WO2016041465A1

WO2016041465A1 - Minimally invasive surgical instrument

Info

Publication number: WO2016041465A1
Application number: PCT/CN2015/089404
Authority: WO
Inventors: 宁泽源
Original assignee: 上海林超医疗设备科技有限公司
Priority date: 2014-09-15
Filing date: 2015-09-11
Publication date: 2016-03-24
Also published as: CN105411664A; CN205041453U; CN105411664B

Abstract

A minimally invasive surgical instrument. The instrument comprises working portions (1, 3) and driving portions (9, 10, 11, 14, 22, 27) used for driving the working portions (1, 3) to move. The driving portions (9, 10, 11, 14, 22, 27) comprise swing driving portions (9, 10, 11, 14) used for driving the working portions (1, 3) to swing. The swing driving portions (9, 10, 11, 14) comprise actuation devices (9, 10) and power devices (11, 14). A first end of the actuation device (9) is movably connected to the working portion (3). A second end of the actuation device (10) is connected to the power device (11). The actuation devices (9, 10) drive the working portions (1, 3) to swing under the driving of the power devices (11, 14). By means of the minimally invasive surgical instrument, the actuation devices (9, 10) and the power devices (11, 14) related to a swing motion are arranged to complete the swing motion of the working portions (1, 3), so as to overcome the defects of conventional surgical instruments in swing control. The minimally invasive surgical instrument has the characteristics of simple structure, easy and convenient operation and maintenance, high working reliability and long service life.

Description

Minimally invasive surgical instruments

Technical field

The present invention relates to a surgical instrument, and more particularly to a flexible minimally invasive surgical instrument.

Background technique

With the rapid development of minimally invasive surgery techniques, the number of surgical procedures performed in a minimally invasive manner has also increased significantly. The goal of minimally invasive medical technology is to reduce the amount of tissue damage that is not involved during the diagnosis or surgical procedure, thereby reducing patient recovery time and reducing discomfort and harmful side effects. At the same time, the use of minimally invasive surgery techniques can significantly reduce the average length of hospital stay in standard surgery. Therefore, the use of minimally invasive techniques can effectively save a large amount of hospital stay, which can save a lot in hospital accommodation costs. Patient recovery time, patient discomfort, surgical side effects and lost time can also be reduced due to the application of minimally invasive surgery techniques. .

With the continuous development of technology, minimally invasive surgery has gradually transitioned from the traditional four-hole method to single-hole surgery, and the damage to patients has become smaller and smaller, and the postoperative infection rate has also been greatly reduced. However, whether it is a four-hole laparoscopic surgery or a single-hole surgery, there is a case that the operation cannot be performed smoothly due to the device itself.

At present, for the 0° and 30° laparoscopy commonly used in surgery, the visual field during surgery is limited. While existing laparoscopic instruments are generally straight and rigid, they have less freedom and are therefore susceptible to interaction during surgical procedures. In order to solve this problem, some flexible instruments with multiple degrees of freedom have been introduced on the market. Although the difficulties faced by laparoscopic surgery can be alleviated to some extent, the existing multi-degree-of-freedom instruments still have high cost and structure. More complicated, difficult to maintain and repair, more importantly, the bendable part of the existing equipment is generally too soft, and it is prone to abnormal bending during the operation, which causes the instrument to exceed the field of view.

The Chinese application (application number 200920202713.0) uses the flexible structure of “wire + snake joint” for bending control. When the instrument is in the straight state, the working part of the instrument head is relatively soft because the steel wire cannot provide sufficient rigidity support. Easy to control, leading to surgery The medium device cannot accurately perform the surgeon's intention.

The US application (US6206903) uses the structure of "wire + drive wheel" for bending control, but the structure of the instrument is relatively complicated, the daily maintenance cost is high, the reliability of use is not high, and the life is limited. In addition, at present, the structure is mostly used for a surgical robot platform, and the bending of the device is controlled by a motor and a program. The structure has not been found to be used for a hand-held device, and its popularization has certain limitations.

Summary of the invention

In view of this, the present invention provides a minimally invasive surgical instrument aimed at overcoming the defects of the prior art, which has the characteristics of simple structure, simple operation and maintenance, high work reliability and long service life.

The minimally invasive surgical instrument provided by the present invention includes a working portion and a driving portion for driving the movement of the working portion; the driving portion includes a swing driving portion for driving the working portion to perform a swinging motion; the swing driving portion includes execution a device and a power device, the first end of the actuator is movably connected to the working portion, the second end of the actuator is connected to a power device, and the actuator is driven by the power device to drive the working portion Swing motion.

The minimally invasive surgical instrument as described above, preferably, the minimally invasive surgical instrument further includes a connecting portion, the connecting portion being a rigid member connecting the working portion and the driving portion, and the connecting portion accommodating the driving portion .

In the minimally invasive surgical instrument as described above, preferably, the swing driving portion further includes a center rod, the center rod is disposed in the connecting portion, and an end portion of the working portion is connected by the bending joint a first end of the center rod; the actuator includes a curved link and a curved push rod, the curved push rod is sleeved on the center rod, and the first end of the curved link is pivotally connected to the working portion The second end of the curved link is pivotally coupled to the first end of the curved push rod, and the second end of the curved push rod is coupled to the power unit.

In the minimally invasive surgical instrument as described above, preferably, the power device includes a bending wheel and a curved push tube, the bending wheel is sleeved on the center rod, and the first end of the bending tube is a second end of the curved push rod is fixedly connected, the second end of the curved push tube is The bending wheel is screwed, and the axial direction of the thread between the bending push tube and the bending wheel is parallel to the axial direction of the center rod.

In the minimally invasive surgical instrument as described above, preferably, both ends of the curved connecting rod are provided with connecting members, and the two connecting members are eccentrically arranged with each other.

In a minimally invasive surgical instrument as described above, preferably, the working portion comprises a jaw and a jaw base, the jaw comprising two jaw assemblies, two of the jaw assemblies and the jaw holder The pivot joint is pivotally connected to the end of the jaw base.

In the minimally invasive surgical instrument as described above, preferably, the driving portion further includes: a rotational driving portion for driving the working portion to perform a rotational motion.

In the minimally invasive surgical instrument as described above, preferably, the rotational driving portion and the oscillating driving portion are disposed coaxially.

In the minimally invasive surgical instrument as described above, preferably, the driving portion further includes: an opening and closing driving portion for driving the working portion to perform an opening and closing motion.

In the minimally invasive surgical instrument as described above, preferably, the connecting portion is provided with a sealing means near the end of the working portion.

By adopting the minimally invasive surgical instrument of the present invention, the swinging movement of the working part is completed by setting the executing device and the power device related to the oscillating motion, thereby overcoming the swaying control defect existing in the conventional surgical instrument, and having a simple structure and operation It is easy to maintain, reliable in operation and long in life. The minimally invasive surgical instrument provided by the invention has the following advantages: it compensates for the operation difficulty caused by the lack of freedom of the instrument in the existing laparoscopic surgery; reduces the operation difficulty of the single-port laparoscopic surgery, and expands the indications for the operation; Improves the service life and reliability of the instrument, reduces the cost of using flexible instruments; the working part can be fixed at any position within the yaw range.

DRAWINGS

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

1 is an overall structural view of a preferred embodiment of a minimally invasive surgical instrument of the present invention.

Figure 2 is an exploded view of the part of Figure 1.

Figure 3 is an exploded view of the clamp head of Figure 2.

Figure 4 is a preferred connection structure of the working portion and the connecting portion of Figure 2.

Figure 5 is a cross-sectional view of a portion of the components of Figure 2.

Figure 6 is a cross-sectional view of the component of Figure 2 associated with the oscillating motion.

(a), (b), and (c) in Fig. 7 are three states in the oscillating motion of the nipper, respectively.

Figure 8 is a cross-sectional view of the component of Figure 2 associated with rotational motion.

Figure 9 is a cross-sectional view of the component of Figure 2 associated with the opening and closing motion.

Figure 10 is a detailed view of a portion of the components associated with the oscillating motion, wherein: (a) is a schematic view of the caliper seat; (b) and (c) are views of two angles of the center rod forward; (d) and (e) are views of the two angles of the curved link; (f) and (g) are views of the two angles of the front of the outer tube; (h) and (i) are respectively two of the curved push rods. Angle view.

Figure 11 is a detailed view of a part of the component related to the rotational motion, wherein: (a) is a structural view of the curved runner; (b) is a structural view of the outer tube followed by; and (c) is a structural view of the large runner; (d) is a structural view of the rotary positioning flange.

Description of the reference signs:

1 clamp head 2 clamp head pin 3 clamp head seat

4 center rod front 5 bending joint 6 center rod

7 center rod spring 8 center rod rear 9 bending link

10 bending push rod 11 bending push tube 12 push screw fixing screw

13 bending propeller screw 14 bending runner 15 outer tube front

16 outer tube 17 large wheel fixing screw 18 outer tube rear

19 large wheel cover 20 first bearing 21 curved wheel end cover

22 large runner 23 rotary positioning flange 24 second bearing

25 third bearing 26 large wheel fixing screw sleeve 27 small handle

28 large handles

detailed description

The invention will now be described in detail in connection with the embodiments. Where the same parts are the same The reference numerals are indicated. It should be noted that the words "front", "back", "left", "right", "upper" and "lower" used in the following description refer to the directions in the drawings, the words "inside" and "outside" "Respectively refers to the direction toward or away from the geometric center of a particular component.

As shown in Figures 1-11, the minimally invasive surgical instrument of the present invention includes a working portion and a driving portion for driving the working portion for corresponding movement. In a specific implementation process, the driving portion may include a swing driving portion for driving the working portion to perform a swinging motion; the swing driving portion includes an executing device and a power device, and the first end of the executing device and the working portion The movable connection is connected to the second end of the actuator device, and the actuator device drives the working portion to perform a swinging motion under the driving of the power device. In a particular embodiment, the working portion may comprise a jaw 1 and a jaw holder 3, the jaw 1 comprising two jaw assemblies, the two jaws passing between the jaw assembly 3 and the jaw holder 3 The club head pin 2 is pivotally connected.

In general, the minimally invasive surgical instrument provided by the present invention overcomes the oscillating control defect existing in the conventional surgical instrument by providing an actuator and a power device related to the oscillating motion to complete the oscillating motion of the working portion. The utility model has the advantages of simple structure, simple operation and maintenance, strong work reliability and long service life.

In a preferred embodiment, the minimally invasive surgical instrument may further include a connecting portion which is a rigid member for connecting the working portion and the driving portion, and the connecting portion may accommodate relevant parts in the driving portion, For example, the connecting portion can be realized by a rigid pipe. The oscillating drive portion further includes a center rod 6 that is bored in the connecting portion, and an end portion of the working portion is coupled to the first end of the center rod 6 by a bending joint 5, A relative rotation between the working portion and the center rod 6 is possible about the bending joint 5, even if the working portion performs a corresponding oscillating motion. For example, the bending joint 5 can be attached to the end of the jaw base 3.

Specifically, the executing device may include a bending link 9 and a bending push rod 10, the bending push rod 10 is sleeved on the center rod 6, and the first end of the bending link 9 and the working portion pivot A shaft is coupled, a second end of the curved link 9 is pivotally coupled to the first end of the curved push rod 10, and a second end of the curved push rod 10 is coupled to the power unit. Under the driving of the power device, the bending push rod 10 drives the bending link 9 to move, and finally drives the The working portion is rotated about the bending joint 5.

Preferably, the power device can be realized by the bending of the bending wheel 14 and the bending push tube 11 , and the bending wheel 14 can be sleeved on the center rod 6 , the first end of the bending push tube 11 A second end of the curved push rod 10 can be fixedly coupled to the curved push rod 14 , and the curved push tube 11 is screwed between the curved push tube 11 and the curved turn 14 The axial direction of the thread is parallel to the axial direction of the center rod 6. When the bending wheel 14 is rotated, the bending push tube 11 can pull or push the bending push rod 10 along the axial direction of the center rod 6 under the action of the thread. In a specific embodiment of the drawings, it can be achieved that the oscillating drive power unit can include a bending wheel 14, a bending propeller screw 13, and a bending push tube 11. Threaded connection between the bending wheel 14 and the bending propeller 13 is achieved by screwing. The bending push only screw 13 and the bending push tube 11 are screwed, and the bending push tube 11 and the bending push rod 10 can be connected by a fixed connection (such as welding). Thereby forming a corresponding transmission mechanism. The transmission mechanism is designed to push the bending push rod 10 when the bending wheel 14 is rotated, thereby driving the clamping head base 3 to pivot, and the

handles

27, 28 provide thrust to the center rod 6, thereby realizing the opening and closing of the clamping head 1. Rotating the bending wheel 14, providing a thrust for the bending propeller screw 13, the bending push tube 11, and the bending push rod 10 by screwing, thereby driving the bending link 9 and driving the center rod bending joint 5 disposed on the jaw base 3, The mechanism consisting of the center rod front 4 and the clamp head 7 moves around the outer tube front 15 to realize the swing of the jaw 1. The thread can be set as a self-locking thread, which itself has self-locking property, can fix the relative position between the bending wheel 14 and the bending propeller screw 13, and ensure accurate positioning of the device. In addition, the screw device in the rotary drive portion and the swing drive portion can be provided with an angle setting device to ensure accurate rotation and swing angle during the operation, thereby ensuring accurate positioning during the operation.

Preferably, both ends of the bending link 9 are provided with connecting members, and the two connecting members are eccentrically arranged with each other. The eccentric setting can ensure that the working part swings flexibly and is not easy to be stuck, which affects the operation reliability of the instrument and ensures the operation time and effect.

For the minimally invasive surgical instrument provided by the present invention, the function of the driving portion is not limited to the oscillating motion of the driving working portion. As described in the above embodiment, the working portion can be driven by various other structural settings. Other corresponding sports. For example, the driving portion may further include a rotation driving portion for driving the working portion to perform a rotational motion, and for The driving part is driven to open and close the driving part of the opening and closing motion. Preferably, the rotation driving portion and the swing driving portion are disposed coaxially, that is, the rotation driving portion and the swing driving portion are disposed on a straight line, and the executing device of the rotating driving portion is disposed in the connecting portion, and the executing device of the swing driving portion can be Set to the set relationship, the rotary drive and the swing drive are set in a straight line or near the setting, which can facilitate the operator to operate quickly, ensure the accuracy of the operation and save the operation time.

Preferably, the connecting portion is provided with a sealing device near the end of the working portion, which can prevent body fluid from flowing into the device during the operation, causing unnecessary trouble.

The components and structures in the embodiments shown in the drawings are specifically and in detail described below. The minimally invasive surgical instrument provided by the invention comprises a working part, a connecting part and a driving part, the connecting part is a rigid part, connects the working part and the driving part, and can accommodate the driving part, the driving part is divided into three parts: opening and closing driving The driving part of the driving is made to open and close; the rotating driving part drives the working part to perform a rotating motion; the oscillating driving part drives the working part to perform a swinging motion. The rotary drive and the oscillating drive are arranged on a straight line or in the vicinity, which makes it easy for the operator to operate quickly, ensuring the accuracy of the operation and saving the operation time.

Referring to FIG. 1-4, in this embodiment, the working part is mainly the clamp head 1; the connecting part is mainly the outer tube 16; the opening and closing driving part is mainly a small handle 27, and the kneading small handle 27 drives the clamp head 1 to perform opening and closing movement; The power unit of the rotary driving part is mainly a large rotating wheel 22, and the rotating large rotating wheel 22 can drive the clamping head 1 to perform a rotary motion; the powering device of the swinging driving part is mainly a bending wheel 14, and the rotating bending wheel 14 can drive the clamping head 1 Do swing exercises.

The jaw 1 has two components, the components being pivotally connected and pivotally connected to the jaw base 3 by a jaw pin 2. The center rod front 4 passes through the corresponding hole of the jaw base 3, and the center rod is connected with the 4 cylindrical bosses in the semi-closed waist circular groove of the clamp head assembly. In a specific application process, the clamp pin 2 can also be simultaneously passed through the waist circular groove on the head base 3, the waist circular groove on the clamp head assembly, and the corresponding hole on the center rod front joint 4. The center rod bending joint 5 is pivotally coupled to the center rod front joint 4 and the center rod 6, respectively. The outer tube 16 is fixedly connected to the outer tube front joint 15, such as welding, and the curved push rod 10 is fixedly connected with the curved push tube 11, such as welding, and passes through the corresponding hole of the outer tube front 15 . The bending link 9 is pivotally coupled to the jaw base 3 and the curved push rod 10.

Referring to Figures 2-5, the large runner 22 is loaded into the first bearing 20 and is fitted with a large runner blind cover 19 (shaft retaining ring), and the large runner 22 is fixedly coupled to the large runner blind cover 19, such as welding. Bending wheel 14 The outer ring of the first bearing 20 is inserted into the outer end of the curved runner end cover 21, and the bending runner is fixedly coupled to the curved runner end cover 21, such as welding, so that the bending runner 14 can only be rotated about the large revolving wheel 22 by the connection. The above structure can also be realized by closely fitting the large inner ring sleeve with the large rotating wheel 22, and the large rotating wheel 22 and the bending rotating wheel 14 are assembled by fixing screws, so that the curved rotating wheel 14 can only be wound around the large rotating wheel 22 Rotate.

The curved propulsion screw 13 is threadedly engaged with the bending reel 14. The outer tube 16 and the outer tube rear 18 are fixedly connected, such as welded, while passing through the large wheel 22, the curved wheel 14, and the curved propeller 13 corresponding holes. The outer tube rear 18 and the large revolver 22 are fixed by a large reel outer tube followed by a fixing screw 17. The push screw fixing screw 12 passes through the waist circular groove on the outer tube 16 to fix the bending push tube 10 to the curved push screw 13. The rotary positioning flange 23 is tightly engaged with the large handle 28 and fixedly connected, such as welding, and the rotary positioning flange 23 is mounted as a bearing housing into the bearing group consisting of the second bearing 24 and the third bearing 25, and the bearing set is loaded into the large runner 22. The large wheel fixing nut 26 and the large wheel 22 are screwed to fix the large wheel 22 and the large handle 28. The threaded end of the center rod 6 passes through the corresponding hole of the large handle 28, and the center rod spring 7 is fitted into the large handle 28, and the center rod 6 is screwed tightly with the center rod 8 and the small handle 27 is engaged with the corresponding groove of the center rod rear 8 . The other end of the center rod 6 passes through the corresponding hole of the curved push rod 10. The above structure can also be realized by fitting the fixing screw of the large wheel 22 into the corresponding position of the large handle 28 and cooperating with the gap, and the rotating positioning flange 23 is closely matched with the large handle 28 and fixedly connected (such as welding). The utility model is used for screwing the fixing nut of the large wheel and the inner sleeve of the large wheel to fix the large wheel 22, and the ball end of the center rod 6 can pass through the corresponding hole of the large handle 28, and the small handle 27 Corresponding groove

Referring to FIG. 2, FIG. 6, and FIG. 7, when the bending wheel 14 is rotated clockwise, the bending propeller 13 is pushed outward, and the bending push tube 11 is driven to extend forward, so that the bending push rod 10 acts on the bending link 9, the clamping head The seat 3 is biased by the bending link 9.

When the bending wheel 14 is rotated counterclockwise, the bending propeller 13 is retracted, and the bending push tube 11 is moved toward the large handle 28, so that the bending push rod 10 pulls the bending link 9 backward, and the clamping head 3 passes the bending link. 9 drives the yaw in the opposite direction.

The design of the swinging structure ensures the flexibility of the working part under the premise of ensuring the rigidity of the whole surgical device, and the range is large, the device structure, the operation is simple, the work is reliable, and the maintenance is convenient.

Referring to Figures 2 and 8, the outer tube rear 18 is located within the large wheel 22, and the large wheel 22 and the outer tube rear 18 are closely mated, while the outer tubes of the large wheel are post-fixed to each other by two screws 17. The outer tube is connected to the rear 18 and can be welded to one end of the outer tube 16, for example. The push screw fixing screws 12 are sequentially passed through the curved push screw 13 and the upper round groove of the outer tube 16, and screwed into the curved push tube 11.

The outer tube 16 is fixedly connected to the outer tube front joint 15, such as welding. The curved push tube 11 is tightly coupled or fixedly connected to the curved push rod 10, such as welding. The front end of the curved push rod 10 is disposed in the accommodating space of the outer tube front joint 15, and one end of the curved connecting rod 9 and the front end of the curved push rod 10 are movable. The other end is movably connected to the clamp base 3, and one end of the clamp base 3 is movably connected to the outer tube front joint 15, and the curved link 9 is offset from one side of the central shaft.

Rotating the large wheel 22, the outer tube rear 18, the outer tube 16, and the outer tube front 15 rotate accordingly, and the waist circular groove on the outer tube drives the bending assembly to rotate together, but does not change the swing angle of the jaw 1.

The rotary drive and the oscillating drive are arranged in a straight line or in the vicinity, which can facilitate the rapid operation of the minimally invasive surgery operator, ensure the precision of minimally invasive surgery operation, and save the operation time of minimally invasive surgery.

The center rod 6 is disposed in the inner cavity of the curved push tube 11 , and one end is screwed to the rear of the center rod 8 , and the small handle 27 is disposed on the center rod and is connected to the groove; or the ball end of the center rod can be disposed on the small handle 27 . The other end of the center rod 6 is movably connected to the bending joint 5, and the bending joint 5 is also movably connected to the center rod front 3. The center rod front joint 4 is disposed in the clamp head base 3, and the clamp head 1 and the center rod front joint 4 are movably connected; or the clamp head base 4, the clamp head 1 and the center rod front joint 4 can be pinned by the clamp head pin.

Referring to Fig. 9, the small handle is kneaded. When an external force acts on the small handle 27, the small handle 27 rotates counterclockwise about the pivot, and the small handle 27 pushes the center rod and the rear 8 moves to compress the center rod spring 7 while driving the center rod. 8. The center rod 6, the center rod bending joint 5, the center rod front joint 4 move forward, and the cylindrical boss on the front rod 4 of the center rod moves in the inclined groove on the clamp head, driving the clamp head assembly 1 around the clamp head pin 2 Rotate to achieve the closure of the jaws 1. Loosen the small handle 27, the center rod spring 7 pushes the center rod back and connects it 8, and the jaw 1 opens, and drives the small handle back to the original position.

As shown in Figures 2 and 10, a preferred embodiment of the key component related to the oscillating motion is explained as follows:

A circumferential groove is formed on the outer diameter of the front rod 4 of the center rod for placing an O-ring to prevent liquid from flowing into the instrument to form blood stains;

The clamp head 3, when assembled, the clamp head 1 is placed on the clamp head base 3, and the clamp pin 2 is passed through the corresponding hole of the clamp head and the clamp head seat to make the two are riveted. In the specific implementation, the clamp pin can also be used to simultaneously pass through the waist groove of the clamp head and the clamp head, so that when the clamp pin is moved up and down along the central axis direction, the clamp head is opened and closed. When the jaw pin moves up to contact the slot, it no longer moves, limiting the maximum angle at which the jaw jaws open.

The center rod is connected with a cylindrical boss in the semi-closed waist circular groove of the clamp head, so that when the center rod is moved up and down along the central axis direction, the clamp head is opened and closed.

The bending link 9, the bending link 9 has a hole and a shaft at the left and right ends, respectively, and the vertical distance of the center of the circle can be set to 0.15-0.5 mm, preferably 0.3 m. The eccentric setting can ensure that the working part swings flexibly and is not easy to be stuck, which affects the operation reliability of the instrument and ensures the operation time and effect.

The front end of the outer tube front 15 is pivotally connected with the clamp base 3, and the corresponding passage of the curved push rod is cut.

The front end of the curved push rod 10 is cut into a fan-shaped column shape, the center is penetrated by a circular hole, passes through the center rod 6, and the rear end is connected to the curved push tube 11.

Referring to Figures 2 and 11, the following parts of the rotating part are described as follows:

The large wheel 22, the first bearing 20 is inserted into the shoulder position of the large wheel 22, and the large wheel cover 19 is fixedly connected to the large wheel as a circumferential ring to realize the central axis direction of the first bearing 20. Displacement. Hole A is inserted into the large wheel fixing screw to fix the outer tube and then connected.

The bending wheel 14, the first bearing 20 and the bending wheel end cover 21 are sequentially loaded into the bending wheel 14, and the bending wheel is fixedly connected with the bending wheel end cover to realize the displacement of the central axis direction defining the bending wheel.

The outer tube is connected behind the 18, in which the a hole is matched with the corresponding hole of the large wheel, the b hole is placed into the spring and the steel ball, and the rotary positioning flange 23 is rotated and positioned.

A plurality of spherical grooves are uniformly distributed on the circumference of the rotating positioning flange 23, and a corresponding hole is matched with the outer tube to realize a limit of 360°/N angle per rotation of the large rotating wheel, and a prompt sound may be preferably attached.

Regarding the bearing of the present invention, for example, a large runner and a curved runner are supported by bearings, Reduce the friction during the rotation and ensure its rotation accuracy. The bearing material can be selected from bearing steel such as GCR15; carbon steel; stainless steel such as 440, 304, 316; ceramics such as ZRO2 zirconia, SI 3N4 silicon nitride, SIC silicon carbide, Al2O3 alumina; plastics such as PA nylon, PP poly Propylene, POM polyoxymethylene, PEEK polyether ether ketone, PVDF polydifluoroethylene, PTFE polytetrafluoroethylene, UPE polyethylene, PVC polyvinyl chloride.

The device may preferably be fabricated entirely of a rigid material, the structural arrangement of which ensures that the jaws can resist the bouncing of the body tissue during the procedure. The cooperation relationship between the rotating device and the swinging device ensures that the yaw angle of the nipper does not change when the large rotating wheel is rotated.

In addition to being applied to a manual minimally invasive surgical operation device, the device can also be combined with a numerical control device for an electronic surgical operation device.

It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not limited thereto; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that The technical solutions described in the foregoing embodiments are modified, or some of the technical features are equivalently replaced; and the modifications or substitutions do not deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

A minimally invasive surgical instrument includes a working portion and a driving portion for driving the movement of the working portion;

Characterizing in that the driving portion includes a swing driving portion for driving the working portion to perform a swinging motion;

The oscillating drive portion includes an actuator device and a power device, the first end of the actuator device is movably coupled to the working portion, the second end of the actuator device is coupled to a power device, and the actuator device is at the power device The driving part drives the working part to do the swinging motion.
The minimally invasive surgical instrument according to claim 1, wherein the minimally invasive surgical instrument further comprises a connecting portion, the connecting portion being a rigid member connecting the working portion and the driving portion, and the connecting portion is accommodated therein Drive parts of the part.
The minimally invasive surgical instrument according to claim 2, wherein the swing driving portion further comprises a center rod, the center rod is bored in the connecting portion, and an end portion of the working portion passes through a curved joint Connected to the first end of the center rod;

The actuating device comprises a bending link and a bending push rod, the bending push rod is sleeved on the center rod, the first end of the bending link is pivotally connected with the working portion, and the bending link is The second end is pivotally coupled to the first end of the curved push rod, and the second end of the curved push rod is coupled to the power unit.
The minimally invasive surgical instrument according to claim 3, wherein said power device comprises a bending wheel and a curved push tube, said bending wheel being sleeved on said center rod, said curved push tube a first end is fixedly coupled to the second end of the curved push rod, a second end of the curved push tube is threadedly coupled to the bending wheel, and a thread between the curved push tube and the curved wheel The axial direction is parallel to the axial direction of the center rod.
The minimally invasive surgical instrument according to claim 3, wherein both ends of the bending link are provided with connecting members, and the two connecting members are eccentrically arranged with each other.
The minimally invasive surgical instrument of claim 3, wherein the working portion comprises a jaw and a jaw base, the jaw comprising two jaw assemblies, two of the jaw assemblies and The jaw seats are pivotally connected by a head pin, and the curved joint is connected The end of the clamp head.
The minimally invasive surgical instrument according to any one of claims 1 to 6, wherein the driving portion further comprises: a rotational driving portion for driving the working portion to perform a rotational motion.
The minimally invasive surgical instrument according to claim 7, wherein the rotation driving portion and the swing driving portion are disposed coaxially.
The minimally invasive surgical instrument according to claim 7, wherein the driving portion further comprises: an opening and closing driving portion for driving the working portion to perform an opening and closing motion.
The minimally invasive surgical instrument according to any one of claims 1 to 6, wherein the connecting portion is provided with a sealing means near the end of the working portion.