CN115005900B - Minimally invasive surgery instrument assembly and minimally invasive surgery instrument - Google Patents

Abstract

The invention relates to the field of surgical instruments and discloses a minimally invasive surgical instrument assembly and a minimally invasive surgical instrument. When the positions of the first trigger and the first telescopic rod are required to be fixed, the locking part is moved to the locking position, locking is achieved through embedding of the tooth part and the positioning tooth groove, and when the first trigger is required to be moved to drive the first telescopic rod to stretch and move, the locking part is moved to the moving position, namely unlocking is achieved.

Description

Minimally invasive surgery instrument assembly and minimally invasive surgery instrument

Technical Field

The invention relates to the field of surgical instruments, in particular to a minimally invasive surgical instrument assembly and a minimally invasive surgical instrument.

Background

The minimally invasive surgery is to make one or several small incisions with the diameter of 5-12 mm on the abdomen of a human body, insert an endoscope and various special surgical instruments through the small incisions, transmit images of various organs in the abdominal cavity shot by the endoscope inserted into the abdominal cavity to a television screen, and finish the surgery by observing the images and using various surgical instruments to operate in vitro.

Because the minimally invasive surgical instrument needs to be inserted into a human body and operated in vitro, the minimally invasive surgical instrument is structurally characterized in that a slender rod body extending into the human body is arranged on an operating handle, a movable end effector is arranged at the end part of the rod body, meanwhile, a trigger capable of driving the slender rod body to move in a telescopic mode is arranged on the operating handle, the slender rod body is driven to move in a telescopic mode through the action or pushing action of human fingers on the trigger, and then the end effector is driven to move. However, in the process of an operation, sometimes the end effector needs to be kept in a stable state and maintained for a certain time, that is, the trigger needs to be kept in a fixed position, the above-mentioned structure in the prior art can only control and keep the trigger immovably by human fingers, for example, the trigger is clamped to keep the trigger immovably, in this way, because the human fingers are required to perform positioning control operation all the time in the process of fixing the trigger, on one hand, the operation of other fingers is affected due to the occupation of part of the human fingers, which is not beneficial to the operation, on the other hand, the positioning control operation of the trigger also occupies the energy and attention of the user, which causes the energy and attention of the user not to be concentrated on the operation of the end effector, which affects the operation process and effect, in addition, the requirement for fine operation of the finger of the user is higher due to the positioning control of the trigger by the human fingers, and the slight movement of the finger can cause misoperation of the end effector. Therefore, because the trigger of the minimally invasive surgical instrument in the prior art is controlled by the human finger and kept still to realize positioning, the minimally invasive surgical instrument in the prior art has the problems that the positioning operation of the trigger can influence the surgical process and effect and has higher requirements on the finger operation of users.

Disclosure of Invention

The invention aims to solve the problems that the trigger of a minimally invasive surgical instrument in the prior art is controlled by a human finger and is kept still to realize positioning, so that the minimally invasive surgical instrument in the prior art has the problems that the trigger positioning operation can influence the surgical process and effect and has higher requirements on the finger operation of a user, and provides a minimally invasive surgical instrument assembly and a minimally invasive surgical instrument.

To achieve the above object, an aspect of the present invention provides a minimally invasive surgical instrument assembly comprising:

a handle;

the first telescopic rod is arranged on the handle in a manner of being capable of stretching and moving along the axial direction of the first telescopic rod;

the first trigger is rotatably hinged with the handle through a first trigger hinge shaft and connected with the first telescopic rod so as to drive the first telescopic rod to move in a telescopic manner;

the positioning piece is arranged on the handle and provided with a positioning tooth socket; and

the locking piece is provided with a tooth part used for being embedded into the positioning tooth socket, and the locking piece is movably arranged on the first trigger, so that the locking piece is provided with a locking position at which the tooth part is embedded into the positioning tooth socket to lock the first trigger, and an active position at which the tooth part is separated from the positioning tooth socket to rotate the first trigger.

Optionally, the positioning element comprises an arc-shaped ratchet piece, the arc-shaped ratchet piece is arranged on the handle around the first trigger hinge shaft, and the arc-shaped ratchet piece is provided with a plurality of ratchet grooves serving as the positioning tooth grooves and arranged along the radian direction of the arc-shaped ratchet piece;

the position locking piece can be arranged on the first trigger in a rotating mode between the locking position and the moving position, and when the position locking piece is located at the locking position, the first trigger can only move in a single direction along the arc direction of the arc-shaped ratchet piece.

Optionally, the minimally invasive surgical instrument assembly further includes a third elastic member, the third elastic member is disposed along a length direction of the first telescopic rod, the handle is connected with the proximal end of the first telescopic rod through the third elastic member, or the handle is connected with the first trigger through the third elastic member, so that the third elastic member can provide a force in a direction opposite to the one-way movement direction to the first trigger.

Optionally, the minimally invasive surgical instrument assembly further comprises a fourth elastic member, the fourth elastic member is arranged on the first trigger, and the fourth elastic member abuts against at least the locking member located at the locking position so as to provide pressure to the locking member in the direction that the tooth part moves into the positioning tooth slot.

Optionally, the fourth elastic element is a spring, and the spring abuts against the locking element located in the locking position.

Optionally, minimally invasive surgical instrument subassembly still includes rotates the mount pad, the rotatable setting of rotation mount pad is in the handheld end of non-of first trigger is served, just the axis of rotation mount pad with first trigger hinge is parallel, it is equipped with the mounting hole to rotate the mount pad, just the axis of mounting hole with first trigger hinge different planes is perpendicular, first telescopic link or with the telescopic link connecting piece setting of first telescopic link axial connection is in the mounting hole.

Optionally, the inner circumferential wall of the mounting hole is fixedly provided with a rotary connecting shaft sleeve, and the rotary connecting shaft sleeve is sleeved at the proximal end of the first telescopic rod or the proximal end of the telescopic rod connecting piece.

Optionally, a distal end surface of the hand-held end of the first trigger is configured in an arc shape suitable for holding a human index finger.

Optionally, the handle is equipped with annular portion of gripping, the internal perisporium of portion of gripping is equipped with the finger grip bulge, the finger grip bulge will the inner space of portion of gripping is separated for being suitable for the headspace that stretches into human middle finger and being suitable for the bottom space that stretches into human ring finger, the periphery wall of portion of gripping is equipped with takes and indicates the bulge, the distal hand end terminal surface that takes the bulge sets up to be suitable for taking the arc of human little finger.

In another aspect, the invention provides a minimally invasive surgical instrument, which comprises the above minimally invasive surgical instrument assembly.

Through the technical scheme, the handle is provided with the positioning piece with the positioning tooth socket, the first trigger used for driving the first telescopic rod to move in a telescopic mode is provided with the movable locking piece, and the locking piece is provided with the locking position where the tooth part is embedded into the positioning tooth socket and the movable position where the tooth part is separated from the positioning tooth socket. When the position of first trigger and first telescopic link needs to be fixed, move the piece of locking to latched position, realize the locking through the gomphosis of tooth portion with the location tooth's socket, when first trigger is in order to drive the flexible removal of first telescopic link when needs remove, move the piece of locking to the active position, realize the unblock promptly, can realize the location and the unblock to first trigger through removing the piece of locking when using, and need not to control the trigger all the time and keep motionless through human finger like among the prior art, the convenience of operation has been promoted, the operation requirement has been reduced, and energy and attention that can make human finger and user can get rid of.

Drawings

FIG. 1 is an elevation view of one embodiment of a minimally invasive surgical instrument provided by the present invention;

FIG. 2 is a schematic view of the minimally invasive surgical instrument of FIG. 1;

FIG. 3 is a cross-sectional view of a first embodiment of a distal hand end of a minimally invasive surgical instrument provided by the present invention;

FIG. 4 is a bottom view of the distal hand end of the minimally invasive surgical instrument of FIG. 3;

FIG. 5 is a cross-sectional view of a second embodiment of a distal hand end of a minimally invasive surgical instrument provided by the present invention;

FIG. 6 is a cross-sectional view of a third embodiment of a distal end of a minimally invasive surgical instrument provided by the present invention;

FIG. 7 is a schematic view of the distal hand end of the minimally invasive surgical instrument of FIG. 6;

FIG. 8 is a schematic view of the structure of the connector of FIG. 3;

FIG. 9 is a schematic view of the distal hand end of the fixation rod of the present invention;

FIG. 10 is a schematic view of the structure of the fixing tube in FIG. 9;

FIG. 11 is a schematic structural view of the first embodiment of the fixed pipe body coupling of FIG. 9;

FIG. 12 is a schematic structural view of a second embodiment of the fixed pipe body coupling of FIG. 9;

FIG. 13 is a schematic view of the proximal hand end of the fixation rod of the present invention;

FIG. 14 is a schematic view of the distal hand end of the first telescoping pole of the present invention;

FIG. 15 is a schematic view of the first telescoping pole tube connector of FIG. 14;

FIG. 16 is a schematic view of the first telescoping pole tube shown in FIG. 14;

FIG. 17 is a left side view of FIG. 16;

FIG. 18 is an exploded view of the end effector of the present invention;

FIG. 19 is an elevation view of a first embodiment of the quick disconnect of the present invention;

FIG. 20 is a front cross-sectional view of the quick-disconnect of FIG. 19;

FIG. 21 is a schematic view of a second embodiment of the quick release member of the present invention;

FIG. 22 is a front cross-sectional view of the quick disconnect of FIG. 21;

FIG. 23 is a front cross-sectional view of a third embodiment of the quick disconnect of the present invention;

FIG. 24 is a partial schematic structural view of the quick disconnect of FIG. 23;

FIG. 25 is a front cross-sectional view of a minimally invasive surgical instrument assembly provided by the present invention;

FIG. 26 is a front cross-sectional view of the securing lever of FIG. 25 with the proximal end of the first telescoping lever;

FIG. 27 is a schematic view of the structure of the rotary thumb wheel of FIG. 25;

FIG. 28 is a schematic view of the installation of the first trigger of FIG. 25;

FIG. 29 is a schematic view of the first trigger of FIG. 25;

FIG. 30 is a schematic view of the second trigger of FIG. 25;

FIG. 31 is a top plan view of the second trigger of FIG. 30;

FIG. 32 is a disassembled view of a part of the structure of the minimally invasive surgical instrument provided by the invention in a cleaning state.

Description of the reference numerals

1. Rotating the wrist; 2. an end effector; 3. a first connection portion; 4. a second connecting portion; 5. fixing the rod; 5-1, fixing the tube body; 5-2, fixing the pipe connector; 6. a first hinge shaft; 7. a connecting rod; 8. a first telescopic rod; 8-1, a first telescopic rod pipe body; 8-2, a first telescopic rod pipe body connecting piece; 9. a first hinge shaft mount; 10. a first accommodating groove; an L-shaped slot; 12. a limiting bulge; 13. a second accommodating groove; 14. a sliding space; 15. a connecting member; 16. a second telescopic rod; 16-1. A second telescopic rod body; 16-2, a second telescopic rod body connecting piece; 17. a second hinge shaft mount; 18. a bayonet; 19. an elastic clamping hook; 20. a jaw; 21. an arc-shaped limiting hole; 22. a jaw mounting base; 23. a linear limiting hole; 24. a spacing pin; 25. opening and closing the groove; 26. a first rotating groove; 27. a first rotating projection; 28. a second rotating projection; 29. a second rotating groove; 30. a first limit projection; 31. a handle; 31-1. A handle body; 31-2, rotating the thumb wheel; 32. a first abutting portion; 33. an abutting member; 34. a second abutting portion; 35. a quick-release member; 36. a card slot; 37. buckling; 38. a collar; 39. a first elastic member; 40. a strip-shaped through hole; 41. a second elastic member; 42. a pressing member; 43. a first bar-shaped limiting groove; 44. a first circumferential limiting boss; 45. a second strip-shaped limiting groove; 46. a circumferential limit piece; 47. a sleeve; 48. a second limit projection; 49. a first trigger; 50. a first trigger hinge shaft; 51. rotating the mounting seat; 52. mounting holes; 53. the shaft sleeve is connected in a rotating way; 54. an arc-shaped ratchet piece; 55. a position locking member; 56. a third elastic member; 57. a fourth elastic member; 58. a ball head; 59. a second trigger; 60. a sector chute; 61. a small diameter section; 62. a second circumferential limit boss; 63. a limiting rod; 64. a finger grip protrusion; 65. a headspace; 66. a bottom space; 67. a finger-overlapping protrusion.

Detailed Description

The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are given by way of illustration and explanation only, not limitation.

In the present invention, unless otherwise stated, the terms "proximal end and distal end" are used with reference to the position of the hand that is to be held during use of the minimally invasive surgical instrument, i.e., the end near the hand is the proximal end and the end away from the hand is the distal end.

The invention provides a minimally invasive surgical instrument assembly which comprises ahandle 31, a firsttelescopic rod 8, afirst trigger 49, a positioning piece and alocking piece 55; the firsttelescopic rod 8 is arranged on thehandle 31 in a manner of being capable of extending and retracting along the axial direction of the first telescopic rod; thefirst trigger 49 is rotatably hinged with thehandle 31 through a firsttrigger hinge shaft 50, and thefirst trigger 49 is connected with the firsttelescopic rod 8 so as to be capable of driving the firsttelescopic rod 8 to move telescopically; the positioning piece is arranged on thehandle 31 and provided with a positioning tooth socket; theposition locking piece 55 is provided with a tooth part for being embedded into the positioning tooth socket, and theposition locking piece 55 is movably arranged on thefirst trigger 49, so that theposition locking piece 55 has a locking position where the tooth part is embedded into the positioning tooth socket so as to lock thefirst trigger 49, and an active position where the tooth part is separated from the positioning tooth socket so as to rotate thefirst trigger 49.

Through the technical scheme, thehandle 31 is provided with the positioning piece with the positioning tooth socket, thefirst trigger 49 used for driving the firsttelescopic rod 8 to move in a telescopic mode is provided with themovable locking piece 55, and thelocking piece 55 is provided with a locking position where the tooth part is embedded into the positioning tooth socket and a movable position where the tooth part is separated from the positioning tooth socket. When the positions of thefirst trigger 49 and the firsttelescopic rod 8 need to be fixed, the lockingpiece 55 is moved to the locking position, locking is achieved through the embedding of the tooth part and the positioning tooth socket, when thefirst trigger 49 needs to be moved to drive the firsttelescopic rod 8 to move in a telescopic mode, the lockingpiece 55 is moved to the moving position, namely unlocking is achieved, positioning and unlocking of thefirst trigger 49 can be achieved through moving the lockingpiece 55 when the locking device is used, the trigger does not need to be controlled through human fingers all the time and is kept motionless like the prior art, convenience in operation is improved, using requirements are lowered, and energy and attention of the human fingers and users can be relieved.

In the embodiment shown in fig. 25, thefirst trigger hinge 50 is located at the non-hand end of thefirst trigger 49, although in other embodiments thefirst trigger hinge 50 may be located in the middle of thefirst trigger 49.

In the embodiment shown in fig. 25, the positioning member includes an arc-shaped ratchet piece 54, the arc-shaped ratchet piece 54 is disposed on the handle 31 around the first trigger hinge shaft 50, and the arc-shaped ratchet piece 54 is provided with a plurality of ratchet grooves as the positioning grooves along the arc direction thereof; the locking member 55 is rotatably disposed on the first trigger 49 between the locking position and the movable position, and when the locking member 55 is located at the locking position, the first trigger 49 can only move in one direction along an arc direction of the arc-shaped ratchet piece 54, in fig. 25, the one-way moving direction is counterclockwise, adjustment of the one-way moving direction can be achieved by changing the disposition direction of the arc-shaped ratchet piece 54, by disposing the arc-shaped ratchet piece 54 and the locking member 55, it is achieved that when the first trigger 49 is not pulled, locking of the length direction position of the first telescopic rod 8 is achieved by the locking member 55 located at the locking position, in the following description, the first telescopic rod 8 functions to adjust rotation of the end effector 2 around the first hinge shaft 6 relative to the fixed rod 5, that is, limitation of a rotation angle of the end effector 2 is achieved by the locking member 55, and when the locking member 55 is located at the locking position, the first trigger 49 can only move in one direction along the arc direction of the arc-shaped ratchet piece 54, so that limitation of reverse movement of the end effector 2 is achieved, and at this time, only the movable trigger 55 can move to the first trigger 49 to the limiting member to achieve limitation of the reverse movement of the locking member 55, and the locking member 55. Of course, in other embodiments, the positioning member may be configured not as a ratchet piece structure, but as a gear piece structure, in which case the latchingmember 55 is not rotatably disposed on thefirst trigger 49, but is disposed on thefirst trigger 49 through a guiding structure such as a sliding rail or a sliding groove, which can move along the radial direction of the positioning member, and a driving member is disposed on thefirst trigger 49 to drive the latchingmember 55 to move towards or away from the positioning member, so as to move the latchingmember 55 between the latching position and the moving position.

The number of the positioning tooth grooves on the positioning element may be multiple, for example, in the embodiment shown in fig. 25, the positioning element is an arc-shapedratchet piece 54 having multiple positioning tooth grooves, at this time, the lockingelement 55 is embedded into different positioning tooth grooves to be able to position different telescopic displacement positions of the firsttelescopic rod 8, and further to position different rotation angles of thefollowing wrist 1, of course, the number of the positioning tooth grooves on the positioning element may also be only one, at this time, the locking position of the lockingelement 55 only realizes positioning of one fixed position of the firsttelescopic rod 8, that is, positioning of one fixed angle of thefollowing wrist 1 is realized, for example, positioning of a position of 60 degrees rotated by thewrist 1 is realized. Meanwhile, the positioning member may be welded, riveted, or mounted on thehandle 31 by a bolt or other connecting member, or may be integrated with thehandle 31.

In the embodiment shown in fig. 25, the minimally invasive surgical instrument assembly further includes a third elastic member 56, the third elastic member 56 is disposed along the length direction of the first telescopic rod 8, the handle 31 is connected to the proximal end of the first telescopic rod 8 through the third elastic member 56, or the handle 31 is connected to the first trigger 49 through the third elastic member 56, so that the third elastic member 56 can provide a force to the first trigger 49 in a direction opposite to the unidirectional movement direction, in this embodiment, the third elastic member 56 provides a force to the first trigger 49 to move toward the distal end, that is, the third elastic member 56 serves to drive the first trigger 49 to reset, when the locking member 55 is moved to the active position, the third elastic member 56 drives the first trigger 49 to reset automatically, that is, the rotation angle of the end effector 2 can be automatically eliminated, the end effector 2 is automatically reset to be located on the central axis of the first telescopic rod 8, and the operator can move the locking member 55 to the active position after the end effector 2 is moved to the active position, and the minimally invasive surgical instrument assembly can be operated without the need to remove the end effector 49 from the interior of the minimally invasive surgical instrument assembly, and the minimally invasive surgical instrument assembly 49. Of course, in other embodiments, thehandle 31 and the rotating mountingseat 51 described below may be connected through the thirdelastic member 56. In this embodiment, the thirdelastic member 56 is a spring sleeved on the proximal end of thequick release member 35 and the secondtelescopic rod 16. Of course, in other embodiments, the thirdelastic member 56 may also be a rubber collar or a rubber rod, the thirdelastic member 56 may also directly connect the proximal end of thequick release member 35 and thehandle 31 without being sleeved on the proximal end of thequick release member 35 and the secondtelescopic rod 16 described below, and the thirdelastic member 56 may also have a certain angle with the axial direction of the firsttelescopic rod 8. Of course, in other embodiments, the thirdelastic member 56 may not be provided.

The minimally invasive surgical instrument assembly further comprises a fourth elastic piece 57, the fourth elastic piece 57 is arranged on thefirst trigger 49, and the fourth elastic piece 57 at least abuts against theposition locking piece 55 located at the locking position so as to provide pressure to theposition locking piece 55 in the direction that the tooth part moves towards the inner side of the positioning tooth groove. Of course, in other embodiments, the fourth elastic member 57 may not be provided.

In the embodiment shown in fig. 25, the fourth elastic element 57 is a spring, and the spring abuts against the lockingelement 55 located at the locking position, so that the situation that the tooth of the lockingelement 55 is separated from the ratchet groove and further the operation is affected when the lockingelement 55 defines thefirst trigger 49 can be avoided. Of course, in other embodiments, the fourth elastic member 57 may also be a spring. Of course, in other embodiments, the fourth elastic member 57 may also not only prevent the teeth of the lockingmember 55 from disengaging from the ratchet grooves, for example, in the above-mentioned embodiment of thefirst trigger 49 in which the lockingmember 55 is driven to move along the radial direction of the retainer, the driving member for driving the lockingmember 55 to move between the locking position and the active position may be the fourth elastic member 57 using a spring, in which case, the fourth elastic member 57 is not only abutted against the lockingmember 55 located at the locking position, but is always abutted against or connected to the lockingmember 55, and the fourth elastic member 57 provides pressure to the lockingmember 55 to move from the active position to the locking position, and the lockingmember 55 is located at the locking position under the pressure of the fourth elastic member 57, and when the locking needs to be released, the lockingmember 55 is driven to move to the active position by the operation of the human finger, and at the same time, thefirst trigger 49 can be moved.

As shown in fig. 25, 28 and 29, the minimally invasive surgical instrument assembly further includes arotation mounting seat 51, therotation mounting seat 51 is rotatably disposed on the non-handheld end of thefirst trigger 49, and the rotation axis of therotation mounting seat 51 is parallel to the firsttrigger hinge shaft 50, in this embodiment, two sides of therotation mounting seat 51 are provided with protruding shaft-shaped protrusions, the shaft-shaped protrusions are rotatably connected with thefirst trigger 49, therotation mounting seat 51 is provided with a mountinghole 52, and the axis of the mountinghole 52 is perpendicular to the different surfaces of the firsttrigger hinge shaft 50, the firsttelescopic rod 8 or a telescopic rod connector axially connected with the firsttelescopic rod 8 is disposed in the mountinghole 52, in this embodiment, the telescopic rod connector is thequick release member 35 described below, and of course, in other embodiments, the telescopic rod connector may also be another component for connection, and thequick release member 35 as the telescopic rod connector can be driven to move in the length direction of the firsttelescopic rod 8 by the rotation of thefirst trigger 49 around the firsttrigger hinge shaft 50. Of course, in other embodiments, thefirst trigger 49 may be connected to the firsttelescopic rod 8 or the telescopic rod connecting member in an articulated manner without providing thepivot mount 51.

In the embodiment shown in fig. 25, a rotary connectingshaft sleeve 53 is fixedly arranged on the inner peripheral wall of the mountinghole 52, and the rotary connectingshaft sleeve 53 is sleeved on the near-hand end of the firsttelescopic rod 8 or the near-hand end of the telescopic rod connecting piece, so as to avoid the problem that the near-hand end of the firsttelescopic rod 8 or the near-hand end of thequick release piece 35 serving as the telescopic rod connecting piece is damaged due to stress concentration when thefirst trigger 49 rotates, thereby causing the near-hand end of the firsttelescopic rod 8 or thequick release piece 35 serving as the telescopic rod connecting piece to be damaged. Of course, in other embodiments, when the mountinghole 52 has a certain distance in its axial direction, therotary coupling boss 53 may not be provided.

In the embodiment shown in fig. 25, thehandle 31 is provided with a ring-shaped grip portion, the inner peripheral wall of the grip portion is provided with afinger grip protrusion 64, thefinger grip protrusion 64 divides the inner space of the grip portion into atop space 65 adapted to be inserted into a middle finger of a human body and abottom space 66 adapted to be inserted into a ring finger of the human body, so that the position of thehandle 31 can be moved by the middle finger and the ring finger, and thefinger grip protrusion 64 is provided in order to allow the middle finger and the ring finger to grip thefinger grip protrusion 64, so that the middle finger and the ring finger can move thehandle 31 more stably, the outer peripheral wall of the grip portion is provided with afinger grip protrusion 67, and the distal end surface of thefinger grip protrusion 67 is provided in an arc shape adapted to grip a little finger of a human body, so as to grip thehandle 31. Of course, in other embodiments, thehandle 31 may be provided with other conventional structures, such as a grip provided on thehandle 31.

In the embodiment shown in fig. 25, the distal end face of the hand-held end of thefirst trigger 49 is provided in an arc shape adapted to grasp an index finger of a human body, and thefirst trigger 49 is located on the distal side of the grip portion of thehandle 31 to facilitate the operation of thefirst trigger 49. Of course, in other embodiments, thefirst trigger 49 may be of other construction as is known.

In the embodiment shown in fig. 25, the minimally invasive surgical instrument assembly further comprises a fixing rod 5, an abutting part 33 and a quick-release part 35, wherein the fixing rod 5 is arranged along the length direction of the first telescopic rod 8, and the proximal end of the fixing rod 5 is provided with a first limit projection 30 on the peripheral wall; the handle 31 is provided with a first abutting part 32 abutting against the proximal end of the first limit protruding part 30; wherein, the first limit bulge 30 and the abutting piece 33 can be integrally connected or detachably jointed; as shown in fig. 13, an eccentric positioning block 30-1 is disposed on an end surface of the first limiting protrusion 30, and the positioning block 30-1 can be received in a groove or a hole on an end surface of the first abutting portion 32, so as to realize relative positioning of the first limiting protrusion 30 and the first abutting portion 32 in the circumferential direction, so that the first limiting protrusion 30 and the first abutting portion 32 cannot rotate relatively; the abutting piece 33 is detachably connected with the handle 31, and the abutting piece 33 is provided with a second abutting part 34 abutting against the far-hand end of the first limiting protruding part 30; quick detach 35 can follow the length direction of first telescopic link 8 sets up with scalable the removal on the handle 31, just quick detach 35 through rapid disassembly structure with the nearly hand end detachable of first telescopic link 8 links to each other, so that quick detach 35 can drive first telescopic link 8 telescopic movement, the nearly hand end of quick detach 35 sets up in the mounting hole 52, in this embodiment, set up first spacing bulge 30 of butt 33 butt dead lever 5 and make dead lever 5 install on handle 31, set up the quick detach 35 that can connect first telescopic link 8 simultaneously on handle 31, make first telescopic link 8 install on handle 31, because butt 33 can dismantle with handle 31 and link to each other, and quick detach 35 passes through rapid disassembly structure and links to each other with first telescopic link 8, thereby make dead lever 5 and first telescopic link 8 can realize quick simple split with handle 31, and then realize that the body of rod and handle can carry out cleaning and disinfection respectively, effectively reduce the required occupation space of cleaning and disinfection operation to can promote cleaning and disinfection's effect. Of course, in another embodiment, thecontact member 33 and thequick release member 35 may not be provided, the fixedrod 5 may be fixedly connected to thehandle 31, the proximal end of the firsttelescopic rod 8 may be provided in the mountinghole 52, and thefirst trigger 49 may be moved to directly drive the firsttelescopic rod 8 to extend and retract.

The quick-release structure comprises a clampinggroove 36, abuckle 37 and a driving mechanism, wherein the clampinggroove 36 is arranged on the outer peripheral wall of the near-hand end of the firsttelescopic rod 8; thebuckle 37 is arranged at the far-hand end of the quick-release piece 35 and is provided with a clamping position connected with the clampinggroove 36 in a clamping way and a releasing position released from the clampinggroove 36; actuating mechanism sets up on the quick detachpiece 35, just actuating mechanism can drivebuckle 37 is in the joint position with remove between the position, can realize through operation actuating mechanism promptly that quick connection and the split of quick detachpiece 35 and firsttelescopic link 8 can be realized. Of course, in other embodiments, the quick release structure may also include a slot disposed on the distal end surface of thequick release member 35, a plug and a pin disposed on the proximal end surface of the firsttelescopic rod 8, the slot and the plug being adapted, and both the slot wall and the plug of the slot being provided with a pin hole extending along the radial direction of the firsttelescopic rod 8, so that the pin can detachably penetrate through the slot and the plug.

In the minimally invasive surgical instrument assembly provided by the invention, thequick release part 35 can adopt two different types of structures, and three embodiments are provided for the two types ofquick release parts 35.

Thequick release member 35 of the first type is in a rod shape extending along the length direction of the firsttelescopic rod 8, thebuckle 37 is a hook structure which is radially movably arranged on thequick release member 35, the driving mechanism comprises acollar 38 which is sleeved outside thequick release member 35, and thecollar 38 can be driven to move along the length direction of thequick release member 35, so that thecollar 38 has a part of the inner peripheral wall abutting against thebuckle 37 to enable thebuckle 37 to be located at a far-hand end position of the clamping position, and a near-hand end position which is separated from thebuckle 37 to enable thebuckle 37 to be located at a releasing position. Thesnap 37 may be one, or two axially symmetric snap fasteners, when thecollar 38 moves to the distal end position, thesnap fasteners 37 are pressed by the inner wall of thecollar 38 to be inserted into the lockingnotches 36, preferably, the proximal end of thesnap fasteners 37 is provided with a chamfer to avoid locking thecollar 38, when thecollar 38 moves to the proximal end position, thesnap fasteners 37 can be disengaged from the lockingnotches 36 by shaking the hand, or a spring plate may be provided to provide elasticity to thesnap fasteners 37 to automatically disengage from the lockingnotches 36.

The first type ofquick release member 35 has two embodiments, as shown in fig. 19 and fig. 20, in the first embodiment of thequick release member 35, the driving mechanism further includes a firstelastic member 39, preferably a spring, which may be a rubber sleeve, and thequick release member 35 is provided with a boss abutting against the proximal end of the firstelastic member 39, and the distal end of the firstelastic member 39 abuts against thecollar 38 to provide thecollar 38 with a driving force toward the distal end position, that is, the elastic force of the firstelastic member 39 makes thecollar 38 located at the distal end position, and when thecollar 38 needs to move toward the proximal end position, a user needs to push or pull thecollar 38 to move. In the second embodiment of thequick release member 35 shown in fig. 21 and 22, the driving mechanism further comprises an external thread provided on the outer circumferential wall of thequick release member 35, and the inner circumferential wall of thecollar 38 is provided with an internal thread adapted to the external thread, and thecollar 38 is moved by the user rotating thecollar 38.

A second type ofquick release member 35 is shown in fig. 23 and 24, that is, a third embodiment of thequick release member 35, thebuckle 37 is movably disposed at the far hand end of thequick release member 35 along a direction perpendicular to the length direction of the firsttelescopic rod 8, thebuckle 37 is a ring body having a strip-shaped throughhole 40, the driving mechanism includes a secondelastic member 41 and a pressingmember 42 disposed at both sides of thebuckle 37, the secondelastic member 41 is preferably a spring, and may be a rubber cylinder or a ball, the secondelastic member 41 provides a driving force to thebuckle 37 to move towards the pressingmember 42, so that thebuckle 37 is partially clamped in the clampinggroove 36, the pressingmember 42 can drive thebuckle 37 to move in a reverse direction, so that the near hand end of the firsttelescopic rod 8 can enter and exit the strip-shaped throughhole 40, the elastic force of the secondelastic member 41 makes thebuckle 37 located in the clamping position, and when thebuckle 37 needs to move to the disengagement position, a person needs to press the pressingmember 42 to push thebuckle 37 to move. In the present embodiment, thepressing piece 42 and thecatch 37 are integrally configured, but in other embodiments, thepressing piece 42 and thecatch 37 may be configured separately, and thepressing piece 42 and thecatch 37 may abut against each other. In this embodiment, the lockinggroove 36 is an annular groove surrounding the outer peripheral wall of the proximal end of the firsttelescopic rod 8, but of course, in other embodiments, the lockinggroove 36 may also be a groove disposed on the side of the firsttelescopic rod 8 facing thebuckle 37. In the present embodiment, theclip 37 is directly inserted into the engaginggroove 36 through the ring body, but in other embodiments, a protrusion may be provided on an inner peripheral wall of theclip 37 and extend into the engaginggroove 36 through the protrusion.

As shown in fig. 25, fig. 27, fig. 19 and fig. 21, the handle 31 includes a handle body 31-1 and a rotary thumb wheel 31-2 rotatably disposed on the handle body 31-1, the first telescopic rod 8 is disposed on the handle body 31-1 in a manner of being capable of extending and retracting along an axial direction thereof, the first trigger 49 is rotatably hinged to the handle body 31-1 through a first trigger hinge shaft 50, the positioning member is disposed on the handle body 31-1, one end of the third elastic member 56 is connected to the handle body 31-1, the annular grip portion is also disposed on the handle body 31-1, the rotary thumb wheel 31-2 is provided with a through hole located on a rotation axis thereof, the rotary thumb wheel 31-2 is provided with a first strip-shaped limiting groove 43 extending along the rotation axis thereof, and the first strip-shaped limiting groove 43 is communicated with the through hole; the proximal end of the quick release member 35 is rotatably connected to the handle body 31-1, the proximal end of the quick release member 35 is preferably configured to be a shaft, the handle body 31-1 is configured to have a shaft hole adapted thereto, and the proximal end of the quick release member 35 is rotatably inserted into the shaft hole, so as to detachably connect the quick release member 35 to the handle body 31-1, the distal end of the quick release member 35 passes through the through hole of the rotating thumb wheel 31-2, and the outer peripheral wall of the distal end of the quick release member 35 is provided with a first circumferential limiting boss 44, the first circumferential limiting boss 44 is adapted to be embedded into the first bar-shaped limiting groove 43 and can move along the length direction of the first bar-shaped limiting groove 43, and the first bar-shaped limiting groove 43 is located on two side walls of the rotating thumb wheel 31-2 in the circumferential direction and slidably abuts against the first circumferential limiting boss 44, so that the rotating thumb wheel 31-2 can drive the quick release member 35 and the first telescopic link 8 to rotate around the first bar-shaped limiting groove 8, and the first telescopic link 35 and the first bar-rod-shaped telescopic link 35 can be quickly disassembled by providing the first bar-shaped limiting groove 43 and the first circumferential limiting groove 43 and the first telescopic link 8, so as to facilitate the quick release lever 5 and the telescopic link to be able to be quickly disassembled by rotating thumb wheel 5 and the telescopic link 5, in this embodiment, since the setting is rotated thumb wheel 31-2 and is driven first telescopic link 8 and quick detach member 35 and rotate, therefore quick detach member 35 is for can wind the axis of mounting hole 52 sets up with rotating in the mounting hole 52, swivelling joint axle sleeve 53 is for rotationally the cover is established near hand end of quick detach member 35 has realized the flexible removal and the two degrees of freedom of rotation of quick detach member 35 in mounting hole 52 department, even quick detach member 35 can be rotatory around the central axis of first telescopic link 8 to can follow the length direction flexible removal of first telescopic link 8. Of course, in other embodiments, only the handle body 31-1 may be provided without the thumb wheel 31-2, and in this case, thequick release member 35 and the firsttelescopic rod 8 can only move telescopically along the length direction of the firsttelescopic rod 8, but cannot rotate around the central axis of the firsttelescopic rod 8. Certainly, in other embodiments, thequick release member 35 may not be provided, but the rotating thumb wheel 31-2 may be provided, at this time, the firsttelescopic rod 8 is rotatably connected with the handle body 31-1, the peripheral wall of the firsttelescopic rod 8 is provided with the firstcircumferential limiting boss 44, meanwhile, the proximal end of the firsttelescopic rod 8 is located in the mountinghole 52, and the rotary connectingshaft sleeve 53 is rotatably sleeved on the proximal end of the firsttelescopic rod 8, at this time, the quick release of the firsttelescopic rod 8 and thehandle 31 cannot be realized, but the firsttelescopic rod 8 still can have two degrees of freedom of telescopic movement and rotation.

In the embodiment shown in fig. 26, the fixing rod 5 is a tube structure sleeved outside the first telescopic rod 8, the proximal end of the first telescopic rod 8 extends out of the fixing rod 5, the proximal end of the fixing rod 5 is provided with an installation groove, and the outer peripheral wall of the first telescopic rod 8 is provided with a second strip-shaped limiting groove 45 extending along the length direction thereof; the minimally invasive surgical instrument assembly further comprises a circumferential limiting piece 46, the circumferential limiting piece 46 is suitable for being installed in the installation groove of the fixing rod 5, the circumferential limiting piece 46 is provided with a second circumferential limiting boss 62 suitable for being embedded into the second strip-shaped limiting groove 45, the second circumferential limiting boss 62 can move in the second strip-shaped limiting groove 45 along the length direction of the first telescopic rod 8, the second strip-shaped limiting groove 45 is located on two side walls of the first telescopic rod 8 in the circumferential direction and is in slidable abutting joint with the second circumferential limiting boss 62, the fixing rod 5 and the first telescopic rod 8 can synchronously rotate around the central axis of the first telescopic rod 8 through the circumferential limiting piece 46, the second strip-shaped limiting groove 45 and the second circumferential limiting boss 62, the first telescopic rod 8 can telescopically move relative to the fixing rod 5 along the length direction of the fixing rod 5, and the fixing rod 5 and the first telescopic rod 8 simultaneously rotate along with the rotation dial wheel 31-2 when the rotation dial wheel 31-2 is rotated. Of course, in other embodiments, when the dial wheel 31-2 is not provided, thecircumferential direction stopper 46, the secondelongated stopper groove 45, and the second circumferentialdirection stopper projection 62 may not be provided. Of course, in other embodiments, the fixingrod 5 may also be detachably connected to the rotary thumb wheel 31-2, and at this time, thecircumferential limiting member 46, the second strip-shaped limitinggroove 45 and the secondcircumferential limiting boss 62 may not be provided, and the fixingrod 5 is driven by the rotary thumb wheel 31-2 to rotate around the central axis of the firsttelescopic rod 8. Of course, in other embodiments, the fixingrod 5 may also be a solid rod structure, and the fixingrod 5 and the firsttelescopic rod 8 are arranged in parallel.

In order to enable the circumferential limiting part 46 to be always located in the installation groove without being separated from the installation groove, and thus the fixing rod 5 and the first telescopic rod 8 cannot rotate synchronously, as shown in the embodiment shown in fig. 25 and 26, the minimally invasive surgical instrument assembly further comprises a sleeve 47, the sleeve 47 is sleeved outside the portion of the fixing rod 5 where the installation groove is located, the inner circumferential wall of the sleeve 47 abuts against the circumferential limiting part 46, and the outer circumferential wall of the sleeve 47 is provided with a second limiting protrusion 48; the rotary thumb wheel 31-2 is provided with an external thread section surrounding the rotation axis thereof, the far-hand end of the rotary thumb wheel 31-2 forms the first abutting part 32, and the first abutting part 32 is provided with the first strip-shaped limiting groove 43; the abutting member 33 is provided with a hole path for the first telescopic rod 8 and the fixing rod 5 to pass through, the proximal end of the hole path is provided with an internal thread section in threaded connection with the external thread section of the rotary shifting wheel 31-2, so that the rotary shifting wheel 31-2 is detachably connected with the abutting member 33, and the handle 31 is detachably connected with the abutting member 33, the middle part of the hole path is provided with an abutting section which is suitable for accommodating the first abutting part 32, the distal end of the quick-release member 35 and the accommodating section of the first limiting projection part 30, the distal end of the hole path is provided with an abutting section which is abutted with the peripheral wall of the sleeve 47, two hole steps are formed between the abutting section and the accommodating section, one hole step forms the second abutting part 34 to install the fixing rod 5 on the handle 31, the other hole step is abutted with the distal end of the second limiting projection part 48, the proximal end of the second limiting projection part 48 is abutted with the first limiting projection part 30 to limit the position of the sleeve 47 on the fixing rod 5, so as to prevent the sleeve 47 from sliding on the fixing rod 5 and further prevent the limiting member 46 from being separated from the peripheral wall of the quick-release member 33, and prevent the inner peripheral wall of the quick-release member from being directly connected with the inner peripheral wall of the quick-release limiting member 33, and prevent the quick-release member from being damaged by the operation. Of course, in other embodiments, instead of providing the rotating dial 31-2, theabutment member 33 may be provided with an L-shape, one end of which is disposed along the length direction of the firsttelescopic rod 8 and connected to the handle body 31-1, the other end of which is disposed along the radial direction of the firsttelescopic rod 8, and thefirst limit protrusion 30 is sandwiched between the other end of theabutment member 33 and the handle body 31-1. Of course, in other embodiments, thesleeve 47 may be screwed on the fixingrod 5 without providing thesecond limit protrusion 48.

As shown in fig. 25, fig. 30 and fig. 31, the minimally invasive surgical instrument assembly further includes a second telescopic rod 16 and a second trigger 59, the second telescopic rod 16 is disposed along the length direction of the fixing rod 5, the proximal end of the second telescopic rod 16 is provided with a ball 58, the second trigger 59 is rotatably hinged to the handle 31 via a second trigger hinge shaft, the non-holding end of the second trigger 59 is provided with a fan-shaped sliding groove 60, and a plane formed by the fan-shaped sliding groove 60 is perpendicular to the second trigger hinge shaft, an arc-shaped groove bottom of the fan-shaped sliding groove 60 is configured to limit the ball 58 to slide only along an arc direction thereof, in this embodiment, the second telescopic rod 16 is further disposed, and the second telescopic rod 16 is used for driving the position of the end effector 2 along the length direction of the fixing rod 5, so as to achieve fine adjustment of the position of the end effector 2 or achieve opening and closing operation of the ball as the end effector 2, the second trigger is used for driving the second telescopic rod 16 to move telescopically along the length direction of the fixing rod 5, so as to achieve driving of the end effector 2, the second telescopic rod 16 is disposed, and the second trigger 59 is configured to enable the second telescopic rod 16 to move along the arc-shaped sliding groove bottom of the fan-shaped sliding groove 59, so as to enable the fan-shaped sliding groove 59 to enable the second telescopic rod 16 to enable the sliding groove 59 to move along the fan-shaped sliding groove 59, and the arc-shaped sliding groove 59, and the second telescopic rod 16 to enable the sliding groove 59 to enable the sliding of the second telescopic rod 16 to enable the sliding groove 59 to move along the fan-shaped sliding groove 59 to enable the second telescopic rod 16 to move along the sliding groove 59, and the sliding groove 59 to enable the sliding of the sliding groove 16 to move along the sliding groove 59. Of course, in other embodiments, when theend effector 2 is fixedly provided on therotary wrist 1 described below, the secondtelescopic rod 16 and thesecond trigger 59 may not be provided, or when theend effector 2 is fixedly provided on the firsttelescopic rod 8, the secondtelescopic rod 16 and thesecond trigger 59 may not be provided, and in this case, thefirst trigger 49 is used to drive the firsttelescopic rod 8 to move in the longitudinal direction of the fixedrod 5, and further, to drive theend effector 2 to move in the longitudinal direction of the fixedrod 5, instead of performing the function of driving therotary wrist 1 to rotate relative to the fixedrod 5 about the first hinge shaft 6.

In the embodiment shown in fig. 25, thesecond trigger 59 is provided in a ring-shaped configuration adapted to extend into a human thumb, and thesecond trigger 59 is located on the proximal side of the grip portion of the handle body 31-1. Of course, in other embodiments, thesecond trigger 59 may be provided in other existing configurations.

In the embodiment shown in fig. 25, the firsttelescopic rod 8 is a tube structure sleeved on the outside of the secondtelescopic rod 16, and the proximal end of the secondtelescopic rod 16 extends out of the firsttelescopic rod 8, the proximal end of the secondtelescopic rod 16 is provided with asmall diameter section 61 with a diameter smaller than the inner diameter of the tube body of the secondtelescopic rod 16, theball 58 is arranged at the proximal end of thesmall diameter section 61, the diameter of theball 58 is not larger than the inner diameter of the tube body of the secondtelescopic rod 16, thesmall diameter section 61 is arranged to form theball 58 with a diameter not larger than the inner diameter of the tube body of the secondtelescopic rod 16, and the diameter of theball 58 is not larger than the inner diameter of the tube body of the secondtelescopic rod 16 in order to enable the proximal end of the secondtelescopic rod 16 to extend into the firsttelescopic rod 8, thereby realizing the detachment of the secondtelescopic rod 16 and the firsttelescopic rod 8. Of course, in other embodiments, the firsttelescopic rod 8 may be a solid rod structure, and the secondtelescopic rod 16 is disposed parallel to the firsttelescopic rod 8, and the diameter of theball 58 need not be limited.

In the embodiment shown in fig. 3, 5 and 6, the minimally invasive surgical instrument assembly further comprises arotating wrist 1 and a connectingrod 7, wherein the far-hand end of therotating wrist 1 can be provided with anend effector 2, and the near-hand end of therotating wrist 1 is provided with a first connectingpart 3 and a second connectingpart 4; the far hand end of the fixedrod 5 is rotatably connected with the first connectingpart 3 through a first hinge shaft 6; the far hand end of the connectingrod 7 is rotatably hinged with the second connectingpart 4; firsttelescopic link 8 withdead lever 5 detachable is connected, the far-hand end of firsttelescopic link 8 with the nearly hand end of connectingrod 7 rotationally articulates and links to each other, just firsttelescopic link 8 can be followed with driven the flexible removal of length direction ofdead lever 5, in order to drive rotatewrist 1 around first hinge 6 fordead lever 5 rotates.

Through the technical scheme, therotary wrist 1 used for installing theend effector 2 is arranged, therotary wrist 1 is hinged to the fixedrod 5, the connectingrod 7 is arranged to respectively hinge therotary wrist 1 and the firsttelescopic rod 8, so that when the firsttelescopic rod 8 moves in a telescopic mode along the length direction of the fixedrod 5, therotary wrist 1 can be driven to rotate around the first hinge shaft 6, theend effector 2 is rotated, the structure is smaller in turning radius compared with a joint wrist structure in the prior art, and the problem that theend effector 2 cannot be rotated in a narrow space due to the fact that a minimally invasive surgical instrument is large in turning radius or interferes with other surgical instruments can be solved.

In the embodiment shown in fig. 3 and 9, the fixing rod 5 is a tube structure having a first hinge shaft mounting seat 9 at a distal end, that is, the first hinge shaft mounting seat 9 protrudes from a tube wall of the fixing rod 5 along an axial direction of the fixing rod 5, the first hinge shaft mounting seat 9 is hinged to the first connecting portion 3, and a first accommodating groove 10 communicated with an inner space of the tube body is formed in the tube wall of the fixing rod 5, the first telescopic rod 8 is located inside the fixing rod 5, and a distal end of the first telescopic rod 8 is located in the first accommodating groove 10 to connect a proximal end of the connecting rod 7, the first accommodating groove 10 has a limiting effect on the distal end of the first telescopic rod 8, so that the distal end of the first telescopic rod 8 moves along a direction of the first accommodating groove 10, and the first accommodating groove 10 also has an effect on accommodating a proximal end of the connecting rod 7, when the minimally invasive surgical instrument assembly extends into or extends out of a human body, the end effector 2 and the rotating wrist 1 are located on an axis of the fixing rod 5, that the end effector 2 and the rotating arm 1 are located on an outer peripheral wall of the connecting rod 7, so that the connecting rod 7 does not scratch the connecting rod 7 when the minimally invasive surgical instrument assembly extends into or extends out of a human body, the connecting rod 5. Of course, in other embodiments, the fixingrod 5 may also be a solid rod structure, the distal end of the rod body of the fixingrod 5 is provided with the firsthinge mounting seat 9, and the firstaccommodating groove 10 is not required to be provided, the firsttelescopic rod 8 is parallel to the fixingrod 5, at this time, in order to enable the fixingrod 5 and the firsttelescopic rod 8 to synchronously extend into or stretch out of the human body, and the human body is not scratched when moving, so that the fixingrod 5 and the firsttelescopic rod 8 need to be provided with a pipe sleeve outside the whole, that is, the fixingrod 5 and the firsttelescopic rod 8 are located inside the pipe sleeve.

In the embodiment shown in fig. 9 to 11, the fixingrod 5 comprises a fixing tube body 5-1 and a fixing tube body connector 5-2 which are detachably connected, the fixing tube body 5-1 is of a straight tube structure, the distal end of the fixing tube body connector 5-2 is provided with the first hingeshaft mounting seat 9 and the firstaccommodating groove 10, and since the fixingrod 5 needs to be provided with the first hingeshaft mounting seat 9, the fixingrod 5 is provided with a detachable structure comprising the fixing tube body 5-1 and the fixing tube body connector 5-2, so that on one hand, the manufacturing of the fixingrod 5 can be facilitated, that is, the fixing tube body 5-1 of the straight tube structure and the fixing tube body connector 5-2 of the special-shaped tube structure are manufactured separately, and on the other hand, the fixingrod 5 is also convenient to detach and assemble. Of course, in other embodiments, the fixingrod 5 may be an integral structure, i.e. the fixing tube 5-1 and the fixing tube connector 5-2 are an integral structure or fixedly connected.

In the embodiment shown in fig. 9-11, the pipe wall of the far-hand end of the fixed pipe body 5-1 is provided with an L-shaped groove 11, the L-shaped groove 11 includes a limiting portion extending along the circumferential direction of the fixed pipe body 5-1 and an access passage extending along the axial direction of the fixed pipe body 5-1, the access passage forms an opening at the end of the fixed pipe body 5-1, the outer circumferential surface of the near-hand end of the fixed pipe body connector 5-2 is provided with a radially protruding limiting protrusion 12, the limiting protrusion 12 can enter or leave the limiting portion through the access passage, the length of the limiting portion is adapted to the length of the limiting protrusion 12 along the axial direction of the fixed pipe body 5-1, and the detachable connection structure of the L-shaped groove 11 and the limiting protrusion 12 can only limit the axial position of the fixed pipe body 5-1 and the fixed pipe body connector 5-2, the circumferential positions of the fixed pipe body 5-1 and the fixed pipe body connecting piece 5-2 cannot be limited, that is, the fixed pipe body 5-1 and the fixed pipe body connecting piece 5-2 rotate around the central axis of the fixed rod 5, in this embodiment, because the rotating dial wheel 31-2 is provided to drive the first telescopic rod 8 to rotate around the central axis thereof, and further drive the end effector 2 and the rotating wrist 1 to rotate, when the first telescopic rod 8 rotates, the fixed pipe body connecting piece 5-2 will rotate along the central axis of the fixed rod 5 relative to the fixed pipe body 5-1 under the driving of the rotating wrist 1, and risk of disengagement of the fixed pipe body 5-1 and the fixed pipe body connecting piece 5-2 is generated, so that the embodiment is at the near-hand end of the fixed rod 5, that is, the proximal end of the fixed pipe 5-1 is connected to the first telescopic rod 8 through a circumferential position-limiting member 46, so that the first telescopic rod 8 and the fixed pipe 5-1 are circumferentially limited along the fixed rod 5, and the first telescopic rod 8 and the fixed pipe 5-1 can rotate synchronously, thereby avoiding the risk of disengagement between the fixed pipe 5-1 and the fixed pipe connector 5-2. Of course, in other embodiments, the turning wheel 31-2 may not be provided, that is, the firsttelescopic rod 8 and the fixingrod 5 do not have the function of rotating around the central axis of the fixingrod 5, and in this case, the detachable connection structure using the L-shapedgroove 11 and the limitingprotrusion 12 does not risk the fixed pipe body 5-1 and the fixed pipe body connector 5-2 being disconnected. Of course, in other embodiments, the fixed pipe body 5-1 and the fixed pipe body coupler 5-2 may be connected by a detachable connection structure of thebayonet 18 and theelastic hook 19 as described below.

In the embodiment shown in fig. 3 and 18, the tube wall of the portion of therotating wrist 1 near the hand end protrudes axially to form the first connectingportion 3, the tube wall that does not protrude forms the second connectingportion 4, and the axial position of the tube wall that does not protrude forms the secondaccommodating groove 13 that is located on one side of the first connectingportion 3, and the secondaccommodating groove 13 accommodates the far hand end of the connectingrod 7, so that the connectingrod 7 does not protrude on the peripheral wall of therotating wrist 1, and therefore the connectingrod 7 does not scratch the human body when the minimally invasive surgical instrument assembly extends into or out of the human body.

As shown in fig. 3, 5 and 6, the swivel wrist 1 is provided with a sliding space 14; the minimally invasive surgical instrument assembly further comprises an end effector 2, a bendable connecting piece 15 and a second telescopic rod 16, wherein the mounting end of the end effector 2 is positioned in the sliding space 14; the connecting piece 15 is positioned at the connecting position of the rotating wrist 1 and the fixed rod 5, and the far-hand end of the connecting piece 15 is connected with the mounting end of the end effector 2; the distal end of the second telescopic rod 16 is connected with the proximal end of the connecting piece 15, and the second telescopic rod 16 can be driven to move telescopically along the length direction of the fixed rod 5 so as to drive the end effector 2 to move telescopically along the direction extending into or out of the sliding space 14, in this embodiment, by arranging the sliding space 14 in the end effector 2 and arranging the connecting piece 15 and the second telescopic rod 16, the telescopic movement of the second telescopic rod 16 along the length direction of the fixed rod 5 is driven to drive the end effector 2 to move telescopically guided by the sliding space 14, when an operation is performed, the hand controls the depth of the minimally invasive surgical instrument assembly extending into a human body to realize coarse adjustment of the position of the end effector 2, and the telescopic movement of the second telescopic rod 16 realizes fine adjustment of the position of the end effector 2, so that the convenience of the operation is improved, meanwhile, the end effector 2 is driven to move telescopically by the second telescopic rod 16, so that the operation of scraping or cutting can be performed on a lesion position can be performed, furthermore, the connecting piece 15 capable of bending deformation can generate deformation when the end effector 2 has a rotation angle, and the end effector 16 can be connected with the end effector 2 when the end effector 2 is driven to move telescopically, and the end effector 2 can be connected with the end effector 16, and the end effector 2 can be driven to move by the end effector 2, and the telescopic rod 16 and can always rotate along the end effector 2, and the end effector can be connected with the end effector 2, and can be driven by the telescopic rod 16 and can be driven by the end effector 2, and can be driven by the end effector 2 to move telescopically moved by the end effector 2, and can be driven by the end effector 2, and can be connected with the end effector 2. Of course, in other embodiments, theend effector 2 may be fixedly disposed on theswivel wrist 1, and in this case, thesecond extension rod 16 is not required.

In the embodiment shown in fig. 3 and 9, the fixing rod 5 is a tubular structure with a first hinge shaft mounting seat 9 at the distal end, the second telescopic rod 16 is located inside the fixing rod 5, and an opening for the connection piece 15 to pass through is provided between the first hinge shaft mounting seat 9 and the tubular wall of the fixing rod 5; the inside of the rotating wrist 1 is hollow to form the sliding space 14 and a channel for the connecting piece 15 to enter the sliding space 14, the channel for the connecting piece 15 to enter the sliding space 14 is preferably matched with the shape of the outer peripheral wall of the connecting piece 15, in this embodiment, the opening of the fixing rod 5 is preferably matched with the outer peripheral wall of the connecting piece 15 in shape to play a role in limiting and guiding the connecting piece 15, similarly, the first connecting part 3 is in a concave structure, the bent parts at the two ends of the first connecting part are provided with shaft holes for installing the first hinge shaft 6, after the first hinge shaft 6 is installed, another opening for the connecting piece 15 to pass through is formed between the first hinge shaft 6 and the pipe wall between the two bent parts, the opening of the first connecting part 3 is also preferably matched with the outer peripheral wall of the connecting piece 15 in shape to play a role in limiting and guiding the connecting piece 15, so that when the second telescopic rod 16 moves towards the far hand end, the opening of the fixing rod 5 and the first connecting piece 3 can limit the connecting piece 15 to move towards the far end under the thrust action of the second telescopic rod 16 to push the hand end to further push the end of the actuator 2 to move, thereby avoiding the end of the second telescopic rod 15 and the actuator 2 from being deformed to push the telescopic rod to push the end of the telescopic rod and/push the telescopic rod 16 to be not to push the wrist 2 and/push the telescopic rod to be accumulated in the wrist 2. Of course, in other embodiments, the fixingrod 5 may also be a solid rod structure, the secondtelescopic rod 16 is disposed in parallel with the fixingrod 5, the slidingspace 14 is a sliding groove disposed on the outer peripheral wall of therotating wrist 1, the sliding groove extends along the length direction of therotating wrist 1, the mounting end of theend effector 2 is slidably connected to the sliding groove, at this time, in order to avoid scratching the human body, the mounting ends of therotating wrist 1 and theend effector 2 are outside, and the secondtelescopic rod 16 and the fixingrod 5 are both required to be provided with a pipe sleeve.

In the embodiment shown in fig. 5 and 12, the connecting member 15 does not pass through another opening formed between the first hinge shaft 6 and the first connecting portion 3, but a limiting rod 63 is disposed on the first hinge shaft mounting seat 9, the limiting rod 63 is disposed along the radial direction of the fixing rod 5, and a limiting space suitable for the connecting member 15 to pass through is formed between the limiting rod 63 and the first connecting portion 3, in this embodiment, the first connecting portion 3 is in a concave structure, and the bending portions at both ends are respectively provided with shaft holes for mounting the corresponding first hinge shaft 6, that is, the first hinge shaft 6 does not pass through the first connecting portion 3 in the concave structure, but one first hinge shaft 6 is disposed at one bending portion, another first hinge shaft 6 is disposed at the other bending portion, the first hinge shaft mounting seat 9 is disposed between two bending portions, that is, that the limiting rod 63 is disposed between the two bending portions, that the limiting space performs a limiting and guiding function on the connecting member 15, under the limiting function of the connecting member 15, the connecting member 15 extends from the center line of the rotation wrist 1, that the fixing rod 15 can not bend and the wrist clamp can be easily bent, and the wrist clamp can be easily bent. Of course, in other embodiments, the limitingrod 63 may be provided, and the connectingmember 15 may be offset from the two center lines, or the connectingmember 15 may be provided along the two center lines without providing the limitingrod 63.

In the embodiment shown in fig. 3, 5 and 6, the firsttelescopic rod 8 is a tube structure having a second hingeshaft mounting seat 17 at a distal end, the second hingeshaft mounting seat 17 is hinged to the proximal end of the connectingrod 7, the firsttelescopic rod 8 is coaxially sleeved on the secondtelescopic rod 16, and the secondtelescopic rod 16 can be driven to move telescopically relative to the fixingrod 5. Of course, in other embodiments, the firsttelescopic rod 8 may be provided as a solid rod structure, and the secondtelescopic rod 16 and the firsttelescopic rod 8 are arranged in parallel and are located in the fixingrod 5 at the same time.

In the embodiment shown in fig. 14-16, the firsttelescopic rod 8 comprises a first telescopic rod tube 8-1 and a first telescopic rod tube connector 8-2, the first telescopic rod tube 8-1 is a straight tube structure, the distal end of the first telescopic rod tube connector 8-2 is provided with the second hingeshaft mounting seat 17, and the first telescopic rod tube connector 8-2 is further provided with an opening for passing the secondtelescopic rod 16 or theconnector 15. Because the firsttelescopic rod 8 needs to be provided with the second hingeshaft mounting seat 17, the firsttelescopic rod 8 is arranged to be of a detachable structure comprising a first telescopic rod pipe body 8-1 and a first telescopic rod pipe body connecting piece 8-2, so that on one hand, the firsttelescopic rod 8 can be conveniently produced, namely, the first telescopic rod pipe body 8-1 of a straight pipe structure and the first telescopic rod pipe body connecting piece 8-2 of a special-shaped pipe structure are respectively produced, and on the other hand, the firsttelescopic rod 8 is also convenient to disassemble and assemble. Of course, in other embodiments, the firsttelescopic rod 8 may be an integral structure, i.e. the first telescopic rod tube 8-1 and the first telescopic rod tube connector 8-2 are an integral structure or fixedly connected.

In the embodiment shown in fig. 14 to 17, twobayonets 18 are disposed on the tube wall of the first telescopic rod tube 8-1, twoelastic hooks 19 capable of extending into the first telescopic rod tube 8-1 and respectively fitting the twobayonets 18 are disposed at the proximal end of the first telescopic rod tube connecting piece 8-2, as shown in fig. 17, in order to facilitate theelastic hooks 19 to enter the first telescopic rod tube 8-1 and further to be locked into thebayonets 18, two groove channels disposed on the tube wall along the radial direction of the first telescopic rod tube 8-1 are disposed on the first telescopic rod tube 8-1 corresponding to eachbayonet 18, one of the groove channels is communicated with the correspondingbayonet 18, and an opening for the secondtelescopic rod 16 or the connectingpiece 15 to pass through is located between the twoelastic hooks 19. Of course, in other embodiments, the first telescopic rod tube 8-1 and the first telescopic rod tube connector 8-2 may also adopt a detachable structure in the form of the above-mentioned L-shapedgroove 11 and the limitingprotrusion 12, and at this time, in order to avoid the situation of disengagement in use, the rotating dial wheel 31-2 is not provided, that is, the firsttelescopic rod 8, the fixingrod 5, therotating wrist 1 and theend effector 2 do not have the function of rotating around the central axis of the fixingrod 5, or the distal end of the first telescopic rod tube 8-1 and the proximal end of the first telescopic rod tube connector 8-2 are provided with adaptive plug sockets or plug tooth shapes, and the first telescopic rod tube 8-1 and the first telescopic rod tube connector 8-2 are circumferentially limited by the plug sockets or plug tooth shapes, so that the first telescopic rod tube 8-1 and the first telescopic rod tube connector 8-2 can synchronously rotate when the rotating dial wheel 31-2 is rotated.

In the embodiment shown in fig. 3, the second telescopic rod 16 comprises a second telescopic rod body 16-1 and a second telescopic rod body connector 16-2, the second telescopic rod body 16-1 is located in the first telescopic rod body 8-1, the distal end of the second telescopic rod body connector 16-2 is located between the second hinge mounting seat 17 and the tube wall of the fixed tube body connector 5-2 of the fixed rod 5, the proximal end of the second telescopic rod body connector 16-2 passes through the opening of the first telescopic rod body connector 8-2 and is detachably connected with the first telescopic rod body 8-1, and the second telescopic rod 16 is configured as a detachable second telescopic rod body 16-1 and a second telescopic rod body connector 16-2, which are also convenient for manufacturing and installation and disassembly, in this embodiment, in order to avoid the second telescopic rod body connector 16-2 interfering with the first telescopic rod body connector 8-2, i.e. in order to enable the second telescopic rod body connector 16-2 to pass through the opening of the first telescopic rod body connector 8-2, and thus the second telescopic rod body connector 16-2 is configured as a Z-shaped telescopic rod body connector, which is also shown in other embodiments, such as a straight telescopic rod body connector 16-2. Of course, in other embodiments, the second telescopic rod body 16-1 and the second telescopic rod body connecting piece 16-2 may be fixedly connected or integrally formed, for example, in an embodiment where the secondtelescopic rod 16 is disposed parallel to the firsttelescopic rod 8, and the slidingspace 14 is a sliding groove disposed on the outer circumferential wall of therotating wrist 1, the secondtelescopic rod 16 may be an integral structure, and the distal end thereof may not be disposed in a Z shape, or as in the embodiment shown in fig. 6, since the connectingpiece 15 is a flexible rope, the secondtelescopic rod 16 may be a straight rod of an integral structure, and the distal end of the secondtelescopic rod 16 is not disposed in a Z shape.

The connectingmember 15 is an elastic piece or an elastic rod or a flexible rope, as shown in fig. 3, the connectingmember 15 is an elastic piece or an elastic rod, the structure of the elastic piece is as shown in fig. 8, two ends of the elastic piece are connected by a pin, the elastic piece is assembled by combining multiple layers of high-elasticity stainless steel sheets, so that the multiple layers of structures have better elasticity, and at the same time, the elastic piece can effectively transmit power after being subjected to pushing force and pulling force, thereby enabling theend effector 2 serving as a clamp to open and close smoothly and clamping to be more powerful, as shown in fig. 6 and 7, the connectingmember 15 is a flexible rope, such as a steel wire rope, a tungsten wire rope, and the like, and as shown in fig. 6 and 7, the connectingmember 15 also extends from the center line of thewrist 1 to the center line of the fixingrod 5.

In the embodiment shown in fig. 2 and 18, the end effector 2 is a clamp driven by the second telescopic rod 16 to open and close, and the clamp includes two jaws 20, a jaw mounting seat 22 and a limit pin 24, wherein at least one of the jaws 20 is provided with an arc-shaped limit hole 21, and the jaw 20 is rotatably connected to the rotary wrist 1 through a first rotating structure, and a rotating axis of the first rotating structure is perpendicular to a moving direction of the end effector 2; the first rotating structure is positioned at one side of the arc limiting hole 21, which forms an arc opening; the jaw mounting seat 22 is provided with a linear limiting hole 23 extending along the extension direction of the end effector 2, and one side of the linear limiting hole 23 facing the fixed rod 5 is provided with a butting table for butting the jaw 20 provided with the arc-shaped limiting hole 21, and the jaw mounting seat 22 is connected with the connecting piece 15; the limit pin 24 is arranged on the rotary wrist 1, the limit pin 24 penetrates through the linear limit hole 23 and the arc limit hole 21, so that the opening and closing of the clamp are realized through the telescopic movement of the second telescopic rod 16, the limit pin 24, the linear limit hole 23 and the arc limit hole 21 limit the opening and closing angle, and at the moment, the end effector 2 moves in a telescopic manner along the guide direction of the sliding space 14, mainly aims at realizing the opening and closing action of the clamp, and is not used for finely adjusting the position of the clamp. Two in this embodiment theclaw 20 all is equipped witharc spacing hole 21 to respectively through corresponding first rotating-structure with rotatewrist 1 and connect, clawmount pad 22 is equipped with the one end of thespacing hole 23 of straight line shape is located two between theclaw 20, twoclaws 20 all can open and shut the rotation onclaw mount pad 22 promptly, and the clamp can be the type such as film tying nipper, noninvasive nipper, the pincers that pull that coincide, fixed nipper, V-arrangement nipper, sharp mouth nipper, and its structure also can not possessarc spacing hole 21 and first rotating-structure. Of course, in other embodiments, only one of thejaws 20 may be capable of opening and closing, and theother jaw 20 may be fixedly connected to thejaw mounting seat 22 or may be provided as an integral structure, that is, the forceps may be a gastric grasper, a single-action rat tooth grasper, or the like. Of course, in other embodiments, theend effector 2 may be a scissors, a cutting blade, an electric knife, an electric hook, or the like.

In the embodiment shown in fig. 18, the distal end of therotary wrist 1 is provided with an opening and closing groove 25 for opening and closing thejaw 20, the first rotary structure includes a first rotary groove 26 provided on a side wall of the opening and closing groove 25, and a firstrotary protrusion 27 provided on thejaw 20 and fitting with the first rotary groove 26, the firstrotary protrusion 27 is located on a side where thearc limiting hole 21 forms an arc opening, and the first rotary structure of the present embodiment can facilitate the removal of thejaw 20 from therotary wrist 1.

In the embodiment shown in fig. 18, thejaw 20 with the arc-shaped limitinghole 21 and thejaw mounting seat 22 are rotatably connected through a second rotating structure, and the rotating axis of the second rotating structure is perpendicular to the moving direction of theend effector 2, the second rotating structure is located on one side of the arc-shaped limitinghole 21 different from the side where the arc-shaped opening is formed, the second rotating structure is provided to ensure the stability of thejaw mounting seat 22 and thejaw 20 during opening and closing rotation, and when the twojaws 20 can perform opening and closing rotation, one end of thejaw mounting seat 22, which is provided with the linear limitinghole 23, is located between the twojaws 20, and is connected to the twojaws 20 through the two second rotating structures in a one-to-one correspondence. Of course, in other embodiments, the second rotating structure may not be provided.

In the embodiment shown in fig. 18, the second rotation structure includes asecond rotation protrusion 28 provided on thejaw mounting base 22 and asecond rotation groove 29 provided on thejaw 20, thesecond rotation groove 29 is located on a side of the arc-shaped limitinghole 21 different from the side where the arc-shaped opening is formed, and thesecond rotation protrusion 28 is located on a side of the linear limitinghole 23 in the width direction, and the first rotation structure of the present embodiment can facilitate the removal of thejaw 20 from theend effector 2.

In another aspect, the invention provides a minimally invasive surgical instrument, which comprises the above-mentioned minimally invasive surgical instrument assembly.

Minimal access surgery apparatus is owing to adopt foretell minimal access surgery apparatus subassembly to makedead lever 5 and firsttelescopic link 8 can realize quick simple split withhandle 31, and then realize that the body of rod and handle can carry out cleaning and disinfecting respectively, effectively reduce the required occupation space of cleaning and disinfecting operation, and can promote cleaning and disinfecting's effect.

In the embodiment shown in fig. 32, because the fixingrod 5, the firsttelescopic rod 8 and the secondtelescopic rod 16 are both connected to thehandle 31 in a manner of being quickly detached, when the minimally invasive surgical instrument needs to be cleaned and disinfected, the fixingrod 5, the firsttelescopic rod 8 and the secondtelescopic rod 16 can be quickly detached from thehandle 31, the detached structure is as shown in fig. 32, at this time, the fixed tube 5-1 is detached into an independent part, the first telescopic tube 8-1 is detached into an independent part, the secondtelescopic rod 16, the fixed tube connecting part 5-2, the first telescopic tube connecting part 8-2 and therotating wrist 1 are still connected together, the three parts can be cleaned and disinfected respectively, so that the cleaning and disinfecting effect is improved, and the space occupied by the cleaning and disinfecting operation is effectively reduced.

When the minimally invasive surgical instrument is operated, the forefinger is buckled at thefirst trigger 49, the thumb is hooked in thesecond trigger 59, the ring finger and the little finger of the middle finger are respectively placed on the handle body 31-1 from top to bottom, so that the instrument can be conveniently operated by grasping, thesecond trigger 59 controls the opening and closing of the clamp serving as theend effector 2, thefirst trigger 49 is hooked backwards to realize the rotation of theend effector 2 and therotating wrist 1 relative to the fixedrod 5 around the first hinge shaft 6, the lockingpiece 55 and the thirdelastic piece 56 can quickly realize the direct and quick return of theend effector 2 and therotating wrist 1 from the positions with the rotation angle to the straight tong head state, namely theend effector 2 and therotating wrist 1 are positioned on the central axis of the fixedrod 5, so that the far hand end of the minimally invasive surgical instrument can be quickly and conveniently taken out from a small hole in the body surface of a patient, and in addition, the rotating thumb wheel 31-2 is poked to rotate by the forefinger when theend effector 2 needs to rotate around the central axis of the fixedrod 5. Of course, further splitting is possible in other embodiments.

The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto. Within the scope of the technical idea of the invention, numerous simple modifications can be made to the technical solution of the invention, including any suitable combination of specific features, and in order to avoid unnecessary repetition, the invention will not be described in detail in relation to the various possible combinations. Such simple modifications and combinations should be considered within the scope of the present disclosure as well.

Claims (7)

1. A minimally invasive surgical instrument assembly, comprising:

a handle (31);

a first telescopic rod (8), wherein the first telescopic rod (8) is arranged on the handle (31) in a telescopic and movable manner along the axial direction of the first telescopic rod;

the first trigger (49) is rotatably hinged with the handle (31) through a first trigger hinge shaft (50), and the first trigger (49) is connected with the first telescopic rod (8) so as to drive the first telescopic rod (8) to move telescopically;

the positioning piece is arranged on the handle (31) and is provided with a positioning tooth socket; and

a capture member (55), the capture member (55) being provided with a toothed portion for engaging the positioning spline, and the capture member (55) being movably disposed on the first trigger (49) such that the capture member (55) has a locked position in which the toothed portion engages the positioning spline to enable locking of the first trigger (49), and an active position in which the toothed portion disengages the positioning spline to enable rotation of the first trigger (49);

the positioning piece comprises an arc-shaped ratchet piece (54), the arc-shaped ratchet piece (54) is arranged on the handle (31) in a surrounding mode of the first trigger hinge shaft (50), and a plurality of ratchet grooves which are used as the positioning tooth grooves are formed in the arc direction of the arc-shaped ratchet piece (54);

the position locking piece (55) can be rotatably arranged on the first trigger (49) between the locking position and the movable position, and when the position locking piece (55) is located at the locking position, the first trigger (49) can only move in one direction along the arc direction of the arc-shaped ratchet piece (54);

the minimally invasive surgical instrument assembly further comprises a third elastic piece (56), the third elastic piece (56) is arranged along the length direction of the first telescopic rod (8), the handle (31) is connected with the proximal hand end of the first telescopic rod (8) through the third elastic piece (56), or the handle (31) is connected with the first trigger (49) through the third elastic piece (56), so that the third elastic piece (56) can provide a force to the first trigger (49) along the direction opposite to the unidirectional movement direction;

minimally invasive surgery apparatus subassembly still includes dead lever (5), second telescopic link (16) and second trigger (59), dead lever (5) are established for the cover the outside body structure of first telescopic link 8, stretch out the nearly hand end of first telescopic link (8) dead lever (5), second telescopic link (16) are followed the length direction of dead lever 5 sets up, the nearly hand end of second telescopic link (16) is equipped with bulb (58), second trigger (59) with handle (31) link to each other through the rotatable articulated of second trigger hinge, the handheld end of non-of second trigger (59) is equipped with fan-shaped spout (60), just the plane perpendicular to that fan-shaped spout (60) formed the second trigger hinge, the arc tank bottom of fan-shaped spout (60) sets up to the restriction bulb (58) only along its pitch arc direction gliding shape.

2. The minimally invasive surgical instrument assembly according to claim 1, further comprising a fourth elastic member (57), wherein the fourth elastic member (57) is arranged on the first trigger (49), and the fourth elastic member (57) is abutted against at least the position locking member (55) in the locking position so as to provide pressure to the position locking member (55) in the direction of the tooth part moving into the positioning tooth slot.

3. Minimally invasive surgical instrument assembly according to claim 2, wherein the fourth resilient member (57) is a spring plate abutting the capture member (55) in the locked position.

4. The minimally invasive surgical instrument assembly according to any one of claims 1 to 3, further comprising a rotating mounting seat (51), wherein the rotating mounting seat (51) is rotatably arranged on the non-hand-held end of the first trigger (49), the rotating axis of the rotating mounting seat (51) is parallel to the first trigger hinge shaft (50), the rotating mounting seat (51) is provided with a mounting hole (52), the axis of the mounting hole (52) is perpendicular to the non-plane of the first trigger hinge shaft (50), and the first telescopic rod (8) or a telescopic rod connecting piece axially connected with the first telescopic rod (8) is arranged in the mounting hole (52).

5. The minimally invasive surgical instrument assembly according to claim 4, wherein a rotary connecting shaft sleeve (53) is fixedly arranged on the inner peripheral wall of the mounting hole (52), and the rotary connecting shaft sleeve (53) is sleeved on the proximal hand end of the first telescopic rod (8) or the proximal hand end of the telescopic rod connecting piece.

6. The minimally invasive surgical instrument assembly according to claim 1, wherein a distal end face of the hand-held end of the first trigger (49) is configured in an arc shape adapted to grasp an index finger of a human body.

7. The minimally invasive surgical instrument assembly according to claim 1, wherein the handle (31) is provided with an annular holding portion, the inner peripheral wall of the holding portion is provided with a finger clip protruding portion (64), the finger clip protruding portion (64) divides the inner space of the holding portion into a top space (65) suitable for extending into a human body middle finger and a bottom space (66) suitable for extending into a human body ring finger, the outer peripheral wall of the holding portion is provided with a finger-overlapping protruding portion (67), and the far-hand end face of the finger-overlapping protruding portion (67) is provided with an arc shape suitable for overlapping a human body little finger.

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