WO2024036872A1

WO2024036872A1 - Handheld instrument

Info

Publication number: WO2024036872A1
Application number: PCT/CN2022/144022
Authority: WO
Inventors: 姜鹏; 孔维阳; 林晋生
Original assignee: 武汉联影智融医疗科技有限公司
Priority date: 2022-08-19
Filing date: 2022-12-30
Publication date: 2024-02-22

Abstract

A handheld instrument (100). The handheld instrument (100) comprises a control structure (110), a frame (160), and an execution structure (130). The control structure (110) is connected to the execution structure (130) by means of the frame (160). The control structure (110) comprises a transmission structure and a control handle (113). The control handle (113) is in transmission connection to the execution structure (130) by means of the transmission structure.

Description

a handheld instrument

cross reference

This application claims the priority of Chinese application number 202211011347.7 submitted on August 23, 2022, the priority of Chinese application number 202211001531.3 submitted on August 19, 2022, and the Chinese application number 202211070433.5 submitted on September 2, 2022 , as well as the priority of Chinese application number 202211588340.1 filed on December 12, 2022, the contents of which are incorporated herein by reference.

Technical field

This specification relates to the field of medical devices, particularly a hand-held device.

Background technique

Endoscopic minimally invasive surgery refers to drilling a hole in the natural orifice of the human body or the abdominal cavity, extending part of the instrument (such as a handheld instrument) into the body, and using the control structure of the instrument outside the body to control the actuator in the body to complete the surgical operation and achieve treatment. surgery. Handheld instruments are instruments that are manually controlled by the operator to perform surgical operations, thereby achieving endoscopic minimally invasive surgery. For example, by controlling the control structure, the actuator can be controlled to deflect and roll, and surgical operations such as shearing and clamping can be realized.

Contents of the invention

The embodiment of this specification provides a handheld instrument, including a control structure, a frame and an execution structure; the control structure is connected to the execution structure through the frame; the control structure includes a transmission structure and a control handle, and the control handle is connected to the control structure. The execution structure is drivingly connected through the transmission structure.

In some embodiments, the frame includes an attachment, and the attachment is connected to the control handle through the transmission structure.

In some embodiments, the attachment includes an opening structure.

In some embodiments, the opening structure is an arched opening structure.

In some embodiments, the arched opening structure includes a C-shaped structure or a U-shaped structure.

In some embodiments, the attachment is provided with at least one of an airbag, a flexible wristband, and a rigid bendable wristband.

In some embodiments, the attachment includes a first clamping part, a second clamping part and a distance adjustment mechanism, the first clamping part and the second clamping part are used to clamp the wrist, so The distance adjustment mechanism is used to adjust the distance between the first clamping part and the second clamping part.

In some embodiments, the frame includes a quick-change assembly to achieve detachable connection between the control structure and the execution structure.

In some embodiments, the quick-change assembly includes a detachably connected power part and a driving part, the power part is connected to the control structure, and the driving part is connected to the execution structure.

In some embodiments, the transmission structure includes a motion analysis component and a motion transmission component. The motion analysis component is connected between the control handle and the frame. The motion transmission component at least partially passes through the frame and the frame. The execution structure is connected; the motion analysis component is used to analyze the operation of the control handle into a control motion and transfer it to the motion transfer component, and the motion transfer component transfers the control motion to the execution structure, thereby Control the movement of the execution structure.

In some embodiments, the motion resolution component includes a parallel resolution mechanism.

In some embodiments, the parallel analytical structure includes two chain belts, one end of the chain belt is connected to the motion transmission component through the attachment, and the other end of the chain belt is connected to the control handle. , the control operation of the control handle is transmitted to the attachment through the chain belt conversion, and is transmitted to the execution structure through the motion transmission assembly.

In some embodiments, the motion resolution component includes a tandem resolution mechanism.

In some embodiments, the series resolution mechanism includes a deflection portion that is rotationally connected to the frame.

In some embodiments, the control handle and the deflection part are rotationally connected through a first rotating shaft, and the first rotating shaft and the execution structure are transmission connected through the motion transmission component, and the control handle is connected relative to the The rotation of the deflection part is converted into a deflection of at least part of the actuating structure in the first direction.

In some embodiments, the deflection part is rotationally connected to the frame through a second rotating shaft, and the second rotating shaft and the execution structure are drivingly connected through the motion transmission component, and the deflection part is connected relative to the frame. The rotation is converted into at least part of the deflection of the execution structure in the second direction, and the angle between the first direction and the second direction is greater than 0° and less than 180°.

In some embodiments, the first axis where the first rotation axis is located is perpendicular to and intersects with the second axis where the second rotation axis is located, and the axis of the execution structure deviates from the first axis and the second axis. intersection.

In some embodiments, the execution structure includes a deflection segment, a distal actuator and a rod-shaped structure, one end of the rod-shaped structure is connected to one end of the deflection segment, and the other end of the rod-shaped structure is connected to the The frame is connected, and the distal actuator is connected to the other end of the deflection section; the deflection section is a flexible deflection joint.

In some embodiments, the control structure further includes a trigger, which is rotationally connected to the control handle through a fourth rotating shaft, and the remote effector includes a first execution part and a second execution part, and the first execution part At least part of the execution part and at least part of the second execution part are relatively opened and closed to implement the shearing and clamping operations of the distal effector, and the fourth rotating shaft is connected with the first execution part and/or the The second execution part is transmission connected to convert the rotation of the trigger relative to the control handle into relative opening and closing of at least part of the first execution part and at least part of the second execution part.

In some embodiments, the execution structure includes a curved structure, the curved structure includes a plurality of supports, a plurality of connectors and a plurality of rotating members, the connectors are connected to the supports, and the connectors Both ends of the support member protrude from both sides of the support member respectively along the thickness direction of the support member, and both ends of the connector are provided with connection structures, and the rotating member is provided with a fifth rotating shaft and a sixth rotating shaft. Rotating axis; the fifth rotating axis and the sixth rotating axis have an included angle greater than 0° and less than or equal to 180°; a plurality of the supporting parts and the rotating parts are staggeredly arranged, and any two adjacent ones of the rotating parts are staggered. One of the rotating parts is arranged between the supporting parts; the fifth rotating shaft of the rotating part is rotationally connected to the connecting structure of the connecting part on the previous supporting part, and/or, the rotating part The sixth rotating shaft is rotatably connected to the connecting structure of the connecting piece on the rear supporting piece.

In some embodiments, the connection structure includes an excellent arc-shaped groove, and the side surfaces of the fifth rotating axis and the sixth rotating axis include a first arc surface, a first plane, and a second arc surface connected in sequence along the circumferential direction. , a second plane, the fifth rotating axis and the sixth rotating axis can be disposed in the excellent arc-shaped groove, and the distance between the first plane and the second plane is smaller than the excellent arc-shaped groove. The distance between the two ports of the groove, the first arc surface and the second arc surface fit with the inner surface of the excellent arc groove.

In some embodiments, the rotating member is cylindrical, the fifth rotating shaft and the sixth rotating shaft are both disposed on side surfaces of the rotating member, and the distance between the first plane and the second plane is The distance is the same as the thickness of the rotating member.

In some embodiments, the support member is provided with two connecting members; both ends of the fifth rotating shaft are respectively connected to the two connecting members; or, the two ends of the sixth rotating shaft are respectively connected to the two connecting members. Connected to the two connectors.

In some embodiments, the connecting member is detachably connected to the supporting member.

In some embodiments, the support member includes an annular structure, and the connecting member is connected inside the annular structure.

In some embodiments, a through groove extends along the thickness direction of the support member on the inner side of the support member, and the connecting member can be snapped into and fixed in the through groove.

In some embodiments, the connecting piece is provided with a first thickness section, a second thickness section and a third thickness section in sequence along the length direction of the connecting piece, and the first thickness section and the third thickness section are The thickness is greater than the thickness of the second thickness section; the second thickness section is stuck in the through groove, and the first thickness section and the third thickness section are respectively stuck in the support member along the support. on both sides in the thickness direction of the piece.

In some embodiments, the rotating member is provided with a through hole, and the through hole penetrates the rotating member along a thickness direction of the rotating member.

In some embodiments, the execution structure includes an articulation assembly, the articulation assembly includes an inner joint and an outer joint, and the outer joint is sleeved outside the inner joint.

In some embodiments, the control handle is provided with a roll control component, and the roll control component is used to rotate the inner joint relative to the outer joint around the axis of the inner joint.

In some embodiments, one of the inner joint and the outer joint is connected to a rotating member, and the other is provided with a deflection mechanism; the inner joint and the outer joint are connected to the rotating member. The joint can roll around its own axis driven by the rotating member relative to the joint provided with the deflection mechanism; the joint provided with the deflection mechanism can roll around its own axis driven by the deflection mechanism. It performs a deflection motion and drives the joint connected with the rotating member to perform a deflection motion.

In some embodiments, the inner joint is connected with the rotating member, and the outer joint is provided with the deflection mechanism.

In some embodiments, the rotating member includes an inner tube, and the deflection mechanism includes an outer tube and a wire rope; wherein the outer tube is sleeved outside the inner tube, and the inner tube can be driven relative to the desired position. The outer tube performs rolling motion around its own axis.

In some embodiments, the proximal end of the inner joint is connected to the distal end of the inner tube, and the proximal end of the outer joint is connected to the distal end of the outer tube; one end of the wire rope is fixed on the outer tube. The other end of the wire rope passes from the distal end of the outer joint to the proximal end of the outer tube.

In some embodiments, a bearing connection is provided between the distal end of the inner joint and the distal end of the outer joint.

In some embodiments, a barrier is provided between the inner joint and the outer joint, and the barrier includes a wear-resistant material.

In some embodiments, the barrier is in the form of a tubular structure and is sleeved on the outside of the internal joint.

In some embodiments, the outer joint is provided with a rigid member, and the rigid member is disposed on the outer joint along the length direction of the outer joint.

The handheld instrument provided by the embodiments of this specification provides a transmission structure between the control handle and the execution structure. The transmission structure interprets the operation of the control handle into control motion and transmits it to the execution structure, so that the movement between the control handle and the execution structure can be achieved. Delivery is more accurate.

Description of drawings

This specification is further explained by way of example embodiments, which are described in detail by means of the accompanying drawings. These embodiments are not limiting. In these embodiments, the same numbers represent the same structures, where:

Figure 1A is a simple structural schematic diagram of a handheld instrument according to some embodiments of this specification;

Figure 1B is an exemplary structural diagram of a handheld instrument according to some embodiments of the present specification;

Figure 2 is an exemplary exploded view of a handheld device according to some embodiments of the present specification;

Figure 3 is an exemplary structural diagram of a flexible wristband according to some embodiments of this specification;

Figure 4 is another exemplary structural diagram of an attachment according to some embodiments of this specification;

Figure 5 is an exemplary structural diagram of a quick-change assembly according to some embodiments of this specification;

Figure 6 is an exemplary structural diagram of an execution structure according to some embodiments of this specification;

Figure 7A is an exemplary structural diagram of another handheld instrument according to some embodiments of this specification;

Figure 7B is a schematic diagram of roll control of a handheld instrument according to some embodiments of this specification;

Figure 8 is a partial structural schematic diagram of a handheld instrument using parallel transmission according to some embodiments of this specification;

Figure 9 is a schematic structural diagram of a joint motion assembly according to some embodiments of this specification;

Figure 10 is a schematic structural diagram of the inner joint and the outer joint after yaw movement according to some embodiments of this specification;

Figure 11 is a schematic diagram of the connection between the internal joint and the rotating member according to some embodiments of this specification;

Figure 12 is a schematic diagram of the connection between the outer joint and the outer tube according to some embodiments of this specification;

Figure 13 is a schematic structural diagram of an internal joint unit according to some embodiments of this specification;

Figure 14 is a schematic structural diagram of an internal joint unit connector according to some embodiments of this specification;

Figure 15 is a schematic structural diagram of an external joint unit according to some embodiments of this specification;

Figure 16 is an exemplary structural schematic diagram of a curved structure according to some embodiments of this specification;

Figure 17 is a schematic diagram of an exemplary connection structure of a curved structure according to some embodiments of this specification;

Figure 18 is a schematic diagram of an exemplary connection structure of a support member and a connecting member according to some embodiments of this specification;

Figure 19 is an exemplary structural schematic diagram of a connector shown according to some embodiments of this specification;

Figure 20 is an exemplary structural schematic diagram of a rotating member according to some embodiments of this specification;

Figure 21 is a schematic diagram of an exemplary assembly process of a curved structure according to some embodiments of this specification;

Figure 22 is a schematic diagram of an exemplary assembly process of a curved structure according to some embodiments of this specification;

Figure 23 is a schematic diagram of an exemplary assembly process of a curved structure according to some embodiments of the present specification.

Detailed ways

In order to explain the technical solutions of the embodiments of this specification more clearly, the accompanying drawings needed to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some examples or embodiments of this specification. For those of ordinary skill in the art, without exerting any creative efforts, this specification can also be applied to other applications based on these drawings. Other similar scenarios. Unless obvious from the locale or otherwise stated, the same reference numbers in the figures represent the same structure or operation.

It will be understood that the terms "system", "apparatus", "unit" and/or "module" as used herein are a means of distinguishing between different components, elements, parts, portions or assemblies at different levels. However, said words may be replaced by other expressions if they serve the same purpose.

As shown in this specification and claims, words such as "a", "an", "an" and/or "the" do not specifically refer to the singular and may include the plural unless the context clearly indicates an exception. Generally speaking, the terms "comprising" and "comprising" only imply the inclusion of clearly identified steps and elements, and these steps and elements do not constitute an exclusive list. The method or apparatus may also include other steps or elements.

Flowcharts are used in this specification to illustrate operations performed by systems according to embodiments of this specification. It should be understood that preceding or following operations are not necessarily performed in exact order. Instead, the steps can be processed in reverse order or simultaneously. At the same time, you can add other operations to these processes, or remove a step or steps from these processes.

The embodiment of this specification provides a handheld instrument. The handheld instrument may include a control structure, a frame and an execution structure. The control structure is connected to the execution structure through the frame. The function of the frame is to support the control structure and the execution structure, and to realize the connection between the control structure and the execution structure. For example, the control structure can control the execution structure to deflect, roll, open and close in different directions. In some embodiments, the control structure may include a transmission structure and a control handle, and the control handle and the execution structure are transmission connected through the transmission structure. In some embodiments, the transmission structure can be transmission connected between the control handle and the execution structure. The transmission structure can interpret the operation of the control handle into control motion and transmit it to the execution structure, thereby controlling the movement of the execution structure.

Figure 1A is a simple structural schematic diagram of a handheld instrument according to some embodiments of this specification. FIG. 1B is an exemplary structural diagram of a handheld instrument according to some embodiments of the present specification. Figure 2 is an exemplary exploded view of a handheld instrument according to some embodiments of the present disclosure.

Referring to FIG. 1A , the handheld instrument 100 may include a control structure 110 , a frame 160 and an execution structure 130 . The frame 160 may be connected between the control structure 110 and the execution structure 130 . The frame 160 can support the control structure 110 and the execution structure 130 and connect the control structure 110 and the execution structure 130 . The control structure 110 may include a transmission structure and a control handle 113 . The control handle 113 is transmission connected with the execution structure 130 through the transmission structure. In some embodiments, the frame 160 may also accommodate and support the transmission structure, for example, at least part of the transmission structure may be mounted on the frame 160 .

In some embodiments, with reference to FIGS. 1A-2 , the control operations of the control structure 110 can be transferred to the execution structure 130 to control the execution structure 130 to perform corresponding preset operations. In some embodiments, the control structure 110 may include a transmission structure and a control handle 113, and the control handle 113 and the execution structure 130 are transmission connected through the transmission structure. In some embodiments, the relative rotation between the components on the control handle 113 can be transmitted to the execution structure 130 through the transmission structure to control at least part of the execution structure 130 to move in a certain direction (for example, the first direction, the second direction). direction). In some embodiments, the relative rotation between the components on the control handle 113 can be transmitted to the execution structure 130 through the transmission structure to control at least part of the execution structure 130 to roll along the axis direction of the execution structure 130 . In some embodiments, the relative rotation between the components on the control handle 113 can be transmitted to the execution structure 130 through the transmission structure to control at least part of the execution structure 130 to be able to open and close relatively.

The control structure 110 may be a component or assembly through which an operator performs control operations. The operator's control operation on the control structure 110 can be converted into at least part of the execution structure 130 to perform corresponding preset operations through the transmission structure. In some embodiments, the control structure 110 of the handheld instrument 100 can be fixed on the operator's wrist, and the operator can control the control structure 110 through hand and wrist movements, and then control the execution structure 130 through the transmission structure. control.

In some embodiments, frame 160 may include attachments 112 . Attachment 112 may be used to attach handheld instrument 100 in a location convenient for the operator. For example, handheld instrument 100 may be attached at the operator's hand or wrist via attachment 112 . In some embodiments, the attachment 112 includes an opening structure, which may be an arched opening structure. The arched opening structure may have two ends, namely a first end 1111 and a second end 1112 (as shown in Figure 2). There may be an opening between the first end 1111 and the second end 1112 for penetrating into the wrist, and the attachment 112 may be located at the wrist when the handheld instrument 100 is used. During donning (and/or removal) of the handheld device 100, the wrist can be inserted directly into (and/or out of) the attachment 112 through the opening between the first end 1111 and the second end 1112 , to achieve wearing (and/or taking off) the handheld device 100 . In some embodiments, the arched opening structure of the attachment 112 may include a C-shaped, U-shaped, arc-shaped, or other semi-open structure with an opening. In some embodiments, when the attachment 112 has a semi-open structure, the opening of the attachment 112 may be located at the bottom of the attachment 112 (as shown in FIGS. 1B and 2 ). In some embodiments, the opening of attachment 112 may also be located at other locations on attachment 112, such as on the side. It can be understood that it can be ensured that the position of the opening on the attachment 112 does not affect the arrangement of other structures (for example, the first rotating shaft 141, the second rotating shaft 142, etc.), and the opening of the attachment 112 can be located anywhere on the attachment 112. The location is not specifically limited in this manual.

By configuring the structure of the attachment 112 to be semi-open, the process of putting on and/or taking off the handheld instrument 100 can be made more convenient and faster, thereby facilitating the replacement of the instrument during the operation. Specifically, by configuring the structure of the attachment 112 to be semi-open, the operator can put on and/or take off the handheld instrument 100 with one hand. For example, the operator's hand or wrist can be directly removed from the attachment. 112 is inserted into the opening to complete the wearing process. This arrangement can overcome the problem that existing closed-loop structure handheld instruments require both hands to operate or an assistant (such as a nurse) to assist in wearing. In addition, the structure of the attachment 112 is set to be semi-open. When the attachment 112 is located at the wrist, it has less constraints on the wrist, thereby freeing up the movement space of the wrist and making it easier for the operator to perform operations. For example, when an operator wears the handheld instrument 100 for surgery, he needs to rotate his wrist to control the execution structure 130 of the handheld instrument 100 to perform the corresponding surgical operation. Since the semi-open attachment 112 has less constraints on the operator's wrist, The operator's wrist can be freed from the constraints of the attachment 112 when rotating, thereby reducing the operator's wrist fatigue, thus facilitating the operator's surgical operation.

In some embodiments, the attachment 112 may also include a coupling member connected to two ends of the semi-open structure, and the coupling member is used to open and close the structure of the attachment 112 . For example, in some specific embodiments, one end of the coupling member can be rotatably connected to one end of the semi-open structure, and the other end of the coupling member is snap-connected to the other end of the semi-open structure. By adjusting the connection state of the rotating connection end and the snap-in connection end To achieve the opening and closing of the attachment 112 structure.

In some embodiments, attachment 112 is used to wear handheld instrument 100 on the wrist. In order to improve the stability and comfort of the handheld instrument 100 when worn, the attachment 112 may be provided with at least one of an air bag, a flexible wristband 1121, a rigid and flexible wristband, and the like. In some embodiments, the inner side of the attachment 112 may be provided with an airbag. When the attachment 112 is located at the wrist, the airbag surrounds and adheres to the wrist, and the attachment 112 is fixed at the wrist through the airbag. In some embodiments, the inflation volume of the air bag can be adaptively adjusted according to the operator's wrist size, so that the attachment 112 can be fixed on the wrists of different operators. At the same time, the tightness of the attachment 112 when fixed on the wrist can also be adjusted by adjusting the inflation amount of the air bag, thereby improving the operator's operating experience and wearing comfort.

Figure 3 is an exemplary structural diagram of a flexible wristband according to some embodiments of the present specification. In some embodiments, a flexible wristband 1121 may be provided on the inner side of the attachment 112 . In some embodiments, the flexible wristband 1121 may be a belt-like structure made of flexible material. For example, the flexible wristband 1121 may be a nylon cord, and the nylon cord may be tied around the wrist. In other embodiments, the flexible wristband 1121 may be a belt-shaped structure made of elastic material, and the elastic material may enable the flexible wristband 1121 to be more closely connected to the wrist. In some embodiments, the flexible wristband 1121 may include a fixation part 11211 and a deformation part 11212. The flexible wristband 1121 is connected to the attachment 112 through the fixing part 11211. When the handheld instrument 100 is used, the deformation part 11212 is connected to the peripheral side of the wrist. In some embodiments, the deformation part 11212 can undergo elastic deformation (for example, deformation after stretching) under the action of external force. After the deformation part 11212 is connected to the wrist, the deformation part 11212 can be realized under the action of elastic restoring force. Tightly connected to the wrist. In some embodiments, the soft material may include, but is not limited to, one or more of rubber materials, silicone materials, polyvinyl chloride (PVC), and the like.

In some embodiments, a rigid flexible wrist strap may also be provided on the inner side of attachment 112 . The rigid flexible wristband may be a strap-like structure made of rigid material. In some embodiments, at least a portion of the structure of the rigid flexible wristband may be fixedly connected to attachment 112 . For example, the middle part of the rigid flexible wristband is fixedly connected to the top of the inner side of the attachment 112, the remaining part of the rigid flexible wristband surrounds the inner circumferential side of the attachment 112, and both ends of the rigid flexible wristband Free settings. In some embodiments, a rigid flexible wristband made of rigid material can be deformed (eg, bent and deformed) under the action of external force, and can achieve attachment of the attachment 112 to the wrist when deformed. For example, the rigid flexible wristband can be bent by the wrist touching the rigid flexible wristband, and the rigid flexible wristband can be tightly attached to the wrist after being bent, thereby achieving the attachment of the attachment 112 to the wrist. By way of example only, rigid bendable wristbands may include snap rings, steel wristbands, and the like. In some embodiments, the rigid material may include metal (such as memory alloy).

Figure 4 is another exemplary structural diagram of an attachment according to some embodiments of the present specification. In some embodiments, the attachment 112 may include a first clamping part 1122, a second clamping part 1123, and a distance adjustment mechanism 1124, and the distance adjustment mechanism 1124 may adjust the first clamping part 1122 and the second clamping part 1123 spacing between. When the handheld instrument 100 is in use, the first clamping part 1122 and the second clamping part 1123 are clamped on the wrist. In some embodiments, the distance adjustment structure 1124 may include components such as a gear rack and a worm gear. For example only, when the distance adjustment mechanism 1124 includes a gear and a rack, one of the gear and the rack is connected to the first clamping part 1122, the other is connected to the second clamping part 1123, and the gear and the rack are engaged. . By adjusting the relative position between the gear and the rack, the distance between the first clamping part 1122 and the second clamping part 1123 can be adjusted. In some embodiments, the first clamping portion 1122 and the second clamping portion 1123 may include a flexible structure 1125 (eg, a soft pad) that contacts the wrist when the handheld instrument 100 is in use. By providing the flexible structure 1125 on the first clamping part 1122 and the second clamping part 1123, the attachment 112 can be adapted to wrists of different sizes while also improving wearing comfort.

In other embodiments, the attachment 112 may also be a ring-shaped structure that can be put on the wrist. When the handheld device 100 is in use, the operator's hand and wrist pass through the ring-shaped structure to wear it.

In some embodiments, frame 160 may include quick change assembly 120 . Figure 5 is an exemplary structural diagram of a quick-change assembly according to some embodiments of this specification. 1B, 2 and 5, the quick change assembly 120 may include a detachably connected power part 120-1 and a driving part 120-2. The power part 120-1 is connected to the transmission structure of the control structure 110 (for example, the deflection part 111 below), and the driving part 120-2 is connected to the execution structure 130 (for example, the rod structure 133 below). In some embodiments, the power part 120-1 may include a first housing 121-1, and the driving part 120-2 may include a second housing 121-2. The first housing 121-1 can be provided on the transmission structure (for example, the deflection part 111 below), the second housing 121-2 can be provided on the first housing 121-1, and the second housing 121-2 is connected to the execution structure. Structure 130 connections. The first housing 121-1 and the second housing 121-2 are detachably connected, whereby the execution structure 130 and the control structure 110 can be detachably connected. The first housing 121-1 can package at least part of the structure of the power part 120-1, and the second housing 121-2 can package at least part of the structure of the driving part 120-2. In some embodiments, the connection between the first housing 121-1 and the second housing 121-2 may be a detachable connection. For illustrative purposes only, the first housing 121-1 and the second housing 121-2 may be connected by snapping. By setting the connection mode between the first housing 121-1 and the second housing 121-2 to be a detachable connection, the handheld instrument 100 can be easily disassembled and/or assembled, thereby facilitating the handheld instrument 100. Carry out operations such as cleaning, disinfection and sterilization. In other alternative embodiments, the first housing 121-1 and the second housing 121-2 can also be connected through other means, such as spring hooks, etc. In some embodiments, at least part of the transmission structure can also pass through the frame 160 to realize the transmission connection between the control structure 110 and the execution structure 130 . For example, the motion transmission component of the transmission structure described below may at least partially pass through the power part 120-1 and the driving part 120-2.

In some embodiments, the transmission structure can be used to realize the transmission connection between the control structure 110 (for example, the control handle 113) and the execution structure 130. The control operation of the control handle 113 can be transmitted to the execution structure 130 through the transmission structure, so that the execution structure 130 performs corresponding operations. In some embodiments, the transmission structure may include a motion analysis component and a motion transmission component. The motion analysis component may be connected between the control handle 113 and the frame 160 , and at least part of the motion transmission component passes through the frame 160 and is connected to the execution structure 130 . The motion analysis component can be used to analyze the operation of the control handle 113 into a control motion and transmit it to the motion transmission component. Further, the motion transmission component can transmit the analyzed control motion to the execution structure 130, thereby controlling the movement of the execution structure 130. In some embodiments, the motion transfer assembly may include a rope drive assembly. By way of example, the rope transmission assembly may include a wire pulley, a transmission rope, a traction rope, etc. In other embodiments, the motion transmission assembly may include a rack and pinion, a worm gear, or the like.

In some embodiments, the motion resolution component may include a tandem resolution mechanism. A series analytical mechanism can refer to a series combination mechanism formed by the sequential connection of several mechanisms with a single degree of freedom. The output motion of each front mechanism is the motion input of the rear mechanism. The series analysis mechanism can analyze the operation of the control handle 113 into series control motion. After the control operation of the control handle 113 is parsed into a series control movement by the series analysis mechanism, the series control movement can control the execution structure 130 to perform corresponding operations in sequence (for example, any one of deflection, rolling, opening and closing movements). For example, after the control operation of the control handle 113 is analyzed into a series control movement by the series analysis mechanism, the execution structure 130 can first deflect, then roll based on the deflection, and finally perform an opening and closing movement. In some embodiments, continuing to refer to FIGS. 1B and 2 , the series resolution mechanism may include a deflection portion 111 rotatably connected to the frame 160 . In some embodiments, the deflection part 111 may have an arched opening structure. The deflection part 111 is provided between the attachment 112 and the frame 160. The attachment 112 is fixedly connected to the frame 160. The motion transmission assembly (for example, a rope transmission assembly) ) at least partially passes through the frame 160, and the rotation operation of the deflection portion 111 relative to the frame 160 can be transmitted to the execution structure 130 through the motion transmission assembly.

In some embodiments, the control handle 113 is rotationally connected to the deflection portion 111 . In some embodiments, the control handle 113 can be rotationally connected to the deflection portion 111 through the first rotating shaft 141 , and the first rotating shaft 141 is transmission connected to the execution structure 130 . When the control handle 113 is operated, the control handle 113 can rotate relative to the deflection portion 111 , and the rotation of the control handle 113 relative to the deflection portion 111 can be transmitted to the execution structure 130 through the motion transmission component, so that at least part of the execution structure 130 moves in the first direction. deflection. The deflection part 111 can analyze the rotation of the control handle 113 relative to the deflection part 111 into a first deflection control movement and transmit it to the motion transmission component. Furthermore, the first deflection control movement can be transmitted to the execution structure 130 through the motion transmission component, thereby controlling the execution. At least a portion of structure 130 is deflected in a first direction. The first direction may be the "z" direction shown in Figure IB. In some embodiments, the deflection of at least part of the actuating structure 130 in the first direction may also be referred to as pitch deflection. In some embodiments, the first rotation axis 141 may be perpendicular to the first direction.

In some embodiments, the control handle 113 may include a connecting member 1131 , and the control handle 113 is rotationally connected to the deflection part 111 through the connecting member 1131 and the first rotating shaft 141 . In some embodiments, the connector 1131 may be a curved frame structure with two ends. At least part of the connecting member 1131 (eg, the middle position) may be fixedly connected to the control handle 113 , and two ends of the connecting member 1131 are connected to the deflection part 111 through the first rotating shaft 141 respectively. In some embodiments, when the control handle 113 is controlled to rotate relative to the first rotating shaft 141 in the first direction, the control handle 113 can drive the first rotating shaft 141 to rotate through the connecting piece 1131, thereby realizing the rotation of the control handle 113 relative to the deflection portion 111. Turn. In some embodiments, the first rotating shaft 141 can be connected to the execution structure 130 through a motion transmission assembly, and the rotation of the first rotating shaft 141 (that is, the rotation of the control handle 113 relative to the deflection portion 111) can be transmitted to the execution structure 130 through the motion transmission assembly. , and causing at least part of the actuating structure 130 (eg, the deflection section 132) to deflect in the first direction. In other embodiments, the connecting member 1131 may also be a rod-shaped structure. One end of the rod-shaped structure is connected to the control handle 113 and the other end is rotationally connected to the first rotating shaft 141 . It should be noted that the above structure of the connecting member 1131 is only described as an example and is not intended to be limiting. In other embodiments, the connecting member 1131 may also include other structures, such as a "Y"-like structure.

In some embodiments, the execution structure 130 is fixedly connected to the frame 160 (such as the quick change assembly 120). The frame 160 is rotatably connected to the deflection part 111 . In some embodiments, the deflection portion 111 can be rotationally connected to the frame 160 through the second rotating shaft 142, and the second rotating shaft 142 is connected to the execution structure 130 through the motion transmission assembly. The deflection part 111 can analyze the rotation of the deflection part 111 relative to the frame 160 into a second deflection control movement and transmit it to the motion transmission component. Furthermore, the second deflection control movement can be transmitted to the execution structure 130 through the motion transmission component, thereby controlling the execution. At least part of structure 130 is deflected in the second direction. The second direction may be the "y" direction shown in Figure IB. In some embodiments, the deflection of at least part of the execution structure 130 in the second direction may also be referred to as horizontal deflection. In some embodiments, the second axis of rotation 142 may be perpendicular to the second direction.

In some embodiments, one end of the second rotating shaft 142 may be fixedly connected to the deflecting part 111 , and the deflecting part 111 is rotationally connected to the frame 160 through the second rotating shaft 142 . The other end of the second rotating shaft 142 is drivingly connected to the execution structure 130 through a motion transmission assembly, and the rotation of the deflection portion 111 relative to the frame 160 can be converted into a deflection motion of the execution structure 130 . In some embodiments, when the deflection part 111 is connected to the wrist, the operator controls the control handle 113 so that the control handle 113 rotates relative to the second rotation axis 142 in the second direction, thereby driving the deflection part 111 to rotate relative to the frame 160 , the rotation of the deflection portion 111 relative to the frame 160 can be transmitted to the execution structure 130 through the motion transmission assembly, so that at least part of the execution structure 130 (eg, the deflection section 132) is deflected in the second direction.

In some embodiments, the first direction and the second direction may have an included angle greater than 0° and less than 180°. In some embodiments, as shown in FIG. 1B and FIG. 2 , the first direction and the second direction may be perpendicular. At least part of the execution structure 130 can be deflected in the first direction and the second direction, which can facilitate the handheld instrument 100 to perform operations on the surgical site at a suitable angle during surgery.

Figure 6 is an exemplary block diagram of an execution structure shown in accordance with some embodiments of this specification. As shown in FIG. 1B and FIG. 6 , the execution structure 130 may include a distal effector 131 , a deflection section 132 and a rod-shaped structure 133 . One end of the rod-shaped structure 133 is connected to one end of the deflection section 132, the other end of the rod-shaped structure 133 is connected to the frame 160 (such as the quick change assembly 120), and the remote actuator 131 is connected to the other end of the deflection section 132. In some embodiments, at least part of the deflection of the actuator structure 130 in the first and second directions may be a deflection of the deflection segment 132 in the first and second directions.

In some embodiments, the first rotating shaft 141 can be connected to the deflection section 132 through a motion transmission assembly. The motion transmission assembly can transmit the rotation of the first rotating shaft 141 (that is, the rotation of the control handle 113 relative to the deflection portion 111) to the deflection section. 132, causing the deflection section 132 to deflect in the first direction. For example only, the motion transmission assembly may include a first deflection wire wheel and a first deflection traction cable. The first deflection wire wheel is coaxially arranged with the first rotating shaft 141 , and one end of the first deflection traction cable is wound around the first deflection wire wheel. On the other hand, the other end of the first deflection traction cable is connected to the deflection section 132 . When the first rotating shaft 141 rotates, it can drive the first deflection wire wheel to rotate. The rotation of the first deflection wire wheel is transmitted to the deflection section 132 through the first deflection traction cable, thereby driving the deflection section 132 to deflect in the first direction.

In some embodiments, the second rotating shaft 142 can be connected to the deflection section 132 through a motion transmission assembly, and the motion transmission assembly can transmit the rotation of the second rotating shaft 142 (that is, the rotation of the deflection portion 111 relative to the frame 160 ) to the deflection section 132 , causing the deflection section 132 to deflect in the second direction. For example only, the motion transmission assembly may include a second deflection wire wheel and a second deflection traction cable. The second deflection wire wheel is coaxially arranged with the second rotating shaft 142 , and one end of the second deflection traction cable is wound around the second deflection wire wheel. On the other side, the other end of the second deflection traction cable is connected to the deflection section 132 . When the second rotating shaft 142 rotates, it can drive the second deflection wire wheel to rotate. The rotation of the second deflection wire wheel is transmitted to the deflection section 132 through the second deflection traction cable, thereby driving the deflection section 132 to deflect in the second direction.

In some embodiments, deflection segment 132 may be a flexible deflection joint. The flexible deflection joint can bend or rotate around its own axis to drive the execution structure 130 to perform deflection or rotational motion. By way of example only, the flexible deflection joint may include a snake bone structure. More information about the deflection section 132 can be found elsewhere in this specification, for example, the relevant descriptions of Figures 9-23.

Referring to FIGS. 1B to 6 , in some embodiments, the first rotation axis 141 is formed by the rotational connection between the connecting piece 1131 and the deflection part 111 , and the second rotation axis 142 is formed by the rotational connection between the deflection part 111 and the frame 160 . The first rotation axis 141 and The second rotating axes 142 are perpendicular and intersecting. The combination of this structure and the connection method between the structures can be called a double-joint series transmission mechanism. The double-joint series transmission mechanism can decompose and convert the motion of the control handle 113 into the rotation of two rotating shafts (ie, the first rotating shaft 141 and the second rotating shaft 142 ), and use the rotation of the two rotating shafts to drive the control execution structure 130 deflection movement. It should be noted that in the double-joint series transmission mechanism solution, the attachment 112 may be an optional component, that is, the handheld instrument 100 may not include the attachment 112 . Figure 7A is an exemplary structural diagram of another handheld instrument according to some embodiments of the present specification. The handheld instrument shown in FIG. 7A differs from the handheld instrument 100 shown in FIG. 1B in that the handheld instrument shown in FIG. 7A does not include an attachment 112. In this case, the handheld instrument is not attached to the wrist. Then, the operator directly controls the operation of the handheld instrument by holding the control handle 113. In some embodiments, the operator can control the rotation of the first rotating shaft 141 and the second rotating shaft 142 by holding the control handle 113 so that the deflecting portion 111 does not contact the wrist, thereby controlling the deflection of the deflecting section 132 . It can be understood that when a double-joint series transmission mechanism is used to achieve transmission between the control handle 113 and the execution structure 130, the attachment 112 is an unnecessary component, because the control handle 113 can support the handheld instrument through the double-joint series transmission mechanism. .

It should be noted that the deflection of the deflection section 132 in both the first direction and the second direction can be achieved by a wire wheel and a traction cable. At this time, the connection position of the traction cable and the deflection section 132 can be set to control the deflection section 132 . deflection direction. For example, the connection position between the two ends of the first traction rope and the deflection section 132 can be at a position where the deflection section 132 is symmetrical in the first direction, and the connection position between the two ends of the second traction rope and the deflection section 132 can be at a position where the deflection section 132 is symmetrical in the first direction. symmetrical position in the second direction.

In some embodiments, the distal effector 131 is connected to the deflection section 132. When the deflection section 132 deflects in the first direction and/or the second direction, it can drive the distal effector 131 to move in the first direction and/or the second direction. The distal effector 131 can be deflected in the direction so that the distal effector 131 can perform operations on the surgical site at a suitable angle.

Referring to FIGS. 1A-2 , in some embodiments, the connection between the other end of the rod-shaped structure 133 (the end away from the deflection section 132 ) and the frame 160 may be a detachable connection. In some embodiments, because the execution structure 130 needs to be extended into the patient's body to perform surgical operations during the operation, the execution structure 130 is not allowed to be reused. That is, the execution structure 130 is a disposable product, and the handheld instrument 100 Other components, such as frame 160 and control structure 130, are reusable. Based on this, the execution structure 130 and the frame 160 can be detachably connected. After the handheld instrument 100 performs one or a surgical operation, the execution structure 130 can be detached from the handheld instrument 100 to ensure that the frame 160 and The control structure 130 is reused, thereby saving costs. In some embodiments, the first housing 121-1 and the second housing of the quick-change assembly 120 shown in FIG. 5 can also be connected between the other end of the rod-shaped structure 133 (the end away from the deflection section 132) and the frame 160. The body 121-2 realizes detachable connection. For details, see Figure 5 and its related description, which will not be described again here.

In some embodiments, the control handle 113 may be provided with a roll control assembly, and the roll control assembly is used to rotate the distal effector 131 of the execution structure 130 around the axis of the deflection section 132 . In some embodiments, the rolling control assembly may include a roller 114 , which is rotationally connected to the control handle 113 through a third rotating shaft 143 , and the third rotating shaft 143 is drivingly connected to the execution structure 130 . In some embodiments, the roller 114 can rotate relative to the control handle 113, and the rotation of the roller 114 relative to the control handle 113 can be transmitted to the distal actuator 131 of the execution structure 130 through the motion transmission assembly, and causes the distal actuator 131 to rotate around The deflection section 132 rotates in the axial direction. In some embodiments, the rotation of the distal effector 131 around the axis direction of the deflection segment 132 may also be referred to as rolling. When the deflection section 132 is not deflected (at this time, the axis of the deflection section 132 is collinear with the axis of the rod-shaped structure 133), the axis direction of the deflection section 132 is parallel to the “x” direction shown in FIG. 1B. When the deflection section 132 deflects, the axis of the deflection section 132 may be an arc, and the axis of the deflection section 132 may be approximately an arc with the center points of the two ends of the deflection section 132 as endpoints. The curvature of the arc is equal to the curvature of the deflected deflection segment 132 .

In some embodiments, when using the handheld instrument 100, the roller 114 can be controlled to rotate relative to the control handle 113 through hand movements, and the rotation of the roller 114 can drive the third rotating shaft 143 to rotate. The motion transmission component can convert the rotation of the roller 114 relative to the control handle 113 (that is, the rotation of the third rotating shaft 143 ) into the rotation of the distal effector 131 around the axis direction of the deflection section 132 .

In some embodiments, referring to FIG. 6 , the deflection section 132 may include an inner joint 1321 and an outer joint 1322 . The outer joint 1322 is sleeved outside the inner joint 1321 . The end of the outer joint 1322 away from the distal actuator 131 is connected to the rod-shaped structure 133 connection, the end of the inner joint 1321 away from the rod-shaped structure 133 is connected to the distal actuator 131, the third rotating shaft 143 is connected to the inner joint 1321 through the motion transmission component, and the inner joint 1321 can rotate relative to the outer joint 1322 on the axis of the deflection section 132 , so that the distal effector 131 rotates around the axis of the deflection section 132 .

In some embodiments, with reference to Figures 2 and 6, when the roller 114 rotates relative to the control handle 113, it can drive the third rotating shaft 143 to rotate. The third rotating shaft 143 is connected to the internal joint 1321 through a motion transmission assembly, and the motion transmission assembly can connect the third rotating shaft 143 to the internal joint 1321. The rotation of the rotating shaft 143 is transmitted to the inner joint 1321 , causing the inner joint 1321 to rotate relative to the outer joint 1322 on the axis of the deflection section 132 , thereby causing the distal effector 131 to rotate around the axis of the deflection section 132 . For more description on transmitting the operation of the roller 114 to the inner joint 1321 through the motion transmission assembly, see FIG. 7B and its related description.

In some embodiments, the first rotating shaft 141 and/or the second rotating shaft 142 can be connected to each other through a motion transmission assembly (for example, a first deflection wire wheel and a first deflection traction cable, a second deflection wire wheel and a second deflection traction cable). The outer joint 1322 is connected, and the motion transmission component can transmit the rotation of the first rotating shaft 141 and/or the second rotating shaft 142 to the outer joint 1322, and cause the outer joint 1322 to deflect in the first direction and/or the second direction. In some embodiments, the inner joint 1321 may be assembled from multiple sets of universal joint links through series components, and the inner joint 1321 may passively rotate with the outer joint 1322 . More descriptions about the deflection section 132 and the internal and external joints can be found elsewhere in this specification, for example, Figures 9-23 and their related descriptions.

In some embodiments, the first axis where the first rotation axis 141 is located and the second axis where the second rotation axis 142 is located may be perpendicular and intersect. The first axis where the first rotating shaft 141 is located may refer to an extension of the first rotating shaft 141 . The first axis where the first rotation axis 141 is located may be parallel to the "y" direction shown in FIG. 1B. The second axis where the second rotating shaft 142 is located may refer to an extension of the second rotating shaft 142 . The second axis where the second rotation axis 142 is located may be parallel to the “z” direction shown in FIG. 1B . In some embodiments, the first axis and the second axis are perpendicular and intersect, and the intersection point is point A (as shown in Figure 2). When the handheld device 100 is worn, the intersection point A of the first axis and the second axis may be approximately located at the center of the wrist (ie, the center of the wrist). It can also be understood that the intersection point A of the first axis and the second axis coincides or substantially coincides with the center of the wrist. By setting the intersection point A of the first axis and the second axis to substantially coincide with the center of the wrist, the operator can achieve intuitive control of the handheld instrument 100 .

In some embodiments, the axis of the rod-shaped structure 133 may be offset from the intersection point A of the first axis and the second axis. In some embodiments, the axis of rod-shaped structure 133 may be located above intersection point A. That is, the axis of the rod-shaped structure 133 is located above the wrist. In some embodiments, the surgical space can be approximated as a vertebral space (for example, a depth of 250 mm and a taper of 90 degrees). By locating the control handle 113 below the axis of the rod-like structure 133, the operator's arm lifting can be reduced. probability, thus helping to reduce operator fatigue. At the same time, by setting the control handle 113 not to be directly connected to the execution structure 130, the bending stress of the traction cable of the motion transmission assembly can be reduced, thereby reducing losses and increasing transmission efficiency and traction cable life.

In other alternative embodiments, the intersection point A can also be set to be located on a straight line where the axis of the rod-shaped structure 133 is located, which can also enable the operator to achieve intuitive control of the handheld instrument 100 .

In some embodiments, in conjunction with FIG. 1B , FIG. 2 and FIG. 6 , the control structure 110 may also include a trigger 115 . The trigger 115 is rotationally connected to the control handle 113 through a fourth rotating shaft 144 . The remote actuator 131 may include a first execution part. 1311 and the second execution part 1312. At least part of the first execution part 1311 and at least part of the second execution part 1312 are relatively opened and closed to realize the shearing and clamping operations of the distal effector 131. The fourth rotating shaft 144 is connected with the first execution part 1311. The first execution part 1311 and/or the second execution part 1312 are connected to convert the rotation of the trigger 115 relative to the control handle 113 into the relative opening and closing of at least part of the first execution part 1311 and at least part of the second execution part 1312.

In some embodiments, when using the handheld instrument 100, the trigger 115 can be controlled to rotate relative to the control handle 113 through hand movements, and the rotation of the trigger 115 can drive the fourth rotating shaft 144 to rotate. The motion transmission component can convert the rotation of the trigger 115 relative to the control handle 113 (that is, the rotation of the fourth rotating shaft 144) into the relative opening and closing of the front end of the first execution part 1311 and the front end of the second execution part 1312. As an exemplary description only, the motion transmission assembly may include an execution wire wheel and an execution traction cable. The execution wire wheel is coaxially arranged with the fourth rotating shaft 144 , one end of the execution traction cable is wound around the execution wire wheel, and the other end of the execution traction cable Connected to the remote effector 131 (the first execution part 1311 and/or the second execution part 1312). When the fourth rotating shaft 144 rotates, it can drive the execution wire wheel to rotate. The rotation of the execution wire wheel is transmitted to the remote effector 131 through the execution traction cable, thereby driving the remote effector 131 to perform corresponding operations, such as shearing and clamping.

The front end of the first execution part 1311 and/or the second execution part 1312 may refer to the free end of the first execution part 1311 and/or the second execution part 1312, that is, the first execution part 1311 and/or the second execution part 1312 are far away from each other. One end of the deflection section 132. For example, when the trigger 115 is pulled, the front end of the first execution part 1311 and the front end of the second execution part 1312 can be controlled to open relatively; when the trigger 115 is released, the front end of the first execution part 1311 and the front end of the second execution part 1312 can be controlled to open. The front end is relatively closed. Therefore, by controlling the trigger 115, the front end of the first execution part 1311 and the front end of the second execution part 1312 can perform opening and closing operations, thereby realizing the shearing and/or clamping operation of the distal effector 131. By way of example only, the distal effector 131 may include, but is not limited to, needle-holding forceps, grasping forceps, scissors, electric clippers, closure devices, and the like.

In some embodiments, the fourth rotating shaft 144 may be transmission-connected with the first execution part 1311 and the second execution part 1312 respectively. In this arrangement, both the first execution part 1311 and the second execution part 1312 can move, and the shearing and/or clamping operations of the distal effector 131 are performed by the movement of the first execution part 1311 and the second execution part 1312 to fulfill. In some embodiments, the fourth rotating shaft 144 may also be transmission connected with one of the first execution part 1311 and the second execution part 1312. For example, the fourth rotating shaft 144 is connected to the first execution part 1311 through the quick change assembly 120 and is not connected to the second execution part 1312. The front end of the first executing part 1311 can be driven by the fourth rotating shaft 144 and the motion transmission component. Rotate away from (or approach) the front end of the second execution part 1312, and the second execution part 1312 remains stationary during this process. In this arrangement, the execution part connected to the fourth rotating shaft 144 can move while the other remains stationary. The shearing and/or clamping operations of the distal effector 131 are performed by the executing part connected to the fourth rotating shaft 144 . exercise to achieve.

In some embodiments, the motion transmission component can realize motion transmission between the control structure 110 and the execution structure 130, so that the control operation of the control structure 110 can control the execution structure 130 to perform corresponding actions. For example, the deflection section 132 is controlled to deflect pitch in a first direction, and/or deflect horizontally in a second direction. For another example, the remote effector 131 is controlled to roll around the axis of the deflection section 132, and/or the first execution part 1311 and the second execution part 1312 of the remote effector 131 are controlled to open and close relative to each other. The motion transmission component can transmit the control operation of the control structure 110 to the execution structure 130 through transmission methods such as wire wheels, traction ropes, worm gears, and gears.

It should be noted that in other embodiments, the distal effector 131 may also include an execution part, and the type and number of the execution part may be set according to the requirements of the surgical operation.

Figure 7B is a schematic diagram of roll control of a handheld instrument according to some embodiments of this specification. In some embodiments, the motion transfer assembly may include a first wire pulley 121 , a second wire pulley 122 , and a pulling cable 123 . The first wire wheel 121 and the third rotating shaft 143 are coaxially arranged. The second wire wheel 122 is coaxially arranged with the axis of the rod-shaped structure 133, and is connected to the inner joint 1321 through the inner rod 1331 of the rod-shaped structure 133. The traction cable 123 is wound around the first wire wheel 121 and the second wire wheel 122 . In some embodiments, when the toggle roller 114 rotates relative to the control handle 113, the third rotating shaft 143 can drive the first reel 121 to rotate, and the rotation of the first reel 121 can drive the second reel 122 through the traction cable 123. Rotation, the rotation of the second wire wheel 122 can drive the inner joint 1321 to rotate around the axis direction of the deflection section 132 through the inner rod 1331, thereby causing the distal actuator 131 to roll. The control operation of the control structure 110 is transmitted to the execution structure 130 through the motion transmission component to control the execution structure 130 to perform deflection (such as horizontal deflection, pitch deflection) and clamping and shearing operations, which have been described above. No longer.

In some embodiments, the motion resolution component may include a parallel resolution mechanism. A parallel analytical mechanism may refer to a parallel combined mechanism formed by two mechanisms connected through at least two independent kinematic chains, having two or more degrees of freedom and driven in parallel. The parallel analysis mechanism can analyze the operation of the control handle 113 into a parallel control motion mechanism. After the control operation of the control handle 113 is parsed into a parallel control movement by the parallel analysis mechanism, the parallel control movement can control the execution structure 130 to perform corresponding operations (for example, any combination of deflection, roll, opening and closing, etc.). For example, after the control operation of the control handle 113 is parsed into a parallel control movement by the parallel parsing mechanism, the execution structure 130 can simultaneously perform at least two operations of deflection, rolling, and opening and closing movements. In some embodiments, the handheld instrument can not only realize the control operation of the control structure through the deflection portion described above, control the execution structure to perform corresponding actions, that is, the series transmission method, but also can use other methods (for example, chain belts). Implementation, for example, parallel transmission. Figure 8 is a partial structural diagram of a handheld instrument using a parallel transmission method according to some embodiments of this specification. Referring to Figure 8, in some embodiments, the parallel resolution mechanism may include two chain belts 150. One end of the chain belt 150 is connected to the motion transmission assembly through the attachment 112, and the other end of the chain belt 150 is connected to the control handle 113. The control operation of the control handle 113 is transferred to the attachment 112 through the chain belt 150 and transferred to the execution structure 130 through the motion transmission assembly (not shown in FIG. 8 ). In some embodiments, the chain belt 150 can parse the control operation of the control handle 113 (for example, the rotation relative to the attachment 112) into a parallel control motion and transmit it to the motion transmission assembly. Further, the parallel control motion can be transmitted through motion. The components are passed to the execution structure 130, thereby controlling the execution structure 130 to perform an operation (eg, one of deflection, roll, opening and closing, or any combination thereof).

In some embodiments, a bearing may be provided between the chain belt 150 and the attachment 112 , and the bearing is located between the frame 160 and the attachment 112 and configured to slide or roll. When the operator rotates the control handle 113 relative to the attachment 112 through hand or wrist movements, under the action of the control handle 113, the end of the chain belt 150 connected to the attachment 112 can slide or roll through the bearing, and further , the movement of the chain belt 150 (such as sliding or rolling) can be transmitted to the execution structure 130 through a motion transmission component (such as a rope transmission component), and causes the execution structure 130 to perform corresponding operations. It should be noted that when the handheld instrument 100 realizes the control operation of the control structure through the chain belt 150 and controls the execution structure 130 to perform corresponding actions, the handheld instrument 100 may not include a deflection part.

In some embodiments, one end of the two chain straps 150 connected to the control handle 113 intersects, one end of the two chain straps 150 connected to the attachment 112 is spaced apart, and is symmetrically arranged on both sides of the frame 160, so that the two chain straps 150 intersect. The two rotational axes formed between the belt 150 and the attachment 112 are arranged at an angle to each other (ie, not parallel).

In some embodiments, attachment 112 contacts the wrist and may provide support for handheld instrument 100 . The structure of the attachment 112 may be configured as semi-open, so as to make the process of putting on and/or taking off the handheld instrument 100 more convenient and faster, thereby facilitating the replacement of the instrument during the operation. Specifically, by configuring the structure of the attachment 112 to be semi-open, the operator can put on and/or take off the handheld instrument 100 with one hand. For example, the operator's hand or wrist can be directly removed from the attachment. 112 is inserted into the opening to complete the wearing process. This arrangement can overcome the problem that existing closed-loop structure handheld instruments require both hands to operate or an assistant (such as a nurse) to assist in wearing. In addition, the structure of the attachment 112 is set to be semi-open. When the attachment 112 is located at the wrist, it has less constraints on the wrist, thereby freeing up the movement space of the wrist and making it easier for the operator to perform operations. For example, when an operator wears the handheld instrument 100 for surgery, he needs to rotate his wrist to control the execution structure of the handheld instrument 100 to perform the corresponding surgical operation. Since the semi-open attachment 112 has less constraints on the operator's wrist, the operation is easier. The operator's wrist can be freed from the constraints of the attachment 112 when rotating, thereby reducing the operator's wrist fatigue, thereby facilitating the operator's surgical operation.

In other embodiments, the handheld instrument 100 can also implement parallel transmission between the control structure and the execution structure through other structures. For example, flexible connectors.

In some embodiments, the handheld instrument 100 may also include an electric control device (eg, a motor), which can enable the execution structure 130 to automatically perform corresponding operations, thereby reducing the operator's hand or wrist movements. In some embodiments, the handheld instrument 100 may include one or more motors, and the one or more motors are respectively disposed on corresponding rotating shafts (for example, the first rotating shaft 141, the second rotating shaft 142, the third rotating shaft 143, and the fourth rotating shaft). 144), at the same time, a corresponding number of one or more control buttons can be provided on the control handle 113 (that is, the number of motors corresponds to the control buttons one-to-one), and the multiple control buttons control the operation of the corresponding motor respectively. This enables automatic control of the execution structure 130 . For example, the handheld instrument 100 may include a first deflection motor disposed at the position of the first rotating shaft 141, and a first deflection button is provided correspondingly on the control handle 113. Operating the first deflection button can control the operation of the first deflection motor, thereby controlling The actuating structure is deflected in the first direction. For another example, the handheld instrument 100 may include a second deflection motor disposed at the position of the second rotating shaft 142, and a second deflection button is correspondingly provided on the control handle 113. Operating the second deflection button can control the operation of the second deflection motor, thereby The control execution structure is deflected in the second direction. For another example, the handheld instrument 100 may include a roll motor disposed at the position of the third rotating shaft 143, and a roll button is correspondingly provided on the control handle 113. Operating the roll button can control the work of the roll motor, thereby controlling the execution structure. Roll. For another example, the handheld instrument 100 may include an execution motor disposed at the position of the fourth rotating shaft 144, and an execution button is correspondingly provided on the control handle 113. Operating the execution button can control the operation of the execution motor, thereby controlling the execution structure to perform surgical operations, such as Cutting, clamping, etc.

In some embodiments, in order to meet surgical requirements, the distal actuator of the execution structure generally includes four actions: opening and closing, rolling, pitch deflection, and horizontal deflection. Each of these four movements can be driven by a pulling cable. For example, the traction cable can be connected in series to the joint that controls the movement of the distal actuator, and the distal actuator can be controlled to perform corresponding actions by pulling or releasing the traction cable. In some embodiments, since several movements of the remote actuator are driven by the arms and wrists, the rotational movement (i.e., roll) and yaw movement (i.e., pitch deflection and horizontal deflection) of the remote actuator are ) is coupled. For example, the operator needs to control the entire surgical instrument to rotate in order to control the distal actuator to rotate. This will cause the result of the deflection motion of the distal actuator (for example, the deflection direction) to change, and will Increasing the operator's operating space outside the patient's body will also increase the movement space of the distal actuator inside the patient's body. When the lesion is in some special positions, it is difficult for the distal actuator to reach, increasing the burden on the operator. Therefore, it is necessary to provide a joint motion component (that is, the deflection section above), by connecting the distal actuator (also called the execution end) with the joints capable of rotational movement in the inner joint and the outer joint, so that the execution end can It performs rotational movement relative to another joint driven by the joint connected to it, and the joint connected to the execution end can passively perform deflection movement driven by the other joint, so that the execution end can rotate at the joint connected to it. The yaw movement is carried out under the guidance of the yaw movement, thereby achieving the decoupling between the rotational movement and the yaw movement of the execution end, that is, the execution end will not yaw when performing rotational movement, or will not rotate when performing yawing movement. . The joint motion components will be described in detail below with reference to the accompanying drawings.

Figure 9 is a schematic structural diagram of a joint motion assembly according to some embodiments of this specification. Figure 10 is a schematic structural diagram of the inner joint and the outer joint after the yaw movement according to some embodiments of this specification.

In some embodiments, the execution structure may include articulation assembly 300. As shown in FIG. 9 , the joint motion assembly 300 includes an inner joint 310 and an outer joint 320 that is sleeved on the outside of the inner joint 310 . Among them, one of the inner joint 310 and the outer joint 320 is connected to a rotating member 330, and the other is provided with a deflection mechanism 340. The joints connected to the rotating member 330 in the inner joint 310 and the outer joint 320 can rotate around their own axis relative to the joint provided with the deflection mechanism 340 under the driving of the rotating member 330. The inner joint 310 and the outer joint 320 are provided with The joints of the deflection mechanism 340 can be driven by the deflection mechanism 340 to perform deflection movements, and drive the joints connected to the rotating member 330 to passively perform deflection movements. In some embodiments, as shown in FIG. 10 , the yaw movement of the inner joint 310 and/or the outer joint 320 may refer to the swing of the inner joint 310 and/or the outer joint 320 in its radial direction (or referred to as bending), such as the horizontal deflection and pitch deflection described above. Through such an arrangement, the joint connected to the rotating member 330 among the inner joint 310 and the outer joint 320 can perform both rotational motion and yawing motion, and the rotational motion and yawing motion of the joint are decoupled, that is, the joint When one joint performs rotational motion, the other joint does not perform rotational motion at the same time. Further, when the joint provided with the deflection mechanism 340 swings in a certain direction and a certain angle under the driving of the deflection mechanism 340, the joint connected to the rotating member 330 swings in the same direction and the same angle, the joint connected to the rotating member 330 will The rotational movement driven by the rotating member 330 will not affect the swing direction and angle of the joint. Specifically, since the deflection motion of the joint connected to the rotating member 330 of the inner joint 310 and the outer joint 320 is driven by another joint (that is, the joint provided with the deflection mechanism 340), that is, the joint connected to the rotating member 330 The yaw motion of a joint passively adapts to the yaw motion of another joint. Therefore, as long as the yaw direction and yaw angle of the other joint do not change, the rotational motion of the joint connected to the rotating member 330 around its own axis will not change. It will change its deflection direction and deflection angle. In this way, when the joint motion assembly 300 is used in a handheld instrument to control the movement of the execution end (that is, the distal effector), the joint in the joint motion assembly 300 that is connected to the rotating member 330 can be connected to the execution end. connection to drive the execution end to rotate and yaw, so that the rotation and yaw motion of the execution end are uncoupled, thereby reducing the movement space required for the execution end and reducing the need for manual operation when surgical instruments are used. The operator's operating space facilitates the execution end to reach a special position and reduces the operator's operating burden. In addition, when handheld instruments are used in surgical robot operations, the design difficulty of the structure and algorithm of the surgical robot can be reduced.

In some embodiments, the inner joint 310 may be connected with a rotating member 330 , and the outer joint 320 may be provided with a deflection mechanism 340 . The inner joint 310 can rotate around its own axis relative to the outer joint 320 under the driving of the rotating member 330. The outer joint 320 can perform a yaw movement under the driving of the yaw mechanism 340, and drives the inner joint 310 to perform a yaw motion. Further, the inner joint 310 is capable of uncoupled rotational motion and yawing motion. In practical applications, the inner joint 310 can be connected to the execution end, so that the execution end can perform uncoupled rotational motion and yaw motion.

In some embodiments, the outer joint 320 may be connected with a rotating member 330 , and the inner joint 310 may be provided with a deflection mechanism 340 . The outer joint 320 can rotate around its own axis relative to the inner joint 310 driven by the rotating member 330. The inner joint 310 can perform a yaw motion driven by the yaw mechanism 340, and drive the outer joint 320 to perform a yaw motion. The outer joint 320 is capable of uncoupled rotational and yawing movements. In practical applications, the outer joint 320 can be connected to the execution end, so that the execution end can perform uncoupled rotational motion and yaw motion.

It can be understood that in the joint motion assembly 300 shown in Figure 9, the inner joint 310 is connected to the rotating member 330, and the outer joint 320 is provided with the deflection mechanism 340. For convenience of explanation, this description will mainly refer to the joints shown in Figure 9. The inner joint 310 shown is connected to the rotating member 330, and the outer joint 320 is provided with a deflection mechanism 340 of the joint movement assembly 300 for detailed description. For more description of the joint motion components in which the outer joint 320 is connected to the rotating member 330 and the inner joint 310 is provided with a deflection mechanism 340, please refer to FIG. 9 where the inner joint 310 is connected to the rotating member 330 and the outer joint 320 is provided with a deflection mechanism. Description of the articulation component 300 of the mechanism 340.

Figure 11 is a schematic diagram of the connection between the internal joint and the rotating member according to some embodiments of this specification. Figure 12 is a schematic diagram of the connection between the outer joint and the outer tube according to some embodiments of this specification.

In some embodiments, continuing to refer to FIG. 9 , the rotating member 330 may include an inner tube 331 , and the deflection mechanism 340 may include an outer tube 341 and a wire rope 342 . The outer tube 341 is sleeved outside the inner tube 331 , and the inner tube 331 can be driven to rotate relative to the outer tube 341 around its own axis. In some embodiments, as shown in FIG. 11 , the proximal end of the inner joint 310 can be connected to the distal end of the inner tube 331 , so that when the inner tube 331 is driven to rotate relative to the outer tube 341 around its own axis, it can drive the inner joint 310 . The joint 310 rotates around its own axis relative to the outer joint 320, thereby driving the execution end connected to the inner joint 310 to roll. In some embodiments, the distal end of the inner tube 331 may be connected to the proximal end of the inner joint 310 through clamping, welding, gluing, or other connection methods.

In some embodiments, as shown in conjunction with FIGS. 9 and 12 , the proximal end of the outer joint 320 may be connected to the distal end of the outer tube 341 . In some embodiments, the distal end of the outer tube 341 can be connected to the proximal end of the outer joint 320 through clamping, welding, threading, gluing, or other connection methods. In some embodiments, the outer joint 320 can be driven to perform a yaw movement by pulling the wire rope 342 . Specifically, one end of the steel wire rope 342 can be fixed at the distal end of the outer joint 320, and the other end of the steel wire rope 342 passes from the distal end of the outer joint 320 to the proximal end of the outer tube 341. By pulling the other end of the wire rope 342, the outer joint 320 can be driven to perform a deflection movement (or bending) toward the side where the wire rope 342 is located (for example, in the direction A shown in Figure 12). 310 can passively adapt to the yaw motion of the outer joint 320, so that it can perform the yaw motion in the same yaw direction as the outer joint 320. In some embodiments, one end of the wire rope 342 may be provided with a fixed terminal 3421, and the distal end of the outer joint 320 may be provided with a mounting slot 3201 adapted to the fixed terminal 3421. By installing the fixed terminal 3421 in the mounting slot 3201, it is possible to One end of the wire rope 342 is fixed to the distal end of the outer joint 320. In some embodiments, the number of steel wire ropes 342 may be multiple, for example, two, four, etc. By providing multiple steel wire ropes 342, the outer joint 320 can perform deflection motion in multiple directions. In some embodiments, the number of steel wire ropes 342 may be two. One ends of the two steel wire ropes 342 are respectively fixed on both radial sides of the distal end of the outer joint 320 . That is, the two steel wire ropes 342 are opposite to each other in the radial direction of the outer joint 320 . Pulling the other ends of the two wire ropes 342 can drive the outer joint 320 to perform yaw motion in two different directions (for example, the first direction and the second direction mentioned above). For example, pulling the other ends of the two steel wire ropes 342 respectively can drive the outer joint 320 to perform deflection movements in the A direction and the A' direction in Figure 12 respectively. In some embodiments, the number of steel wire ropes 342 may be four. One ends of two of the four steel wire ropes 342 may be respectively fixed on both sides of the first radial direction of the distal end of the outer joint 320 , and one ends of the other two may be fixed respectively. On both sides of the second radial direction at the distal end of the outer joint 320 , the first radial direction and the second radial direction may be any two mutually perpendicular radial directions in the distal end of the outer joint 320 . By pulling the other ends of the four wire ropes 342 respectively, the outer joint 320 can be driven to perform deflection movements in four different directions, for example, in the A direction, A' direction, B direction and B' direction in Figure 12 respectively. yaw movement in the direction. The A direction, A' direction, B direction and B' direction are parallel to the radial direction of the distal end of the outer joint 320. For example, the A direction and the A' direction are parallel to the first radial direction, and the B direction and the B' direction are parallel to the second radial direction. Radially parallel.

It should be noted that the "proximal end" and "distal end" involved in this specification may respectively refer to the handheld instrument and the joint movement assembly 300 as well as the components or components thereof when the handheld instrument with the joint movement assembly 300 is operated. (For example, the inner joint 310, the outer joint 320, etc.) have one end close to the operator and an end far away from the operator respectively.

In some embodiments, continuing to refer to FIG. 9 , a bearing connection 350 may be provided between the distal end of the inner joint 310 and the distal end of the outer joint 320 . The bearing connector 350 can not only be used to connect the inner joint 310 and the outer joint 320, so that the yaw motion of the outer joint 320 can drive the inner joint 310 to yaw motion together, but can also reduce the gap between the inner joint 310 and the outer joint 320. The friction force enables the inner joint 310 to rotate around its own axis relative to the outer joint 320, preventing the outer joint 320 from being driven by the inner joint 310 to also rotate. In some embodiments, the bearing connector 350 may include rolling bearings such as deep groove ball bearings, angular contact ball bearings, aligning ball bearings, thrust ball bearings, needle roller bearings, and the like. In some embodiments, the bearing connection 350 may also include a sliding bearing. In some embodiments, taking the bearing connector 350 as a rolling bearing as an example, the rolling bearing may include a bearing outer ring and a bearing inner ring, and rolling elements (for example, balls, needle rollers, etc.) installed between the bearing outer ring and the bearing inner ring. ), the bearing outer ring and the bearing inner ring can be connected to the distal ends of the outer joint 320 and the inner joint 310 respectively, thereby connecting the distal ends of the outer joint 320 and the inner joint 310 together. In some embodiments, the inner ring of the bearing can be sleeved on the outside of the distal end of the inner joint 310 , and the distal end of the outer joint 320 can be sleeved on the outside of the outer ring of the bearing, thereby connecting the distal ends of the outer joint 320 and the inner joint 310 . ends connected together.

By disposing the bearing connector 350 between the distal ends of the inner joint 310 and the outer joint 320, the inner joint 310 and the outer joint 320 can be connected, which is conducive to one joint being able to drive the other joint to perform a yaw movement, and can It is ensured that when one joint performs rotational motion relative to the other joint, the other joint will not rotate, which is beneficial to the decoupling of the terminal rotational motion and the yaw motion.

In some embodiments, as shown in FIG. 11 , the internal joint 310 may include at least two serially connected internal joint units 311 . In some embodiments, two adjacent inner joint units 311 of at least two series-connected inner joint units 311 may be connected through an inner joint unit connector 312 .

Figure 13 is a schematic structural diagram of an internal joint unit according to some embodiments of this specification. Figure 14 is a schematic structural diagram of an internal joint unit connector according to some embodiments of this specification.

In some embodiments, as shown in FIG. 13 , two receiving portions 3111 are respectively provided at both ends of the inner joint unit 311 . Wherein, the connection line between the two receiving parts 3111 at the same end is parallel to the radial direction of the inner joint unit 311, and the connection line between the two receiving parts 3111 at one end (for example, the distal end) of the inner joint unit 311 is parallel. The connection between the two receiving portions 3111 at the other end (for example, the proximal end) of the inner joint unit 311.

In some embodiments, as shown in FIG. 14 , the inner joint unit connector 312 may include four protrusions 3121 . Wherein, the included angle between two adjacent protruding parts 3121 among the four protruding parts 3121 and the center of the inner joint unit connector 312 is 90°.

In some embodiments, as shown in FIG. 11 , when two adjacent inner joint units 311 in the inner joint 310 are connected through the inner joint unit connector 312 , one of the inner joint unit connectors 312 and the inner joint unit connector 312 Two of the protruding portions 3121 with an angle of 180° between the connecting lines of the centers are respectively located in the two receiving portions 3111 of one end (for example, the proximal end) of one of the two adjacent internal joint units 311, The other two protrusions 3121 in the inner joint unit connector 312 that are 180° apart from the line connecting the center of the inner joint unit connector 312 are respectively located at one end of the other of the two adjacent inner joint units 311 (for example, in the two receiving parts 3111 at the far end). In some embodiments, the protruding part 3121 may be configured in a cylindrical shape, and the receiving part may be configured in an arc-shaped groove adapted to the cylindrical shape of the protruding part 3121. Through the above arrangement, two adjacent inner joint units 311 in the inner joint 310 can relatively rotate around the axis of the protruding portion 3121 of the inner joint unit 311, thereby ensuring that the inner joint 310 can at least rotate in the first direction and the second direction. direction, and also ensures that when the internal joint 310 rotates after deflecting to a certain angle, each internal joint unit 311 can still rotate around its own axis to avoid affecting the deflection angle of the internal joint 310. The first direction and the second direction may be parallel to the line between the two protrusions 3121 (the angle between the two protrusions 3121 and the center of the inner joint unit connector 312 is 180°). .

In some embodiments, at least one functional hole 3123 can be opened on the internal joint unit connector 312. The at least one functional hole 3123 can allow a wire rope (or traction cable) or wire to pass through to connect with the distal end of the internal joint 310. The execution end is connected or electrically connected to control the execution end to perform corresponding surgical actions. For example, when the execution end is a clamp-type or scissor-type structure that requires opening and closing actions, one end of at least one wire rope can be connected to the execution end, and the other end can pass through at least one functional hole 3123 from the proximal end of the internal joint 310 out (entering the inner tube 331), and by pulling the other end of at least one wire rope, the opening and closing action of the execution end can be controlled to complete the corresponding surgical action (for example, to separate the tissue of the patient's lesion or to separate the tissue from the patient's lesion. tissue cutting). For another example, when the execution end includes wire cutting, the guide wire can pass through at least one functional hole 3123 and be electrically connected to the wire cutting. By energizing the guide wire, the wire cutting can be heated, so that the wire cutting can cut the tissue of the patient's lesion. .

In some embodiments, as shown in FIG. 11 , the internal joint 310 may further include a series member 313 , which passes through the internal joint 310 along the length direction of the internal joint 310 . Further, as shown in FIG. 14 , the center of the internal joint unit connector 312 may be provided with a series hole 3122 , and the series member 313 may pass through the series hole 3122 on each internal joint unit connector 312 and the inner cavity of each internal joint unit 311 Each inner joint unit 311 and each inner joint unit connecting piece 312 are assembled together in series to form an inner joint 310 .

It should be noted that since the distal end and proximal end of the internal joint 310 need to be connected to other components, for example, the distal end of the internal joint 310 needs to be connected to the execution end, and the proximal end of the internal joint 310 needs to be connected to the inner tube 331, therefore, The execution end and the inner tube 331 can also be connected to the inner joint unit 311 located at the distal end and proximal end of the inner joint 310 through the inner joint unit connector 312 . For example, as shown in FIG. 11 , one end of the inner tube 331 can be connected to the inner joint unit 311 located at the proximal end of the inner joint 310 through the inner joint unit connector 312 . Specifically, two receiving portions 3311 may be provided on one end of the inner tube 331. The two receiving portions 3311 are disposed oppositely. The angle between the line connecting the inner joint unit connector 312 and the center of the inner joint unit connector 312 is The two protruding parts 3121 of 180° may be located in the two receiving parts 3311 respectively.

In some embodiments, as shown in FIG. 12 , the outer joint 320 may include at least two outer joint units 321 connected in series.

Figure 15 is a schematic structural diagram of an external joint unit according to some embodiments of this specification.

In some embodiments, as shown in FIG. 15 , two connecting portions 3211 are respectively provided at both ends of the outer joint unit 321 . Wherein, the connection line between the two connecting parts 3211 at the same end is parallel to the radial direction of the outer joint unit 321, and the connection line between the two connecting parts 3211 at one end (for example, the distal end) of the outer joint unit 321 is vertical. The connection between the two connecting portions 3211 at the other end (eg, the proximal end) of the outer joint unit 321.

In some embodiments, as shown in FIG. 12 , when two adjacent external joint units 3211 in the external joint 320 are connected, the two connecting portions 3211 at one end (for example, the proximal end) of one of the external joint units 321 can be respectively It is connected to two connecting parts 3211 at one end (for example, the distal end) of another outer joint unit 321 . In some embodiments, the connecting portion 3211 on the outer joint unit 321 can be a tooth-shaped structure, and the two connecting portions 3211 of two adjacent outer joint units 321 can be connected by meshing with each other, so that the adjacent outer joint units 321 can be connected by meshing with each other. The two outer joint units 321 can rotate relative to each other, thereby ensuring that the outer joint 320 can perform yaw motion.

It should be noted that since the distal end and proximal end of the outer joint 320 need to be connected to other components, for example, the distal end of the outer joint 320 needs to be fixed with one end of the wire rope 342, and the proximal end of the outer joint 320 needs to be connected to the outer tube 341, therefore, The outer joint unit 321 belonging to the distal end and the proximal end of the outer joint 320 may be provided with two connecting parts 3211 at only one end. For example, as shown in FIG. 12 , the distal end of the outer joint unit 321 at the distal end of the outer joint 320 may not be provided with the connecting portion 3211 , but may be provided with an installation slot 3201 for installing the fixed terminal 3421 of the wire rope 342 . For another example, the proximal end of the outer joint unit 321 at the proximal end of the outer joint 320 is not provided with a connecting portion 3211, but is provided with a engaging portion 3212 to engage with the engaging groove 3411 of the outer tube 341.

In some embodiments, as shown in FIG. 12 , the outer joint 320 may also be provided with a rigid member 322 , and the rigid member 322 may be disposed on the outer joint 320 along the length direction of the outer joint 320 . Further, the outer joint unit 321 is provided with a rigid member through hole 3213 for the rigid member 322 to pass through. The rigid member 322 can pass through the rigid member through hole 3213 on each outer joint unit 321 and be disposed on the outer joint 320 to form the outer joint 320 Providing a certain stiffness ensures that the outer joint 320 has good rigidity and prevents the outer joint 320 from experiencing S-shaped torsion during deflection and failing to achieve the desired deflection motion result (for example, deflection direction or deflection angle, etc.). In some embodiments, the rigid member 322 can be made of a shape memory material with a certain elasticity to ensure that the outer joint 320 can return to its original shape (for example, a straight line) under the elastic force of the rigid member 322 after deflection. In some embodiments, the material of the rigid component may include, but is not limited to, metal materials such as stainless steel, nickel-titanium alloy, iron-platinum alloy, etc., polymer materials such as polyurethane, polyolefin, epoxy resin, etc., and shape memory ceramic materials. or combination thereof. In some embodiments, the number of rigid members 322 penetrating the outer joint 320 may be 2 to 4. Preferably, the number of rigid members 322 provided on the outer joint 320 may be 4. Correspondingly, the number of rigid member through holes 3213 provided on the outer joint unit 321 may be 4, wherein the 4 rigid members 322 are arranged on the outer joint unit 321 . The axes of the joints 320 are arranged symmetrically, which can provide better rigidity for the outer joint 320 and ensure that the outer joint 320 can return to its original shape faster and better after deflection. In some embodiments, a rigid member similar to the rigid member 322 on the outer joint 320 may also be provided on the inner joint 310 to provide a certain stiffness to the inner joint 310 so that the inner joint 310 has better rigidity.

By arranging the rigid member 322 on the outer joint 320 and/or the series member 313 in the inner joint 310, the rigidity of the outer joint 320 and/or the inner joint 310 can be improved, thereby increasing the rigidity of the joint movement component 300 and preventing the joint movement component 300 from appearing. S-shaped torsion phenomenon, and after the joint movement component 300 performs a yaw movement, the joint movement component 300 can be restored to its original shape (the axis is a straight line) under the elastic force of the rigid component 322 and/or the series component 313.

In some embodiments, the external joint unit 321 is provided with at least two wire rope through holes 3214 for the wire rope 342 to pass through. Both ends of the wire rope 342 can pass through the wire rope through holes 3214 on the external joint unit 321 from the distal end of the external joint 320 Passing through the proximal end of the external joint 320.

In some embodiments, a barrier (not shown in the figure) may also be disposed between the inner joint 310 and the outer joint 320 . In some embodiments, the barrier may be positioned on the outside of the internal joint 310 . As an example, the blocking member may include a tubular structure made of wear-resistant material, and the tube may be sleeved on the outside of the entire inner joint 310 . In some embodiments, the blocking member may include a plurality of tubular structures made of wear-resistant material, and the plurality of tubular structures are respectively sleeved on the outside of the inner joint unit 311 . In some embodiments, a barrier may be provided in the form of a coating between the inner joint 310 and the outer joint 320 . As an example, the wear-resistant material may be directly applied to the outer surface of the internal joint unit 311.

In some embodiments, the barrier may include wear-resistant materials, and the wear-resistant materials may include nylon, polytetrafluoroethylene, polyethylene, etc., or a combination thereof, which can not only reduce the friction between the inner joint 310 and the outer joint 320 , further ensuring that the inner joint 310 can rotate around its own axis relative to the outer joint 320 without driving the outer joint 320 to rotate together, and can also avoid direct contact between the inner joint 310 and the outer joint 320 to cause wear during movement. The service life of the joint motion component 300 is improved.

By disposing a barrier between the outer joint 320 and the inner joint 310 , it can not only reduce the wear between the inner joint 310 and the outer joint 320 , increase the life of the joint motion component 300 , but also reduce the friction between the inner joint 310 and the outer joint 320 . The friction force further ensures that when one joint performs rotational motion relative to the other, the other joint will not rotate, which is more conducive to the decoupling of the terminal rotational motion and the yaw motion.

In some embodiments, the control structure controls the deflection (ie, bending) of the deflection sections (ie, the inner joint and the outer joint) of the actuator structure through the transmission structure, thereby controlling the distal actuator to deflect. The design of the internal and external joints allows the deflection segment to have a degree of freedom for bending and deflecting in multiple directions, and allows the deflection segment to have a degree of freedom for rolling, so that the deflection segment can cooperate with the distal actuator to perform surgical operations. In some embodiments, the deflection segment may be composed of a curved structure, that is, the curved structure may serve as an inner joint or an outer joint of the deflection segment. The bending structure is described in detail below.

Figure 16 is an exemplary structural schematic diagram of a curved structure according to some embodiments of this specification. Figure 17 is a schematic diagram of an exemplary connection structure of a curved structure according to some embodiments of this specification. Figure 18 is a schematic diagram of an exemplary connection structure according to some embodiments of this specification. Figure 19 is a schematic diagram of an exemplary connection structure of a support member and a connecting member according to some embodiments of this specification. Figure 20 is a schematic diagram of a rotating member according to some embodiments of this specification. Schematic diagram of an exemplary structure. Referring to FIG. 16 , FIG. 17 and FIG. 18 , in some embodiments, the curved structure 200 may include a plurality of supporting members 210 , a plurality of connecting members 230 and a plurality of rotating members 250 . The connecting member 230 is connected to the supporting member 210, and along the thickness direction of the supporting member 210 (ie, the MN direction shown in Figures 17 and 18), the two ends of the connecting member 230 protrude from both sides of the supporting member 210 respectively. In order to facilitate the connecting member 230 to connect the rotating member 250. For example, both ends of the connecting member 230 may respectively protrude from both sides of the supporting member 210 along the MN direction as shown in FIG. 17 . In some embodiments, the thickness direction of the support member 210 may be parallel to the axial direction of the bending structure 200 (that is, the axial direction of the deflection section above). Please refer to FIGS. 18 and 19 . In some embodiments, connecting structures 232 may be provided at both ends of the connecting member 230 , and the connecting member 230 may be rotationally connected to the rotating member 250 through the connecting structures 232 . Please refer to Figure 20. In some embodiments, the rotating member 250 may be provided with a fifth rotating axis 252 and a sixth rotating axis 254, and the angle between the fifth rotating axis 252 and the sixth rotating axis 254 is greater than 0° and less than or equal to 180°. angle. In some embodiments, the fifth rotation axis 252 is perpendicular to the sixth rotation axis 254 . The rotating member 250 can rotate around the fifth rotating axis 252 or the sixth rotating axis 254. Multiple rotating members 250 cooperate with each other to achieve multi-angle deflection of the curved structure 200. For example, when the fifth rotation axis 252 is perpendicular to the sixth rotation axis 254 , the curved structure 200 may be deflected in an orthogonal direction. By arranging the fifth rotating shaft 252 and the sixth rotating shaft 254 to cooperate with the connecting structure 232, the bending function of the bending structure 200 can be realized, while the structural complexity of the bending structure 200 is reduced, and the connection between the fifth rotating shaft 252 or the sixth rotating shaft 254 and the connecting structure 232 are reduced. Possibility of detachment of connecting structure 232.

In some embodiments, multiple support members 210 and rotating members 250 are arranged in a staggered manner, and a rotating member 250 is arranged between any two adjacent supporting members 210 . The adjacent rotating members 250 are connected through the connection between the connecting member 230 and the rotating member 250 . The connection between the two supports 210 realizes the overall connection of the curved structure 200 . In some embodiments, the fifth rotating shaft 252 of the rotating member 250 is rotationally connected to the connecting structure 232 of the connecting member 230 on the front supporting member 210 . In some embodiments, the sixth rotating shaft 254 of the rotating member 250 may be rotationally connected with the connecting structure 232 of the connecting member 230 on the rear supporting member 210 . For example, for the rotating member 250 located at the head end and/or the end of the curved structure 200, the rotating member 250 may only have the fifth rotating shaft 252 or the sixth rotating shaft 254 and adjacent (eg, front or rear) supports. The connecting piece 230 on the piece 210 is rotationally connected. For another example, for the rotating member 250 located in the middle of the curved structure 200, the fifth rotating axis 252 of the rotating member 250 can be rotationally connected with the connecting structure 232 of the connecting member 230 on the front support member 210, and the sixth rotating axis of the rotating member 250 254 can be rotationally connected with the connection structure 232 of the connection member 230 on the rear support member 210.

The support member 210 mainly functions as a skeleton support. Through the rotational connection between the rotating member 250 and the connecting member 230, the angle between the rotating member 250 and the supporting member 210 can be adjusted to realize deflection between the rotating member 250 and the supporting member 210, thereby realizing the deflection of the curved structure 200.

In some embodiments, support 210 may include a ring-like structure, as shown in FIG. 18 . On the one hand, the annular structure support member 210 facilitates its own rolling and is less likely to get stuck due to collisions between edges and surrounding objects, making the rolling of the curved structure 200 smoother. At the same time, the hollow setting of the annular structure also facilitates the passage of other components, such as related lines of handheld instruments, transmission structures (for example, rope transmission components), etc.

In some embodiments, the connector 230 can be connected to the inside of the annular structure to prevent the connector 230 from colliding with surrounding objects when the curved structure 200 rolls, affecting the smoothness of the curved structure 200 rolling and improving the curved structure. 200 safe to use.

In some embodiments, the support member 210 and the connecting member 230 may be detachably connected. The arrangement of the detachable connection not only facilitates the assembly of the curved structure 200, but also makes the connecting member 230 and the supporting member 210 detachable, making replacement less difficult. When some connectors 230 and/or supports 210 of the curved structure 200 fail, the corresponding connectors 230 and/or supports 210 can be disassembled, and new connectors 230 and/or supports 210 can be installed. Replacement of connector 230 and/or support 210 .

In some embodiments, a through groove 212 extends along the MN direction shown in Figures 17 and 18 on the inner side of the support member 210, and the connecting member 230 can be snapped into and fixed in the through groove 212, thereby realizing the connection between the connecting member 230 and Snap-on of support 210 . In some embodiments, the opening width of the through slot 212 can be the same or substantially the same as the width of the connecting piece 230, so that the connecting piece 230 can be snapped into the through slot 212 to achieve fixation.

In other embodiments, other detachable connection methods may be used between the support member 210 and the connecting member 230, such as mortise and tenon structure, screw connection, magnetic connection, adhesive bonding, etc.

In some embodiments, one support member 210 may be provided with two connecting members 230 . In some embodiments, the two connecting members 230 may be symmetrically distributed about the center line of the supporting member 210 respectively. One end of the two connecting members 230 can be connected to both ends of the fifth rotating shaft 252 of the front rotating member 250 respectively, and/or the other ends of the two connecting members 230 can be connected to the sixth rotating shaft of the rear rotating member 250 respectively. 254 on both ends. The two connecting members 230 can provide a fulcrum for the fifth rotating shaft 252 and/or the sixth rotating shaft 254 to achieve the fixation of the fifth rotating shaft 252 and/or the sixth rotating shaft 254, so that the rotating member 250 can rotate around the fifth rotating axis 252 and/or the sixth rotating shaft 254. The six rotating shafts 254 rotate to realize the deflection of the curved structure 200 .

The connecting member 230 is mainly used to connect the supporting member 210 and the rotating member 250 . In some embodiments, along the length direction of the connecting member 230 (that is, along the thickness direction of the supporting member 210 and/or the rotating member 250, the MN direction shown in FIGS. 17 and 18 ), the connecting member 230 may be provided with First thickness section 234, second thickness section 236, and third thickness section 238. In some embodiments, the thickness of the first thickness section 234 and the third thickness section 238 may both be greater than the thickness of the second thickness section 236 , and the second thickness section 236 may be snapped into the through groove 212 . When the second thickness section 236 is in contact with the bottom of the through slot 212, the first thickness section 234 and the third thickness section 238 with larger thickness can be respectively stuck on the two side surfaces of the support member 210 corresponding to the through slot 212 along the XY direction. superior. Therefore, the length of the second thickness section 236 may be the same or substantially the same as the thickness of the support member 210, thereby achieving the engagement of the connecting member 230 and the through slot 212 in the MN direction. In some embodiments, the connecting structures 232 on both ends of the connecting member 230 may be located on the first thickness section 234 and the third thickness section 238 respectively.

Referring to FIGS. 18 and 19 , in some embodiments, the connection structures 232 provided at both ends of the connector 230 may include superior arc-shaped grooves. A superior arc-shaped groove can be understood as a groove whose cross-sectional shape perpendicular to the axial direction of the groove is a superior arc shape (that is, an arc shape greater than 180°). The fifth rotating shaft 252 and the sixth rotating shaft 254 can be disposed in the arcuate groove, and the fifth rotating shaft 252 and the sixth rotating shaft 254 can rotate smoothly in the arcuate groove to realize the rotation member 250 and the connecting member 230 rotating connection. In addition, the excellent arc-shaped groove can also effectively prevent the fifth rotating shaft 252 and the sixth rotating shaft 254 from coming out, thereby ensuring a stable connection between the connecting structure 232 and the fifth rotating shaft 252 and the sixth rotating shaft 254, and at the same time, it can also reduce the connection between the rotating member 250 and the connection Part 230 is difficult to install. Through the cooperation between the arc-shaped groove and the fifth rotating shaft 252 and/or the sixth rotating shaft 254 , the rotational connection between the connecting piece 230 and the rotating piece 250 is achieved. In some embodiments, the arc of the cross-section perpendicular to the axial direction of the groove may be 190°˜250°. In some embodiments, the arc of the cross-section perpendicular to the axial direction of the groove may be 200°˜240°. In some embodiments, the arc of the cross-section perpendicular to the axial direction of the groove may be 210°˜230°.

In some embodiments, the diameters of the fifth and sixth

rotating shafts

252 and 254 may match the diameter of the arc-shaped groove of the connecting structure 232 (for example, the diameters of the fifth and sixth

rotating shafts

252 and 254 may match The diameters of the excellent arc-shaped grooves are the same or substantially the same, or the diameters of the fifth rotating shaft 252 and the sixth rotating shaft 254 can be slightly smaller than the diameters of the excellent arc-shaped grooves, etc.), the outer surfaces of the fifth rotating shaft 252 and the sixth rotating shaft 254 It can fit the inner surface of the excellent arc groove.

In some embodiments, the side surfaces of the fifth rotating shaft 252 and the sixth rotating shaft 254 may include a first arc surface, a first plane, a second arc surface, and a second plane connected in sequence along the circumferential direction. The distance a between the first plane and the second plane (as shown in FIG. 20 ) may be the same as the thickness of the rotating member 250 . In other embodiments, the distance a between the first plane and the second plane may be greater or less than the thickness of the rotating member 250 , as long as the fifth rotating shaft 252 and the sixth rotating shaft 254 can be stably connected to the connecting member 230 for rotation. .

In some embodiments, the distance a between the first plane and the second plane (as shown in Figure 20) may be slightly smaller than the distance b between the two ports of the superior arc-shaped groove (as shown in Figure 19), so that Therefore, the fifth rotating shaft 252 and the sixth rotating shaft 254 can be easily installed into the excellent arc-shaped groove. The first arc surface and the second arc surface can fit with the inner surface of the arc-shaped groove, so that after the fifth rotating shaft 252 and the sixth rotating shaft 254 are installed into the arc-shaped groove of the connecting structure 232, the fifth rotating shaft 252 and the sixth rotating shaft 254 The rotating shaft 252 and the sixth rotating shaft 254 can rotate in the arcuate groove, and the fifth rotating shaft 252 and the sixth rotating shaft 254 are not easy to fall off from the arcuate groove. Through the structural design of the excellent arc-shaped grooves and rotating shafts (including the fifth rotating shaft 252 and the sixth rotating shaft 254 ), the assembly of the curved structure 200 is very convenient and fast, and the connection structure is stable after the assembly is completed. In some embodiments, the distance between the first plane and the second plane may be slightly smaller than the distance between the two ports of the superior arc-shaped groove, and the diameters corresponding to the first arc surface and the second arc surface may be the same as the diameter of the superior arc surface. The diameters of the grooves are basically the same.

21-23 are schematic diagrams of an exemplary assembly process of a curved structure according to some embodiments of this specification. Please refer to Figures 21 to 23. In some embodiments, since the arc angle corresponding to the excellent arc groove is greater than 180°, the opening size of the excellent arc groove is smaller than the corresponding diameter of the excellent arc groove, that is, the excellent arc groove The opening size of the shaped groove is smaller than the farthest distance between the first arc surface and the second arc surface of the fifth rotating shaft 252 and the sixth rotating shaft 254 (ie, the diameter corresponding to the first arc surface and the second arc surface). In order to enable the fifth rotating shaft 252 or the sixth rotating shaft 254 to easily snap into the excellent arc groove of the connecting structure 232, in some embodiments, the thickness direction of the rotating member 250 and the length direction of the connecting member 230 (for example, FIG. 21 When the MN directions shown) are perpendicular to each other (as shown in FIG. 21 ), the fifth rotating shaft 252 or the sixth rotating shaft 254 can just enter the excellent arc-shaped groove at one end of the connecting member 230 . After the fifth rotating shaft 252 and the sixth rotating shaft 254 enter the superior arc groove, the rotating member 250 is rotated (as shown in Figure 22). At this time, since the opening size of the superior arc groove is smaller than the first arc surface and the second arc surface, Faced with the corresponding diameter, the fifth rotating shaft 252 or the sixth rotating shaft 254 cannot come out from the opening of the excellent arc-shaped groove, so that during the bending process of the bending structure 200, the components can still be tightly connected and not fall off, which improves the bending structure. 200 usage stability. In some embodiments, the connection process between the connecting structure 232 at the other end of the connecting member 230 and the other rotating member 250 (as shown in FIGS. 22 and 23 ) can refer to the above process, which will not be described again.

In some embodiments, the connection structure 232 may also include mounting holes. The fifth rotating shaft 252 and the sixth rotating shaft 254 can extend into the mounting hole, and the fifth rotating shaft 252 and the sixth rotating shaft 254 can rotate along the axial direction of the mounting hole. In some embodiments, an elastic ring (such as a rubber ring) may be provided between the fifth rotating shaft 252 and the mounting hole and/or between the sixth rotating shaft 144 and the mounting hole. The elastic ring may cause the fifth rotating shaft 252 and/or the The six rotating shafts 144 are stably connected to the mounting holes and can rotate in the mounting holes. In other embodiments, bearings may be provided between the fifth rotating shaft 252 and the mounting hole and/or between the sixth rotating shaft 144 and the mounting hole.

The plurality of rotating members 250 rotate in cooperation with each other to achieve multi-directional deflection of the curved structure 200 . Please refer to FIG. 20 . In some embodiments, the rotating member 250 may be cylindrical. The fifth rotating shaft 252 and the sixth rotating shaft 254 may both be disposed on the side surface of the rotating member 250 . Both ends of the fifth rotating shaft 252 and the sixth rotating shaft 254 Both ends of can respectively protrude from the side surface of the rotating member 250. In some embodiments, the intersection point of the fifth rotating axis 252 and the sixth rotating axis 254 can be located at the center of the rotating member 250 so that the rotating member 250 can maintain balance during rotation and is less likely to shake, thus improving the working stability of the curved structure 200 sex.

In some embodiments, for a single rotating member 250, at least one end of the fifth rotating shaft 252 may be connected to the previous connecting member 230 (for example, when two connecting members 230 are provided on one support member 210, the fifth rotating shaft 252 may be Both ends of the rotating shaft 252 are respectively connected to the two connecting members 230 on the previous supporting member 210). Alternatively, at least one end (such as both ends) of the sixth rotating shaft 254 can be connected to the rear connecting member 230 respectively (for example, when two connecting members 230 are provided on one support member 210, it can be two connecting members 230 of the sixth rotating shaft 252. The ends are respectively connected to the two connecting parts 230 on the rear supporting part 210). The above connection method can realize the connection of the curved structure 200 .

In some embodiments, the included angle range between the fifth rotation axis 252 and the sixth rotation axis 254 may be greater than 0° and less than or equal to 180°. The included angle between the fifth rotating axis 252 and the sixth rotating axis 254 is set such that when the plurality of rotating members 250 rotate around the fifth rotating axis 252 or the sixth rotating axis 254 respectively, the bending structure 200 can bend and deflect in multiple directions and angles, thereby improving the The flexibility of the curved structure 200 is improved. In some embodiments, the angle between the fifth rotation axis 252 and the sixth rotation axis 254 may be 90°, as shown in FIG. 20 . In other embodiments, the included angle between the fifth rotating axis 252 and the sixth rotating axis 254 may be 60°, 75°, 210° and other angles.

Referring to FIG. 20 , in some embodiments, the rotating member 250 may also be provided with a through hole 256 , and the through hole 256 penetrates the rotating member 250 along the thickness direction of the rotating member 250 . The through holes 256 can be used to provide passages and mounting locations for other components. For example, when the curved structure 200 is applied to an outer joint of a handheld instrument, the through hole 256 may be used to allow a transmission structure (eg, a traction cable, etc.) to pass through. When the curved structure 200 is applied to the internal joint of a handheld instrument, the through hole 256 can be used to allow signal lines, power lines, execution parts, etc. to pass through, and the rotating member 250 can protect these signal lines, power lines, execution parts, etc. In some embodiments, the number of through holes 256 may be multiple, and different through holes 256 may have different sizes, so that different types of wires and execution parts on the handheld instrument can pass through different through holes 256 respectively. .

In order to prevent the rotating member 250 from being damaged due to an excessive rotation angle, in some embodiments, the bending structure 200 may also be provided with a limiting structure. In some embodiments, the limiting structure may be detachable. Therefore, during the assembly process of the curved structure 200, the rotating member 250 can be installed to the connecting member 230 first, and then the limiting structure can be installed, so as to exert the restricting effect without hindering the installation of the rotating member 250. For example, the limiting structure may be a limiting screw, and the limiting screw may be installed on the connector 230 . When the rotating member 250 rotates to contact the limiting screw on the connecting member 230, the rotating member 250 reaches the preset maximum rotation angle and cannot continue to rotate in the original direction, thereby achieving the limiting effect.

In some embodiments, the limiting structure may also include limiting protrusions provided on the support member 210 , and the limiting protrusions may be provided on one or both sides of the support member 210 along the XY direction. In some embodiments, the number of limiting protrusions may be one or two or more. When the rotating member 250 rotates to a preset angle, the limiting protrusion on the supporting member 210 can contact the adjacent supporting member 210 or the limiting protrusion on the adjacent supporting member 210 , so that the rotating member 250 cannot continue. Rotate in the original direction to achieve the limiting effect.

It should be noted that in some embodiments, the structural forms of the inner joint 310 and the outer joint 320 may have multiple combinations. For example, the inner joint 310 can be a structure as shown in Figure 16, a spring tube, a universal joint link (for example, a structure similar to the outer joint 320 shown in Figure 10), a snake bone, etc., and the outer joint 320 can also be as follows The structure shown in Figure 16, spring tube, universal joint link (for example, a structure similar to the outer joint 320 shown in Figure 10), snake bone, etc. The joint motion assembly 300 may be a motion assembly composed of the above-mentioned inner joint 310 and the above-mentioned outer joint 320 having the same type or different types of structures.

The basic concepts have been described above. It is obvious to those skilled in the art that the above detailed disclosure is only an example and does not constitute a limitation of the present application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this application. Such modifications, improvements and corrections are suggested in this application, so such modifications, improvements and corrections still fall within the spirit and scope of the exemplary embodiments of this application.

At the same time, this application uses specific words to describe the embodiments of the application. For example, "one embodiment", "an embodiment", and/or "some embodiments" means a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that “one embodiment” or “an embodiment” or “an alternative embodiment” mentioned twice or more at different places in this specification does not necessarily refer to the same embodiment. . In addition, certain features, structures or characteristics in one or more embodiments of the present application may be appropriately combined.

Furthermore, those skilled in the art will appreciate that aspects of the present application may be illustrated and described in several patentable categories or circumstances, including any new and useful process, machine, product, or combination of matter, or combination thereof. any new and useful improvements. Accordingly, various aspects of the present application may be executed entirely by hardware, may be entirely executed by software (including firmware, resident software, microcode, etc.), or may be executed by a combination of hardware and software. The above hardware or software may be referred to as "data block", "module", "engine", "unit", "component" or "system". Additionally, aspects of the present application may be embodied as a computer product including computer-readable program code located on one or more computer-readable media.

In addition, unless explicitly stated in the claims, the order of the processing elements and sequences described in this application, the use of numbers and letters, or the use of other names are not used to limit the order of the processes and methods of this application. Although the foregoing disclosure discusses by various examples some embodiments of the invention that are presently considered useful, it is to be understood that such details are for purposes of illustration only and that the appended claims are not limited to the disclosed embodiments. To the contrary, rights The claims are intended to cover all modifications and equivalent combinations consistent with the spirit and scope of the embodiments of the application. For example, although the system components described above can be implemented by hardware devices, they can also be implemented by software-only solutions, such as installing the described system on existing processing equipment or mobile devices.

Similarly, it should be noted that in order to simplify the presentation of the disclosure of the present application and thereby facilitate understanding of one or more embodiments of the invention, in the foregoing description of the embodiments of the present application, multiple features are sometimes combined into one embodiment. accompanying drawings or descriptions thereof. However, this method of disclosure does not imply that the subject matter of the application requires more features than are mentioned in the claims. In fact, embodiments may have less than all features of a single disclosed embodiment.

In some embodiments, numbers are used to describe the quantities of components and properties. It should be understood that such numbers used to describe the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Grooming. Unless otherwise stated, "about," "approximately," or "substantially" means that the stated number is allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximations that may vary depending on the desired features of the individual embodiment. In some embodiments, numerical parameters should account for the specified number of significant digits and use general digit preservation methods. Although the numerical fields and parameters used to confirm the breadth of the ranges in some embodiments of the present application are approximations, in specific embodiments, such numerical values are set as accurately as feasible.

Each patent, patent application, patent application publication, and other material, such as articles, books, specifications, publications, documents, etc. cited in this application is hereby incorporated by reference in its entirety. Application history documents that are inconsistent with or conflict with the content of this application are excluded, as are documents (currently or later appended to this application) that limit the broadest scope of the claims of this application. It should be noted that if there is any inconsistency or conflict between the descriptions, definitions, and/or use of terms in the accompanying materials of this application and the content described in this application, the description, definitions, and/or use of terms in this application shall prevail. .

Finally, it should be understood that the embodiments described in this application are only used to illustrate the principles of the embodiments of this application. Other variations are possible within the scope of this application. Accordingly, by way of example and not limitation, alternative configurations of the embodiments of the present application may be considered consistent with the teachings of the present application. Accordingly, embodiments of the present application are not limited to those expressly introduced and described herein.

Claims

A handheld instrument, including a control structure, a frame and an execution structure; the control structure is connected to the execution structure through the frame; the control structure includes a transmission structure and a control handle, and the control handle and the execution structure pass through The transmission structure is transmission connected.
The handheld instrument according to claim 1, wherein the frame includes an attachment member connected to the control handle through the transmission structure.
The handheld instrument of claim 2, wherein the attachment includes an open structure.
The handheld instrument according to claim 3, wherein the opening structure is an arched opening structure.
The handheld instrument according to claim 4, wherein the arched opening structure includes a C-shaped structure or a U-shaped structure.
The handheld instrument according to claim 3, wherein the attachment is provided with at least one of an air bag, a flexible wrist strap and a rigid bendable wrist strap.
The handheld instrument of claim 3, wherein the attachment includes a first clamping portion, a second clamping portion and a distance adjustment mechanism, the first clamping portion and the second clamping portion It is used to clamp the wrist, and the distance adjustment mechanism is used to adjust the distance between the first clamping part and the second clamping part.
The handheld instrument according to claim 1, wherein the frame includes a quick-change assembly to realize detachable connection between the control structure and the execution structure.
The handheld instrument according to claim 8, wherein the quick-change assembly includes a detachably connected power part and a driving part, the power part is connected to the control structure, and the driving part is connected to the execution structure. .
The handheld instrument according to claim 2, wherein the transmission structure includes a motion analysis component and a motion transmission component, the motion analysis component is connected between the control handle and the frame, and the motion transmission component at least Part of it passes through the frame and is connected to the execution structure; the movement analysis component is used to analyze the operation of the control handle into a control movement and transmit it to the movement transmission component, and the movement transmission component transmits the control movement to the execution structure, thereby controlling the movement of the execution structure.
10. The handheld instrument of claim 10, wherein the motion resolution assembly includes a parallel resolution mechanism.
The handheld instrument according to claim 11, wherein the parallel analytical structure includes two chain belts, one end of the chain belt is connected to the motion transmission assembly through the attachment piece, and the other end of the chain belt One end is connected to the control handle, and the control operation of the control handle is transmitted to the attachment through the chain belt conversion, and is transmitted to the execution structure through the motion transmission assembly.
10. The handheld instrument of claim 10, wherein the motion resolution assembly includes a series resolution mechanism.
The handheld instrument according to claim 13, wherein the series resolution mechanism includes a deflection portion, the deflection portion is rotationally connected to the frame.
The handheld instrument according to claim 14, wherein the control handle and the deflection part are rotationally connected through a first rotating shaft, and the first rotating shaft and the execution structure are drivingly connected through the motion transmission component, so as to The rotation of the control handle relative to the deflection part is converted into a deflection of at least part of the execution structure in the first direction.
The handheld instrument according to claim 14, wherein the deflection part is rotatably connected to the frame through a second rotating shaft, and the second rotating shaft and the execution structure are drivingly connected through the motion transmission assembly to connect the The rotation of the deflection part relative to the frame is converted into at least part of the deflection of the execution structure in the second direction, and there is an included angle between the first direction and the second direction that is greater than 0° and less than 180°. .
The handheld instrument according to claim 16, wherein the first axis where the first rotating axis is located is perpendicular to and intersects with the second axis where the second rotating axis is located, and the axis of the actuating structure is offset from the first axis. intersection with the second axis.
The handheld instrument according to claim 1, wherein the execution structure includes a deflection segment, a distal effector and a rod-shaped structure, one end of the rod-shaped structure is connected to one end of the deflection segment, the rod-shaped The other end of the structure is connected to the frame, and the remote effector is connected to the other end of the deflection section;

The deflection section is a flexible deflection joint.
The handheld instrument according to claim 18, wherein the control structure further includes a trigger, the trigger is rotationally connected to the control handle through a fourth rotating shaft, and the distal effector includes a first execution part and a second Execution part, at least part of the first execution part and at least part of the second execution part are relatively opened and closed to realize the shearing and clamping operations of the distal effector, and the fourth rotating shaft is connected with the first The execution part and/or the second execution part are transmission connected, converting the rotation of the trigger relative to the control handle into relative opening and closing of at least part of the first execution part and at least part of the second execution part.
The handheld instrument according to claim 1, wherein the execution structure includes a curved structure, the curved structure includes a plurality of supports, a plurality of connectors and a plurality of rotating members, and the supports are connected to the Connecting piece, the two ends of the connecting piece respectively protrude from both sides of the supporting piece along the thickness direction of the supporting piece, and both ends of the connecting piece are provided with connecting structures, and the rotating piece is provided with There is a fifth rotating axis and a sixth rotating axis; the included angle between the fifth rotating axis and the sixth rotating axis is greater than 0° and less than or equal to 180°;

A plurality of the supporting members and the rotating member are arranged staggeredly, and one rotating member is arranged between any two adjacent supporting members; the fifth rotating shaft of the rotating member is connected to the previous supporting member. The connecting structure of the connecting member is rotationally connected, and/or the sixth rotating shaft of the rotating member is rotationally connected to the connecting structure of the connecting member on the rear supporting member.
The handheld instrument according to claim 20, wherein the connection structure includes an excellent arc-shaped groove, and the side surfaces of the fifth rotating axis and the sixth rotating axis include a first arc surface, a third arc surface, and a first arc surface connected in sequence along the circumferential direction. A flat surface, a second arc surface, and a second flat surface. The fifth rotating axis and the sixth rotating axis can be disposed in the excellent arc-shaped groove. The distance between the first flat surface and the second flat surface The distance between the two ports of the excellent arc-shaped groove is less than the distance between the two ports of the excellent arc-shaped groove, and the first arc surface and the second arc surface fit with the inner surface of the excellent arc-shaped groove.
The handheld instrument according to claim 21, wherein the rotating member is cylindrical, the fifth rotating shaft and the sixth rotating shaft are both disposed on side surfaces of the rotating member, and the first plane is in contact with the The distance between the second planes is the same as the thickness of the rotating member.
The handheld instrument according to claim 22, wherein the support member is provided with two connecting members;

Both ends of the fifth rotating shaft are respectively connected to the two connecting pieces;

Alternatively, both ends of the sixth rotating shaft are respectively connected to the two connecting pieces.
The handheld instrument of claim 20, wherein the connecting member is detachably connected to the support member.
The handheld instrument of claim 24, wherein the support member includes an annular structure, and the connecting member is connected inside the annular structure.
The handheld instrument according to claim 25, wherein a through groove extends along the thickness direction of the support member on the inner side of the support member, and the connecting member can be snapped into and fixed in the through groove.
The handheld instrument according to claim 26, wherein the connecting piece is provided with a first thickness section, a second thickness section and a third thickness section in sequence along the length direction of the connecting piece, and the first thickness section and The thickness of the third thickness section is greater than the thickness of the second thickness section;

The second thickness section is clamped into the through groove, and the first thickness section and the third thickness section are respectively clamped on both sides of the support member along the thickness direction of the support member.
The handheld instrument according to claim 20, wherein the rotating member is provided with a through hole, and the through hole penetrates the rotating member along a thickness direction of the rotating member.
The handheld instrument according to claim 1, wherein the execution structure includes an articulation assembly, the articulation assembly includes an inner joint and an outer joint, and the outer joint is sleeved outside the inner joint.
The handheld instrument according to claim 29, wherein the control handle is provided with a rolling control assembly, and the rolling control assembly is used to rotate the inner joint relative to the outer joint around the axis of the inner joint. .
The handheld instrument according to claim 29, wherein one of the inner joint and the outer joint is connected with a rotating member, and the other is provided with a deflection mechanism;

The joints connected to the rotating member among the inner joint and the outer joint can roll around their own axis under the driving of the rotating member relative to the joint provided with the deflection mechanism;

The joint provided with the deflection mechanism can perform a deflection movement driven by the deflection mechanism, and drive the joint connected to the rotating member to perform a deflection movement.
The handheld instrument according to claim 31, wherein the inner joint is connected with the rotating member, and the outer joint is provided with the deflection mechanism.
The handheld instrument according to claim 32, wherein the rotating member includes an inner tube, and the deflection mechanism includes an outer tube and a steel wire; wherein the outer tube is sleeved outside the inner tube, and the inner tube The tube can be driven into a rolling movement about its own axis relative to the outer tube.
The handheld instrument according to claim 33, wherein the proximal end of the inner joint is connected to the distal end of the inner tube, and the proximal end of the outer joint is connected to the distal end of the outer tube; the steel wire rope One end of the wire rope is fixed at the distal end of the outer joint, and the other end of the steel wire passes from the distal end of the outer joint to the proximal end of the outer tube.
The handheld instrument of claim 34, wherein a bearing connection is provided between the distal end of the inner joint and the distal end of the outer joint.
The handheld instrument according to any one of claims 31 to 34, wherein a barrier member is provided between the inner joint and the outer joint, and the barrier member includes a wear-resistant material.
The handheld instrument according to claim 36, wherein the blocking member has a tubular structure and is sleeved on the outside of the inner joint.
The handheld instrument according to claim 34, wherein a rigid member is provided on the outer joint, and the rigid member is disposed on the outer joint along the length direction of the outer joint.