 15 to move toward the distal end under the thrust of the second telescopic rod 16, thereby pushing the end effector 2 to move toward the distal end. , to prevent the connecting member 15 from generating accumulation deformation in the internal space of the second telescopic rod 16 and/or the rotating wrist 1 under the thrust of the second telescopic rod 16 and the resistance of the end effector 2, thereby causing the second The telescopic rod 16 cannot push the end effector 2 to move.
  • 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 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 closing of the clamp means that these two forces will not be coupled, and the rotation of the rotating wrist 1 and the operation of the clamp can be performed simultaneously.
  • 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 are provided on the wall of the first telescopic rod tube body 8-1.
  • the proximal end of the first telescopic rod tube body connecting piece 8-2 is provided with two hooks that can extend into the first telescopic rod tube body 8-1 and adapt to the two bayonet openings 18 respectively.
  • the first telescopic rod tube body 8-1 corresponds to each
  • the bayonet 18 is provided with two groove channels arranged on the pipe wall along the radial direction of the first telescopic rod tube body 8-1.
  • 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 rotates synchronously when the dial wheel 31-2 is rotated.
  • 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 telescopic rod body connecting piece 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, and its two ends are connected by pins. Connection, the elastic piece is assembled from multiple layers of highly elastic stainless steel pieces. This multi-layer structure has good elasticity, and at the same time, the elastic piece can effectively transmit power after being pushed and pulled, so it can be used as a clamp.
  • the end effector 2 of the pliers opens and closes 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 Figures 6 and 7
  • the connecting piece 15 also extends from the center line of the rotating arm 1 to the center line of the fixed rod 5 .
  • the end effector 2 is a clamp that is driven to open and close by the second telescopic rod 16.
  • the clamp includes two jaws 20.
  • the mounting base 22 and the limiting pin 24, at least one of the jaws 20 is provided with an arc-shaped limiting hole 21, and the jaw 20 is rotatably connected to the rotating arm 1 through a first rotating structure, and the third jaw 20 is rotatably connected to the rotating arm 1 through a first rotating structure.
  • the rotation axis of a rotating structure is perpendicular to the moving direction of the end effector 2; the first rotating structure is located on the side where the arc-shaped limiting hole 21 forms an arc opening; the jaw mounting base 22 is provided with There is a linear limiting hole 23 extending along the telescopic direction of the end effector 2, and an arc-shaped limiting hole is provided on the side of the linear limiting hole 23 facing the fixed rod 5 for contacting.
  • the abutment platform of the jaw 20 of the position hole 21, and the jaw mounting seat 22 is connected to the connecting piece 15; the limit pin 24 is provided on the rotating wrist 1, and the limit pin 24 Penetrating the linear limit hole 23 and the arcuate limit hole 21, the clamp is opened and closed through the telescopic movement of the second telescopic rod 16, and the limit pin 24, the linear limit hole 23 and all
  • the arc-shaped limiting hole 21 limits the opening and closing angle.
  • 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 movable protrusion 27 is located on the side of the arc-shaped limiting hole 21 forming the arc opening.
  • the first rotating structure of this embodiment can facilitate the disassembly of the jaw 20 from the rotating wrist 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 rotation groove 29 is located on the side of the arc-shaped limiting hole 21 different from the arc opening, and the second rotating protrusion 28 is located on the side of the linear limiting hole 23 in the width direction.
  • the first rotation structure of the embodiment can facilitate the disassembly of the jaw 20 from the end effector 2 .
  • Another aspect of the present invention provides a minimally invasive surgical instrument, which includes the minimally invasive surgical instrument assembly described above.
  • the minimally invasive surgical instrument adopts the above-mentioned minimally invasive surgical instrument components, the fixed rod 5 and the first telescopic rod 8 can be quickly and easily separated from the handle 31, so that the rod body and the handle can be cleaned and disinfected separately, effectively reducing the need for cleaning. It takes up less space required for disinfection operations and can improve the effect of cleaning and disinfection.
  • the fixed tube body 5-1 is Split into independent components
  • the first telescopic rod tube body 8-1 is split into independent components
  • the second telescopic rod 16 is split into independent components
  • the fixed tube body connector 5-2 the fixed tube body connector 5-2
  • the first telescopic rod tube body connector 8-2 the rotating The wrist 1 is still connected together, and the above three parts can be cleaned and disinfected separately, thereby improving the cleaning and disinfection effect and effectively reducing the space required for cleaning and disinfection operations.
  • 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 Part 56 can quickly realize the end effector 2 and the rotating wrist 1 to return directly and quickly from the position with the rotation angle to the state of the straight clamp head, that is, the end effector 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 is turned by the index finger when the end effector 2 needs to be rotated around the central axis of the fixed rod 5. Rotate.
  • further splitting is possible in other implementations.

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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在手柄上设置具有定位齿槽的定位件，同时在用于驱动所述第一伸缩杆伸缩移动的第一扳机上设置可移动的锁位件，所述锁位件具有齿部嵌入定位齿槽的锁定位置和齿部脱离定位齿槽的活动位置。当需要固定第一扳机和第一伸缩杆的位置时，将锁位件移动至锁定位置，通过齿部与定位齿槽的嵌合实现锁定，当需要移动第一扳机以驱动第一伸缩杆伸缩移动时，将锁位件移动至活动位置，即实现解锁。

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，同时，在操作手柄上设置能够带动细长杆体伸缩移动的扳机，通过人体手指对扳机的扣动或推动动作来带动细长杆体伸缩移动，进而带动端部执行器进行活动。但是，在手术过程中，有时需要端部执行器保持一个稳定的状态并维持一定时间，即需要扳机保持一个位置固定不动，现有技术中的上述结构只能够通过人体手指对扳机进行控制并保持不动，例如夹持扳机使其保持固定，这种方式由于在固定扳机的过程中需要人体手指始终进行定位的控制操作，因此，一方面会由于占用人体部分手指导致影响其他的指部操作，不利于手术的进行，另一方面，对扳机的定位控制操作也会占用使用人员的精力和注意力，导致使用人员的精力和注意力无法集中在端部执行器的手术操作，影响手术进程和效果，此外，通过人体手指对扳机进行定位控制的方式，对使用人员手指操作的精细化要求较高，手指的轻微移动都会导致端部执行器产生误操作。因此，由于现有技术中微创手术器械的扳机是通过人体手指对其进行控制并保持不动以实现定位的，导致现有技术中微创手术器械具有扳机定位操作会影响手术进程和效果，并对使用人员手指操作要求较高的问题。
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的扳机是通过人体手指对其进行控制并保持不动以实现定位的，导致现有技术中微创手术器械具有扳机定位操作 会影响手术进程和效果，并对使用人员手指操作要求较高的问题，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：
手柄；
第一伸缩杆，所述第一伸缩杆可沿其轴向伸缩移动地设置在所述手柄上；
第一扳机，所述第一扳机与所述手柄通过第一扳机铰轴可转动的铰接相连，且所述第一扳机连接所述第一伸缩杆，以能够驱动所述第一伸缩杆伸缩移动；
定位件，所述定位件设置在所述手柄上，且所述定位件设有定位齿槽；以及
锁位件，所述锁位件设有用于嵌入所述定位齿槽的齿部，且所述锁位件可移动的设置在所述第一扳机上，以使所述锁位件具有所述齿部嵌入所述定位齿槽以能够锁定所述第一扳机的锁定位置，和所述齿部脱离所述定位齿槽以能够转动所述第一扳机的活动位置。
可选地，所述定位件包括弧形棘轮片，所述弧形棘轮片环绕所述第一扳机铰轴的设置在所述手柄上，且所述弧形棘轮片设有沿其弧度方向设置的多个作为所述定位齿槽的棘齿槽；
所述锁位件能够在所述锁定位置和所述活动位置之间转动地设置在所述第一扳机上，且所述锁位件位于所述锁定位置时，所述第一扳机仅能够沿弧形棘轮片的弧线方向单向移动。
可选地，所述微创手术器械组件还包括第三弹性件，所述第三弹性件沿所述第一伸缩杆的长度方向设置，所述手柄和所述第一伸缩杆的近手端通过所述第三弹性件相连，或所述手柄和所述第一扳机通过所述第三弹性件相连，以使所述第三弹性件能够向所述第一扳机提供沿逆于所述单向移动方向的力。
可选地，所述微创手术器械组件还包括第四弹性件，所述第四弹性件设置在所述第一扳机上，所述第四弹性件至少与位于所述锁定位置的所述锁位件抵接，以向所述锁位件提供所述齿部向所述定位齿槽内移动方向的压力。
可选地，所述第四弹性件为弹片，所述弹片与位于所述锁定位置的所述锁位件抵接。
可选地，所述微创手术器械组件还包括转动安装座，所述转动安装座可转动的设置在所述第一扳机的非手持端上，且所述转动安装座的转动轴线与所述第一扳机铰轴平行，所述转动安装座设有安装孔，且所述安装孔的轴线与所述第一扳机铰轴异面垂直，所述 第一伸缩杆或与所述第一伸缩杆轴向连接的伸缩杆连接件设置在所述安装孔内。
可选地，所述安装孔的内周壁固定设置有旋转连接轴套，所述旋转连接轴套套设在所述第一伸缩杆的近手端或所述伸缩杆连接件的近手端。
可选地，所述第一扳机的手持端的远手端端面设置为适于搭持人体食指的弧形。
可选地，所述手柄设有环形的握持部，所述握持部的内周壁设有指夹凸出部，所述指夹凸出部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和适于伸入人体无名指的底部空间，所述握持部的外周壁设有搭指凸出部，所述搭指凸出部的远手端端面设置为适于搭持人体小指的弧形。
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，在手柄上设置具有定位齿槽的定位件，同时在用于驱动所述第一伸缩杆伸缩移动的第一扳机上设置可移动的锁位件，所述锁位件具有齿部嵌入定位齿槽的锁定位置和齿部脱离定位齿槽的活动位置。当需要固定第一扳机和第一伸缩杆的位置时，将锁位件移动至锁定位置，通过齿部与定位齿槽的嵌合实现锁定，当需要移动第一扳机以驱动第一伸缩杆伸缩移动时，将锁位件移动至活动位置，即实现解锁，在使用时通过移动锁位件即能够实现对第一扳机的定位和解锁，而无需像现有技术中需要通过人体手指始终控制扳机并保持不动，提升了操作的便利性，降低了使用要求，并能够使人体手指以及使用人员的精力和注意力得到解脱。
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的远手端的第一种实施方式的剖视图；
图4是图3中微创手术器械的远手端的仰视图；
图5是本发明提供的微创手术器械的远手端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的远手端的第三种实施方式的剖视图；
图7是图6中微创手术器械的远手端的结构示意图；
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是本发明提供的微创手术器械组件的正剖视图；
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的部分结构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；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，包括手柄31，第一伸缩杆8，第一扳机49，定位件以及锁位件55；所述第一伸缩杆8可沿其轴向伸缩移动地设置在所述手柄31上；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，且所述第一扳机49连接所述第一伸缩杆8，以能够驱动所述第一伸缩杆8伸缩移动；所述定位件设置在所述手柄31上，且所述定位件设有定位齿槽；所述锁位件55设有用于嵌入所述定位齿槽的齿部，且所述锁位件55可移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定位齿槽的以能够锁定所述第一扳机49锁定位置，和所述齿部脱离所述定位齿槽的以能够转动所述第一扳机49活动位置。
通过上述技术方案，在手柄31上设置具有定位齿槽的定位件，同时在用于驱动所述第一伸缩杆8伸缩移动的第一扳机49上设置可移动的锁位件55，所述锁位件55具有齿部嵌入定位齿槽的锁定位置和齿部脱离定位齿槽的活动位置。当需要固定第一扳机49和第一伸缩杆8的位置时，将锁位件55移动至锁定位置，通过齿部与定位齿槽的嵌合实现锁定，当需要移动第一扳机49以驱动第一伸缩杆8伸缩移动时，将锁位件55移动至活动位置，即实现解锁，在使用时通过移动锁位件55即能够实现对第一扳机49的定位 和解锁，而无需像现有技术中需要通过人体手指始终控制扳机并保持不动，提升了操作的便利性，降低了使用要求，并能够使人体手指以及使用人员的精力和注意力得到解脱。
如图25所示的实施方式中，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。
如图25所示的实施方式中，所述定位件包括弧形棘轮片54，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作为所述定位齿槽的棘齿槽；所述锁位件55能够在所述锁定位置和所述活动位置之间转动地设置在所述第一扳机49上，且所述锁位件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，定位件也可以不设置为棘轮片结构，而设置为齿轮片结构，此时锁位件55也不是可转动地设置在第一扳机49上，而是通过滑轨或滑槽等导向结构可沿定位件的径向移动的设置在第一扳机49上，并在第一扳机49上设置驱动件，以驱动锁位件55朝向或远离定位件移动，从而实现锁位件55在锁定位置和活动位置之间移动。
定位件上的定位齿槽数量可以是多个，例如，在如图25所示的实施方式中，定位件为具有多个定位齿槽的弧形棘轮片54，此时锁位件55嵌入不同的定位齿槽能够实现对第一伸缩杆8不同伸缩位移位置的定位，进一步的实现下述转动腕1不同转动角度的定位，当然，定位件上的定位齿槽数量也可以仅是一个，此时，锁位件55的锁定位置仅实现对第一伸缩杆8的一个固定位置的定位，即实现对下述转动腕1的一个固定角度的定位，例如，实现对转动腕1转动60度的位置的定位。同时，定位件可以是焊接、铆接或通过螺栓等连接件安装在手柄31上，也可以与手柄31设置为一体结构。
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，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，以使所述第三弹性件56能够向所述第一扳机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，也可以是手柄31和下述的转动安装座51通过所述第三弹性件56相连。本实施方式中，第三弹性件56为套设在下述快拆件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。当然，在其他实施方式中，也可以不设置第三弹性件56。
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至少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定位齿槽内移动方向的压力。当然，在其他实施方式中，也可以不设置第四弹性件57。
如图25所示的实施方式中，所述第四弹性件57为弹片，所述弹片与位于所述锁定位置的所述锁位件55抵接，其能够避免当锁位件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，进而影响手术操作的情况。当然，在其他实施方式中，第四弹性件57也可以为弹簧。当然，在其他实施方式中，第四弹性件57还可以不仅仅起到避免锁位件55的齿部脱离棘齿槽的作用，例如上述的驱动锁位件55可沿定位件的径向移动的设置在第一扳机49上的实施方案中，驱动锁位件55在锁定位置和活动位置之间移动的驱动件即可以是采用弹簧的第四弹性件57，此时，第四弹性件57不仅仅是与位于所述锁定位置的所述锁位件55抵接，而是始终与锁位件55抵接或相连，通过第四弹性件57向锁位件55提供由活动位置移动至锁定位置的压力，此时锁位件55在第四弹性件57的压力作用下位于锁定位置，当需要解除锁定时，通过人体手指的操作驱动锁位件55 向活动位置移动，并同时能够移动第一扳机49。
如图25、图28和图29所示，所述微创手术器械组件还包括转动安装座51，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，所述第一伸缩杆8或与所述第一伸缩杆8轴向连接的伸缩杆连接件设置在所述安装孔52内，本实施方式中，伸缩杆连接件即为下述的快拆件35，当然，在其他实施方式中，伸缩杆连接件也可以是其他用于连接的部件，通过第一扳机49绕所述第一扳机铰轴50转动即能够驱动所述作为伸缩杆连接件的快拆件35沿所述第一伸缩杆8的长度方向伸缩移动。当然，在其他实施方式中，也可以不设置转动安装座51，而采用第一扳机49与第一伸缩杆8或伸缩杆连接件铰接相连的结构。
如图25所示的实施方式中，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套设在所述第一伸缩杆8的近手端或所述伸缩杆连接件的近手端，从而避免第一伸缩杆8的近手端或作为伸缩杆连接件的快拆件35的近手端在第一扳机49转动时出现应力集中，进而导致第一伸缩杆8或作为伸缩杆连接件的快拆件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，所述手柄31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31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31，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，以便于抓持手柄31。当然，在其他实施方式中，手柄31也可以设置为其他的现有结构，例如在手柄31设置握把。
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31的握持部的远手侧，以便于操作第一扳机49。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固定杆5，抵接件33和快拆件35，所述固定杆5沿所述第一伸缩杆8的长度方向设置，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；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；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，快拆件35的近手端设置在所述安装孔52内，本实施方式中，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。当然，在其他实施方式中，也可以不设置抵接件33和快拆件35，固定杆5与手柄31固定连接，第一伸缩杆8的近手端设置在所述安装孔52内，通过移动第一扳机49直接驱动第一伸缩杆8伸缩移动。
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，所述第一伸缩杆8可沿其轴向伸缩移动地设置在所述手柄本体31-1上，所述第一扳机49与所述手柄本体31-1通过第一扳机铰轴50可转动的铰接相连，定位件设置在手柄本体31-1上，第三弹性件56一端与手柄本体31-1连接，环形的握持部也设置在手柄本体31-1上，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，本实施方式中，由于设置转动拨轮31-2带动第一伸缩杆8及快拆件35转动，因此快拆件35为可绕所述安装孔52的轴线转动地设置在所述安装孔52内，所述旋转连接轴套53为可转动地套设在所述快拆件35的近手端，在安装孔52处实现了快拆件35的伸缩移动和转动两个自由度，即使快拆件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，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。当然，在其他实施方式中，也可以不设置快拆件35而设有转动拨轮31-2，此时第一伸缩杆8与手柄本体31-1可转动地连接，第一伸缩杆8的外周壁上设有第一周向限位凸台44，同时，第一伸缩杆8的近手端位于安装孔52内，旋转连接轴套53为可转动地套设在所述第一伸缩杆8的近手端上，此时无法实现第一伸缩杆8与手柄31的快速拆卸，但是仍能够使第一伸缩杆8具有伸缩移动和转动两个自由度。
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。
如图3、图5和图6所示的实施方式中，微创手术器械组件还包括转动腕1和连杆7，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11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11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。
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，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。
如图32所示的实施方式中，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。
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钳头的状态，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。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 (7)

  1. 一种微创手术器械组件，其特征在于，包括：
    手柄(31)；
    第一伸缩杆(8)，所述第一伸缩杆(8)可沿其轴向伸缩移动地设置在所述手柄(31)上；
    第一扳机(49)，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，且所述第一扳机(49)连接所述第一伸缩杆(8)，以能够驱动所述第一伸缩杆(8)伸缩移动；
    定位件，所述定位件设置在所述手柄(31)上，且所述定位件设有定位齿槽；以及
    锁位件(55)，所述锁位件(55)设有用于嵌入所述定位齿槽的齿部，且所述锁位件(55)可移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定位齿槽以能够锁定所述第一扳机(49)的锁定位置，和所述齿部脱离所述定位齿槽以能够转动所述第一扳机(49)的活动位置；
    所述定位件包括弧形棘轮片(54)，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作为所述定位齿槽的棘齿槽；
    所述锁位件(55)能够在所述锁定位置和所述活动位置之间转动地设置在所述第一扳机(49)上，且所述锁位件(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；
    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，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，以使所述第三弹性件(56)能够向所述第一扳机(49)提供沿逆于单向移动方向的力；
    所述微创手术器械组件还包括固定杆(5)、第二伸缩杆(16)和第二扳机(59)，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，所述第一伸缩杆(8)的近手端伸出所述固定杆(5)，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。
  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)至少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定位齿槽内移动方向的压力。
  3. 根据权利要求2所述的微创手术器械组件，其特征在于，所述第四弹性件(57)为弹片，所述弹片与位于所述锁定位置的所述锁位件(55)抵接。
  4. 根据权利要求1-3中任一项所述的微创手术器械组件，其特征在于，所述微创手术器械组件还包括转动安装座(51)，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，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，所述第一伸缩杆(8)或与所述第一伸缩杆(8)轴向连接的伸缩杆连接件设置在所述安装孔(52)内。
  5. 根据权利要求4所述的微创手术器械组件，其特征在于，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)套设在所述第一伸缩杆(8)的近手端或所述伸缩杆连接件的近手端。
  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。
  7. 根据权利要求1所述的微创手术器械组件，其特征在于，所述手柄(31)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)，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。
PCT/CN2023/111213 2022-08-09 2023-08-04 微创手术器械组件 WO2024032495A1 (zh)

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