CN210903235U

CN210903235U - Multi-degree-of-freedom surgical instrument for minimally invasive endoscopic surgery

Info

Publication number: CN210903235U
Application number: CN201921221843.9U
Authority: CN
Inventors: 谭蔚锋; 李想; 冉荣征; 夏强; 张建军
Original assignee: Renji Hospital Shanghai Jiaotong University School of Medicine
Current assignee: Renji Hospital Shanghai Jiaotong University School of Medicine
Priority date: 2019-07-31
Filing date: 2019-07-31
Publication date: 2020-07-03
Anticipated expiration: 2029-07-31

Abstract

The utility model provides a multi-degree-of-freedom surgical instrument for minimally invasive endoscopic surgery, which comprises an execution part, a connecting rod, an axial rotation control tube and an operation end; the executing part comprises a working end, a head connecting seat and a rotating seat, the front end of the head connecting seat is used for installing the working end, and the rear end of the head connecting seat and the front end of the rotating seat can be relatively and rotatably connected; the front end of the connecting rod is connected with a ball head of the rotating seat, and the rear end of the rotating seat is at least fixed with two control lines; the front end of the axial rotation control pipe is a coiled pipe and is fixedly connected with the head connecting seat; the operating end is fixedly arranged at the rear end of the connecting rod, and a driving mechanism is arranged on the operating end and used for pulling the control line to enable the rotating seat to drive the head connecting seat to swing around the ball head rotating shaft or drive the axial rotating control tube to drive the head connecting seat to rotate. The utility model discloses a surgical instrument has freedom such as every single move, side-to-side deflection, centre gripping and rotation from top to bottom, and small in size is portable, and the study cost is low, can effectively improve operation efficiency and quality.

Description

Multi-degree-of-freedom surgical instrument for minimally invasive endoscopic surgery

Technical Field

The utility model relates to a surgical instrument for minimally invasive endoscopic surgery, in particular to a multi-degree-of-freedom surgical instrument for minimally invasive endoscopic surgery.

Background

The minimally invasive endoscopic surgery is a surgery which is mainly implemented by an endoscope and various minimally invasive surgical instruments. The minimally invasive endoscopic surgery has the advantages of small wound, less damage, short recovery period and the like, is widely applied in clinical work, and even replaces the traditional surgery in some diseases to become a main means for treatment. At present, the endoscopic surgery mode is widely applied in various surgical fields and the technology is mature.

However, minimally invasive endoscopic surgery also has significant limitations. Except for the limit of high learning cost, high manufacturing cost, large occupied area and the like, a series of operations such as clamping, cutting, suturing, knotting and the like can be completed in limited human body cavities, and the requirements on surgical instruments are extremely high. However, the conventional surgical instrument cannot take into consideration factors such as portability, flexibility and freedom, which increases difficulty in clinical operation. The present invention is therefore an improvement to this problem, seeking to develop minimally invasive laparoscopic surgical instruments that are more portable, easier to use, more free, more stable, and less expensive.

SUMMERY OF THE UTILITY MODEL

The surgical instruments to among the prior art can't compromise not enough of portability, flexibility, degree of freedom, the utility model provides a multi freedom surgical instruments for minimal access laparoscopic surgery has a plurality of degrees of freedom such as every single move, beat and rotation, and more portable easy-to-use, degree of freedom are higher, the stronger minimal access laparoscopic surgery operation apparatus of stability can effectively improve operation efficiency and quality.

In order to achieve the purpose, the multi-degree-of-freedom surgical instrument for minimally invasive endoscopic surgery provided by the utility model comprises an executing part, a connecting rod, an axial rotation control tube and an operating end;

the executing part comprises a working end, a head connecting seat and a rotating seat, the front end of the head connecting seat is used for installing the working end, and the rear end of the head connecting seat and the front end of the rotating seat can be relatively and rotatably connected;

the front end of the connecting rod is a ball head rotating shaft, the rotating seat is movably arranged on the ball head rotating shaft, and the rear end of the rotating seat is at least fixed with two control lines;

the front end of the axial rotation control pipe is a coiled pipe and is fixedly connected with the head connecting seat;

the operating end is fixedly arranged at the rear end of the connecting rod, and a driving mechanism is arranged on the operating end and used for pulling the control line to enable the rotating seat to drive the head connecting seat to swing around the ball head rotating shaft or drive the axial rotating control tube to drive the head connecting seat to rotate.

Wherein, head connecting seat and rotation seat are closely cooperated, are provided with the steel ball in the junction in order to guarantee that the rotation seat can not misplace when head connecting seat axial rotation. Specifically, one end of the head connecting seat is provided with a jaw connecting end fixing hole for installing a jaw; the other end is provided with a coiled pipe fixing hole and a steel ball rolling groove, and the front end of the axial rotation control pipe is fixedly arranged on the coiled pipe fixing hole; a ball head bin is arranged in the rotating seat, a steel ball positioning hole is formed in the surface, matched with the head connecting seat, of the rotating seat, and steel balls are arranged in the steel ball positioning hole. The ball head rotating shaft of the connecting rod is arranged in the ball head bin of the rotating seat so as to realize the steering motion of the rotating seat and the head connecting seat.

Preferably, in the multi-degree-of-freedom surgical instrument for minimally invasive endoscopic surgery, the working end is a jaw, the jaw is provided with a jaw connecting end and a jaw gear, the jaw connecting end is rotatably mounted on the head connecting seat, a gear rod is meshed between the jaw gears, a spring is arranged between the gear rod and the head connecting seat, the rear end of the gear rod is connected with an opening and closing control steel wire, the operating end is provided with an operating handle, and the operating handle is fixedly connected with the rear end of the opening and closing control steel wire and can pull the opening and closing control steel wire to open or close the jaw.

Wherein, operating handle is the trigger, trigger one end is the trigger link, and this trigger link rotates through the fixed handle who resets shell fragment and operating end to be connected, and the other end is equipped with the meshing strip, and the end of meshing strip is equipped with opens and closes control steel wire fixed orifices for the fixed end that opens and closes the control steel wire, the front end and the gear pole fixed connection who opens and closes the control steel wire promptly, rear end and trigger fixed connection stir the trigger and can stimulate to open and close the control steel wire to realize opening and closing of keeping silent.

The fixed handle is provided with an unlocking button in a sliding mode, one end of the unlocking button is a meshing end, the other end of the unlocking button is a spring fixing end, the meshing end is matched with a meshing strip of a trigger to play a role in stopping, when the trigger is required to be loosened, the unlocking button slides to enable the meshing end to be separated from the trigger, and the trigger automatically restores to the original position under the action of a reset elastic piece. The trigger can also be a movable handle with a ring-shaped holding part, and the fingers of a user can pass through the movable handle, so that the trigger is more convenient and labor-saving to operate. The unlocking button can also adopt an unlocking knob, namely the unlocking knob is rotatably arranged on the fixed handle, and the meshing end and the meshing strip are contacted and separated by rotating the unlocking knob, so that the operating handle can be freely switched between a locking state and an unlocking state.

Preferably, in the multi-degree-of-freedom surgical instrument for minimally invasive endoscopic surgery, the control line comprises an upper control steel wire, a lower control steel wire, a left control steel wire and a right control steel wire, the driving mechanism comprises an upper control motor, a lower control motor, a longitudinal transmission wheel, a left control motor, a right control motor and a transverse transmission wheel, one end of the upper control steel wire and one end of the lower control steel wire are fixed on the upper side of the rotating seat, the other end of the upper control steel wire and the other end of the lower control steel wire are fixed; one end of the left and right control steel wire is fixed on the left side of the rotating seat, the other end of the left and right control steel wire is fixed on the right side of the rotating seat after bypassing the transverse transmission wheel, and the left and right control motor is used for driving the transverse transmission wheel to rotate.

Preferably, in the multi-degree-of-freedom surgical instrument for minimally invasive endoscopic surgery, the driving mechanism further comprises an axial rotation control motor, and the rear end of the axial rotation control tube is meshed with the output end of the axial rotation control motor through a gear.

The external side of the operating end is provided with a fixed handle, each control motor is installed in the fixed handle, the external side of the fixed handle is integrated with an operating button for controlling an up-down control motor, a left-right control motor and an axial rotation control motor, and the motors are respectively used for controlling up-down pitching, left-right swinging and axial rotation of the executing part. The power supply is arranged inside the fixed handle and used for supplying power to each motor and the operating buttons, and the charging interface is arranged at the bottom of the fixed handle and used for charging the power supply.

Preferably, in the surgical instrument with multiple degrees of freedom for minimally invasive endoscopic surgery, a protective bag is arranged outside a connecting part of the executing part and the connecting rod.

The traditional minimally invasive endoscopic surgical instrument generally adopts a large surgical robot, such as a DaVinci surgical robot, a main knife doctor sits in a console to operate a mechanical arm system beside a patient bed, mechanical feedback is lacked for the main knife doctor, and even if the handheld endoscopic instrument is adopted, the traditional equipment also has the problem of insufficient flexibility.

Compared with the traditional minimally invasive endoscopic surgical instrument, the minimally invasive endoscopic surgical instrument is handheld, has small and light volume, can obtain mechanical feedback during operation, can also obtain multi-degree-of-freedom operation of a large-scale surgical robot, can obtain the executing part to realize up-down pitching, left-right deflection and axial rotation only by controlling each motor through the operating button by an operator, can also control the opening and closing of the executing part through a trigger to realize clamping action, is simple and convenient to operate, has low learning cost, and can effectively improve the operation efficiency and quality.

Drawings

FIG. 1 is an overall effect diagram of a multi-degree-of-freedom surgical instrument for minimally invasive endoscopic surgery;

FIG. 2 is a schematic structural view of a multi-degree-of-freedom surgical instrument for minimally invasive endoscopic surgery;

fig. 3 and 4 are schematic views of the structure of the actuator;

FIG. 5 is a schematic view of the head connecting seat;

FIG. 6 is a schematic view of a rotary base;

FIGS. 7 and 8 are schematic views of the connecting rod construction;

FIG. 9 is a schematic diagram of the internal structure of the operation end;

FIG. 10 is a schematic view of a traction wire construction;

FIG. 11 is a schematic view of an axial rotation control tube configuration;

FIG. 12 is a schematic view of the trigger construction;

FIG. 13 is a schematic view of the unlock button configuration;

FIG. 14 is a schematic diagram illustrating the overall effect of the second embodiment;

FIG. 15 is a schematic view of the internal structure of the second operation end of the embodiment;

FIG. 16 is a schematic view of a second embodiment of a movable handle;

FIG. 17 is a schematic structural view of a second unlocking knob of the embodiment;

FIG. 18 is a schematic diagram of the third embodiment;

FIG. 19 is a schematic diagram of the internal structure of the third operating end of the embodiment;

fig. 20 is a schematic view of the structure of the embodiment of the three movable handles and the fixed handle.

Wherein, 1, the executive part; 11. a jaw; 111. a jaw connecting end; 112. a jaw gear; 12. a head connecting seat; 121. a jaw connecting end fixing hole; 122. a serpentine tube fixing hole; 123. a steel ball rolling groove; 13. a rotating seat; 131. a ball head bin; 132. positioning holes for steel balls; 14. a gear lever; 15. steel balls; 16. a spring;

2. an operation end; 21. fixing a handle; 211. a charging interface; 22. a trigger; 221. a toothed strip; 222. a trigger connection end; 223. a traction wire fixing hole; 23. an operation button; 24. an unlock button; 241. a geared end; 242. a spring fixing end; 251. controlling the motor left and right; 252. controlling the motor up and down; 253. an axial rotation control motor; 26. a gear; 27. a driving wheel; 28. a power source; 29. resetting the elastic sheet;

3 connecting the rods; 31. a ball head rotating shaft; 32. a steel wire hole;

4. a protective bag;

5. axially rotating the control tube; 51. a serpentine tube; 52. a connecting end;

6. a traction wire; 61. controlling the steel wire up and down; 62. controlling the steel wire left and right; 63. opening and closing the control steel wire;

7. a movable handle; 71. a movable handle meshing strip; 72. a movable handle connecting end; 73. the movable handle pulls the steel wire fixing hole;

8. an unlocking knob; 81. unlocking the twist end of the knob.

Detailed Description

The multi-degree-of-freedom surgical instrument for minimally invasive laparoscopic surgery of the present invention will now be described in greater detail with reference to the drawings, in which preferred embodiments of the present invention are shown, it being understood that those skilled in the art may modify the invention herein described while still achieving the beneficial effects of the present invention. Accordingly, the following description should be construed as broadly as possible to those skilled in the art and not as limiting the invention.

Example one

As shown in fig. 1 and 2, the surgical instrument with multiple degrees of freedom for minimally invasive endoscopic surgery mainly comprises an executing part 1, an operating end 2, a connecting rod 3, a protective bag 4, an axial rotation control tube 5 and a traction steel wire 6.

As shown in fig. 3 and 4, the executing part 1 is composed of a jaw 11, a head connecting seat 12, a rotating seat 13, a gear rod 14, a steel ball 15 and a spring 16. Referring to fig. 4, the jaw 11 is provided with a jaw connecting end 111 and a jaw gear 112, the jaw gear 112 is engaged with the gear rod 14, the gear rod 14 is connected with the opening and closing control steel wire 63, a spring 16 is arranged between the gear rod 14 and the head connecting seat 12, the other end of the opening and closing control steel wire 63 is fixed in a traction steel wire fixing hole 223 on the operating handle, the opening and closing control steel wire is pulled by the operating handle to drive the gear rod 14 to do linear motion, and then the opening and closing of the jaw 11 can be realized by the matching of the gear rod 14 and the jaw gear 112.

As shown in fig. 5, one end of the head connecting seat 12 is provided with a jaw connecting end fixing hole 121 for installing the jaw 11; the other end is provided with a coiled pipe fixing hole 122 and a steel ball rolling groove 123. As shown in fig. 6, a ball bin 131 is disposed inside the rotating seat 13, and a ball positioning hole 132 is disposed on a matching surface of the head connecting seat 12. Head connecting seat 12 and rotating seat 13 are tightly fitted, and steel balls are arranged in steel ball positioning holes 132 at the joint to ensure that rotating seat 13 does not dislocate while head connecting seat 12 rotates axially.

As shown in fig. 7 and 8, the head of the connecting rod 3 is provided with a ball

head rotating shaft

31, 5 steel wire holes 32 are arranged in the middle, and the steel wire holes 32 are through passages for the traction steel wires 6. The ball head rotating shaft 31 is installed in the ball head bin 131, so that the rotating seat 13 and the connecting rod 3 form a ball joint, and the rotating seat 13 can freely rotate around the ball head rotating shaft 31.

Referring to fig. 1, the outer side of the operation end 2 is provided with a fixed handle 21, an operation handle, an operation button 23 and an unlocking button 24. Referring to fig. 9, the fixed handle has a motor, a gear 26, a transmission wheel 27 and a power supply 28 inside. The bottom of the fixed handle 21 is provided with a charging interface 211. The operation buttons 23 may be, but not limited to, ordinary buttons, liquid crystal touch screen type virtual buttons, a track ball, a joystick, and the like.

Referring again to fig. 9, the motors have a left-right control motor 251, an up-down control motor 252, and an axial rotation control motor 253. Referring to fig. 10, the driving wheel 27 has a transverse driving wheel 271 and a longitudinal driving wheel 272; the traction steel wire 6 comprises an up-and-down control steel wire 61, a left-and-right control steel wire 62 and an opening-closing control steel wire 63. The transverse transmission wheel 271 is a group of transversely arranged transmission wheels, and plays a role in guiding when the left and right control steel wires 62 run, so that the left and right control steel wires 62 run in a horizontal plane, and the aim of pulling the rotating seat 13 to swing left and right when the left and right control steel wires 62 run in the horizontal plane is fulfilled; similarly, the longitudinal driving wheel 272 is a set of driving wheels arranged longitudinally, and plays a role in guiding the up-down control steel wire 61 during operation, so that the up-down control steel wire 61 operates in a vertical plane, and the purpose of pulling the rotating seat 13 to pitch up and down during transmission of the up-down control steel wire in the vertical plane is achieved.

One end of the up-and-down control wire 61 is fixed on the upper side of the rotating seat 13, the other end of the up-and-down control wire is fixed on the lower side of the rotating seat 13 by bypassing the longitudinal transmission wheel 272, and the fixing points of the two ends of the up-and-down control wire 61 are symmetrically arranged. The longitudinal transmission wheel comprises a group of transmission wheels which are arranged up and down and used for guiding the up-and-down control steel wire 61 to transmit in a vertical plane, and the up-and-down control motor 252 is used for driving the longitudinal transmission wheel to rotate, so that the up-and-down control steel wire 61 can run.

Referring to fig. 3 and 10, one end of the left and right control wire 62 is fixed to the left side of the rotary base 13, and the other end thereof bypasses the transverse transmission wheel 271 and is fixed to the right side of the rotary base 13, and the fixing points of the two ends of the left and right control wire 62 are symmetrically arranged. The transverse transmission wheel 271 comprises a group of transmission wheels which are arranged up and down and used for guiding the left and right control steel wires 62 to transmit in a horizontal plane, and the left and right control motor 251 is used for driving the transverse transmission wheel 271 to rotate, so that the operation of the left and right control steel wires 62 is realized.

One end of the opening and closing control steel wire 63 is fixedly connected with the gear rod 14, the other end of the opening and closing control steel wire passes through the steel wire hole 32 of the connecting rod 3 and is fixedly connected with the operating handle, and the opening and closing control steel wire 63 can be pulled by stirring the operating handle so as to realize the opening and closing of the jaw.

As shown in fig. 11, the axial rotation control tube 5 has a coil 51 at one end thereof for universal bending and a connection end 52 at the other end thereof. Referring to fig. 9, the connecting end 52 is connected to the gear 26, and the output end of the axial rotation control motor 253 is engaged with the gear 26. When the axial rotation control motor 253 drives the gear 26, the gear 26 drives the axial rotation control tube 5 to axially rotate so as to drive the head connecting seat 12 to axially rotate. The coiled pipe 51, also called a gooseneck, can be bent universally and is fixedly mounted on the coiled pipe fixing hole 122 of the head connecting seat 12, so that the axial rotation of the head connecting seat 12 is not affected by the vertical and horizontal rotation of the rotating seat 13.

Referring to fig. 1, a protective bag 4 is disposed outside the connection portion between the actuator 1 and the connecting rod 3, and the protective bag 4 may be made of elastic and flexible material such as rubber, silicon gel, etc., or may be a serpentine tube. In the using process, the protective bag 4 can rotate up and down, left and right along with the execution part 1, and the protective bag is characterized in that the connecting part of the execution part 1 and the connecting rod 3 is protected under the condition that the rotation of the execution part 1 is not influenced, and the invasion of impurities such as liquid and the like is avoided.

In this embodiment, the operating handle takes the form of a trigger as shown in fig. 1 and 12. Referring to fig. 12, the trigger 22 is provided with a rack bar 221, a trigger attachment end 222 and a pull wire fixing hole 223. Referring to fig. 9, the trigger attachment end 222 is connected to the stationary handle 21 by the return spring 29.

Referring to fig. 9, an unlocking button 24 is slidably disposed at a position corresponding to a movement track of the fixed handle 21 and the rack bar 221, the unlocking button 24 has a rack end 241 and a spring fixing end 242, and a return spring for returning the unlocking button 24 is disposed between the spring fixing end 242 and the fixed handle 21. When the unlocking button 24 is pushed to enable the meshing bar 221 of the trigger 22 and the meshing end 241 of the unlocking button 24 to be meshed, the trigger 22 can only be held and locked inwards (similar to a cable tie), when the unlocking button 24 is pushed downwards, the meshing bar 221 of the trigger 22 is separated from the meshing end 241 of the unlocking button 24, and at the moment, the trigger 22 can be unlocked and reset under the action of the reset elastic sheet 29.

The multi-degree-of-freedom surgical instrument has the working principle that:

(the executing part is vertically tilted)

Referring to fig. 3, 9 and 10, the up-down control motor 252 is started to drive the longitudinal transmission wheel 272 to drive the up-down control steel wire 61 to rotate clockwise, and the up-down control steel wire 61 located above is pulled to move towards the operation end, so as to drive the rotation base 13 to rotate clockwise around the ball head rotation shaft 31, thereby completing the head raising action of the execution part 1; similarly, when the up-down control motor 252 drives the longitudinal transmission wheel 272 to drive the up-down control wire 61 to rotate counterclockwise, the head lowering operation of the executing part 1 can be completed.

(actuator swaying left and right)

Referring to fig. 3, 9 and 10, the left and right control motor 251 is started to drive the transverse transmission wheel 271 to drive the left and right control wires 62 to rotate clockwise, and the left and right control wires 62 located on the right are pulled to move towards the operation end, so as to drive the rotating base 13 to rotate clockwise around the ball head rotating shaft 31 to complete the right swinging action of the executing part; similarly, when the left and right control motor 251 drives the transverse transmission wheel 271 to drive the left and right control wires 62 to rotate counterclockwise, the left swing action of the executing part 1 can be completed.

(axial rotation of actuator)

Referring to fig. 3 and 9, the front end of the axial rotation control tube 5 is fixedly connected to the head connecting seat 12 through a coiled tube 51, the rear end of the axial rotation control tube is engaged with the axial rotation control motor 253 through a gear 26, after the axial rotation control motor 253 is started, the gear 26 drives the axial rotation control tube 5 to rotate, and then the axial rotation control tube 5 drives the head connecting seat 12 to rotate axially, so as to complete the axial rotation operation of the executing part 1.

(opening and closing of jaws action)

Referring to fig. 4, 9 and 10, the trigger 22 is pulled to pull the opening and closing control steel wire 63 towards the operation end 2, the opening and closing control steel wire 63 pulls the gear rod 14 to move backwards, the jaw gear 112 rotates inwards, and the jaws are closed; the engaging end 241 of the unlocking button 24 is separated from the engaging strip 221 of the trigger 22, after the trigger 22 is released, the trigger 22 is reset under the action of the reset elastic sheet 29, the spring 16 pulls the gear rod 14 to move forwards under the action of the spring 16, the jaw gear 112 rotates outwards, the jaw 11 is opened, and it can be understood that in other embodiments, the trigger can be pulled, the opening and closing control steel wire 63 pulls the jaw to be closed, the jaw is pushed by the spring to be opened, and the design is selected according to actual needs.

In this embodiment, the up-down control motor drives the longitudinal transmission wheel and then drives the up-down control steel wire to realize the up-down pitching of the executing part; the left and right control motors can drive the transverse transmission wheel and then drive the left and right control steel wires to realize the left and right deflection of the execution part; the gear can be driven by the axial rotation control motor, and the gear drives the axial rotation control tube to drive the head connecting seat to realize axial rotation.

Example two

Referring to fig. 14 to 17, the difference between the present embodiment and the first embodiment is that the operating handle of the operating end 2 of the present embodiment adopts the movable handle 7 to control the opening and closing of the jaws 11; an unlocking knob 8 is adopted to be matched with the movable handle 7.

Referring to fig. 16, the movable handle 7 is provided with a movable handle engaging strip 71, a movable handle connecting end 72 and a movable handle traction wire fixing hole 73. The movable handle connecting end 72 is rotatably connected to the fixed handle 21 through a return spring, and the tail end of the opening and closing control steel wire 63 is fixedly arranged on a movable handle traction steel wire fixing hole 73.

Referring to fig. 17, the unlocking knob 8 is provided with an unlocking knob geared end 81; the unlocking knob meshing end 81 is meshed with the movable handle meshing bar 71. The unlocking knob 8 is rotatably installed on the fixed handle 21 and is positioned on the motion track of the movable handle meshing bar 71, and the locking and unlocking states of the movable handle 7 can be controlled by pulling the unlocking knob 8.

EXAMPLE III

Referring to fig. 18, the present embodiment is different from the first embodiment in that the operating handle of the operating end 2 of the present embodiment is designed as a pincer-type grip handle. Fig. 18 is a schematic view of the structure of the movable handle 7 and the fixed handle 21. In the embodiment, the fixed handle 21 is positioned in the horizontal direction, and is held in a pincer type, so that the ergonomic design is better met, the operation habit of the current doctor is met, and the operation force generation and the axial rotation control are convenient.

Referring to fig. 19 and 20, the movable handle 7 is provided with a movable handle engaging strip 71, a movable handle connecting end 72 and a movable handle traction steel wire fixing hole 73. The movable handle connecting end 72 is rotatably connected to the fixed handle 21 through a return spring, and the tail end of the opening and closing control steel wire 63 is fixedly arranged on a movable handle traction steel wire fixing hole 73.

The movable handle 7 and the fixed handle 21 are engaged by an unlocking assembly. As shown in fig. 19 and 20, the unlocking assembly includes an unlocking knob 8 and a rack 9, the unlocking knob 8 is rotatably mounted on the fixed handle 21, and a push block 82 is disposed on a surface of the unlocking knob 8 opposite to the rack 9. One end of the rack 9 is a rack connecting end 92, the other end is a meshing end 91, and the meshing end 91 is meshed with the meshing strip 71. When the unlocking knob 8 is rotated, the pushing block 82 pushes the rack 9 to rotate, so that the toothed end 91 is separated from the toothed strip 71, and the movable handle 7 is in an unlocking state.

The above embodiments are preferred explanations of the present invention, but the present invention is not limited to the above embodiments, and those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalent modifications or substitutions are included in the scope defined by the claims of the present application.

Claims

1. A multi-degree-of-freedom surgical instrument for minimally invasive endoscopic surgery is characterized by comprising an execution part, a connecting rod, an axial rotation control tube and an operation end;

2. The multi-degree-of-freedom surgical instrument for minimally invasive endoscopic surgery as claimed in claim 1, wherein the working end is a jaw, the jaw has a jaw connecting end and a jaw gear, the jaw connecting end is rotatably mounted on the head connecting seat, a gear rod is meshed between the jaw gears, a spring is arranged between the gear rod and the head connecting seat, an opening and closing control steel wire is connected to the rear end of the gear rod, an operating handle is arranged at the operating end, and the operating handle is fixedly connected with the rear end of the opening and closing control steel wire and can pull the opening and closing control steel wire to open or close the jaw.

3. The surgical instrument with multiple degrees of freedom for minimally invasive laparoscopic surgery according to claim 1, wherein the control wire comprises an up-down control wire and a left-right control wire, the driving mechanism comprises an up-down control motor, a longitudinal transmission wheel, a left-right control motor and a transverse transmission wheel, one end of the up-down control wire is fixed on the upper side of the rotating seat, the other end of the up-down control wire bypasses the longitudinal transmission wheel and is fixed on the lower side of the rotating seat, and the up-down control motor is used for driving the longitudinal transmission wheel to rotate; one end of the left and right control steel wire is fixed on the left side of the rotating seat, the other end of the left and right control steel wire is fixed on the right side of the rotating seat after bypassing the transverse transmission wheel, and the left and right control motor is used for driving the transverse transmission wheel to rotate.

4. The multi-degree-of-freedom surgical instrument for minimally invasive laparoscopic surgery as claimed in claim 3, wherein the driving mechanism further comprises an axial rotation control motor, and the rear end of the axial rotation control tube is engaged with the output end of the axial rotation control motor through a gear.

5. The surgical instrument with multiple degrees of freedom for minimally invasive endoscopic surgery according to claim 1, wherein a protective bag is arranged outside the connection part of the execution part and the connecting rod.