Disclosure of Invention
In view of the foregoing, the present invention provides a multiple degree of freedom surgical instrument comprising an operating handle, an instrument shaft, and a working tip.
The working end is connected to the distal end of the instrument rod through a movable part, and the movable part is used for enabling the working end to move relative to the distal end of the instrument rod through self movement, wherein the movement at least comprises rotation around a first axis and rotation around a second axis, and the first axis and the second axis are perpendicular to each other;
The working end comprises a mounting seat and two opening and closing pieces mounted on the mounting seat, and a working area of each opening and closing piece is arranged at the far end of each opening and closing piece; the mounting seat is rotationally connected to the movable part around a spin axis, and in an initial state, a plane parallel to the first axis and the second axis is perpendicular to the spin axis;
The operation handle is connected to the proximal end of the instrument rod through a movable input part, the movable input part is used for enabling the operation handle to move relative to the proximal end of the instrument rod through movement of the operation handle, and a mapping relation exists between the movement of the movable input part and the movement of the movable part;
the multi-degree-of-freedom surgical instrument also comprises a spin control part and an opening and closing control part, wherein the spin control part is connected with the mounting seat and is used for controlling the mounting seat to rotate relative to the movable part under the action of external force, and an input end for receiving the external force in the spin control part is arranged on the operating handle;
The opening and closing control part is connected with at least one opening and closing piece and is used for enabling working areas on the two opening and closing pieces to be close to or far away from each other under the action of external force, and an input end used for receiving the external force in the opening and closing control part is arranged on the operating handle.
In one embodiment, the motion input portion moves the operation handle by itself to make the operation handle move relative to the proximal end of the instrument rod at least including a rotation around a third axis and a rotation around a fourth axis, wherein the rotation around the third axis and the rotation around the first axis have a mapping relationship, and the rotation around the fourth axis and the rotation around the second axis have a mapping relationship.
In one embodiment, the movable portion comprises a snake bone structure, one end of the snake bone structure is rotatably connected with the mounting seat around the spin axis, and the other end of the snake bone structure is connected with the distal end of the instrument rod.
In one embodiment, the multiple degree of freedom surgical instrument, the snake bone structure comprises two snake bone joints, wherein one of the snake bone joints effects rotation about the first axis and the other snake bone joint effects rotation about the second axis.
In one embodiment, the surgical instrument comprises a plurality of degrees of freedom, wherein the movable input portion comprises a movable base, a first movable member and a second movable member, the movable base is fixedly connected to the proximal end of the instrument rod, the first movable member is rotatably connected to the movable base around the third axis, the second movable member is rotatably connected to the first movable member around the fourth axis, and the operating handle is mounted on the second movable member.
In one embodiment, the movable base member is a U-shaped member, the middle of the U-shape of the movable base member is fixedly connected with the proximal end of the instrument rod, and the instrument rod is located at the outer side of the U-shape of the movable base member; the two ends of the U-shaped movable base piece are respectively and rotatably connected with the first movable piece around the third axis;
the second movable piece is a U-shaped component, two ends of the U-shape of the second movable piece are respectively connected with the first movable piece in a rotating way around the fourth axis, and the second movable piece is positioned on the inner side of the U-shape of the first movable piece;
The operating handle is positioned on the inner side of the U-shaped part of the second movable part and is connected with the middle part of the U-shaped part of the second movable part; the first movable piece is provided with a through hole communicated with the inner side of the U-shaped of the second movable piece, and when the movable base piece is used, the second movable piece and an operator are positioned on two sides of the first movable piece, and the user is in contact with the operating handle through the through hole.
In one embodiment, the first axis is parallel to the second axis, and the second axis is parallel to the third axis.
In one embodiment, the third axis and the fourth axis lie in the same plane, and the plane passes through a grip region on the operating handle.
In one embodiment, the input end of the opening/closing control portion is disposed in the holding area, and the input end of the spin control portion is disposed at the distal end of the holding area.
In one embodiment, the input end of the spin control portion is a rotating wheel rotatably connected to the operating handle, and the circumferential outer side of the rotating wheel is exposed out of the operating handle and used for an operator to apply an external force to drive the rotating wheel to rotate relative to the operating handle.
In one embodiment, the multi-degree-of-freedom surgical instrument further comprises a torque transmission tube, wherein the distal end of the torque transmission tube is connected with the mounting seat, the proximal end of the torque transmission tube is connected with the rotating wheel, and the torque transmission tube is used for transmitting torque to drive the mounting seat to rotate relative to the movable part; the torque transmission tube comprises at least one flexible section which can transmit torque in a bent state.
In one embodiment, the opening and closing control part comprises an opening and closing control wire, the distal end of the opening and closing control wire is connected with at least one opening and closing piece, the proximal end of the opening and closing control wire is connected with the input end of the opening and closing control part, and the input end of the opening and closing control part enables working areas on the two opening and closing pieces to be close to each other or far away from each other under the action of external force through the opening and closing control wire;
the internal passage of the torque transfer tube is used for the passage of the opening and closing control wire.
In one embodiment, the surgical instrument further comprises an opening and closing locking part, wherein the input end of the opening and closing locking part is arranged on the operating handle, and the input end of the opening and closing locking part is used for locking or unlocking the relative positions of the two opening and closing parts under the action of external force.
The multi-degree-of-freedom surgical instrument in one embodiment further comprises an opening and closing locking part, wherein the input end of the opening and closing locking part is arranged on the operating handle, and the input end of the opening and closing locking part is used for locking or unlocking the relative positions of the two opening and closing parts under the action of external force;
The opening and closing locking part comprises a channel used for the opening and closing control wire to pass through, the opening and closing control wire can move in the channel in the unlocking state, and the space in the channel is reduced in the locking state so that the opening and closing control wire is pressed in the channel and cannot move.
By adopting the technical scheme, the invention has the following advantages and positive effects compared with the prior art:
The multi-degree-of-freedom surgical instrument provided by the invention is used by holding the operating handle, and the working areas of the two opening and closing parts in the working end can be mutually close to and mutually far away from each other through the input end of the opening and closing control part on the operating handle, so that the opening and closing work of the working end can be realized. The rotation of the mounting seat relative to the movable piece can be controlled through the input end of the spin control part on the operation handle, so that the spin action of the working tail end is realized; the operator holds the operation handle and then performs the action of the wrist, the action of the wrist enables the operation handle and the proximal end of the instrument rod to move, the movement is realized by the self movement of the movable input part, and the self movement of the movable input part and the self movement of the movable part have a mapping relation, so that the movable part moves by itself, and the working tail end moves relative to the distal end of the instrument rod; wherein rotation about a first axis and rotation about a second axis, and the first axis and the second axis are perpendicular, such that the working tip may effect pitch and yaw movements.
According to the multi-degree-of-freedom surgical instrument, when the working end rotates, other parts of the instrument can not rotate along with the working end, so that independent spin of the working end can be realized; when the working tail end is controlled to bend (realized through the movable part), an operator only needs to rotate the wrist joint with the forearm as a reference, and the whole operation is convenient and fast and is not easy to fatigue.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will explain the specific embodiments of the present invention with reference to the accompanying drawings. It is evident that the drawings in the following description are only examples of the invention, from which other drawings and other embodiments can be obtained by a person skilled in the art without inventive effort.
For the sake of simplicity of the drawing, the parts relevant to the present invention are shown only schematically in the figures, which do not represent the actual structure thereof as a product. Additionally, in order to simplify the drawing for ease of understanding, components having the same structure or function in some of the drawings are shown schematically with only one of them, or only one of them is labeled. Herein, "a" means not only "only this one" but also "more than one" case.
Referring to fig. 1 to 6, a multiple degree of freedom surgical instrument includes an operating handle 7, an instrument bar 4 and a working tip.
The working tip is connected to the distal end of the instrument bar 4 by means of a movable portion 5 (herein, distal end means an end relatively far from the operator, i.e. doctor, and proximal end means an end relatively close to the operator, i.e. doctor), the movable portion 5 being adapted to allow the working tip to be movable relative to the distal end of the instrument bar 4 by means of its own movement, the movement comprising at least a rotation about a first axis and a rotation about a second axis, the first axis and the second axis being mutually perpendicular. Wherein, the rotation around the first axis and the rotation around the second axis can only rotate a part of the angle, but can not achieve 360 degrees of rotation; the first axis and the second axis may be perpendicular in the same plane or perpendicular in different planes.
Specifically, the movable portion 5 includes a snake bone structure 3, one end of the snake bone structure 3 is rotatably connected with the working end about the spin axis, and the other end is connected with the distal end of the instrument rod 4. The snake bone structure 3 comprises two snake bone joints, a first snake bone joint 13 and a second snake bone joint 14, respectively, the first snake bone joint 13 being arranged to effect rotation about a first axis and the second snake bone joint 14 being arranged to effect rotation about a second axis. Two snake bone joints are connected in series, a first snake bone joint 13 being located at the proximal end of a second snake bone joint 14, namely: one end of the first snake bone joint 13, which is not connected with the second snake bone joint 14, is fixedly connected with the distal end of the instrument rod 4, and one end of the second snake bone joint 14, which is not connected with the first snake bone joint 13, is rotatably connected with the working end.
The working tip may perform a spinning motion (described in more detail below) in which it rotates about a spin axis. The initial state of the multiple degree of freedom surgical instrument is similar to that shown in fig. 1, but the initial state is when the working areas of the two openers 1 are opened at the maximum angle (the contents of the openers 1 will be described in detail later), and the working areas of the two openers 1 are closed in fig. 1. In the initial state, the axis of the instrument rod 4 is coincident with the spin axis, the axis of the instrument rod 4 is vertical to the plane where the first axis is located, the axis of the instrument rod 4 is vertical to the plane where the second axis is located, when the multi-degree-of-freedom surgical instrument is adjusted to the state that the axis of the instrument rod 4 is horizontally forward relative to an operator, the first axis is horizontal, and the second axis is vertical, the pitching motion of the working end can be realized by the motion around the first axis, and the swaying motion of the working end can be realized by the motion around the second axis.
Of course, in other embodiments, the movable portion 5 may have other structures, which are not limited herein. For example, in the case where the first axis and the second axis are perpendicular to each other, the movable portion 5 may be formed of at least one set of relatively movable joint modules, and two sets of joint modules among the plurality of sets of joint modules may be used to achieve rotation about the first axis, rotation about the second axis, and the like, respectively; for the case where the first axis and the second axis are perpendicular in the same plane, the movable member may be a structure resembling a universal ball, or the like.
The operating handle 7 is connected to the proximal end of the instrument bar 4 through a movable input portion for moving the operating handle 7 relative to the proximal end of the instrument bar 4 by its own movement, and there is a mapping relationship between its own movement of the movable input portion and its own movement of the movable portion 5. Thus, when the operator moves the operating handle 7 in relation to the proximal end of the instrument bar 4, the working tip can correspondingly move in relation to the distal end of the instrument bar 4.
Specifically, the movement of the movable input portion by itself moves the operation handle 7 relative to the proximal end of the instrument bar 4 to include at least the rotation about the third axis 20 and the rotation about the fourth axis 21, and there is a mapping relationship between the rotation about the third axis 20 and the rotation about the first axis, and a mapping relationship between the rotation about the fourth axis 21 and the rotation about the second axis.
More specifically, as shown in fig. 3, the movable input portion includes a movable base 17, a first movable member 18 and a second movable member 19, the movable base 17 is fixedly connected to the proximal end of the instrument shaft 4, the first movable member 18 is rotatably connected to the movable base 17 about a third axis 20, the second movable member 19 is rotatably connected to the first movable member 18 about a fourth axis 21, and the operating handle 7 is mounted to the second movable member 19. Wherein, the movable base 17 can be a U-shaped component, the middle part of the U-shape of the movable base 17 is fixedly connected with the proximal end of the instrument rod 4, and the instrument rod 4 is positioned outside the U-shape of the movable base 17. Both ends of the U-shape of the movable base 17 are respectively rotatably connected with the first movable member 18 about the third axis 20. The second movable member 19 may also be a U-shaped member, two ends of the U-shape of the second movable member 19 are respectively rotatably connected with the first movable member 18 around the fourth axis 21, and the second movable member 19 is located inside the U-shape of the first movable member 18. The operating handle 7 is located inside the U-shape of the second movable member 19, and the operating handle 7 is connected with the middle of the U-shape of the second movable member 19. The first movable member 18 is provided with a through hole communicated with the inner side of the U-shaped second movable member 19, and when in use, the movable base member 17 and the second movable member 19 are positioned on two sides of the first movable member 18 with an operator, and the user contacts the operating handle 7 through the through hole. Preferably, in the initial state, the third axis 20 is parallel to the first axis, and the fourth axis 21 is parallel to the second axis; the third axis 20 and the fourth axis 21 lie in the same plane and the plane passes through the grip area on the operating handle 7.
The rotational connection of the movable base 17 and the first movable member 18, and the rotational connection of the first movable member 18 and the second movable member 19 are all implemented in various ways, and are not limited in particular. In this embodiment, four rotational joints are each of similar structure, and a rotational joint between one end of the U-shape of the movable base 17 and the first movable member 18 will be described as an example: as shown in fig. 4, a groove is formed in the first movable member 18, one end of the U-shape of the movable base member 17 extends into the groove, and the two are rotatably connected around the third axis 20 through the movable portion pin 22 and the movable portion clamp spring 24; a movable part bearing 23 is arranged between the movable base 17 and the movable part pin shaft 22, and the movable part bearing 23 plays roles of supporting and reducing friction force during rotation; in order to prevent the movable part pin 22 from scratching the operator at the inner side of the through hole, a pin guard 25 is fixed on the first movable part 18 after the movable part pin 22 is installed, and the pin guard 25 covers the movable part clamp spring 24 and the movable part pin 22 at the inner side of the through hole.
The mapping relationship between the self-movement of the movable input part and the self-movement of the movable part 5 may be implemented in various ways, and is not particularly limited. For example, a sensor for detecting the rotation angle is provided at the movable input part, and a driver for driving the movement of the movable part 5 itself according to the angle detected by the sensor is provided on the instrument bar 4. Or referring to fig. 2, under the traction of the upper control wire 15, the upper gap is reduced, so that the first snake bone joint 13 bends upwards to drive the working end to move upwards, and similarly, the first snake bone joint 13 bends downwards under the traction of the lower control wire 16; the upper control wire 15 and the lower control wire 16 pass through the instrument rod 4 and the movable base 17 and are fixed on the first movable member 18; when the operator holds the wrist of the operating handle 7 and lifts up, the movable base member 17 and the first movable member 18 rotate relative to the third axis 20, the upper control wire 15 is stretched to drive the first snake bone joint 13 to bend upwards, so that the working end moves upwards, the stretching amount of the upper control wire 15 is in direct proportion to the rotation angle of the first movable member 18 and the movable base member 17 when the wrist of the operator lifts up, the larger the rotation angle is, the larger the stretching amount is, the upward bending angle of the first snake bone joint 13 is also, and the rotation angle corresponds to the upward lifting amplitude of the wrist of the operator, namely, the first snake bone joint 13 bends upwards gradually along with the gradual upward lifting of the wrist of the operator; if the wrist rotates downwards, the lower control wire 16 is driven to pull the first snake bone joint 13, so that the first snake bone joint 13 bends downwards; the control wires (two control wires are collectively called as deflection control wires) corresponding to the second snake-bone joint 14 are also the same control principle, and when the wrist of an operator rotates in the left-right direction, the control deflection control wires are driven to pull the second snake-bone joint 14, so that the second snake-bone joint 14 is driven to deflect, move in the left-right direction, and move the tail end of the work in the left-right direction.
The working end is responsible for the operation functions of the multi-degree-of-freedom surgical instrument, including but not limited to various forceps heads with different functions such as needle holding forceps, grasping forceps, electric hooks, bipolar electrocoagulation and the like, and the needle holding forceps are described herein as an example.
The working end comprises a mounting seat 2 and two opening and closing pieces 1 mounted on the mounting seat 2, and a working area of the opening and closing pieces 1 is arranged at the far end of the opening and closing pieces 1. The mount 2 is rotatably connected to the movable portion 5 about a spin axis, and in an initial state, a plane parallel to the first axis and the second axis is perpendicular to the spin axis. Specifically, as shown in fig. 2 and 5, the two opening and closing members 1 are rotatably connected to the mounting seat 2 through the same opening and closing pin shaft 9, and the rotation axis is perpendicular to the spin axis; the two opening and closing parts 1 rotate on the opening and closing pin shaft 9, so that working areas of the two opening and closing parts 1 are close to or far away from each other, and the opening and closing movement of the working tail end is realized.
Since the self-member of the snake bone structure 3 is not easy to further process, a fixing base 12 is fixedly connected to the distal end of the snake bone structure 3 (i.e., the end of the second snake bone joint 14 not connected to the first snake bone joint 13), and the mounting base 2 is rotatably connected to the fixing base 12 around the spin axis. As shown in fig. 5, friction force is generated between the mounting seat 2 and the fixing seat 12 during rotation, when the opening and closing control wire 26 (a component for controlling the rotation of the two opening and closing members 1, which will be described in detail below) is stressed and tensioned, the friction force affects the relative rotation between the two components, so that in order to reduce the friction force and improve the smoothness of spin, a spin bearing 27 is added between the mounting seat 2 and the fixing seat 12, and a rotatable assembly is formed by clamping the spin clamp spring 28, so that the clamping stagnation caused by the friction force can be significantly reduced. It should be noted that the spin bearing 27 is only a preferred embodiment, and if the internal space is insufficient or the friction force to be reduced is small, a metal or plastic gasket with low friction coefficient can be added between the mounting seat 2 and the fixing seat 12, or a wear-resistant coating can be added on the contact surface of the two to reduce the friction force, so as to replace the spin bearing 27.
The multi-degree-of-freedom surgical instrument further comprises a spin control part, wherein the spin control part is connected with the mounting seat 2 and is used for controlling the mounting seat 2 to rotate relative to the fixed seat 12 under the action of external force.
An input end for receiving an external force in the spin control section is provided on the operation handle 7. Specifically, the spin control portion includes a runner 8 and a torque transmission tube 6, wherein the runner 8 is an input end of the spin control portion. As shown in fig. 6, the turning wheel 8 is rotatably connected to the operation handle 7, and the circumferential outer side of the turning wheel 8 is exposed to the outside of the operation handle 7 and is used for an operator to apply an external force to drive the turning wheel 8 to rotate relative to the operation handle 7. The distal end of the torque transmission tube 6 is connected with the mounting seat 2, the proximal end of the torque transmission tube 6 is connected with the rotating wheel 8, and the torque transmission tube 6 is used for transmitting torque to drive the mounting seat 2 to rotate relative to the fixed seat 12; further, the torque transmission tube 6 comprises at least one flexible section which can transmit torque in a bent state. The torque transmission pipe 6 can be directly and fixedly connected with the rotating wheel 8 in a welding, bonding and other modes for torque transmission, at the moment, the axes of the torque transmission pipe and the rotating wheel coincide, and the rotating wheel 8 rotates to drive the torque transmission pipe 6 to synchronously rotate; the torque transfer tube 6 and the runner 8 may also be indirectly connected through a gear set or other structure. The gear set is a preferable scheme because the rotation proportion of the rotating wheel 8 and the mounting seat 2 can be adjusted through a reduction ratio in design.
When the automatic rotary machine works, an operator rotates the rotating wheel 8 to drive the torque transmission pipe 6 to rotate, the torque transmission pipe 6 transmits torque to the mounting seat 2, and the mounting seat 2 rotates to drive the whole working tail end to rotate, so that the spinning movement of the working tail end is realized. Grooves or knurling lines can be added on the rotating wheel 8, so that the rotating wheel is convenient for an operator to rotate.
For the torque transmitting tube 6, torque can be transmitted uniformly in the clockwise and counterclockwise directions. Referring to fig. 3 and 5, the proximal end of the torque transmission tube 6 is connected to the runner 8 through the second movable member 19, and the distal end of the torque transmission tube 6 is fixedly connected to the mounting base 2 through the movable base 17, the instrument rod 4, and the interior of the snake bone structure 3. It should be noted that the torque transmission tube 6 should have a certain redundant length in the initial state, so as to ensure that the movement of the operating handle 7 relative to the proximal end of the instrument bar 4 via the movable input is not limited, and that the movement of the operating handle 7 relative to the proximal end of the instrument bar 4 via the movable input does not affect the torque transmission function of the torque transmission tube 6.
The torque transmission tube 6 must comprise flexible segments, since the operating handle 7 must cause at least a portion of the torque transmission tube 6 to bend when moving relative to the instrument bar 4 via the movable input and bending the snake bone structure 3. In the present embodiment, the torque transmission tube 6 is a hollow multi-layer spring tube wound together in different spiral directions, and in practice, it is found that too few layers of spring tubes result in large difference in forward and reverse torque transmission efficiency, too many layers result in disadvantages of excessively high space occupation, poor bending performance, large minimum bending radius, and the like, so that a three-layer or four-layer spring tube is preferable as the torque transmission tube 6. Of course, in other embodiments, the torque transmission tube 6 may be a composite material formed by welding or bonding a hollow multi-layer spring tube and a hollow hard tube, and the hollow hard tube may be used in the area where bending does not occur, such as the inside of the instrument rod 4.
The multi-degree-of-freedom surgical instrument further comprises an opening and closing control part, wherein the opening and closing control part is connected with at least one opening and closing piece 1 and is used for enabling working areas on the two opening and closing pieces 1 to be close to each other or far away from each other under the action of external force; the input end of the opening and closing control part for receiving the external force is arranged on the operating handle 7 and is arranged in a holding area on the operating handle, and the input end of the spinning control part, namely the rotating wheel 8 is arranged at the far end of the holding area.
The opening and closing control part comprises an opening and closing control wire 26 and an opening and closing button 30, the far end of the opening and closing control wire 26 is connected with at least one opening and closing piece 1, the near end of the opening and closing control wire 26 is connected with the opening and closing button 30, and an operator can enable working areas on the two opening and closing pieces 1 to be close to each other or far away from each other through the opening and closing control wire 26 by operating the opening and closing button 30; while the internal passage of the torque transmission tube 6 is used to open and close the control wire 26.
Specifically, referring to fig. 5, a slider 11 is fixed at the distal end of an opening and closing control wire 26 by welding, crimping or bonding, and the sliding grooves 29 corresponding to the slider 11 are respectively provided on the two opening and closing members 1, and the position of the opening and closing member 1 connected with the opening and closing pin 9 is located between the working area and the sliding groove 29, and the working area of the two opening and closing members 1 is driven to approach each other by pulling the slider 11 to move in the proximal direction through the opening and closing control wire 26, that is, the two opening and closing members 1 are driven to close by pushing the slider 11 to move in the distal direction through the opening and closing control wire 26, that is, the working areas of the two opening and closing members 1 are driven to move away from each other. The mounting seat 2 is provided with a guide groove 10, the guide groove 10 can be arranged along the spin axis direction, the sliding block 11 is also connected in the guide groove 10 in a sliding way, and the guide groove 10 guides the movement of the sliding block 11; the opening and closing control wire 26 may be woven from a plurality of wires and woven to transmit both pulling and pushing forces. Of course, in other embodiments, the opening and closing control wire 26 can also be used to control the opening and closing of the two opening and closing members 1 through other structures, for example, one of the opening and closing members 1 is fixedly connected with the rotating seat, the opening and closing control wire 26 only controls one of the opening and closing members 1 to rotate to realize the opening and closing motion, or the opening and closing control wire 26 only can transmit the tensile force, and the slider 11 is returned to the state of opening the two opening and closing members 1 through the arrangement of the reset member, so the specific structure of the opening and closing control wire 26 for controlling the opening and closing of the two opening and closing members 1 is not limited herein.
Referring to fig. 6, the opening and closing button 30 is rotatably connected to the operation handle 7. The proximal end of the opening/closing control wire 26 is connected to the opening/closing button 30, and the connection structure may be a crank-link structure or other structures (these structures may be specifically disposed inside the operating handle 7), so long as the feeding amount of the opening/closing button 30 pressed can be converted into the moving amount of the driving slider 11 in the guide slot 10 at the distal end of the opening/closing control wire 26. The inside of the opening and closing button 30 is provided with a reset piece (such as a spring, etc.), so that the opening and closing button 30 is positioned at the most distal stroke end (as shown in fig. 6) when no external force exists, and at the moment, the two opening and closing pieces 1 are in an open state (as shown in fig. 5); when the shutter button 30 is gradually depressed, the shutter control wire 26 pulls the slider 11 gradually in the proximal direction, so that the working areas of the two shutters 1 approach each other, eventually a closed state (as shown in fig. 2) can be reached.
Furthermore, the multi-degree-of-freedom surgical instrument of this embodiment may further include an opening and closing locking portion, where an input end of the opening and closing locking portion is disposed on the operating handle 7, and the input end of the opening and closing locking portion is used to lock or unlock the relative positions of the two opening and closing members 1 under the action of an external force. Specifically, the input end of the opening and closing locking part can be a self-locking button 31 arranged on the operating handle 7, the self-locking button 31 is of a self-resetting switch structure, two use conditions exist, the self-locking is pressed down when the user presses down, and the user rebounds to return to the zero position when the user presses down. The opening and closing locking part comprises a channel for the opening and closing control wire 26 to pass through, and the self-locking button 31 can freely move in the channel when in a zero position (namely in an unlocking state); when the self-locking button 31 is pressed down to a locking working condition, the space in the channel is reduced so that the opening and closing control wire 26 is held tightly and pressed tightly in the channel and cannot move. The opening and closing locking part can change the internal space of the channel in various modes, for example, a locking part can slide along the direction vertical to the channel, when the self-locking button 31 is pressed for locking, the locking part is driven to slide into the channel until the locking part slides to press the opening and closing control wire 26 in the channel on the inner wall of the channel so that the opening and closing control wire 26 can not move any more, and when the opening and closing button 30 is pressed again for unlocking, the locking part is driven to exit the channel. When the multi-degree-of-freedom surgical instrument works, for example, when the opening and closing buttons 30 are pressed to any angle, for example, when the working end clamps an object, the two opening and closing parts 1 are not completely closed, the corresponding opening and closing buttons 30 are not at the most limiting station, and at the moment, the opening and closing control wire 26 can be locked and immobilized by pressing the self-locking button 31, so that the positions of the two opening and closing parts 1 relative to the mounting seat 2 are not changed any more, and the two opening and closing parts 1 are locked. It should be noted that the self-locking function of the opening and closing locking portion is an optional additional function, and in the absence of this function, the operator is not affected to control the opening and closing of the two opening and closing members 1 by operating the handle 7 and the opening and closing button 30.
When the multi-degree-of-freedom surgical instrument of the embodiment works, the opening and closing of the working end (namely, the rotation of the two opening and closing members 1 to realize the opening and closing movement) can be controlled by the opening and closing button 30 arranged in the holding area when the hand of an operator holds the holding area of the operating handle 7; the working end can be kept at a certain fixed opening and closing angle by pressing the self-locking button 31 on the operating handle 7. The extended finger (typically the index finger) rotates the rotating wheel 8, and the mounting seat 2 can rotate relative to the fixed seat 12 through the torque transmission tube 6, so as to drive the working end to perform spinning motion. The wrist is rotated up and down, the first movable part 18 rotates around the third axis 20 relative to the movable base, the first snake bone joint 13 can deflect in the same direction (realize pitching motion) according to a certain fixed proportion through the upper control wire 15 and the lower control wire 16 in the interior, and when the wrist rotates left and right, the second movable part 19 is driven to rotate around the fourth axis 21 relative to the first movable part 18, and the second snake bone joint 14 is deflected through the deflection control wire; similarly, the wrist control operation handle 7 moves in any direction, and the snake bone structure 3 can move in the same direction by coupling two degrees of freedom of pitching and swaying, so that the working end can be controlled to bend in all directions in the space.
The multi-degree-of-freedom surgical instrument of the present embodiment includes a plurality of degrees of freedom such as opening and closing, independent rotation (spinning motion), four-way bending (pitching motion and yawing motion), and the like. When the working end of the embodiment spins, other part structures of the multi-degree-of-freedom surgical instrument do not rotate along with each other, and independent spinning of the working end can be realized. The embodiment realizes the rotation around the first axis and the rotation around the second axis through the two snake bone joints, can realize the bending of the working end in any direction in space (the bending in any direction is realized by the rotation in the up-down direction and the rotation in the left-right direction, thus being called four-way bending), and has high control accuracy of the four-way bending. When controlling the four-way bending of the working tail end, an operator only needs to hold the operating handle 7, the wrist joint is rotated by taking the forearm as a reference, the control can be completed, the whole operation is convenient and the operator is not easy to fatigue.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, it is within the scope of the appended claims and their equivalents to fall within the scope of the invention.