CN221106006U

CN221106006U - Hand-held multi-degree-of-freedom laparoscopic surgical instrument

Info

Publication number: CN221106006U
Application number: CN202322369906.8U
Authority: CN
Inventors: 翟东; 许英杰; 李志江
Original assignee: Hangzhou Huajiang Medical Robot Co ltd
Current assignee: Hangzhou Huajiang Medical Robot Co ltd
Priority date: 2023-08-31
Filing date: 2023-08-31
Publication date: 2024-06-11
Anticipated expiration: 2033-08-31

Abstract

The utility model provides a handheld multi-degree-of-freedom laparoscopic surgical instrument, comprising: a clamp head assembly; the clamp head assembly is rotatably connected to one end of the instrument rod; the hollow push rod is arranged in the instrument rod, and one end of the hollow push rod is rotatably connected with the clamp head assembly; the hollow push rod is configured to drive the clamp head assembly to swing around the head end of the instrument rod under the drive of a first acting force parallel to the central axis direction of the hollow push rod; the opening and closing connecting mechanism is arranged in the hollow push rod, and one end of the opening and closing connecting mechanism is fixedly connected with the clamp head assembly; the opening and closing connecting mechanism is configured to drive the clamp head assembly to open and close under the drive of a second acting force along the direction parallel to the central axis of the instrument rod; the control mechanism comprises a deflection control mechanism, a trigger and a pulley block, wherein the deflection control mechanism is fixedly connected with the other end of the hollow push rod and used for providing a first acting force, the other end of the opening and closing connecting mechanism bypasses the pulley block and then is fixed on the trigger, and the trigger is used for providing a second acting force; the instrument bar is fixed on the control mechanism.

Description

Hand-held multi-degree-of-freedom laparoscopic surgical instrument

Technical Field

The utility model relates to the technical field of minimally invasive surgical instruments, in particular to a handheld multi-degree-of-freedom laparoscopic surgical instrument.

Background

Conventional laparoscopic surgical instruments are not ergonomic and are limited by less freedom of intra-luminal movement, resulting in serious limitations for the operator in performing simple procedures, making it difficult for many surgeons to perform various minimally invasive procedures and operations. Currently widely used laparoscopic surgical instruments include: conventional straight manual instruments and surgical instruments based on consoles and large surgical robots. Surgical robotic systems offer greater flexibility, stability, surgical field clarity and 3D vision, but require significant financial costs and logistical complexity, resulting in complex surgical robots that do not exhibit sufficiently large marketable advantages over traditional laparoscopic instruments, current hand-held surgical instruments are still the dominant tools for clinical surgery, with a broad user base.

As the technology of multi-joint surgical instruments matures, hand-held robotic surgical instruments have grown. Compared with the traditional surgical instrument, the novel handheld laparoscopic surgical instrument can provide some functions which can be found in the surgical robot system at present at lower cost, for example, the multi-degree-of-freedom joint provides more flexible and natural operation experience without complex actions of limbs; the multi-joint operation device realizes multi-joint simultaneous stable movement and multi-angle operation, and can shorten operation time, provide better operation incision and the like, thereby improving operation quality. Thereby influencing the minimally invasive surgery market, compared with a complicated surgery robot of a system, the novel handheld laparoscopic surgery instrument is more flexible and practical and has better economy and circulation.

However, the surgical instrument forceps head part in the existing handheld laparoscopic surgical instrument realizes steering control of two degrees of freedom for the wire control, four tungsten wire ropes are needed to control the inside of the connecting rod, the occupied space is occupied, the diameter of the connecting rod is 9mm, the connecting rod is too thick, and the instrument is not small enough. And when the connecting rod rotates along the axial direction, the tungsten wire ropes inside the connecting rod can be screwed together, so that the risk of breakage is increased. In addition, the two tungsten wires are rubbed with the connecting rod to realize the opening and closing degrees of freedom of the forceps head of the surgical instrument in the existing handheld laparoscopic surgical instrument, so that the abrasion to parts is large after the surgical instrument is repeatedly used, and the service life of the surgical instrument is reduced.

Disclosure of utility model

In view of the above, the present utility model provides a handheld multi-degree-of-freedom laparoscopic surgical instrument, which is used for solving the above technical problems existing in the existing handheld multi-degree-of-freedom laparoscopic surgical instrument.

The embodiment of the utility model provides a handheld multi-degree-of-freedom laparoscopic surgical instrument, which comprises: the clamp head assembly is used for clamping a target; the clamp head assembly is rotatably connected to one end of the instrument rod; the hollow push rod is arranged in the instrument rod, and one end of the hollow push rod is rotatably connected with the clamp head assembly; the hollow pushrod is configured to: under the drive of a first acting force parallel to the central axis direction of the hollow push rod, the clamp head assembly is driven to swing around the head end of the instrument rod to realize deflection; the opening and closing connecting mechanism is arranged in the hollow push rod, and one end of the opening and closing connecting mechanism is fixedly connected with the clamp head assembly; the open-close connection mechanism is configured to: the clamp head assembly is driven to open and close by a second acting force in the direction parallel to the central axis of the instrument rod; the control mechanism comprises a deflection control mechanism, a trigger and a pulley block, wherein the deflection control mechanism is fixedly connected with the other end of the hollow push rod and used for providing a first acting force, the other end of the opening and closing connecting mechanism bypasses the pulley block and then is fixed on the trigger, and the trigger is used for providing a second acting force; the other end of the instrument rod is fixed on the control mechanism.

According to the embodiment of the utility model, the deflection control mechanism comprises a deflection knob and a cam, wherein a curve groove is formed in the cam, and the curve groove is an Archimedes line; the control mechanism further includes: a handle housing; the sliding block guide rail is fixed on the handle shell; a deflection shifting fork, one end of which is internally arranged in the slide block guide rail, and the other end of which is arranged in the curve groove; a deflection pulling sleeve is arranged in the deflection shifting fork and is fixed with the other end of the hollow push rod, and when the instrument rod rotates to drive the push rod to rotate, the deflection pulling sleeve rotates in the deflection shifting fork; the cam is driven to rotate by rotating the deflection knob, the shaft of the deflection shifting fork moves in the curved groove relatively, and the deflection shifting fork is driven to slide relatively to the slide block guide rail so as to drive the hollow push rod to move along the central shaft direction of the hollow push rod.

According to an embodiment of the utility model, a pulley block comprises: the pulley seat is fixed on the handle shell; the pulley is fixed on the pulley seat, and the other end of the opening and closing connecting mechanism bypasses the pulley seat and is fixed on the trigger.

According to an embodiment of the utility model, the pulley block is fixed to the handle housing by means of screws, and the pulley is fixed to the pulley block by means of pins passing through the pulley.

According to an embodiment of the utility model, a binding clip assembly comprises: the device comprises a first clamp piece, a second clamp piece, a clamp pin, a chute structure, an opening and closing sliding pin, a connecting rod mechanism and a tower spring; the first clamp piece and the second clamp piece are hinged through clamp pins and are fixed at one end of the chute structure; the number of the connecting rod mechanisms is two, one end of the connecting rod mechanisms is respectively and rotatably connected with the first clamp piece and the second clamp piece, the other end of the connecting rod mechanisms is rotatably connected with the opening and closing sliding pin, and the opening and closing sliding pin is arranged in the chute structure in a sliding way; the link mechanism includes: the device comprises two cylindrical pins and two connecting pieces, wherein one end of each connecting piece is integrated with one cylindrical pin, one end of each connecting piece is rotatably connected with a first clamp piece and a second clamp piece through one cylindrical pin, an opening and closing sliding pin is connected with one end of an opening and closing connecting mechanism, a tower spring is arranged between the opening and closing sliding pin and a sliding groove structure, and the sliding groove structure is rotatably connected with an instrument rod and a hollow push rod; under the drive of the hollow push rod along the push force or the pull force parallel to the central axis direction of the hollow push rod, the chute structure drives the first clamp piece and the second clamp piece to swing around the instrument rod and the head end of the hollow push rod; the opening and closing connecting mechanism drives the opening and closing sliding pin to slide in the chute structure to control the two connecting sheets to drive the first clamp sheet and the second clamp sheet to rotate around the cylindrical pin so as to control the opening and closing movement of the first clamp sheet and the second clamp sheet

According to an embodiment of the utility model, the binding clip assembly further comprises: and two ends of the bending connecting rod are respectively and rotatably connected with the chute structure and the hollow push rod.

According to an embodiment of the utility model, the number of curved links is.

According to an embodiment of the utility model, the control mechanism further comprises: the self-rotating knob is sleeved on the instrument rod; one end of the inner ring bushing is locked on the self-rotation knob, and the inner ring bushing is connected with the instrument rod through a groove; the self-rotating knob is configured to drive the instrument rod to rotate by rotating the self-rotating knob to drive the clamp head assembly to rotate.

According to an embodiment of the utility model, the opening and closing connection mechanism comprises a tungsten wire rope or a flexible shaft or an alloy wire, and the tungsten wire rope comprises: the novel stainless steel wire rope comprises a first section of tungsten wire rope, a stainless steel tube and a second section of tungsten wire rope, wherein one end of the first section of tungsten wire rope is connected with a clamp head assembly, the other end of the first section of tungsten wire rope is connected with one end of the stainless steel tube, the other end of the stainless steel tube is connected with one end of the second section of tungsten wire rope, the other end of the second section of tungsten wire rope bypasses a pulley block and is fixed on a trigger, and the stainless steel tube is arranged in a hollow push rod.

According to an embodiment of the utility model, the diameter of the instrument bar is less than 5mm.

According to the handheld multi-degree-of-freedom laparoscopic surgical instrument provided by the embodiment of the utility model, at least the following technical effects can be realized:

Through rotationally connecting the binding clip subassembly in the one end of apparatus pole, with the connecting rod one end and the binding clip subassembly rotatable coupling of embeding in the apparatus pole, can drive the binding clip subassembly through pushing or tensile connecting rod like this and rotate around the apparatus pole and realize the beat motion of binding clip subassembly, compare in the mode of double-line drive beat among the prior art, the mode occupation space that a connecting rod realized head end binding clip beat motion is littleer, and the diameter of apparatus pole can be littleer, has reduced the size of device. And when the degree of freedom of rotation of the clamp head assembly is realized, the phenomenon that the tungsten wire ropes in the clamp head assembly are screwed together cannot occur, the risk of breakage of the tungsten wire is avoided, and the service life of the device is prolonged.

One end of the opening and closing connecting mechanism is fixedly connected with the clamp head assembly, the other end of the opening and closing connecting mechanism bypasses the pulley block and then is fixed on the trigger, and based on pulley guiding, the friction force between the mechanisms can be greatly reduced compared with the conventional friction transmission, and the service life of the instrument is prolonged. And moreover, the opening and closing movement of the clamp head assembly can be realized through one opening and closing connecting mechanism, and compared with the traditional opening and closing of the clamp head assembly through two tungsten wire ropes, the internal space of the connecting rod can be saved.

Drawings

The above and other objects, features and advantages of the present utility model will become more apparent from the following description of embodiments of the present utility model with reference to the accompanying drawings, in which:

fig. 1 schematically illustrates a perspective view of a hand-held multi-degree of freedom laparoscopic surgical instrument according to an embodiment of the present utility model.

Fig. 2A schematically shows an overall structural view of a control mechanism according to an embodiment of the present utility model.

Fig. 2B schematically illustrates an installation structure diagram of the yaw control mechanism according to the embodiment of the present utility model.

Fig. 2C schematically shows an enlarged structural view of the yaw control mechanism according to the embodiment of the present utility model.

Fig. 2D schematically shows a block and tackle mounting structure according to an embodiment of the utility model.

Figure 3 schematically illustrates a block diagram of a binding clip assembly according to an embodiment of the present utility model.

Fig. 4 schematically shows an installation structure of the chute structure and the connecting rod according to the embodiment of the utility model.

Fig. 5 schematically illustrates a block diagram of the front head assembly after deflection, in accordance with an embodiment of the present utility model.

Fig. 6 schematically illustrates an internal structural view of the rotation knob according to an embodiment of the present utility model.

Detailed Description

The present utility model will be further described in detail below with reference to specific embodiments and with reference to the accompanying drawings, in order to make the objects, technical solutions and advantages of the present utility model more apparent. It will be apparent that the described embodiments are some, but not all, embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The terms "comprises," "comprising," and/or the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and include, for example, either permanently connected, removably connected, or integrally formed therewith; may be mechanically connected, may be electrically connected or may communicate with each other; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the description of the present utility model, it should be understood that the terms "longitudinal," "length," "circumferential," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate an orientation or a positional relationship based on that shown in the drawings, merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the subsystem or element in question must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

Like elements are denoted by like or similar reference numerals throughout the drawings. Conventional structures or constructions will be omitted when they may cause confusion in the understanding of the utility model. And the shape, size and position relation of each component in the figure do not reflect the actual size, proportion and actual position relation. In addition, in the present utility model, any reference signs placed between parentheses shall not be construed as limiting the claim.

Similarly, in the foregoing description of exemplary embodiments of the utility model, various features of the utility model are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various disclosed aspects. The description of the terms "one embodiment," "some embodiments," "example," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

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" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

As shown in fig. 1, the handheld multi-degree of freedom laparoscopic surgical instrument may include a forceps head assembly 1, an instrument rod 2, a hollow push rod 3, an open-close connection mechanism 4, and a control mechanism 5.

The clamp head assembly 1 is used for clamping a target. The target may be understood as a subject to be clamped during laparoscopic surgery.

The clamp head assembly 1 is rotatably connected to one end of an instrument bar 2.

A hollow push rod 3 is arranged in the instrument rod 2, and one end of the hollow push rod is rotatably connected with the clamp head assembly 1. The hollow pushrod 3 is configured to: the clamp head assembly 1 is driven to swing around the head end of the instrument rod 2 under the drive of a first acting force parallel to the central axis direction of the hollow push rod 3, so that deflection is realized.

The opening and closing connecting mechanism 4 is arranged in the hollow push rod 3, and one end of the opening and closing connecting mechanism 4 is fixedly connected with the clamp head assembly 1. The opening and closing connection mechanism 4 is configured to: the clamp head assembly 1 is driven to open and close by the second acting force along the direction parallel to the opening and closing connecting mechanism 4.

The control mechanism 5 comprises a deflection control mechanism 51, a trigger 52 and a pulley block 53, wherein the deflection control mechanism 51 is fixedly connected with the other end of the hollow push rod 3 and used for providing a first acting force, the other end of the opening and closing connecting mechanism 4 bypasses the pulley block 53 and then is fixed on the trigger 52, and the trigger 52 is used for providing a second acting force. The other end of the instrument bar 2 is fixed to the control mechanism 5.

Further, the connecting rod 3 and the instrument rod 2 may be concentrically fitted. The diameter of the instrument bar 2 is less than or equal to 5mm.

As shown in fig. 2A-2C, the control mechanism 5 may include a yaw control mechanism 51, a trigger 52, a pulley block 53, a handle housing 54, a slider rail 55, and a yaw fork 56.

The yaw control mechanism 51 includes a yaw knob 511 and a cam 512, and a curved groove 5121 is disposed on the cam 512, where the curved groove 5121 may be an archimedes line.

The slider rail 55 is fixed to the handle housing 54. One end of the deflection shifting fork 56 is arranged in the sliding block guide rail 55, and the other end is arranged in the curve groove 5121. The deflection shifting fork 56 is internally provided with a deflection pulling sleeve 561, the deflection pulling sleeve 561 is fixed with the other end of the hollow push rod 3, and when the instrument rod 2 rotates to drive the hollow push rod 3 to rotate, the deflection pulling sleeve 561 rotates on the deflection shifting fork 55.

The cam 512 is driven to rotate by rotating the deflection knob 511, and the shaft of the deflection fork 56 moves in the curved slot 5121, so as to drive the deflection fork 56 to slide relative to the slide rail 55 to drive the hollow push rod 3 to move along the central axis direction of the hollow push rod 3.

It should be noted that, the other end of the deflection pulling sleeve 561 and the other end of the hollow push rod 3 may be welded together, when the shaft of the deflection shifting fork 56 moves in the curve groove 5121, the deflection pulling sleeve 561 rotates in the deflection shifting fork 56, so that the hollow push rod 3 may also rotate and slide back and forth along the slide guide rail 55, the rotation of the hollow push rod 3 is to better realize the rotation freedom degree of the clamp head assembly 1, when the instrument rod 2 rotates, the hollow push rod 3 is driven to rotate, and because the deflection pulling sleeve 561 is fixed with the other end of the hollow push rod 3, the deflection pulling sleeve 561 rotates in the deflection shifting fork 56, thereby realizing the rotation of internal parts together during rotation and better avoiding the twisting phenomenon. It should be understood that the direction parallel to the central axis of the hollow push rod 3 is the length direction of the hollow push rod 3.

As shown in fig. 2D, the pulley block 53 includes a pulley mount 531 and a pulley 532, and the pulley mount 531 is fixed to the handle housing 54. The pulley 532 is fixed on the pulley mount 531, and the other end of the opening and closing connecting mechanism 4 is fixed on the trigger 52 after bypassing the pulley mount 531.

Further, the pulley mount 531 is fixed to the handle housing 54 by a screw 533, and the pulley 532 is fixed to the pulley mount 531 by a pin 534 penetrating the pulley 532.

The opening and closing connection mechanism 4 may include: tungsten wire rope or flexible shaft or alloy wire, etc. With continued reference to fig. 2A-2D, further, the tungsten wire rope may include: the device comprises a first section of tungsten wire rope, a stainless steel pipe and a second section of tungsten wire rope 41, wherein one end of the first section of tungsten wire rope is connected with a clamp head assembly 1, the other end of the first section of tungsten wire rope is connected with one end of the stainless steel pipe, the other end of the stainless steel pipe is connected with one end of the second section of tungsten wire rope 41, the other end of the second section of tungsten wire rope 41 bypasses a pulley block 53 and is then fixed on a trigger 52, and the stainless steel pipe is arranged in an instrument rod 2.

The stainless steel tube is used in the middle section of the tungsten wire rope to save cost and improve rigidity, and the tungsten wire rope is used at the two ends to realize steering of the clamp head assembly 1 and guiding of the acting force applied by the trigger 52.

As shown in fig. 3, the binding clip assembly 1 includes: the first clamp piece 11, the second clamp piece 12, the clamp pin 13, the chute structure 14, the opening and closing sliding pin 15, the link mechanism 18 and the tower spring 19.

The first jaw 11 and the second jaw 12 are hinged and fixed at one end of a chute structure 14 by a clamp pin 13. The number of the link mechanisms 18 is two, one end of each link mechanism is respectively connected with the first clamp piece 11 and the second clamp piece 12 in a rotating way, the other end of each link mechanism is connected with the opening and closing sliding pin 15 in a rotating way, and the opening and closing sliding pins 15 are arranged in the sliding groove structure 14 in a sliding way. The linkage 18 may include: two cylindric lock 16 and two connection piece 17, every connection piece 17 one end integration cylindric lock 16, connection piece 17 one end is through cylindric lock 16 and first pincers piece 11 and second pincers piece 12 rotatable coupling. The open-close sliding pin 15 is connected with one end of the open-close connecting mechanism 4, the tower spring 19 is arranged between the open-close sliding pin 15 and the chute structure 14, one end of the tower spring can be fixed on the chute structure 14, the other end of the tower spring is fixed on the open-close sliding pin 15, and the chute structure 14 is rotationally connected with the instrument rod 2 and the hollow push rod 3.

The first jaw 11 and the second jaw 12 may be in the form of a scissor blade, a grasping jaw, a clip applier blade, a separating jaw, or the like. Fig. 4 schematically shows an installation structure of the chute structure and the connecting rod according to the embodiment of the utility model.

As shown in fig. 4, the binding clip assembly 1 further includes: and the two ends of the bending connecting rod 10 are respectively and rotatably connected with the chute structure 14 and the hollow push rod 3. In general, the number of the bending links 10 is 2, and one bending link 10 is arranged up and down, so that the chute structure 14 and the hollow push rod 3 can be better rotated, and the stability can be ensured. The binding clip assembly 1 is rotatably connected to the instrument bar 2 by a rotation pin 20.

Based on the above structure, taking the direction shown in fig. 5 as an example, the process of implementing deflection of the handheld multi-degree-of-freedom laparoscopic surgical instrument may be: when the deflection knob 511 is rotated to apply a rightward pulling force to the hollow push rod 3, the chute structure 14 is driven to swing counterclockwise around the instrument rod 2, so that the first jaw 11 and the second jaw 12 are driven to deflect counterclockwise. When the deflection knob 511 is rotated to apply a leftward pushing force to the hollow push rod 3, the chute structure 14 is driven to swing clockwise around the instrument rod 2, so that the first jaw 11 and the second jaw 12 are driven to deflect clockwise.

Taking the direction shown in fig. 1 as an example, the process of opening and closing the handheld multi-degree-of-freedom laparoscopic surgical instrument may be: when the trigger 52 is not pulled, an included angle exists between the two connecting sheets 17, the connecting sheets are in a bending state, the opening and closing sliding pin 15 is positioned at the leftmost end of the sliding groove in the sliding groove structure 14, and the first clamp piece 11 and the second clamp piece 12 are in an open state; when the trigger 52 is pulled, the opening and closing connecting mechanism 4 is guided by the pulley 532 to drive the sliding groove of the opening and closing sliding pin 15 in the sliding groove structure 14 to slide from left to right, so that the included angle between the two connecting pieces 17 and the first clamp piece 11 and the second clamp piece 12 is gradually increased, and the two connecting pieces tend to be in a straight line state, and the first clamp piece 11 and the second clamp piece 12 are driven to be in a closed state; when the trigger 52 is released, the opening and closing connecting mechanism 4 does not apply a force to the opening and closing sliding pin 15, and the opening and closing sliding pin 15 slides from right to left in the sliding groove structure 14 under the restoring force of the tower spring 19, so that the included angle between the two connecting pieces 17 and the first clamp piece 11 and the second clamp piece 12 is gradually reduced, and the bending state is trended, so that the first clamp piece 11 and the second clamp piece 12 are driven to be in an open state.

Referring to fig. 6, in conjunction with fig. 1 and 2A to 2C, the control mechanism 5 further includes: a rotation knob 57 and an inner race bushing 58.

The rotation knob 57 is sleeved on the instrument rod 2.

An inner ring bushing 58, one end of which is locked to the rotation knob 57, the inner ring bushing 58 being connected to the instrument bar 2 through a groove.

Wherein the rotation knob 57 is configured to rotate the forceps head assembly 1 by rotating the rotation knob 57 to rotate the instrument bar 2.

For example, when the rotation knob 57 is rotated clockwise, as viewed from right to left in the direction of fig. 1, the instrument bar 2 is rotated clockwise, thereby rotating the binding clip assembly 1 clockwise. When the rotation knob 57 rotates counterclockwise, the instrument bar 2 is driven to rotate counterclockwise, so that the forceps head assembly 1 is driven to rotate counterclockwise.

The foregoing is merely a specific embodiment of the present utility model, and the scope of the present utility model is not limited thereto. Any changes or substitutions made within the spirit and principles of the present utility model should be construed as falling within the scope of the present utility model. Therefore, the protection scope of the utility model is subject to the protection scope of the claims.

Claims

1. A hand-held multi-degree of freedom laparoscopic surgical instrument, comprising:

A clamp head assembly (1) for clamping a target;

the instrument rod (2) is of a hollow structure, and the clamp head assembly (1) is rotatably connected to one end of the instrument rod (2);

The hollow push rod (3) is arranged in the instrument rod (2), and one end of the hollow push rod is rotatably connected with the clamp head assembly (1); the hollow push rod (3) is configured to: under the drive of a first acting force parallel to the central axis direction of the hollow push rod (3), the clamp head assembly (1) is driven to swing around the head end of the instrument rod (2) to realize deflection;

The opening and closing connecting mechanism (4) is arranged in the hollow push rod (3), and one end of the opening and closing connecting mechanism (4) is fixedly connected with the clamp head assembly (1); the opening and closing connection mechanism (4) is configured to: under the drive of a second acting force along the direction parallel to the central axis of the instrument rod (2), the clamp head assembly (1) is driven to open and close;

The control mechanism (5) comprises a deflection control mechanism (51), a trigger (52) and a pulley block (53), wherein the deflection control mechanism (51) is fixedly connected with the other end of the hollow push rod (3) and is used for providing the first acting force, the other end of the opening and closing connecting mechanism (4) bypasses the pulley block (53) and is then fixed on the trigger (52), and the trigger (52) is used for providing the second acting force; the other end of the instrument rod (2) is fixed on the control mechanism (5).

2. The hand-held multi-degree of freedom laparoscopic surgical instrument according to claim 1, characterized in that the yaw control mechanism (51) comprises a yaw knob (511) and a cam (512), wherein a curved slot is provided on the cam (512), wherein the curved slot is an archimedes line;

The control mechanism (5) further comprises:

A handle housing (54);

a slider guide rail (55) fixed to the handle housing (54);

A deflection shifting fork (56), one end of which is arranged in the sliding block guide rail (55) and the other end of which is arranged in the curve groove; a deflection pulling sleeve (561) is arranged in the deflection shifting fork (56), the deflection pulling sleeve (561) is fixed with the other end of the hollow push rod (3), and when the instrument rod (2) rotates to drive the hollow push rod (3) to rotate, the deflection pulling sleeve (561) rotates in the deflection shifting fork (56);

The cam (512) is driven to rotate by rotating the deflection knob (511), and the shaft of the deflection shifting fork (56) moves in the curved groove relatively to drive the deflection shifting fork (56) to slide relatively to the sliding block guide rail (55) so as to drive the hollow push rod (3) to move along the central shaft direction of the hollow push rod (3).

3. The hand-held multi-degree of freedom laparoscopic surgical instrument according to claim 2, characterized in that the pulley block (53) comprises:

a pulley mount (531) fixed to the handle housing (54);

The pulley (532) is fixed on the pulley seat (531), and the other end of the opening and closing connecting mechanism (4) bypasses the pulley seat (531) and is then fixed on the trigger (52).

4. A hand-held multi-degree of freedom laparoscopic surgical instrument according to claim 3, characterized in that the pulley block (531) is fixed to the handle housing (54) by means of screws (533), and the pulley (532) is fixed to the pulley block (531) by means of pins (534) passing through the pulley (532).

5. The hand-held multi-degree of freedom laparoscopic surgical instrument according to claim 1, characterized in that the forceps head assembly (1) comprises:

The clamping device comprises a first clamping piece (11), a second clamping piece (12), a clamping pin (13), a chute structure (14), an opening and closing sliding pin (15), a connecting rod mechanism (18) and a tower spring (19);

The first clamp piece (11) and the second clamp piece (12) are hinged through the clamp pin (13) and are fixed at one end of the chute structure (14); the number of the connecting rod mechanisms (18) is two, one end of each connecting rod mechanism is respectively in rotary connection with the first clamp piece (11) and the second clamp piece (12), the other end of each connecting rod mechanism is in rotary connection with the opening and closing sliding pin (15), and the opening and closing sliding pins (15) are arranged in the sliding groove structures (14) in a sliding manner;

The link mechanism (18) includes: the device comprises two cylindrical pins (16) and two connecting pieces (17), wherein one end of each connecting piece (17) is integrated with one cylindrical pin (16), the connecting piece (17) is rotatably connected with the first clamp piece (11) and the second clamp piece (12) through the cylindrical pin (16), the opening and closing sliding pin (15) is connected with one end of the opening and closing connecting mechanism (4), the tower spring (19) is arranged between the opening and closing sliding pin (15) and the sliding groove structure (14), and the sliding groove structure (14) is rotatably connected with the instrument rod (2) and the hollow push rod (3);

Under the drive of a pushing force or a pulling force which is parallel to the central axis direction of the hollow push rod (3), the sliding groove structure (14) drives the first clamp piece (11) and the second clamp piece (12) to rotate around the instrument rod (2) and the hollow push rod (3); the opening and closing connecting mechanism (4) drives the opening and closing sliding pin (15) to slide in the chute structure (14) to control the two connecting sheets (17) to drive the first clamp sheet (11) and the second clamp sheet (12) to rotate around the cylindrical pin (16), so as to control the opening and closing movement of the first clamp sheet (11) and the second clamp sheet (12).

6. The hand-held multi-degree of freedom laparoscopic surgical instrument according to claim 5, characterized in that said clamp head assembly (1) further comprises:

And two ends of the bending connecting rod (10) are respectively and rotatably connected with the chute structure (14) and the hollow push rod (3).

7. The hand-held multi-degree of freedom laparoscopic surgical instrument according to claim 6, characterized in that the number of curved links (10) is 2.

8. The hand-held multi-degree of freedom laparoscopic surgical instrument according to claim 1, characterized in that the control mechanism (5) further comprises:

an autorotation knob (57) sleeved on the instrument rod (2);

An inner ring bushing (58) with one end locked on the rotation knob (57), wherein the inner ring bushing (58) is connected with the instrument rod (2) through a groove;

Wherein the self-rotating knob (57) is configured to drive the forceps head assembly (1) to rotate by rotating the self-rotating knob (57) to drive the instrument rod (2) to rotate.

9. The hand-held multi-degree of freedom laparoscopic surgical instrument according to claim 1, characterized in that the open-close connection mechanism (4) comprises: tungsten wire rope or flexible shaft or alloy wire;

Wherein, the tungsten wire rope includes: the novel stainless steel wire rope comprises a first section of tungsten wire rope, a stainless steel tube and a second section of tungsten wire rope, wherein one end of the first section of tungsten wire rope is connected with the clamp head assembly (1), the other end of the first section of tungsten wire rope is connected with one end of the stainless steel tube, the other end of the stainless steel tube is connected with one end of the second section of tungsten wire rope, the other end of the second section of tungsten wire rope bypasses the pulley block (53) and is then fixed on the trigger (52), and the stainless steel tube is arranged in the hollow push rod (3).

10. A hand-held multi-degree of freedom laparoscopic surgical instrument according to claim 1, characterized in that the diameter of the instrument rod (2) is less than 5mm.