CN117717379A

CN117717379A - Multi-degree-of-freedom minimally invasive instrument

Info

Publication number: CN117717379A
Application number: CN202410181336.6A
Authority: CN
Inventors: 姜鹏; 韦巍; 程玉权; 李小明; 赵磊
Original assignee: Qingda Shengyi Xiamen Medical Technology Co ltd; Shengyi Technology Beijing Co ltd
Current assignee: Qingda Shengyi Xiamen Medical Technology Co ltd; Shengyi Technology Beijing Co ltd
Priority date: 2024-02-18
Filing date: 2024-02-18
Publication date: 2024-03-19

Abstract

The invention relates to a multi-degree-of-freedom minimally invasive instrument, which comprises a wrist annular frame, a top beam frame, a handle and a fingerstall, wherein one end of the top beam frame is connected with one end of a rod part, the other end of the rod part is rotationally connected with a wrist, and the end part of the wrist is rotationally connected with a clamp head; the wrist annular frame comprises a wrist annular frame upper frame and a wrist annular frame lower frame which are connected in a rotating way, and the wrist and the clamp head are driven to do pitching motion relative to the rod part through an upper pitching rope and a lower pitching rope which are connected with the wrist and the wrist annular frame; the finger stall is controlled to open and close or the handle is controlled to rotate so as to drive the pliers head to realize opening and closing movement or yaw movement through the left pliers head rope and the right pliers head rope which are connected with the finger stall. The operation realizes the free rotation of the minimally invasive instrument in multiple directions, and the sizes of the forceps head and the wrist are smaller than the rod body, so that the minimally invasive instrument can freely rotate in a small range, the operation view angle is visible, the interference possibly occurring during the use of the instrument is avoided, and the operation performance and the use efficiency of the surgical instrument are improved.

Description

Multi-degree-of-freedom minimally invasive instrument

Technical Field

The disclosure relates to the technical field of medical instruments, and in particular relates to a minimally invasive instrument capable of turning with multiple degrees of freedom.

Background

Minimally invasive surgery refers to operations such as making multiple perforations or single perforations on the exterior of a human body, enabling an endoscope and an operation instrument to enter a body cavity through small holes, operating a handle part of a long rod instrument outside the body of a patient under the monitoring of the endoscope by an operator, operating the head part of the instrument in the body of the patient to cut a focus, suturing and the like, taking out the endoscope and the instrument after operation, suturing small holes on the body surface of the patient, and completing the operation, so that damage to healthy tissues of the patient can be reduced to the greatest extent. Medical devices in surgery are often referred to as laparoscopic surgical devices, or laparoscopic electrodes. The surgical instrument is mainly composed of a handle which can be held by an operator, an elongated rod which can penetrate into a body cavity, and a movable end effector (such as a surgical knife, scissors, forceps, a grasping tool, a cautery tool, etc.).

In the existing minimally invasive surgery process of the biliary tract calculus patient, the detection result of the biliary tract calculus position in the abdominal cavity of the patient shows that the biliary tract deep lesion is narrow in position. Therefore, the common straight forceps head cannot be used for related operation and is inconvenient, and a doctor is completely depended on twisting the wrist joint to adjust and control the forceps to conduct the operation process, so that the surgical instrument with the cornerable instrument head is required to perform related minimally invasive operation.

The single-port laparoscopic surgery only needs to open a hole in the abdomen of a patient, so that the damage to the patient is less compared with the multi-port laparoscopic surgery, the postoperative recovery is quick, and meanwhile, higher requirements on instruments are also met. Because all laparoscopic instruments enter from one hole in a single-hole laparoscopic surgery, interference phenomenon is caused when a plurality of instruments are operated in a limited space, and the degree of freedom is insufficient in the use process, so that some actions necessary for the surgery cannot be completed. Therefore, a minimally invasive surgical instrument capable of turning the head is necessary, is convenient for the operation of doctors, and meets different operation requirements.

Although the prior art instrument can bend, the space required for bending is determined by the radius of the curve. The prior art adopts a multi-joint wrist structure, so that the length of the wrist structure is longer, the turning radius is large, and certain positions cannot be reached; most of turning in the prior art is controlled by a rotating wheel at the handle end, and two hands are needed for control, so that the rapid operation of the operation is not facilitated; in the prior art, the turning needs multiple times of adjustment, the time is slower, and the operation time is increased; the head is unstable after turning and easy to shake in the prior art; in the prior art, the turning direction is relatively fixed, the turning is performed along one direction, and the operation is not very convenient.

Therefore, how to rotate the end of the instrument in a very small range, and the instrument head can make turns in multiple directions without interference phenomenon, so as to improve the operability of the surgical instrument is a technical problem to be solved by those skilled in the art.

Disclosure of Invention

In order to solve the technical problems, the present disclosure provides a minimally invasive instrument capable of turning with multiple degrees of freedom.

The utility model provides a multi-degree-of-freedom minimally invasive instrument, which comprises a wrist annular frame, wherein the top end of the wrist annular frame is connected with a top beam frame of an arc structure, a handle is rotatably arranged on a bottom fixing frame fixedly connected with the bottom end of the wrist annular frame, a fingerstall is arranged on the handle, one end of the top beam frame is connected with one end of a rod part, the other end of the rod part is rotationally connected with a wrist, the end part of the wrist is rotationally connected with a clamp head, a rotating plane of the wrist relative to the rod part is perpendicular to a rotating plane of the clamp head relative to the wrist, and the clamp head is provided with a left clamp head and a right clamp head which can rotate; the wrist annular frame comprises a wrist annular frame upper frame and a wrist annular frame lower frame, two ends of the wrist annular frame upper frame and two ends of the wrist annular frame lower frame are respectively connected through a central rotating shaft wheel, so that the wrist annular frame lower frame can rotate relative to the wrist annular frame upper frame, and the wrist and the clamp head are driven to do pitching motion relative to the rod through an upper pitching rope and a lower pitching rope which are connected with the wrist and the wrist annular frame; the finger stall is controlled to open and close or the handle is controlled to rotate so as to drive the forceps heads to realize opening and closing movement or yaw movement through a left forceps head rope and a right forceps head rope which are connected with the finger stall.

Preferably, the left binding clip and the right binding clip are rotatably mounted at the end part of the wrist through a yaw rotating shaft, the tail mounting ends of the left binding clip and the right binding clip are respectively provided with a rope groove used for mounting ropes, the opening and closing of the binding clip are realized through the opening and closing of the fingerstall, and the left binding clip and the right binding clip deviate from or rotate in opposite directions relative to the yaw rotating shaft during opening and closing so as to realize the opening and closing of the binding clip; yaw of the clamp heads is achieved by rotating the handles, and the left clamp head and the right clamp head simultaneously rotate in the same direction relative to the yaw rotating shaft during rotation, so that deflection of the clamp heads is achieved.

Preferably, the number of the rope grooves is multiple, each rope groove is internally provided with a rope, the first electrode wire, the second electrode wire, the left clamp head closing rope, the right clamp head opening rope, the left clamp head opening rope and the right clamp head closing rope are respectively arranged in the rope grooves, the left clamp head closing rope and the left clamp head opening rope are jointly arranged at two sides of one rope groove, the right clamp head opening rope and the right clamp head closing rope are jointly arranged at two sides of one rope groove, the end part of the left clamp head closing rope and the end part of the left clamp head opening rope are connected with the end part of the rope groove close to the left clamp head, and the end part of the right clamp head opening rope and the end part of the right clamp head closing rope are connected with the end part of the rope groove close to the right clamp head.

Preferably, a guide wheel member with a rope groove for winding is arranged at the joint of the rod part and the top beam frame, inside the top beam frame and inside the wrist annular frame.

Preferably, the tail end of the wrist is connected with the rod portion through a threading supporting seat, the wrist is rotationally connected with the threading supporting seat through a pitching rotating shaft, a pitching wheel set is further installed on the pitching rotating shaft, and an annular groove for installing a rope is formed in the periphery of the pitching wheel set.

Preferably, an electrode module is arranged at one end of the top beam frame, which is connected with the wrist annular frame, a first electrode wire and a second electrode wire are led out of the electrode module, the first electrode wire is wound on a wire rope groove used for installing a wire rope on the tail installation end of the right binding clip, and the second electrode wire is wound on a wire rope groove used for installing the wire rope on the tail installation end of the left binding clip.

Preferably, the fingerstall is connected with a universal joint through a rotating shaft, the universal joint is installed on a guide wheel box at the bottom of the wrist annular frame, the guide wheel box is rotationally connected with the bottom fixing frame, the handle is installed on the guide wheel box, and the handle can rotate relative to the bottom fixing frame along with hand actions after being held.

Preferably, the finger stall is installed on the rotating shaft of the handle, the finger stall comprises a first finger stall and a second finger stall, and the first connecting part of the first finger stall is meshed with the second connecting part of the second finger stall.

Preferably, the first finger cuff is movably arranged between the first connecting part and the second finger cuff is movably arranged between the second connecting part so as to adjust the distance between the first finger cuff and the second finger cuff and the rotating shaft; the first connecting part and the second connecting part are movably arranged on the rotating shaft so as to change the distance between the first connecting part and the bottom of the wrist annular frame.

Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:

the disclosed multi-degree-of-freedom minimally invasive instrument allows a user's hand to pass through the wrist annular frame, grasp the handle portion and manipulate the fingers into the finger cuff to manipulate the minimally invasive instrument. In the use, the operation to wrist annular frame, handle and dactylotheca can be realized to the different actions of user's hand to make binding clip and wrist can realize rotating along with the hand operation.

Because the plane in which the wrist rotates is perpendicular to the plane in which the clamp head rotates, when only the wrist rotates, the clamp head rotates along with the wrist, so that the clamp head moves on the wrist rotation plane, namely pitching operation is performed; when only the clamp head rotates, the left clamp head and the right clamp head can be opened and closed, and the left clamp head and the right clamp head can be controlled to simultaneously rotate towards the same direction, so that the yaw operation of the clamp head is realized, and when only the clamp head rotates, the opening and closing operation and the yaw operation in the rotation plane of the clamp head can be realized; when the clamp head and the wrist rotate simultaneously, the clamp head can be enabled to perform opening and closing operation and yaw operation at the position deviating from the axis of the rod part.

The operation and control realizes the free rotation of the minimally invasive instrument in multiple directions, thereby realizing the operation requirement of multiple degrees of freedom in use, and in addition, as the sizes of the clamp head and the wrist are smaller relative to the rod body, the minimally invasive instrument can freely rotate in a small range, so that the operation view angle is visible, the interference possibly occurring when the instrument is used is avoided, and the operation performance and the use efficiency of the surgical instrument are improved.

The utility model also provides a multi-degree-of-freedom minimally invasive instrument, which comprises a wrist annular frame, wherein the top end of the wrist annular frame is connected with a tendon sheath top beam frame of an arc structure, a handle is rotatably arranged on a bottom fixing frame fixedly connected with the bottom end, a fingerstall is arranged on the handle, one end of the tendon sheath top beam frame is connected with one end of a rod part, the other end of the rod part is rotationally connected with a wrist, the end part of the wrist is rotationally connected with a clamp head, a rotating plane of the wrist relative to the rod part is vertical to a rotating plane of the clamp head relative to the wrist, and the clamp head is provided with a left clamp head and a right clamp head which can rotate; the wrist annular frame comprises a wrist annular frame upper frame and a wrist annular frame lower frame, two ends of the wrist annular frame upper frame and two ends of the wrist annular frame lower frame are respectively connected through a central rotating shaft wheel, so that the wrist annular frame lower frame can rotate relative to the wrist annular frame upper frame, and the wrist and the clamp head are driven to do pitching motion relative to the rod through an upper pitching rope and a lower pitching rope which are connected with the wrist and the wrist annular frame; the finger stall is controlled to open and close or the handle is controlled to rotate so as to drive the forceps heads to realize opening and closing movement or yaw movement through a left forceps head rope and a right forceps head rope which are connected with the finger stall; the tendon sheath top beam frame is internally provided with a rope groove for accommodating ropes, and the upper pitching ropes and the lower pitching ropes penetrate through the rope groove to connect the wrist with the wrist annular frame.

In this disclosure, adopted the wire winding mode of rope tenosynovial structure, wherein, set up the rope groove that is used for holding the cotton rope in the tenosynovial top roof beam frame, go up pitch cotton rope and pitch cotton rope down and pass rope groove connection wrist and wrist annular frame. And the free rotation of the minimally invasive instrument in a plurality of directions is realized during operation, so that the operation requirement of multiple degrees of freedom in use is further realized.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings that are required to be used in the description of the embodiments or the prior art will be briefly described below, and it will be apparent to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.

Fig. 1 is a schematic view of a structure of a multi-degree of freedom minimally invasive instrument of the present disclosure.

Fig. 2 is a schematic view of the internal structure of the multi-degree-of-freedom minimally invasive instrument of the present disclosure.

Fig. 3 is a schematic view of a head structure of a multi-degree of freedom minimally invasive instrument of the present disclosure.

Fig. 4 is an exploded view of the head of the multi-degree of freedom minimally invasive instrument of the present disclosure.

Fig. 5 is a schematic view of a head structure of a multi-degree of freedom minimally invasive instrument of the present disclosure.

Fig. 6 is a schematic view of a winding at the junction of the stem, top beam and wrist ring of the disclosed multi-degree of freedom minimally invasive instrument.

Fig. 7 is a schematic view of a winding of a guide wheel at a wrist ring frame of a minimally invasive instrument with multiple degrees of freedom according to the present disclosure.

Fig. 8 is a schematic view of a winding of a guide wheel at a guide wheel box of a minimally invasive instrument with multiple degrees of freedom of the present disclosure.

Fig. 9 is a schematic view of a hand-held portion of a minimally invasive instrument of multiple degrees of freedom of the present disclosure.

Fig. 10 is a schematic view of a finger sleeve structure of another multi-degree-of-freedom minimally invasive instrument of the present disclosure.

Fig. 11 is a schematic structural view of a string connection mode of the multi-degree-of-freedom minimally invasive instrument of the present disclosure.

Fig. 12 is a schematic view of a winding in a head of another multiple degree of freedom minimally invasive instrument of the present disclosure.

Fig. 13 is a schematic view of a top beam structure of another minimally invasive instrument of the present disclosure in a tendon sheath configuration of a string.

Fig. 14 is a cross-sectional view of a tendon sheath structure of a cord of another minimally invasive instrument of multiple degrees of freedom of the present disclosure.

Fig. 15 is a schematic view of a shaft of a minimally invasive instrument of multiple degrees of freedom of the present disclosure.

Fig. 16 is a schematic view of a structure of the disclosed multi-degree of freedom minimally invasive instrument in a pitching state.

Fig. 17 is a schematic view of a structure of the minimally invasive instrument of the present disclosure in a yaw state.

Fig. 18 is a schematic structural view of the multi-degree-of-freedom minimally invasive instrument clamp of the present disclosure in an open/close state.

Fig. 19 is a schematic view of a multi-degree-of-freedom minimally invasive instrument of the present disclosure in a multi-degree-of-freedom turn.

Fig. 20 is a schematic view of a use state of the multi-degree of freedom minimally invasive instrument of the present disclosure.

Wherein, 1, the clamp head; 101. a left clamp head; 102. a right clamp head; 2. a wrist; 201. a pitching wheel group; 202. a first wheel set; 203. a pitching rotating shaft, 204 and a threading supporting seat; 205. a yaw rotation shaft; 3. a stem portion; 4. a flushing port; 5. a top beam frame; 501. a second wheel set; 502. a third wheel set; 503. a wire hole positioning block; 504. a string; 505. a steel pipe; 506. a location; 507. chamfering; 6. an electrode module; 601. a first electrode line; 602. a second electrode line; 603. closing the rope by the left clamp head; 604. the right clamp head opens the string; 605. the left clamp head opens the rope; 606. closing the rope by the right clamp head; 607. a pitching rope is arranged on the upper part; 608. a lower pitch rope; 609. an electrode joint; 610. a branching module; 7. the wrist annular frame is put on the shelf; 8. the wrist annular frame is arranged on the lower frame; 801. a bottom fixing frame; 802. a central spindle wheel; 803-806, guide wheels; 9. a guide wheel box; 901. a bottom center rotating shaft guide wheel; 902. a reel tightening reel; 903. a bottom rotating bracket; 10. a handle; 1001. a rotating shaft; 1002. a universal joint; 11. a finger stall; 1101. a first finger cuff; 1102. a second finger cuff; 1103. a first connection portion; 1104. a second connecting portion; 1105. a mounting hole; 1106. a first limit part; 1107. a second limit part; 12. tendon sheath top beam frame; 1201. an outer cord notch; 1202. an inner wire rope groove; 1203. electrode wire slots; 1204. a lubricating material; 1205. a string; 1206. a tubular structure; A. a pitching rotation axis of the wrist ring frame lower frame 8; B. yaw axis of rotation of handle 10; C. and a shaft portion rotating shaft.

Detailed Description

In order that the above objects, features and advantages of the present disclosure may be more clearly understood, embodiments of the present disclosure will be further described below. It should be noted that, without conflict, the embodiments of the present disclosure and features in the embodiments may be combined with each other.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced otherwise than as described herein; it will be apparent that the embodiments in the specification are only some, but not all, embodiments of the disclosure.

Fig. 1 to 20 are schematic structural views of different angles and different parts of a multi-degree-of-freedom minimally invasive instrument according to various embodiments of the present disclosure.

In the present disclosure, referring to fig. 1, a multi-degree-of-freedom minimally invasive instrument includes a wrist ring frame, a top beam frame 5 of an arc structure is connected to a top end of the wrist ring frame, a handle 10 is rotatably mounted on a bottom fixing frame 801 fixedly connected to a bottom end, and a fingerstall 11 is mounted on the handle 10. In use, the user's hand passes through the wrist ring frame, the palm portion grips the handle 10, and the user operates the instrument while performing the operation, the operating fingers of the operating instrument enter the finger cuff 11 to operate the minimally invasive instrument.

One end of the top beam frame 5 is connected with one end of the rod part 3, the other end of the rod part 3 is rotationally connected with the wrist part 2, the end part of the wrist part 2 is rotationally connected with the clamp head 1, the rotating plane of the wrist part 2 relative to the rod part 3 is perpendicular to the rotating plane of the clamp head 1 relative to the wrist part 2, the clamp head 1 is provided with a left clamp head 101 and a right clamp head 102 which can rotate, the wrist annular frame comprises a wrist annular frame upper frame 7 and a wrist annular frame lower frame 8, two ends of the wrist annular frame upper frame 7 and two ends of the wrist annular frame lower frame 8 are respectively connected through a central rotating shaft wheel 802, so that the wrist annular frame lower frame 8 can rotate relative to the wrist annular frame upper frame 7, and the wrist part 2 and the clamp head 1 are driven to perform pitching motion relative to the rod part 3 through an upper pitching wire 607 and a lower pitching wire 608 which are connected with the wrist part 2 and the wrist annular frame. When the minimally invasive instrument is used, the hand penetrates through the wrist annular frame and holds the handle 10, after the hand is held, the wrist annular frame lower frame 8 is driven to rotate up and down around the central rotating shaft wheel 802 relative to the wrist annular frame upper frame 7 through up-and-down movement of the wrist, and therefore the fact that the wrist annular frame lower frame 8 drives the wrist 2 to perform pitching movement is achieved, and the jaw 1 connected with the wrist 2 is simultaneously involved in pitching movement.

The control finger sleeve 11 is opened and closed or the handle 10 is rotated to drive the clamp head 1 to realize opening and closing movement or yaw movement through the left clamp head rope and the right clamp head rope which are connected with the control finger sleeve. Specifically, the finger sleeve 11 is controlled to be opened or closed by a finger, so that the left clamp head 101 and the right clamp head 102 can be opened or closed relatively; by holding the handle 10 and rotating it left and right with respect to the bottom holder 801, the left and right binding clip 101 and 102 can be rotated in the same direction in synchronization, thereby realizing the deflection of the binding clip 1. In the non-holding state of the minimally invasive instrument, as shown in fig. 2 or 15, in which the hand does not enter the wrist ring frame, the top beam 5, the stem 3, the wrist 2 and the forceps head 1 of the minimally invasive instrument are sequentially connected, and as can be seen in fig. 2 or 15, the stem 3, the wrist 2 and the forceps head 1 are on one axis.

Preferably, as shown in fig. 1, a flushing port 4 is also provided at the junction of the shank 3 and the roof rail 5.

In this embodiment, the left binding clip 101 and the right binding clip 102 are rotatably mounted at the end of the wrist 2 through the yaw rotation shaft 205, and the tail mounting ends of the left binding clip 101 and the right binding clip 102 are provided with rope grooves for mounting ropes, so that the opening and closing of the binding clip 1 are realized through the opening and closing of the finger sleeve 11, and the left binding clip 101 and the right binding clip 102 deviate from or rotate in opposite directions relative to the yaw rotation shaft 205 during opening and closing to realize the opening and closing of the binding clip 1; yaw of the binding clip 1 is achieved by rotating the handle 10, and the left binding clip 101 and the right binding clip 102 simultaneously rotate in the same direction relative to the yaw rotation axis 205 during rotation, so as to achieve deflection of the binding clip 1. Here, the tail portions of the left binding clip 101 and the right binding clip 102 refer to the ends of both the two connected to the wrist 2, as shown in fig. 4.

The number of the rope grooves is multiple, one rope is installed in each rope groove, and the first electrode wire 601, the second electrode wire 602, the left clamp head closing rope 603, the right clamp head opening rope 604, the left clamp head opening rope 605 and the right clamp head closing rope 606 are respectively arranged in the rope grooves. The left binding clip closing cord 603 and the left binding clip opening cord 605 are arranged on two sides of one of the cord grooves, the right binding clip opening cord 604 and the right binding clip closing cord 606 are arranged on two sides of one of the cord grooves, the end of the left binding clip closing cord 603 and the end of the left binding clip opening cord 605 are connected with the end of the wire groove close to the left binding clip 101, and the end of the right binding clip opening cord 604 and the end of the right binding clip closing cord 606 are connected with the end of the wire groove close to the right binding clip 102. Specifically, the end of the left binding clip closing cord 603 and the end of the left binding clip opening cord 605 are connected by a connector and mounted in the same cord recess, and the connector is defined in a limiting groove mounted on the left binding clip 101, as shown in fig. 4 and 5, so that the left binding clip 101 can move correspondingly following the action of the cord during use. The end of the right binding clip open cord 604 and the end of the right binding clip closed cord 606 are connected by a connector and mounted in the same cord recess, with the connector being defined in a limit groove mounted on the right binding clip 102, as shown in fig. 4 and 5, to allow the right binding clip 102 to move correspondingly in response to the cord movement during use.

The four binding clip cords are wound on the lower frame 8 of the wrist annular frame and the guide wheel box 9 of the wrist annular frame from the tail part of the binding clip 1 through the rod part 3, the top beam frame 5 and the wrist annular frame, and specific connecting structures are shown in fig. 5 to 9. The left binding clip closing cord 603 and the left binding clip opening cord 605 are used for controlling the rotation of the left binding clip 101, and the right binding clip opening cord 604 and the right binding clip closing cord 606 are used for controlling the rotation of the right binding clip 102, so that the left binding clip 101 and the right binding clip 102 can be opened and closed or yaw in an opening and closing plane.

In actual operation, the opening and closing operation of the clamp head 1, the yaw operation of the clamp head 1 and the pitching operation of the wrist 2 can be independently performed, and two different operations can be optionally performed simultaneously, or three different operations can be performed simultaneously, so that the movement of the clamp head 1 on more degrees of freedom is realized, and the requirement of multi-angle movement of the instrument in the operation process is met. Referring to fig. 15, specifically, as shown in fig. 16, when only the lower wrist rest 8 is operated, the lower wrist rest 8 is lifted, and the lower wrist rest 8 is rotated upward with respect to the upper wrist rest 7 about the pitch rotation axis a by an angle α1, and at this time, the upper wrist 2 is tilted upward by an angle α2; the wrist is depressed, and the wrist ring frame lower frame 8 is rotated downward about the pitch rotation axis a with respect to the wrist ring frame upper frame 7 by a rotation angle β1, and at this time, the wrist 2 is depressed by a depression angle β2. As shown in fig. 17, when only the handle 10 is operated, the handle 10 is rotated in the direction of the left binding clip 101 along the yaw rotation axis a by an angle γ1, and the left binding clip 101 and the right binding clip 102 are simultaneously deflected in the direction of the left binding clip 101 in the closed state by an angle γ2; when the handle 10 is rotated in the direction of the yaw rotation axis a toward the right binding clip 102 by an angle δ1, the left binding clip 101 and the right binding clip 102 are simultaneously deflected toward the direction of the right binding clip 102 in the closed state by an angle δ2. As shown in fig. 18, when only the finger stall 11 is operated, the finger stall 11 is opened, the left clamp head 101 is opened to the left, the right clamp head 102 is opened to the right, the clamp head 1 has a tendency to open, and when the finger stall 11 is opened at an angle θ1, the clamp head 1 is opened at an angle θ2; the finger stall 11 is closed and the left binding clip 101 is opened to the right and the right binding clip 102 is opened to the left, giving the binding clip 1 a tendency to close, the degree to which the specific binding clip 1 is opened and closed depending on the degree to which the finger stall 11 is opened and closed. As shown in fig. 19, in a state in which the wrist-ring lower frame 8 and the handle 10 are simultaneously operated, when the wrist-ring lower frame 8 is rotated upward with respect to the wrist-ring upper frame 7 and the handle 10 is rotated in the direction of the left clamp head 101, the upward tilting of the wrist 2 and the leftward deflection of the clamp head 1 are achieved. As shown in fig. 1, in a state in which the wrist ring lower frame 8, the handle 10 and the finger cuff 11 are simultaneously operated, at this time, the wrist ring lower frame 8 is rotated upward with respect to the wrist ring upper frame 7, the handle 10 is rotated toward the left clamp head 101, and the finger cuff 11 is in a tendency to open, so that upward tilting of the wrist 2, leftward deflection of the clamp head 1, and in a deflected state, the left clamp head 101 is opened toward the left side, and the right clamp head 102 is opened toward the right side, so that the clamp head 1 has a tendency to open. In addition, during the operation, the operator can change the position and direction of the forceps head 1 by moving along the rod rotation axis C or rotating along the rod rotation axis C, so as to perform the operation more accurately and efficiently.

As shown in fig. 4, a first wheel set 202 is disposed at one end of the wrist 2 near the binding clip 1, the first wheel set 202 includes guide wheel members disposed at two sides of the wrist 2, and the two guide wheel members are different in height, and the height of the guide wheel member around which the left binding clip closing cord 603 and the right binding clip opening cord 604 are wound is lower than the height of the guide wheel member around which the left binding clip opening cord 605 and the right binding clip closing cord 606 are wound, as shown in fig. 5. The end of the wrist 2 connected with the rod 3 is provided with a pitching wheel set 201, specifically, the pitching wheel set 201 also comprises two guide wheel pieces respectively arranged at two sides of the tail end of the wrist 2, and the pitching rotating shaft 203 passes through the pitching wheel set 201 and connects the wrist 2 with the rod 3, as shown in fig. 5. When in winding, the left binding clip closing cord 603 and the right binding clip opening cord 604 are positioned at one side of the right binding clip 102, and wind from the tail of the binding clip 1 to the cord groove below the pitching wheel group 201 through the cord groove above the guide wheel piece, and then enter the rod part 3; left binding clip open cord 605 and right binding clip closed cord 606 are located on one side of left binding clip 101 and are wound from the tail of binding clip 1 through the cord groove below the guide pulley member to the cord groove above pitch wheel set 201 and then enter rod 3. That is, before entering the rod portion 3, the winding direction of the left binding clip closing cord 603 and the right binding clip opening cord 604 at the guide wheel member and the pitching wheel group 201 is first up and then down, and the winding direction of the left binding clip opening cord 605 and the right binding clip closing cord 606 at the guide wheel member and the pitching wheel group 201 is first down and then up, as shown in fig. 5.

The pitch wheel group 201 is mounted on the tail of the wrist 2 through a pitch rotation shaft 203, and the central axis of the pitch wheel group 201 coincides with the central axis of the groove at the tail of the wrist 2, so that the wrist 2 can rotate in the depression plane about the pitch rotation shaft 203 relative to the lever 3, as shown in fig. 3 to 5. The left binding clip closing wire 603, the right binding clip opening wire 604, the left binding clip opening wire 605 and the right binding clip closing wire 606 are wound around the first wheel set 202 and the pitching wheel set 201 after passing through the grooves at the tail part of the binding clip 1, and then the wires are wound around the wrist annular frame lower frame 8 and the guide wheel box 9 of the wrist annular frame through the top beam frame 5 and the wrist annular frame.

In addition, as can be seen from fig. 5, an axis parallel to the yaw rotation axis 205 is located in the wrist 2, and in conjunction with fig. 5, an upper pitch rope 607 and a lower pitch rope 608 are connected to the upper and lower ends of the axis, respectively, and a rope groove for installing ropes is also provided at the tail installation end of the wrist 2, and the upper pitch rope 607 and the lower pitch rope 608 are wound over and under the rope groove of the wrist 2, respectively, and are wound onto the wrist ring frame via the lever 3 and the top beam 5, and the specific connection structure is shown in fig. 5 to 8.

In a preferred embodiment, a threading supporting seat 204 with threading holes is arranged between the wrist 2 and the rod 3, the tail end of the wrist 2 is connected with the rod 3 through the threading supporting seat 204, the wrist 2 is rotatably connected with the threading supporting seat 204 through a pitching rotating shaft 203, a pitching wheel set 201 is further installed on the pitching rotating shaft 203, a rope groove for installing ropes is arranged on the periphery of the pitching wheel set 201, and preferably, the rope groove is an annular groove for controlling the ropes of the pliers heads 1 to wind around the annular groove. The six ropes of the opening rope and the pitching rope respectively penetrate through the corresponding threading holes so as to achieve the aim of arranging the ropes. Preferably, the threading holes are uniformly distributed along the outer periphery of the inner plate of the threading support seat 204, as shown in fig. 3, however, the distribution is optimal for the convenient and smooth threading of the thread rope, and thus, the distribution is not limited to the above-mentioned distribution. As shown in fig. 4, a bayonet is connected between the rod 3 and the threading support 204, and after the buckle on the rod 3 abuts against the clamping piece on the threading support 204, the positions and directions of the rod 3 and the wrist 2 are fixed.

For better winding of the ropes, guide wheel pieces with grooves for winding are arranged at the joint of the rod part 3 and the top beam frame 5, inside the top beam frame 5 and inside the wrist annular frame. The size and the structure of the guide wheel member can be specifically set according to actual winding requirements, and different structures and sizes can be selected to ensure the smoothness of winding the rope, and the guide wheel member is not specifically limited.

As shown in fig. 6, a second wheel set 501, a third wheel set 502 and a wire hole positioning block 503 are provided at the connection of the lever part 3 and the top beam 5. Six holes for penetrating the thread rope are formed in the thread hole positioning block 503, and the thread hole positioning block 503 is used for arranging the thread rope on one hand and supporting and fixing the thread rope on the other hand. The number of openings in the wire hole positioning block 503 is set according to the number of wires actually passing therethrough, and is not limited to six. For example, in the case of one electrode wire, the number of openings is the sum of the number of wires and the number of electrode wires, i.e. seven in total, and in the case of a bipolar instrument, two electrode wires, and eight in total, are provided. Of course, the number of wires is one of the influencing factors in addition to the number of electrode wires, and in short, is not limited to the above six wires.

The four binding clip cords, the upper pitch cord 607 and the lower pitch cord 608, all enter the wire hole positioning block 503 first after passing through the rod portion 3, and enter the second wheel set 501 and the third wheel set 502 respectively for carding again after finishing. The second wheel set 501 and the third wheel set 502 are provided with rope grooves, and the number of the specific rope grooves is set according to the total number of the ropes. Taking a bipolar power supply as an example, it is preferable to provide four wire grooves on the second wheel set 501 and the third wheel set 502 respectively, divide six wires and two electrode wires into two groups and wind the two groups on the second wheel set 501 and the third wheel set 502 respectively, where it is preferable that the wires are wound from the lower sides of the second wheel set 501 and the third wheel set 502 during winding, as shown in fig. 6, so as to support the wires better. Because roof beam structure is the roof beam structure in this application, consequently, still be provided with a plurality of guide pulley spare in roof beam structure 5 inside, as shown in fig. 9 to support and comb the cotton rope through the multiposition, the inside guide pulley spare interval distribution of roof beam structure 5, and the preferential setting is the same cotton rope recess with cotton rope and electrode line total number on every guide pulley spare.

As shown in fig. 9, when the cable enters the wrist annular frame from the top beam 5, the cable is split at the guide wheel member at the joint of the two members. Specifically, as shown in fig. 6 to 7, it can be seen that the cord is divided into two groups, which are respectively wound around two sides of the guide wheel member at the joint, and then divided into two left and right routes to bypass the wrist annular frame. In one embodiment of the present application, the left binding clip closing cord 603, the right binding clip closing cord 606, and the upper pitching cord 607 are wound from the guide wheel piece on the right half of the wrist ring frame to the bottom fixing frame 801 and finally wound on the guide wheel box 9; the right binding clip open cord 604, the left binding clip open cord 605 and the lower pitching cord 608 are wound from the guide wheel piece on the left half of the wrist annular frame to the bottom fixing frame 801 and finally wound on the guide wheel box 9. The left half refers to the side near the left clamp head 101, or the side where the left clamp head 101 is located in the open state, and the right half refers to the side near the right clamp head 102, or the side where the right clamp head 102 is located in the open state.

In one embodiment of the present application, referring to fig. 7 to 8, the wrist ring frame is provided with a plurality of guide wheels on both left and right sides, and the shape, structure, size, etc. of the different guide wheels may be completely different. The upper pitch rope 607 enters the right wrist ring frame from the guide wheel piece at the joint of the top beam frame 5 and the wrist ring frame, first passes under the right first guide wheel, over the right second guide wheel, under the right third guide wheel and over the right fourth guide wheel, and then winds around the steering wheel and finally winds around the rear side of the central spindle wheel 802, as shown in fig. 7, and the central axis of the steering wheel is parallel to the central axis of the central spindle wheel 802. The lower pitch rope 608 enters the left wrist ring frame from the guide wheel piece at the joint of the top beam frame 5 and the wrist ring frame, and passes under the first left guide wheel, over the second left guide wheel, under the third left guide wheel and over the fourth left guide wheel, and then winds around the steering wheel and finally winds around the front side of the central spindle wheel 802. After the winding is completed, as shown in fig. 7, the winding positions of the upper pitch rope 607 and the lower pitch rope 608 on the central spindle wheel 802 are opposite, so that when the lower wrist annular frame 8 rotates relative to the upper wrist annular frame 7, one pitch rope is lengthened, and the pitch rope on the other side is contracted, thereby realizing closed-loop control.

As for the specific winding of the binding clip cord on the wrist ring frame, in the following description of one embodiment with reference to fig. 7 to 8, the left binding clip closing cord 603 first passes under the first right guide pulley, over the second right guide pulley, over the third right guide pulley, over the fifth right guide pulley, over the sixth right guide pulley, over the seventh right guide pulley, over the eighth right guide pulley, and over the ninth right guide pulley, and then winds from the front side of the guide pulley 803 on the bottom fixing frame 801 to the rear side of the guide pulley 804, and then winds from the right side of the guide pulley 806, over the left side of the bottom center rotating shaft guide pulley 901, to the left side of the winding tightening pulley 902 located near the left binding clip 101, as shown in fig. 8.

The right binding clip closing cord 606 first passes from the left side under the zero guide pulley, then passes over the right second guide pulley, over the right third guide pulley, over the right fifth guide pulley, over the right sixth guide pulley, over the right seventh guide pulley, over the right eighth guide pulley, and over the right ninth guide pulley, then passes from the rear side of the guide pulley 803 on the bottom mount 801 to the rear side of the guide pulley 804, then passes over the left side of the guide pulley 806, over the right side of the bottom center spindle guide pulley 901, to the right side of the wire winding fastening pulley 902 located near the right binding clip 102, as shown in fig. 8.

The right binding clip open cord 604 first passes from the right side under the zero guide pulley, then passes over the left second guide pulley, over the left third guide pulley, over the left fifth guide pulley, over the left sixth guide pulley, over the left seventh guide pulley, over the left eighth guide pulley, and over the left ninth guide pulley, then passes from the front side of the guide pulley 805 on the bottom mount 801 to the rear side of the guide pulley 804, then passes over the right side of the guide pulley 806, over the left side of the bottom center spindle guide pulley 901, to the left side of the wire tightening pulley 902 located near the right binding clip 102, as shown in fig. 8.

The left binding clip open wire 605 passes over the left second guide wheel, over the left third guide wheel, behind the left fifth guide wheel, in front of the left sixth guide wheel, behind the left seventh guide wheel, outside the left eighth guide wheel and outside the left ninth guide wheel from below the left first guide wheel, then passes from the rear side of the guide wheel 805 on the bottom fixing frame 801 to the rear side of the guide wheel 804, and then passes through the left side of the guide wheel 806, the right side of the bottom center rotating shaft guide wheel 901 to the right side of the winding fastening wheel 902 located near the left binding clip 101 side, as shown in fig. 8.

The left and right sides are mainly with respect to the left and right binding clip 101 and 102, the front and rear sides are mainly with respect to the binding clip 1 and the wrist ring frame, the front of the binding clip 1, the rear of the wrist ring frame, the upper and lower are mainly with respect to the upper and lower frames of the wrist ring frame, and the inner and outer are mainly with respect to the inner and outer rings of the wrist ring frame. In particular, it can be more clearly understood in connection with the accompanying drawings.

In this embodiment, the wrist 2 will drive the rope of driftage when pitching, but because of the guide pulley spare that sets up in the above wrist annular frame and the setting of mode of winding for pitching the rope when pulling, the binding clip rope is in the state of relaxing, consequently realizes decoupling process, has avoided the influence on other degrees of freedom when minimally invasive instrument carries out different operations, has further ensured the accuracy in the use, and then has improved operation efficiency.

The winding manner is not particularly limited, and the structure, the size, the number and the distribution of the guide wheels can be adaptively adjusted according to actual use conditions, and the embodiment is not limited only.

In a preferred embodiment of the present disclosure, the minimally invasive instrument is a bipolar instrument, an electrode module 6 is disposed at one end of the top beam frame 5 connected to the wrist ring frame, as shown in fig. 6, and is a schematic structural diagram of a branching module 610 at the motor module 6, the electrode module 6 includes an electrode joint 609, a first electrode wire 601 and a second electrode wire 602 are led out from the electrode module 6 of the electrode joint 609 of the electrode module 6, the first electrode wire 601 is wound on a wire groove for installing a wire on a tail end of the right clamp head 102, and the second electrode wire 602 is wound on a wire groove for installing a wire on a tail end of the left clamp head 101, as shown in fig. 5 and 6.

Referring to fig. 6, a schematic structural diagram of a bipolar minimally invasive apparatus is shown, which of course, the minimally invasive apparatus in the present disclosure may also be a monopolar electrode wire, or a passive apparatus, such as needle holding forceps, may be used without limitation.

After passing through the thread hole positioning block 503, the thread rope enters the wrist annular frame for winding after being carded by the second wheel group 502 and the third wheel group 503. Of course, considering the bent beam structure and the actual size of the top beam 5 in this embodiment, at least one set of guide wheels may be further disposed on the bent beam portion for better supporting and guiding the wire rope, as shown in fig. 2.

The wrist annular frame comprises a wrist annular frame upper frame 7 and a wrist annular frame lower frame 8, and the joint of the wrist annular frame upper frame 7 and the wrist annular frame lower frame 8 is connected through a central rotating shaft wheel 802, so that the wrist annular frame lower frame 8 can rotate relative to the wrist annular frame upper frame 7 and drive the wrist 2 to rotate relative to the rod 3.

When the opening-closing ropes and the pitching ropes are wound, the corresponding guide wheel tracks are respectively arranged, and the corresponding two ropes are wound in opposite directions, so that a closed loop circuit is formed, and the rope pitching and yawing functions are realized. Meanwhile, note that the yaw is coupled while the whole instrument is pitching, so that the central pivot wheel 802 at the joint of the upper frame 7 of the wrist annular frame and the lower frame 8 of the wrist annular frame is provided with a reverse winding mode, and therefore, the yaw of the clamp head 1 can be decoupled when the instrument is pitching.

The winding mode and the winding position of the ropes of various instruments are the same whether the instruments are bipolar instruments, single-stage instruments or passive instruments; the present disclosure only provides a winding manner of six ropes, and various winding manners with the same principle are not listed one by one, and the principles are the same; wherein, the material of outer pole all can adopt insulating material to make, prevents to lead to the fact extra damage after the circular telegram.

In a specific embodiment of the present disclosure, a bottom fixing frame 801 is provided at the bottom of the wrist ring frame lower frame 8, the guide wheel box 9 is rotatably mounted on the bottom fixing frame 801, and the handle 10 is fixedly mounted on the guide wheel box 9. As shown in fig. 8 and 9, the handle 10 has two rotating shafts 1001 therein, one end of each of the two rotating shafts 1001 is connected to the guide pulley box 9, and the second end is connected to the first finger stall 1101 and the second finger stall 1102 of the finger stall 11, respectively. In a state where the handle 10 is held, the rotation of the stator case 9 with respect to the bottom mount 801 can be controlled by a hand operation, and specifically, the rotation of the stator case 9 can be controlled by rotating the hand about the yaw rotation axis B as shown in fig. 15.

The first connecting portion 1103 of the first finger cuff 1101 and the second connecting portion 1104 of the second finger cuff 1102 are rotatably connected. Referring to fig. 9, the connection portion of the first connection portion 1103 and the second connection portion 1104 is provided with a gear structure, that is, the first connection portion 1103 and the second connection portion 1104 are meshed with each other, at this time, when a finger enters the finger stall 11 to control the opening of the first finger stall 1101 and the second finger stall 1102, the rotation of the gear structure is achieved, and at the same time, when the finger stall 11 is operated to open or close, the rotation angles of the first finger stall 1101 and the second finger stall 1102 are the same, so that the use is convenient and the use comfort is better.

In addition, since the hand sizes and the finger lengths of different users are different, the finger stall 11 can be arranged in a structure that the distance between the finger stall 11 and the handle 10 can be adjusted, and the height of the finger stall 11 relative to the guide wheel box 9 can be adjusted to adapt to hand shapes with different sizes.

As shown in fig. 10, in the fingerstall structure with adjustable distance between the fingerstall 11 and the handle 10, at this time, the first fingerstall 1101 and the first connecting portion 1103 and the second fingerstall 1102 and the second connecting portion 1104 are movably installed, so as to change the distance between the first fingerstall 1101 and the second fingerstall 1102 and the rotating shaft 1001, and at this time, the relative position between the fingerstall and the connecting portion can be adjusted according to the requirement of the user before use, thereby improving the comfort level during use, further facilitating the operation and improving the efficiency during use. Specifically, the first finger stall 1101 and the second finger stall 1102 are provided with mounting holes 1105, one ends of the first connecting portion 1103 and the second connecting portion 1104 are inserted into the mounting holes 1105, in addition, the first finger stall 1101 and the second finger stall 1102 are further provided with first limiting portions 1106, a plurality of second limiting portions 1107 are arranged in the length direction of the first connecting portion 1103 and the second connecting portion 1104, and the first limiting portions 1106 and one of the second limiting portions 1107 are mounted in a matched mode so as to achieve adjustment of positions of the first finger stall 1101 and the second finger stall 1102.

Of course, the first connecting portion 1103 and the second connecting portion 1104 may be movably mounted on the rotation shaft 1001, so that the finger cuff 11 can move up and down along the rotation shaft 1001, so as to change the distance between the first connecting portion 1103 and the second connecting portion 1104 and the bottom of the wrist annular frame, that is, change the distance between the finger cuff 11 and the guide wheel box 9, so as to be suitable for users with different hand sizes.

The guide wheel box 9 is provided with a bottom center rotating shaft guide wheel 901, a bottom rotating bracket 903 and two winding fastening wheels 902, a right binding clip opening rope 604 and a right binding clip closing rope 606 are wound on the bottom center rotating shaft guide wheel 901 and the winding fastening wheels 902 close to one side of the right binding clip 102, a left binding clip opening rope 605 and a left binding clip closing rope 603 are wound on the bottom center rotating shaft guide wheel 901 and the winding fastening wheels 902 close to one side of the left binding clip 101, and the guide wheel box 9 is rotatably connected with the bottom fixing frame 801 through the bottom center rotating shaft guide wheel 901 and the rotating shaft thereof, as shown in fig. 8 and 9.

Preferably, the first ends of the two rotating shafts 1001 are connected with the guide wheel box 9 through universal joints 1002, the fingerstall 11 is connected with the universal joints 1002 through the rotating shafts 1001, the universal joints 1002 are mounted on the guide wheel box 9 at the bottom of the wrist annular frame, the guide wheel box 9 is rotatably connected with the bottom fixing frame 801, the handle 10 is fixedly mounted on the guide wheel box 9, and the handle 10 can rotate relative to the bottom fixing frame 801 along with hand movements after being held. In operation, the fingers control the opening and closing of the finger stall 11, so that the universal joint 1002 is driven to rotate through the rotating shaft 1001, and the winding tightening wheel 902 is driven to rotate, so that the left binding clip opening and closing rope and the right binding clip opening and closing rope are controlled. The angle of the rotating shaft 1001 at the handle 10 is adjusted by the universal joint 1002, which accords with the grasping mode of the handle, or the structure of the universal joint 1002 is not adopted, and the winding fixed rotating wheel can be directly connected. The shaft 1001 and the reel 902 may be directly and fixedly connected by a coupling, or may be connected by a shaft or other connection means, and is not limited to the universal joint 1002 in the present disclosure.

The yaw motion of the appliance clamp head 1 is that the handle 10 drives the bottom rotating bracket 903 to rotate, so that a wrap angle of a rope is formed at the bottom center rotating shaft guide wheel 901, the head clamp head 1 can yaw through the stretching of the rope, and the rope of the clamp head 1 at the other side is contracted, so that closed-loop control is realized. Yaw of the instrument head binding clip 1 requires simultaneous opening of the binding clip on one side of the head and closing of the binding clip on the other side of the head to achieve yaw. The winding mode of the ropes in the bottom guide wheel box 9 is based on the principle, and of course, the winding direction is different, and the present disclosure only exemplifies an optimized winding scheme.

The central spindle wheel 802 is fixed at the end of the lower frame 8 of the wrist ring frame and is integrally structured with the lower frame 8 of the wrist ring frame, as shown in fig. 9, so that when the lower frame 8 of the wrist ring frame rotates relative to the upper frame 7 of the wrist ring frame during pitching of the minimally invasive instrument, one side of the central spindle wheel 802 forms a wrap angle, thereby elongating a pitching wire wound on one side of the central spindle wheel, and contracting the pitching wire on the other side of the central spindle wheel, thereby realizing closed-loop control.

The multi-degree-of-freedom minimally invasive instrument can realize yaw and pitch of the instrument clamp head 1 through movement of the handle 10, the fingerstall 11 and the wrist annular frame, and simultaneously realize rotation of the rod part 3 and linear movement of the rod part 3 along the axis of the instrument clamp head along with rotation of the arm, so that control of multiple degrees of freedom is realized.

As shown in fig. 16, a diagram of a minimally invasive instrument in which the binding clip 1 and the wrist 2 perform pitching operation in a pitching plane synchronously is shown, and the handle 10 and the bottom fixing frame 801 swing up and down simultaneously, so that the lower frame 8 of the wrist annular frame rotates relative to the upper frame 7 of the wrist annular frame, thereby realizing pitching motion of the binding clip 1 and the wrist 2 of the instrument, and the swinging direction of the hand is consistent with the pitching motion direction of the instrument, so that the operation process is simpler, more convenient and more efficient. The wrist 2 is provided with an upper pitch rope 607 and a lower pitch rope 608 around the pitch rotation shaft 203, and the angle at which the wrist 2 turns is controlled by the movement of the ropes.

As shown in fig. 17, a yaw motion of the forceps head 1 of the minimally invasive instrument is schematically shown, and the handle 10 swings left and right relative to the wrist annular frame, so that the yaw motion of the forceps head 1 of the instrument is realized, and the swinging direction of the hand is the same as the swinging direction of the forceps head 1 of the instrument. Meanwhile, it should be noted that the yaw control of the instrument clamp head 1 needs to be performed by kneading the finger stall 11 for decoupling, so that the finger stall 11 needs to be kept in a closed state during yaw, and the opening and closing operation can be performed after the yaw is in place.

As shown in fig. 18, a schematic diagram of the opening and closing movement of the forceps head 1 of the minimally invasive instrument is shown, the first finger sleeve 1101 and the second finger sleeve 1102 are respectively sleeved into the thumb and the index finger, and the opening and closing movement of the left forceps head 101 and the right forceps head 102 of the instrument is controlled by the opening and closing movement of the thumb and the index finger. Because the tail ends of the first finger sleeve 1101 and the second finger sleeve 1102 are provided with meshed tooth-shaped structures, the opening and closing angles of the two finger sleeves are symmetrical, and the opening and closing angles of the two finger sleeves are the same, so that the opening and closing angles of the instrument head clamp head 1 are ensured to be the same, and the stability of the minimally invasive instrument in the operation process is improved.

The overall motion control is that the forceps head 1 of the instrument head takes a yaw rotating shaft 205 of the head as a central shaft, and two sides of the left forceps head 101 and the right forceps head 102 are respectively provided with ropes connected with the forceps heads to control the opening and the closing of the single forceps heads respectively; the forceps head on the other side is of symmetrical structural design, so that when the closed forceps head is pulled at the same time, the instrument forceps head 1 is closed; conversely, pulling both binding clip opening strings simultaneously opens the instrument binding clip 1. In the same principle, the yaw operation can be performed by pulling the opening rope of one clamp head and the closing rope of the other clamp head at the same time at the handle 10, and otherwise, the yaw movement of the other side is controlled.

Furthermore, in fig. 10 there is an alternative to an adjustable finger cuff 11 for adapting to different hand sizes and finger lengths, which can be achieved by adjusting the distance between the finger cuff 11 and the handle 10.

As shown in fig. 1 and 19, the device is a schematic diagram of multi-degree-of-freedom turning of the head of the minimally invasive device, and can realize pitching of the wrist 2 and opening and closing or yawing of the forceps head 1, and can also realize rotation of the rod 3 by rotating the arm, so that multi-degree-of-freedom turning of the head is realized, and the device is more flexibly applied to operations. In various minimally invasive operations at different positions of the human body, due to the limitation of space, the multi-degree-of-freedom minimally invasive instrument disclosed by the invention can be more convenient and flexible in limited space, and the design of the handle also accords with the motion structure of the wrist of the human body.

The whole minimally invasive instrument can rotate around the rod part rotating shaft C of the rod part 3 or move back and forth along the rod part rotating shaft C, and can also open and close, yaw and pitch the clamp head 1, namely, the handle 10 moves in a 6-degree-of-freedom mode respectively, meanwhile, the design of the handle 10 also accords with the movement structure of the wrist part of a human body, so that the human body can use the axis point of the wrist part as much as possible to perform movement control, the operation intensity of a doctor during use is reduced to the greatest extent, and fatigue damage is reduced.

As shown in fig. 20, a schematic view of a use state of the minimally invasive instrument with multiple degrees of freedom according to the present disclosure may be used to properly hold and operate the minimally invasive instrument. In the operation of the minimally invasive instrument with multiple degrees of freedom, the grasping of the finger at the handle 10 is as follows: the palm is required to hold the handle 10, and then the index finger and the mother finger respectively penetrate into the finger stall 11, and the opening and closing of the thumb and the index finger are used for controlling the opening and closing of the forceps head 1 of the instrument head; the handle 10 rotates by the rotating shaft of the bottom center rotating shaft guide wheel 901, so that the yaw motion of the head of the instrument is realized; the handle 10 and wrist ring are rotated with a central swivel wheel 802 to effect the pitching motion of the instrument head binding 1. Meanwhile, the linear motion along the axis of the rod part 3 realizes the linear motion along the rod part 3 of the head part of the instrument; the integral handle 10 rotates about the shaft 3 axis, effecting rotation of the instrument head about the shaft 3 axis.

It should also be noted that, as shown in fig. 11, in order to ensure rigidity of the cord, the cord 504 in the rod 3 may be connected by a steel tube 505 or a steel column, so as to increase rigidity of the cord and improve transmission efficiency of the cord. The connection locations 506 may be connected by a crimping process to ensure the connection strength without damaging the structure of the material itself, although other processes that do not damage the structure of the material itself are within the scope of the disclosure. In order to ensure that the steel pipes 505 do not interfere with each other when the wire rope 504 is moved in position after crimping, it is necessary to chamfer the ends of the steel pipes 505 so that more flexible transmission is possible.

In yet another embodiment of the present application, as shown in fig. 12, the structure of the binding clip 1 and the winding manner at the binding clip 1 and the wrist 2 are different from the above-described embodiments. In this embodiment, the two guide wheel members of the first wheel set 202 at the wrist 2 are identical in height, preferably coaxially arranged, and the two ends of the pitch rotation shaft 203 are provided with the pitch wheel set 201. The left binding clip closing cord 603 and the right binding clip opening cord 604 are wound on the first wheel set 202 and the pitching wheel set 201 on the right side, and the left binding clip opening cord 605 and the right binding clip closing cord 606 are wound on the first wheel set 202 and the pitching wheel set 201 on the left side. Specifically, when the right binding clip opening string 604 and the right binding clip closing string 606 are wound, they pass through the upper side of the first wheel set 202 and are wound to the lower side of the pitching wheel set 201, and then enter the rod part 3; the left binding clip closing cord 603 and the left binding clip opening cord 605 are wound above the pitching wheel set 201 through the lower part of the first wheel set 202, and then enter the rod part 3.

The structure and winding manner of the remaining components in this embodiment can be seen from the rest of the above embodiments.

In addition to the structure of transmission of the rope guide wheel in the present disclosure, the present disclosure further provides a multi-degree-of-freedom minimally invasive instrument, which comprises a wrist ring frame, wherein the top end of the wrist ring frame is connected with a tendon sheath top beam frame 12 of an arc structure, the bottom end of the wrist ring frame is fixedly connected with a bottom fixing frame 801, a handle 10 is rotatably installed on the handle 10, a fingerstall 11 is installed on the handle 10, one end of the tendon sheath top beam frame 12 is connected with one end of a rod part 3, the other end of the rod part 3 is rotatably connected with a wrist 2, the end of the wrist 2 is rotatably connected with a clamp head 1, a rotation plane of the wrist 2 relative to the rod part 3 is perpendicular to a rotation plane of the clamp head 1 relative to the wrist 2, and the clamp head 1 is provided with a rotatable left clamp head 101 and a rotatable right clamp head 102; the wrist annular frame comprises a wrist annular frame upper frame 7 and a wrist annular frame lower frame 8, wherein two ends of the wrist annular frame upper frame 7 and two ends of the wrist annular frame lower frame 8 are respectively connected through a central rotating shaft wheel 802, so that the wrist annular frame lower frame 8 can rotate relative to the wrist annular frame upper frame 7, and the wrist 2 and the clamp head 1 are driven to do pitching motion relative to the rod part 3 through an upper pitching line 607 and a lower pitching line 608 which are connected with the wrist 2 and the wrist annular frame; the control fingerstall 11 is opened and closed or the handle 10 is rotated to drive the clamp head 1 to realize opening and closing movement or yaw movement through a left clamp head rope and a right clamp head rope which are connected with the control fingerstall; a rope groove for accommodating ropes is arranged in the tendon sheath top beam frame 12, and an upper pitching rope 607 and a lower pitching rope 608 penetrate through the rope groove to connect the wrist 2 and the wrist annular frame.

Specifically, as shown in fig. 13 to 14, the tendon sheath top beam 12 is internally provided with an outer wire groove 1201, an inner wire groove 1202, and an electrode wire groove 1203. In the technical scheme of the alternative tendon sheath structure, the flexible cord, such as a steel wire rope, a tungsten wire rope and the like, is equivalent to the tendon structure, the sheath is of a tubular structure which can be bent and deformed and has certain rigidity, such as a steel tube, a tension spring, a flat wire spring and the like, the sheath structure provides a sliding track for the cord, and certain lubricating materials are filled in the inner wall of the sheath, so that the friction force of the cord can be greatly reduced, the transmission efficiency is improved, and the movement is more directly and effectively transmitted. As shown in fig. 14, there is a cross-sectional view of a tendon sheath structure in which a lubricating material 1204 is provided between a wire rope 1205 and a tubular structure 1206.

At this time, the rope guide wheel transmission structure at the wrist annular frame can be replaced by a rope tendon sheath structure in the same way.

Because the plane in which the wrist rotates is perpendicular to the plane in which the clamp head rotates, when only the wrist rotates, the clamp head rotates along with the wrist, so that the clamp head moves on the wrist rotation plane; when only the clamp head rotates, the left clamp head and the right clamp head can be opened and closed, and the left clamp head and the right clamp head can be controlled to simultaneously rotate towards the same direction, so that the yaw operation of the clamp head is realized, and when only the clamp head rotates, the opening and closing operation and the yaw operation in the rotation plane of the clamp head can be realized; when the clamp head and the wrist rotate simultaneously, the clamp head can be enabled to perform opening and closing operation and yaw operation at the position deviating from the axis of the rod part.

The clamp head 1 is in clearance fit connection with the wrist 2, and the Y-shaped structure of the clamp head 1 and the wrist 2 is in rotary fit through the head yaw rotating shaft 205; the near end position of the wrist 2 can be in running fit with the threading support seat 204 through the pitching rotating shaft 203, and pitching control of the head of the instrument is performed by pulling a pitching rope; the threading supporting seat 204 is fixedly connected with the rod part 3, and meanwhile, the threading supporting seat 204 is provided with independent threading holes, so that the threading of each electrode wire and each wire rope is facilitated, the positions are tangential positions along the guide wheel piece, the movement of the wire rope is facilitated, the friction force is reduced, and the working efficiency is improved; meanwhile, a wire hole positioning block 503 is also arranged at the proximal end position of the rod part 3, which is beneficial to the movement of the wire rope.

Be equipped with a plurality of guide pulley structures in the roof beam frame 5, the cotton rope can effectually carry out the transmission of moment through the guide pulley, and it is noted simultaneously that the guide pulley is rolling bearing structure, the frictional force that has like this can be great has been reduced, improves transmission efficiency, certainly, does not exclude to adopt other feasible structures.

The junction of the top beam frame 5 and the wrist annular frame is provided with a branching module 610 so as to effectively separate and conduct each rope orderly, reduce friction force and improve rotation efficiency;

the central rotating shaft wheel 802 for realizing the pitching function is arranged at the joint of the upper frame 7 of the wrist annular frame and the lower frame 8 of the wrist annular frame, the rotating shaft wheel structure and the lower frame 8 of the wrist annular frame are changed into an integral structure, and the rope is pulled through the control of wrap angles after rotation, so that the pitching function of the head is realized.

It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.

In the description of the invention, it should be understood that the terms "center," "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships that are based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the invention and simplify the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be configured and operate in a particular orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the invention, unless otherwise indicated, the meaning of "a plurality" is two or more.

In the description of the invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the creation of the present invention can be understood by those of ordinary skill in the art in a specific case.

Any modifications or variations, which are apparent to those skilled in the art in light of the above teachings, are intended to be included within the scope of this invention without departing from its spirit.

Claims

1. The minimally invasive instrument with multiple degrees of freedom is characterized by comprising a wrist annular frame, wherein the top end of the wrist annular frame is connected with a top beam frame (5) of an arc-shaped structure, a bottom fixing frame (801) fixedly connected with the bottom end is rotatably provided with a handle (10), the handle (10) is provided with a fingerstall (11), one end of the top beam frame (5) is connected with one end of a rod part (3), the other end of the rod part (3) is rotatably connected with a wrist part (2), the end part of the wrist part (2) is rotatably connected with a clamp head (1), a rotating plane of the wrist part (2) relative to the rod part (3) is perpendicular to a rotating plane of the clamp head (1) relative to the wrist part (2), and the clamp head (1) is provided with a rotatable left clamp head (101) and a rotatable right clamp head (102); the wrist annular frame comprises a wrist annular frame upper frame (7) and a wrist annular frame lower frame (8), wherein two ends of the wrist annular frame upper frame (7) and two ends of the wrist annular frame lower frame (8) are respectively connected through a central rotating shaft wheel (802), so that the wrist annular frame lower frame (8) can rotate relative to the wrist annular frame upper frame (7), and the wrist (2) and the clamp head (1) are driven to do pitching motion relative to the rod part (3) through an upper pitching rope (607) and a lower pitching rope (608) which are connected with the wrist annular frame; the finger stall (11) is controlled to open and close or the handle (10) is controlled to rotate so as to drive the clamp head (1) to realize open and close movement or yaw movement through a left clamp head rope and a right clamp head rope which are connected with the finger stall.

2. The multi-degree-of-freedom minimally invasive instrument according to claim 1, wherein the left clamp head (101) and the right clamp head (102) are rotatably mounted at the end part of the wrist (2) through a yaw rotating shaft (205), and rope grooves for mounting ropes are formed in tail mounting ends of the left clamp head (101) and the right clamp head (102), and the opening and closing of the clamp head (1) are realized through the opening and closing of the finger sleeve (11), so that the left clamp head (101) and the right clamp head (102) deviate from or rotate in opposite directions relative to the yaw rotating shaft (205) during opening and closing of the clamp head (1); yaw of the clamp head (1) is achieved by rotating the handle (10), and the left clamp head (101) and the right clamp head (102) simultaneously rotate in the same direction relative to the yaw rotation shaft (205) during rotation, so that deflection of the clamp head (1) is achieved.

3. A multi-degree of freedom minimally invasive instrument according to claim 2, wherein the number of the string grooves is plural, and each string groove is internally provided with a string, a first electrode string (601), a second electrode string (602), a left binding clip closing string (603), a right binding clip opening string (604), a left binding clip opening string (605) and a right binding clip closing string (606) are respectively arranged in the string grooves, the left binding clip closing string (603) and the left binding clip opening string (605) are jointly arranged at two sides of one of the string grooves, the right binding clip opening string (604) and the right binding clip closing string (606) are jointly arranged at two sides of one of the string grooves, and the end of the left binding clip closing string (603) and the end of the left binding clip opening string (605) are connected at the end of the string groove close to the left binding clip (101), and the end of the right binding clip opening string (604) and the end of the right binding clip closing string (606) are jointly arranged at the two sides of the string groove close to the end of the right binding clip (102).

4. A multi-degree of freedom minimally invasive instrument according to claim 3, characterized in that the connection of the stem (3) with the top beam (5), the inside of the top beam (5) and the inside of the wrist ring are provided with guide wheels for winding wire with wire rope grooves.

5. The multi-degree of freedom minimally invasive instrument according to any one of claims 1 to 4, characterized in that the tail end of the wrist (2) is connected with the rod (3) through a threading support seat (204), the wrist (2) is rotatably connected with the threading support seat (204) through a pitching rotating shaft (203), a pitching wheel set (201) is further installed on the pitching rotating shaft (203), and an annular groove for installing a string is formed in the periphery of the pitching wheel set (201).

6. The multi-degree of freedom minimally invasive instrument according to any of claims 1 to 4, characterized in that an electrode module (6) is arranged at the end of the top beam frame (5) connected with the wrist annular frame, a first electrode wire (601) and a second electrode wire (602) are led out of the electrode module (6), the first electrode wire (601) is wound on a wire rope groove used for installing a wire rope on the tail installation end of the right clamp head (102), and the second electrode wire (602) is wound on a wire rope groove used for installing a wire rope on the tail installation end of the left clamp head (101).

7. The multi-degree of freedom minimally invasive instrument of any one of claims 1 to 4 wherein the finger cuff (11) is connected to a universal joint (1002) through a rotating shaft (1001), the universal joint (1002) is mounted on a guide wheel box (9) at the bottom of the wrist annular frame, the guide wheel box (9) is rotatably connected to the bottom fixing frame (801), the handle (10) is mounted on the guide wheel box (9), and the handle (10) can rotate relative to the bottom fixing frame (801) along with hand movements after being held.

8. The multiple degree of freedom minimally invasive instrument of any one of claims 1-4 wherein the finger cuff (11) is mounted on a rotational axis (1001) of the handle (10), the finger cuff (11) comprising a first finger cuff (1101) and a second finger cuff (1102), and wherein a first connection portion (1103) of the first finger cuff (1101) and a second connection portion (1104) of the second finger cuff (1102) are engaged.

9. The multiple degree of freedom minimally invasive instrument of claim 8 wherein the movable mounting between the first finger cuff (1101) and the first connection (1103) and between the second finger cuff (1102) and the second connection (1104) adjusts the distance between the first finger cuff (1101) and the second finger cuff (1102) and the rotational axis (1001); the first connection portion (1103) and the second connection portion (1104) are movably mounted on the rotation shaft (1001) to change the distance between the first connection portion (1103) and the second connection portion (1104) and the wrist annular frame bottom.

10. The minimally invasive instrument with multiple degrees of freedom is characterized by comprising a wrist annular frame, wherein the top end of the wrist annular frame is connected with a tendon sheath top beam frame (12) of an arc structure, a handle (10) is rotatably arranged on a bottom fixing frame (801) fixedly connected with the bottom end of the wrist annular frame, a fingerstall (11) is arranged on the handle (10), one end of the tendon sheath top beam frame (12) is connected with one end of a rod part (3), the other end of the rod part (3) is rotatably connected with a wrist part (2), the end part of the wrist part (2) is rotatably connected with a clamp head (1), a rotating plane of the wrist part (2) relative to the rod part (3) is perpendicular to a rotating plane of the clamp head (1) relative to the wrist part (2), and the clamp head (1) is provided with a left clamp head (101) and a right clamp head (102) which can rotate; the wrist annular frame comprises a wrist annular frame upper frame (7) and a wrist annular frame lower frame (8), wherein two ends of the wrist annular frame upper frame (7) and two ends of the wrist annular frame lower frame (8) are respectively connected through a central rotating shaft wheel (802), so that the wrist annular frame lower frame (8) can rotate relative to the wrist annular frame upper frame (7), and the wrist (2) and the clamp head (1) are driven to do pitching motion relative to the rod part (3) through an upper pitching rope (607) and a lower pitching rope (608) which are connected with the wrist annular frame; the finger stall (11) is controlled to open and close or the handle (10) is controlled to rotate so as to drive the clamp head (1) to realize open and close movement or yaw movement through a left clamp head rope and a right clamp head rope which are connected with the finger stall; a rope groove for accommodating ropes is formed in the tendon sheath top beam frame (12), and the upper pitching ropes (607) and the lower pitching ropes (608) penetrate through the rope groove to connect the wrist (2) and the wrist annular frame.