WO2023102901A1

WO2023102901A1 - Power mechanism of end effector

Info

Publication number: WO2023102901A1
Application number: PCT/CN2021/137129
Authority: WO
Inventors: 朱军辉; 孟思源; 李璐
Original assignee: 美科特医疗科技(苏州)有限公司
Priority date: 2021-12-10
Filing date: 2021-12-10
Publication date: 2023-06-15

Abstract

The present invention relates to a power mechanism of an end effector, comprising: a power assembly for converting a rotational motion into a linear motion; a transmission assembly for transmitting the rotational motion; a flexible assembly and a support assembly sleeved outside the transmission assembly for supporting the transmission assembly; and a handle assembly for driving the transmission assembly to rotate. According to the present invention, an enough axial braking force can be provided for the tail end of an actuator of a surgical operation instrument on the premise of bending two degrees of freedom relative to the axial direction.

Description

A power mechanism of an end effector

technical field

The invention relates to the technical field of medical instruments, in particular to a power mechanism of an end effector.

Background technique

Many surgical instruments transmit the axial braking force from the handle to the end effector to achieve a predetermined instrument action. For example, forceps used in minimally invasive surgery require axial braking force to control the opening and closing of the end jaws. , so as to complete the grasping and cutting of the tissue.

Most of the existing surgical instruments that need to transmit axial braking force are rigid structures, and the ends of a few instruments can only be bent with one degree of freedom in the axial vertical plane. In the known surgical instruments of this type, no two degrees of freedom (pitch, yaw) are available at the tip. The main reason is that, in order to realize the bending of the end of the instrument, a part of the transmission chain of the axial braking force must be flexible and bendable. However, the existing axial braking force transmission scheme of this type of equipment can only realize the rotation of one degree of freedom at most. In addition, existing axial braking force transmission schemes that can achieve two degrees of freedom rotation can only be used for small forces (eg, gastrointestinal endoscopic biopsy forceps). When the above solutions are used for minimally invasive surgical instruments, since there are many tissues in the abdominal cavity and the thoracic cavity and the space is small, they will be squeezed and affect the opening and closing state of the jaws, and a small force cannot meet the needs of use.

In this context, there is an urgent need for a mechanism that can still provide a large axial force braking force when the end of the instrument is bent in any direction.

Further improve the flexibility of surgical instruments, facilitate the operation of doctors and provide more possibilities for minimally invasive laparoscopic surgery.

Contents of the invention

For this reason, the technical problem to be solved by the present invention is to overcome the defect that the end effector in the prior art cannot provide a large axial force under the condition of two degrees of freedom bending, and to provide a power mechanism of the end effector to improve surgical performance. The flexibility of surgical instruments facilitates the operation of doctors and provides more possibilities for minimally invasive laparoscopic surgery.

In order to solve the above technical problems, the present invention provides a power mechanism of an end effector, including:

a power assembly for converting rotational motion into linear motion, comprising an external sleeve and a translation rod, the distal end of which extends out of the external sleeve to connect to the end effector;

The transmission assembly is used to transmit rotational motion, including a rotating part, a flexible rod and a transmission rod connected in sequence from the distal end to the proximal end, and the transmission rod, flexible rod and the rotating part are connected through a coupling, and the The rotating part is connected with the translation rod;

A flexible component is sheathed outside the flexible rod, and the distal end of the flexible component is connected to the proximal end of the outer sleeve;

a support assembly, used to support the transmission rod, the distal end of the support assembly is connected to the proximal end of the flexible assembly;

The handle assembly is used to drive the transmission rod to rotate, the handle assembly includes a driving member and a switch, the driving member is connected to the proximal end of the transmission rod, and the switch controls the action of the driving member.

In one embodiment of the present invention, the rotating part is a threaded post, the translation rod includes a nut connecting block, an inner sleeve and a connecting rib, and the center of the nut connecting block is provided with a threaded hole, the inner sleeve is sleeved on the outside of the threaded column, the proximal end of the inner sleeve is connected with the nut connection block, the connecting rib is installed on the distal end of the inner sleeve, The distal end of the outer sleeve is provided with a through hole matching the shape of the connecting rib, and the connecting rib protrudes out of the outer sleeve through the through hole.

In one embodiment of the present invention, several slides are provided inside the outer sleeve along its length direction, and bosses are provided around the nut connecting block to cooperate with the slides.

In one embodiment of the present invention, the inner diameter of the inner sleeve is greater than or equal to the outer diameter of the threaded hole, the length of the threaded post is greater than or equal to the stroke of the end effector, and the length of the threaded post is less than or equal to equal to the length of the inner sleeve.

In one embodiment of the present invention, the flexible component is a universal tube, and the universal tube includes a first connecting joint, a second connecting joint and several ball joints, and the distal end of the first connecting joint is connected to the outer The proximal end of the sleeve is connected, the proximal end of the first connecting joint is connected with the distal end of the ball joint, after a plurality of the ball joints are connected in sequence, the proximal end of the ball joint is connected with the second connecting joint The distal end of the joint is connected, the proximal end of the second connecting joint is connected with the distal end of the support assembly, and the centers of the first connecting joint, the ball joint and the second connecting joint are provided with a first connecting joint which communicates with each other. a round hole.

In one embodiment of the present invention, the ball joint includes an open sphere and a connecting sphere, the opening diameter of the opening sphere is smaller than the diameter of the connecting sphere, and the connecting sphere is inserted into the opening sphere.

In one embodiment of the present invention, the first connection joint includes an open sphere and a terminal connecting post, the ball joint is inserted into the open sphere, the terminal connecting post is screwed to the outer sleeve, and the first The second connecting joint includes a connecting sphere and a starting point connecting post, the connecting sphere is inserted into the opening sphere, and the starting point connecting post is threadedly connected with the support assembly.

In one embodiment of the present invention, the flexible assembly is driven to bend by a rotating wheel assembly, the rotating wheel assembly is installed on the support assembly, a metal wire is wound on the rotating wheel assembly, and the first connecting joint , the ball joint and the second connecting joint are provided with a number of second circular holes corresponding to the axial positions, the distal end of the first connecting joint is provided with a number of key grooves, and the two ends of the metal wire are connected from two opposite groups. Pass through the second round hole, and the two ends of the metal wire are fixed in the key groove.

In one embodiment of the present invention, the wheel assembly includes a plurality of inner wheels arranged coaxially, and the inner wheels pass through the support assembly and are connected with dials.

In one embodiment of the present invention, the support assembly includes a support tube and a support frame, the distal end of the support tube is connected to the flexible component, the support frame is arranged in the support tube, and the transmission rod is connected from the The center of the support frame passes through.

In one embodiment of the present invention, the supporting frame includes a supporting rib and a connecting bar, a central circular hole is arranged in the center of the supporting rib, and the connecting bar connects two adjacent supporting ribs.

In one embodiment of the present invention, the transmission rod and the flexible rod are arranged in a sleeve, the sleeve is a flexible tube, and the outer diameter of the sleeve is smaller than the inner diameter of the flexible component.

In one embodiment of the present invention, the proximal end of the transmission rod is set as a worm, the driving member is a worm wheel, the switch is a handle, and one end of the handle is inserted into the support assembly to connect with the worm wheel, The handle is rotatably connected with the support assembly, and the worm gear is engaged with the worm.

In one embodiment of the present invention, the flexible rod is a braided metal rope with bending flexibility and capable of bearing axial torque.

The above technical solution of the present invention has the following advantages compared with the prior art:

The power mechanism of the present invention can provide sufficient axial braking force for the end of the actuator of the surgical instrument under the premise of two degrees of freedom in the relative axial direction; the worm wheel in the handle assembly and the worm screw in the transmission assembly form a worm wheel The worm structure, in turn, provides a self-locking function for the power mechanism, so that the doctor does not need to continuously apply force on the handle to ensure that the jaws are closed.

Description of drawings

In order to make the content of the present invention more easily understood, the present invention will be described in further detail below according to specific embodiments of the present invention in conjunction with the accompanying drawings, wherein

Fig. 1 is a schematic diagram of the overall structure of the present invention;

Fig. 2 is a schematic diagram of the power assembly of the present invention;

Fig. 3 is a schematic diagram of the transmission assembly of the present invention;

Fig. 4 is A-A direction sectional view among Fig. 2 of the present invention;

Fig. 5 is a schematic diagram of the flexible assembly of the present invention;

Fig. 6 is a schematic diagram of the ball joint of the present invention;

Fig. 7 is a sectional view of the ball joint of the present invention;

Fig. 8 is a schematic diagram of the first connecting joint of the present invention;

Fig. 9 is a schematic diagram of the second connecting joint of the present invention;

Fig. 10 is a schematic diagram of the support frame of the present invention;

Fig. 11 is a cross-sectional view of various parts of the support frame of the present invention.

Explanation of reference signs in the manual: 10, power assembly; 11, nut connecting block; 111, threaded hole; 112, boss; 12, inner sleeve; 121, connecting rib; 122, connecting hole; 13, outer sleeve; 131, slideway; 132, internal thread; 133, external thread; 14, axial direction; 151, braking force;

20. Flexible component; 21. First connection joint; 211. Terminal connection column; 2111. Keyway; 22. Ball joint; 221. Opening sphere; 2211. Opening diameter; 222. Connection sphere; 2221. Ball diameter; 223. The first A round hole; 224, the second round hole; 23, the second connecting joint; 231, the starting point connecting column; 251, deflection; 252, pitching;

30. Support component; 31. Support tube; 32. Support frame; 321. Support rib; 322. Connecting bar; 3211. Central round hole; 3212. Peripheral round hole;

40. Metal wire;

50. Casing;

60, transmission component; 61, threaded column; 62, flexible rod; 63, transmission rod; 64, worm; 65, worm bearing; 66, transmission rod bearing; 67, transmission rod coupling; 68, flexible rod coupling ; 69, threaded column bearings;

70. Handle assembly; 71. Handle; 72. Shaft hole; 73. Worm wheel;

80, runner assembly; 81, upper dial; 82, lower dial;

90, the shell; 95, the end effector.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it, but the examples given are not intended to limit the present invention.

In this specification, the term "proximal" is generally used to refer to the portion of the device that is close to the clinician, while the term "distal" is generally used to refer to the portion of the device that is remote from the clinician. The "surgical instrument" referred to in this specification generally refers to surgical instruments such as surgical forceps and linear staplers that need to transmit axial braking force from the handle to the end effector to achieve predetermined instrument actions.

In order to better understand the technical solution of the present invention, this description introduces the surgical end effector in the embodiments as the input for realizing the intended function of the end effector. In addition, this manual uses the end effector of surgical forceps as an example to illustrate how the axial braking force is converted into instrument action.

Referring to FIG. 1 , it is a specific embodiment of a power mechanism of an end effector of the present invention. Power mechanism of the present invention comprises:

The power assembly 10 is used to convert the rotary motion into a linear motion, including an external sleeve 13 and a translation rod, the distal end of the translation rod protrudes from the external sleeve 13 and is connected to the end effector 95;

The transmission assembly 60 is used to transmit the rotational motion, including a rotating part, a flexible rod 62 and a transmission rod 63 sequentially connected from the distal end to the proximal end, and the transmission rod 63, the flexible rod 62 and the rotating part are connected by a coupling is connected with the device, and the rotating part is connected with the translation rod;

The flexible component 20 is sheathed outside the flexible rod 62, and the distal end of the flexible component 20 is connected to the proximal end of the outer sleeve 13;

The support assembly 30 is used to support the transmission rod 63, the distal end of the support assembly 30 is connected with the proximal end of the flexible assembly 20;

The handle assembly 70 is used to drive the transmission rod 63 to rotate. The handle assembly 70 includes a driving member and a switch, the driving member is connected to the proximal end of the transmission rod 63, and the switch controls the action of the driving member.

In the embodiment of the present invention, the power assembly 10 is the final actuator of the power mechanism, so as to provide the end effector 95 with an axial one-way Braking force 151. The support assembly 30, the flexible assembly 20 and the outer sleeve 13 form the outer frame of the power mechanism, providing support for the internal components. When the end effector 95 of the surgical instrument needs to be closed, the distal braking force 151 relative to the axial direction 14 should be provided, the switch in the handle assembly 70 is closed, the driving part is activated, and the transmission rod 63 in the transmission assembly 60 is driven to rotate, thereby driving The entire transmission assembly 60 rotates relative to the axial direction 14 , since the rotation of the rotating part pushes the translation rod to move distally along the axial direction 14 , providing a distal braking force 151 relative to the axial direction 14 . During this process, the position of the flexible rod 62 relative to the flexible component 20 is always unchanged, and the position of the flexible component 20 can be arbitrarily bent relative to the axial direction 14 . The movement of the translation rod in the axial direction does not require the flexible rod 62 to move in the axial direction, but only requires the flexible rod 62 to be able to rotate, and the bending of the flexible rod 62 does not affect the rotation of the flexible assembly 20 around the axial direction. Therefore, when the end effector 95 is bent arbitrarily In this case, the transmission of the axial braking force 151 can still be realized. When the end effector 95 of the surgical instrument needs to be opened, the switch in the handle assembly 70 is turned on, and the above operations are performed in reverse. In order to meet the usage requirements of the flexible rod 62, in this embodiment, the flexible rod 62 is a braided metal rope that has bending flexibility and can bear axial torque. Of course, in other embodiments of the present invention, the flexible rod 62 can also be made of other materials.

Referring to Figure 2, in one embodiment of the present invention, the rotating part is selected as a threaded column 61, the translation rod includes a nut connecting block 11 and an inner sleeve 12, and the center of the nut connecting block 11 is provided with The threaded hole 111 matched with the threaded column 61 , the inner sleeve 12 is sleeved on the outside of the threaded column 61 , and the proximal end of the inner sleeve 12 is connected with the nut connecting block 11 . With the rotation of the threaded column 61 , the nut connection block 11 on the threaded column 61 moves along the length direction of the threaded rod, and drives the inner sleeve 12 to move along the length direction of the threaded rod to realize the translation of the inner sleeve 12 . The internal sleeve 12 is connected to the nut connecting block 11, so that the structure of the translation rod is stable, and the combination of the translation rod and the threaded column 61 occupies a small space, which meets the requirements of small space use. In order to prevent the nut connection block 11 and the inner sleeve 12 from rotating together with the threaded column 61 , translation cannot be realized, and at the same time, in order to facilitate the connection of the end effector 95 , the translation rod also includes a connecting rib 121 . The connecting rib 121 is mounted on the distal end of the inner sleeve 12, and the distal end of the outer sleeve 13 is provided with a through hole matching the shape of the connecting rib 121, and the connecting rib 121 passes through The outer sleeve 13 protrudes through the through hole. Due to the limitation of the through hole, the connecting rib 121 cannot rotate relative to the outer sleeve 13, so that the inner sleeve 12 and the nut connecting block 11 connected to the connecting rib 121 cannot rotate relative to the outer sleeve 13, and only the threaded column 61 is relatively outer. The sleeve 13 rotates to realize the axial movement of the nut connection block 11 along the threaded column 61 . A connecting hole 122 is provided in the middle of the distal end of the connecting rib 121 , and the proximal end of the end effector 95 is hinged to the connecting rib 121 through the connecting hole 122 .

In other embodiments of the present invention, the rotating part can also be selected as a cylindrical cam, and a cam groove is arranged on the cylindrical cam, and a chuck is arranged at the proximal end of the translation rod, and the chuck cooperates with the cam groove, and the far end of the translation rod The side end protrudes from the outer sleeve 50 to connect to the end effector 95 . When the cylindrical cam rotates, the chuck moves along the cam groove, and the chuck drives the translation rod to move in the axial direction.

Whether it is a combination of threaded rod and nut connecting block 11, or a combination of cylindrical cam and chuck, both the nut connecting block 11 and the chuck are limited by the outer sleeve 13, and the nut connecting block 11 and the chuck cannot be opposite to the outer sleeve. 13 rotates, so just can realize the locking of end effector 95 under the situation that threaded rod or cylindrical cam stops rotating. 1 and 3, in one embodiment of the present invention, in order to realize self-locking, the proximal end of the transmission rod 63 is set as a worm 64, the driving member is a worm wheel 73, and the switch is a handle 71 , one end of the handle 71 is inserted into the support assembly 30 to connect with the worm wheel 73 , the handle 71 is rotationally connected with the support assembly 30 , and the worm wheel 73 is engaged with the worm 64 . The support assembly 30 is provided with a shaft hole 72, the handle 71 drives the worm wheel 73 to rotate around the shaft hole 72, and the rotation of the worm wheel 73 drives the worm 64 in the transmission assembly 60 to rotate, and then drives the entire transmission assembly 60 to rotate relative to the axial direction 14, that is, the threaded rod Or the cylindrical cam rotates to realize the movement of the nut connection block 11 or the chuck. When the handle 71 stops rotating, the worm wheel 73 and the worm screw 64 are self-locking, realizing the self-locking of the whole power mechanism. This eliminates the need for the physician to continuously apply force on the handle 71 to ensure the jaws are closed.

In other embodiments of the present invention, the driving member can also be a micro driving motor, and the switch includes a start button and a reset button. The micro drive motor is connected to the transmission rod 63 through a coupling. When the end effector 95 of the surgical instrument needs to be closed, press the start button, the micro motor starts to drive the transmission rod 63 to rotate, and then drives the entire transmission assembly to rotate relative to the axial direction 14, That is, the threaded rod or cylindrical cam rotates to realize the movement of the nut connecting block 11 or the chuck. When the start button is released, the micro motor stops rotating, realizing the self-locking of the entire power mechanism. When the end effector 95 of the surgical instrument is required to be opened, the reset button is pressed, and the micro-motor performs the above operations in reverse. In this embodiment, the extension distance of the translation rod can be controlled according to the pressing time.

Further, as shown in FIG. 4 , in order to further limit the rotation of the nut connection block 11 , a number of slideways 131 are arranged inside the outer sleeve 13 along its length direction, and the nut connection block 11 is surrounded by a The slideway 131 matches the boss 112 . In this embodiment, there are four slideways 131 and nut connecting blocks 11 evenly distributed along the circumferential direction. The slideway 131 restricts and guides the nut connection block 11, so that the nut connection block 11 can only move linearly along the length direction of the slideway 131, that is, the translation rod only performs translational movement. And it can cooperate with the handle assembly 70 to realize self-locking. Furthermore, the inner diameter of the inner sleeve 12 is greater than or equal to the outer diameter of the threaded hole 111 , so as to ensure that it is not interfered with the threaded rod while being connected with the nut connection block 11 . The length of the threaded column 61 is greater than or equal to the stroke of the end effector 95, and the length of the threaded column 61 is less than or equal to the length of the inner sleeve 12. Therefore, the nut connecting block 11 can drive the inner sleeve 12 to completely approach the proximal end of the threaded post 61 , and when approaching the proximal end of the threaded post 61 , the end effector 95 is fully clamped. The nut connection block 11 can also drive the inner sleeve 12 to be close to the distal end of the threaded post 61 , and when close to the distal end of the threaded post 61 , the end effector 95 is fully opened.

Referring to Fig. 5, the flexible component 20 is a universal tube. In this embodiment, the universal tube includes a first connecting joint 21, a second connecting joint 23 and several ball joints 22, the proximal end of the first connecting joint 21 is connected with the distal end of the ball joint 22, After the plurality of ball joints 22 are connected in sequence, the proximal end of the ball joint 22 is connected to the distal end of the second connecting joint 23 . The connection relationship between the first connecting joint 21 , the ball joint 22 and the second connecting joint 23 is a spherical fastening structure, so that the joints can rotate in various directions, generate bending, and improve the working flexibility of the end effector 95 . Referring to Figures 6 and 7, taking the cooperation between two ball joints 22 as an example, the ball joint 22 includes an opening sphere 221 at the distal end and a connecting sphere 222 at the proximal end, and the opening diameter 2211 of the opening sphere 221 is smaller than that of the connecting sphere 222 for a sphere with a diameter of 2221. When the two ball joints 22 engage with each other, the connecting ball 222 of one ball joint 22 needs to be installed inside the open ball 221 of the other ball joint 22 . The installation method can consider the way that a single ball joint 22 is buckled separately. Since the opening diameter 2211 of the opening sphere 221 is small, after the connection sphere 222 is inserted, the ball joint 22 can deflect 251 , and the two ball joints 22 will not be separated, ensuring a stable connection. When a deflection 251 occurs between the two ball joints 22, one side of the open sphere 221 of the first ball joint 22 is closer to the connecting sphere 222 of the second ball joint 22, and the other side of the open sphere 221 of the first ball joint 22 is farther away. The second ball joint 22 is connected to the ball 222 , so that the length of the universal tube on the overall axis hardly changes.

Referring to FIG. 8 and FIG. 9 , since the two ends of the flexible component 20 are respectively connected with the outer sleeve 13 and the supporting component 30 , the two ends of the flexible component 20 are the first connecting joint 21 and the second connecting joint 23 . The distal end of the first connecting joint 21 is connected to the proximal end of the outer sleeve 13 , and the proximal end of the second connecting joint 23 is connected to the distal end of the support assembly 30 . The first connecting joint 21 includes an opening sphere 221 and a terminal connecting post 211 , and the second connecting joint 23 includes a connecting sphere 222 and a starting point connecting post 231 . External threads 133 are arranged on the terminal connecting post 211 and the starting connecting post 231 to be connected with the outer sleeve 13 and the support assembly 30 respectively. The connection manner between the first connection joint 21 and the ball joint 22 , and between the ball joint 22 and the second connection joint 23 is the same as that between two ball joints 22 . In order to allow the flexible rod 62 to pass through the flexible assembly 20 , the centers of the first connecting joint 21 , the ball joint 22 and the second connecting joint 23 are provided with first circular holes 223 communicating with each other.

Of course, in other embodiments of the present invention, other universal tubes whose length on the overall axis only changes slightly are also possible.

Referring to Fig. 1 and Fig. 5-Fig. 9, in order to realize the deflection 251 of the flexible assembly 20, the flexible assembly 20 is driven to bend by the runner assembly 80, and the runner assembly 80 is installed on the support assembly 30, so A metal wire 40 is wound on the runner assembly 80, and a plurality of second round holes 224 corresponding to axial positions are provided on the circumference of the first connecting joint 21, the ball joint 22 and the second connecting joint 23. The distal end of the connecting joint 21 is provided with several key slots 2111 , the two ends of the metal wire 40 pass through two sets of opposite second circular holes 224 , and the two ends of the metal wire 40 are fixed in the key slots 2111 .

In this embodiment, it is taken as an example to realize the change of the degree of freedom space attitude in the two directions of relative axial pitch 252 and yaw 251 . There are four second circular holes 224 on each joint, and there are two metal wires 40 , and the planes where the two metal wires 40 are located correspond to the pitch 252 and yaw 251 directions respectively. The two ends of the metal wire 40 are fixed, and the middle circles around the runner assembly 80. When the corresponding runner assembly 80 rotates, one end of the corresponding wire 40 is pulled, so that the length of the wire 40 on the corresponding side decreases, and the wire 40 on the other side The increased length provides the end effector 95 with the attitude force 2521 required for bending in the direction of the pitch 252 relative to the axial direction, and at the same time can control the bending range in the pitch 252 direction of the relative axis. When it is necessary to adjust the bending relative to the direction of axial deflection 251 , the rotating wheel assembly 80 corresponding to the other wire 40 is rotated, and one end of the wire 40 is pulled to provide the bending of the end effector 95 relative to the direction of axial deflection 251 While controlling the desired attitude force 2522, the bending amplitude in the direction of relative axial deflection 251 is controlled.

Specifically, as shown in FIG. 1 , the runner assembly 80 includes a plurality of inner runners (not shown in the figure), and a plurality of the inner runners are coaxially arranged, and the inner runners are connected from the support assembly 30, go out and be connected with dial. Two degrees of freedom are set in this embodiment, so the dial includes an upper dial 81 and a lower dial 82, the support assembly 30 includes a housing 90, and the upper dial 81 and the lower dial 82 can be installed on one side of the housing 90 Or evenly distributed on both sides. Through the setting of the upper dial 81 and the lower dial 82 , it is convenient to control the rotation of the wheel assembly 80 and realize the adjustment of the pitch 252 and deflection 251 directions of the flexible assembly 20 .

In the present invention, the transmission assembly 60 runs through the support assembly 30, the flexible assembly 20 and the outer casing 50. In order to ensure the stability of the connection between the transmission assembly 60 and the smooth rotation of the transmission assembly 60, the threaded column 61 is connected to the flexible rod coupling 68 through the The flexible rod 62 is connected and transmits power, and the flexible rod 62 is installed inside the first round hole 223 of each component in the flexible assembly 20; the flexible rod 62 is connected with the transmission rod 63 through the transmission rod coupling 67 and transmits power; The distal end of the rod 63 is disposed in the support tube 31 of the support assembly 30 , and the proximal end of the transmission rod 63 is the worm 64 disposed in the housing 90 of the support assembly 30 . The shell 90, the support tube 31, the flexible component 20, and the outer sleeve 13 are connected in sequence and screwed to each other. The proximal end of the outer sleeve 13 is provided with an internal thread 132 for connecting with the flexible assembly 20; the distal end of the outer sleeve 13 is provided with an external thread 133 for the end effector that needs to provide a braking force 151 95 external housing connected. The circumferential support of each rod member, shell 90, support pipe 31 and outer sleeve 13 adopts bearing structures such as worm bearing 65, transmission rod bearing 66, threaded column bearing 69, etc., to play a supporting role and reduce friction generated by rotational movement.

10 and 11, in order to support the transmission rod 63 in the support tube 31, the support assembly 30 also includes a support frame 32, the support frame 32 is arranged in the support tube 31, and the transmission rod 63 is The center of the support frame 32 passes through. The supporting frame 32 includes a supporting rib 321 and a connecting bar 322 , the center of the supporting rib 321 is provided with a central circular hole 3211 , and the connecting bar 322 connects two adjacent supporting ribs 321 . The transmission rod 63 passes through the central circular hole 3211, and the connecting bar 322 is arranged as a cuboid, arranged from the proximal end to the distal end, and the connecting bar 322 plays a supporting role. In this embodiment, the supporting ribs 321 are arranged at the most distal end and the proximal end of the connecting bar 322 , and the supporting ribs 321 are also arranged at intervals in the middle of the connecting bar 322 . In this embodiment, since the metal wire 40 needs to pass through the support tube 31 to connect the runner assembly 80, in order to prevent the wire 40 from being entangled with the transmission rod 63, an outer peripheral circular hole 3212 is provided around the support rib 321. Four peripheral holes 3212 are provided, and the central axis of the peripheral holes 3212 is parallel to the connecting bar 322 . The position and size of the peripheral holes 3212 and the second hole 224 on the flexible component 20 are the same.

Furthermore, in order to avoid friction between the transmission rod 63 and the flexible rod 62 and the support assembly 30 or the flexible assembly 20 when rotating, the transmission rod 63 and the flexible rod 62 are arranged in the sleeve 50, and the sleeve 50 is flexible. tube, the outer diameter of the sleeve 50 is smaller than the inner diameter of the flexible component 20 .

The present invention provides braking force 151 for changing relative axial two-degree-of-freedom bending by pulling the wire 40 , and realizes bending in the direction of deflection 251 and pitch 252 as shown. Through the clockwise or counterclockwise rotation of the flexible rod 62 in the transmission assembly 60, the threaded column 61 is driven to rotate, and the boss 112 of the nut connection block 11 cooperates with the slideway 131 provided in the outer sleeve 13 to push the nut connection block 11 moves back and forth in the axial direction 14 to provide a braking force 151 in the axial direction 14 . The structure of the worm gear 73 and the worm 64 is formed by the part mechanism in the transmission assembly 60 and the part structure of the handle assembly 70 to realize the self-locking function. Greatly improve the flexibility of surgical instruments, facilitate the operation of doctors, and provide more possibilities for minimally invasive laparoscopic surgery.

Apparently, the above-mentioned embodiments are only examples for clear description, and are not intended to limit the implementation. For those of ordinary skill in the art, on the basis of the above description, other changes or changes in various forms can also be made. It is not necessary and impossible to exhaustively list all the implementation manners here. And the obvious changes or changes derived therefrom are still within the scope of protection of the present invention.

Claims

A power mechanism of an end effector, characterized in that it comprises:

a power assembly for converting rotational motion into linear motion, comprising an external sleeve and a translation rod, the distal end of which extends out of the external sleeve to connect to the end effector;

The transmission assembly is used to transmit rotational motion, including a rotating part, a flexible rod and a transmission rod connected in sequence from the distal end to the proximal end, and the transmission rod, flexible rod and the rotating part are connected through a coupling, and the The rotating part is connected with the translation rod;

A flexible component is sheathed outside the flexible rod, and the distal end of the flexible component is connected to the proximal end of the outer sleeve;

a support assembly, used to support the transmission rod, the distal end of the support assembly is connected to the proximal end of the flexible assembly;

The handle assembly is used to drive the transmission rod to rotate, the handle assembly includes a driving member and a switch, the driving member is connected to the proximal end of the transmission rod, and the switch controls the action of the driving member.
The power mechanism of an end effector according to claim 1, wherein the rotating part is a threaded column, the translation rod includes a nut connecting block, an inner sleeve and a connecting rib, and the nut connecting block The center of the center is provided with a threaded hole matched with the threaded column, the inner sleeve is sleeved on the outside of the threaded column, the proximal end of the inner sleeve is connected with the nut connecting block, and the connecting rib plate is installed At the distal end of the inner sleeve, the distal end of the outer sleeve is provided with a through hole matching the shape of the connecting rib, and the connecting rib extends out of the outer sleeve through the through hole. cylinder.
The power mechanism of an end effector according to claim 2, wherein a plurality of slideways are arranged inside the outer sleeve along its length direction, and the periphery of the nut connecting block is provided with slideways that are compatible with the slideway mating bosses.
The power mechanism of an end effector according to claim 2, wherein the inner diameter of the inner sleeve is greater than or equal to the outer diameter of the threaded hole, and the length of the threaded column is greater than or equal to the end effector The stroke, the length of the threaded post is less than or equal to the length of the inner sleeve.
The power mechanism of an end effector according to claim 1, wherein the flexible component is a universal tube, and the universal tube includes a first connecting joint, a second connecting joint and several ball joints, the The distal end of the first connecting joint is connected to the proximal end of the outer sleeve, the proximal end of the first connecting joint is connected to the distal end of the ball joint, and after a plurality of the ball joints are connected in sequence, the The proximal end of the ball joint is connected to the distal end of the second connecting joint, and the proximal end of the second connecting joint is connected to the distal end of the support assembly. The first connecting joint, the ball joint and the second connecting joint The centers of the two connecting joints are provided with first circular holes communicating with each other.
The power mechanism of an end effector according to claim 5, wherein the ball joint comprises an opening sphere and a connection sphere, the opening diameter of the opening sphere is smaller than the diameter of the connection sphere, and the connection sphere Insert into the open sphere.
The power mechanism of an end effector according to claim 5, wherein the first connecting joint comprises an open sphere and an end connecting post, the ball joint is inserted into the opening sphere, and the end connecting post is connected to the end connecting post The outer sleeve is threadedly connected, the second connecting joint includes a connecting sphere and a starting point connecting post, the connecting sphere is inserted into the opening sphere, and the starting point connecting post is threadedly connected with the support assembly.
The power mechanism of an end effector according to claim 5, wherein the flexible assembly is driven to bend by a rotating wheel assembly, the rotating wheel assembly is installed on the support assembly, and the rotating wheel assembly Wrapped with metal wires, the circumference of the first connecting joint, the ball joint and the second connecting joint are all provided with a number of second round holes corresponding to the axial positions, and the distal end of the first connecting joint is provided with a number of key grooves, so The two ends of the metal wire pass through two sets of opposite second circular holes, and the two ends of the metal wire are fixed in the key groove.
The power mechanism of an end effector according to claim 8, wherein the runner assembly comprises a plurality of inner runners, the plurality of inner runners are arranged coaxially, and the inner runners are separated from the inner runners. A thumb wheel is connected to the inside of the support assembly.
The power mechanism of an end effector according to claim 1, wherein the support assembly includes a support tube and a support frame, the distal end of the support tube is connected to the flexible assembly, and the support frame is set In the support tube, the transmission rod passes through the center of the support frame.
The power mechanism of an end effector according to claim 10, wherein the support frame includes a support rib and a connecting bar, a central circular hole is arranged in the center of the supporting rib, and the connecting bar connects Two adjacent supporting ribs.
The power mechanism of an end effector according to claim 1, wherein the transmission rod and the flexible rod are arranged in a sleeve, the sleeve is a flexible tube, and the outer diameter of the sleeve is smaller than the The inner diameter of the flexible component.
The power mechanism of an end effector according to claim 1, wherein the proximal end of the transmission rod is set as a worm, the driving member is a worm wheel, the switch is a handle, and one end of the handle is The worm gear is inserted into the support assembly, the handle is rotatably connected with the support assembly, and the worm wheel is engaged with the worm.
The power mechanism of an end effector according to claim 1, wherein the flexible rod is a braided metal rope with bending flexibility and capable of bearing axial torque.