技术领域Technical Field
本申请涉及人机辅助器械技术领域，尤其涉及一种手持器械。The present application relates to the technical field of human-machine assistance equipment, and in particular to a handheld equipment.
背景技术Background technique
微创外科手术是指在人体表面穿刺形成若干手术通道后借助手术器械伸入病人身体内部并对病灶进行手术操作。Minimally invasive surgery refers to puncturing the human body surface to form several surgical channels, and then using surgical instruments to reach into the patient's body and perform surgical operations on the lesions.
现有技术中手术器械包括器械本体和执行件，医生手握器械本体以使执行件伸入病人身体内部并进行手术操作。In the prior art, surgical instruments include an instrument body and an actuator. The doctor holds the instrument body to extend the actuator into the patient's body and perform the surgical operation.
但现有技术中器械本体的结构较为固定，医生在操作器械本体时需要手部和/或手臂配合运动，即现有技术中器械本体对于医生具有较大的操作难度，医生的使用体验较差。However, the structure of the instrument body in the prior art is relatively fixed, and the doctor needs to coordinate the movement of the hands and/or arms when operating the instrument body. That is, the instrument body in the prior art is relatively difficult for the doctor to operate, and the doctor's user experience is poor.
实用新型内容Utility Model Content
本申请提供一种手持器械，本申请的手持器械具有可调节手持操作角度的功能，该手持器械的操作难度较低，用户使用体验较高。The present application provides a handheld device. The handheld device of the present application has a function of adjusting the handheld operation angle. The handheld device has low operating difficulty and high user experience.
本申请提供一种手持器械，该手持器械包括第一壳体、第二壳体和限位件。第一壳体与第二壳体转动连接。限位件的至少部分能相对于第一壳体和第二壳体中的至少一个活动，以使限位件至少具有第一状态和第二状态。其中，在第一状态，限位件能限制第一壳体与第二壳体之间的相对转动，在第二状态，第一壳体与第二壳体之间能相对转动。其中，第一壳体和第二壳体中至少一个用于被用户手动操作(例如握持或托举等手部可以实现的动作)。The present application provides a handheld device, which includes a first shell, a second shell and a limiter. The first shell is rotatably connected to the second shell. At least part of the limiter can move relative to at least one of the first shell and the second shell, so that the limiter has at least a first state and a second state. In the first state, the limiter can limit the relative rotation between the first shell and the second shell, and in the second state, the first shell and the second shell can rotate relative to each other. In the second state, at least one of the first shell and the second shell is used to be manually operated by the user (for example, actions that can be performed by the hand such as holding or lifting).
本申请中，当限位件处于第一状态时，第一壳体和第二壳体被限位件限位，第一壳体和第二壳体不能相对转动，即第一壳体和第二壳体之间相对固定，结构稳定的第一壳体和第二壳体便于用户可以可靠地操作手持器械。当用户需要调节操作角度时，用户可以操作限位件由第一状态转变至第二状态，第一壳体和第二壳体不被限位件限位，第一壳体和第二壳体能相对转动；当第一壳体和第二壳体之间转动至用户所需的角度时，用户再操作限位件由第二状态转变至第一状态，第一壳体和第二壳体被限位件再次限位，即第一壳体和第二壳体之间再次相对固定，用户可以再次可靠地操作手持器械。因此，用户可以调节本申请的手持器械的第一壳体和第二壳体之间的结构角度，以适应不同位置的操作通道所需的操作角度，而用户无需大幅度地调节手腕、手臂和肩膀来调节操作角度，用户可以处于较为舒适的姿态操作手持器械，即用户的操作强度较低，用户的使用体验较好。In the present application, when the limiting member is in the first state, the first shell and the second shell are limited by the limiting member, and the first shell and the second shell cannot rotate relative to each other, that is, the first shell and the second shell are relatively fixed, and the first shell and the second shell with stable structures are convenient for the user to reliably operate the handheld device. When the user needs to adjust the operating angle, the user can operate the limiting member to change from the first state to the second state, the first shell and the second shell are not limited by the limiting member, and the first shell and the second shell can rotate relative to each other; when the first shell and the second shell are rotated to the angle required by the user, the user operates the limiting member again to change from the second state to the first state, the first shell and the second shell are limited by the limiting member again, that is, the first shell and the second shell are relatively fixed again, and the user can reliably operate the handheld device again. Therefore, the user can adjust the structural angle between the first shell and the second shell of the handheld device of the present application to adapt to the operating angle required by the operating channel at different positions, and the user does not need to adjust the wrist, arm and shoulder significantly to adjust the operating angle, and the user can operate the handheld device in a more comfortable posture, that is, the user's operation intensity is low, and the user's use experience is better.
可选地，限位件与第一壳体活动连接，在第一状态下，第一壳体通过限位件与第二壳体卡接，在第二状态下，第二壳体与限位件分离，和/或，限位件与第二壳体活动连接，在第一状态下，第二壳体通过限位件与第一壳体卡接，在第二状态下，第一壳体与限位件分离。Optionally, the limit member is movably connected to the first shell, and in the first state, the first shell is clamped with the second shell via the limit member, and in the second state, the second shell is separated from the limit member, and/or the limit member is movably connected to the second shell, and in the first state, the second shell is clamped with the first shell via the limit member, and in the second state, the first shell is separated from the limit member.
该手持器械包括第一壳体、第二壳体和限位件。第二壳体与第一壳体转动连接，第一壳体和第二壳体中至少一个用于被用户手动操作。限位件与第一壳体活动连接和/或限位件与第二壳体活动连接，以使限位件至少具有第一状态和第二状态；其中，在第一状态，限位件能限制第一壳体与第二壳体之间的相对转动，在第二状态，限位件与第一壳体分离和/或限位件与第二壳体分离，以使第一壳体与第二壳体之间能相对转动。The handheld device comprises a first shell, a second shell and a limiter. The second shell is rotatably connected to the first shell, and at least one of the first shell and the second shell is used to be manually operated by a user. The limiter is movably connected to the first shell and/or the limiter is movably connected to the second shell, so that the limiter has at least a first state and a second state; wherein, in the first state, the limiter can limit the relative rotation between the first shell and the second shell, and in the second state, the limiter is separated from the first shell and/or the limiter is separated from the second shell, so that the first shell and the second shell can rotate relative to each other.
当限位件处于第一状态时，第一壳体和第二壳体被限位件限位，第一壳体和第二壳体不能相对转动，即第一壳体和第二壳体之间相对固定，结构稳定的第一壳体和第二壳体便于用户可以可靠地操作手持器械。当用户需要调节操作角度时，用户可以操作限位件由第一预设位置运动第二预设位置，以使限位件由第一状态转变至第二状态，第一壳体和第二壳体不被限位件限位，第一壳体和第二壳体能相对转动；当第一壳体和第二壳体之间转动至用户所需的角度时，用户再操作限位件由第二预设位置运动第一预设位置，以使限位件由第二状态转变至第一状态，第一壳体和第二壳体被限位件再次限位，即第一壳体和第二壳体之间再次相对固定，用户可以再次可靠地操作手持器械。因此，用户可以调节本申请手持器械的第一壳体和第二壳体之间的结构角度，以适应不同位置的操作通道所需的操作角度，而用户无需大幅度地调节手腕、手臂和肩膀来调节操作角度，用户可以处于较为舒适的姿态操作手持器械，即用户的操作强度较低，用户的使用体验较好。When the limiting member is in the first state, the first shell and the second shell are limited by the limiting member, and the first shell and the second shell cannot rotate relative to each other, that is, the first shell and the second shell are relatively fixed, and the first shell and the second shell with stable structures are convenient for the user to reliably operate the handheld device. When the user needs to adjust the operating angle, the user can operate the limiting member to move from the first preset position to the second preset position, so that the limiting member is transformed from the first state to the second state, the first shell and the second shell are not limited by the limiting member, and the first shell and the second shell can rotate relative to each other; when the first shell and the second shell are rotated to the angle required by the user, the user operates the limiting member to move from the second preset position to the first preset position again, so that the limiting member is transformed from the second state to the first state, and the first shell and the second shell are limited by the limiting member again, that is, the first shell and the second shell are relatively fixed again, and the user can reliably operate the handheld device again. Therefore, the user can adjust the structural angle between the first shell and the second shell of the handheld device of the present application to adapt to the operating angle required by the operating channel at different positions, and the user does not need to adjust the wrist, arm and shoulder significantly to adjust the operating angle, and the user can operate the handheld device in a more comfortable posture, that is, the user's operation intensity is low, and the user's use experience is better.
可选地，限位件与第一壳体活动连接，限位件和第二壳体中任一个凸起部包括一个或至少两个绕转动轴线间隔设置的凸起部，另一个设置有一个凹陷部或至少两个绕转动轴线间隔设置的凹陷部，在第一状态，凸起部位于凹陷部内，在第二状态，凸起部位于与凹陷部外。和/或，限位件与第二壳体活动连接，限位件和第一壳体中任一个包括一个凸起部或至少两个绕转动轴线间隔设置的凸起部，另一个设置一个凹陷部或至少两个绕转动轴线间隔设置的凹陷部，在第一状态，凸起部位于凹陷部内，在第二状态，凸起部位于与凹陷部外。Optionally, the stopper is movably connected to the first shell, and any one of the projections in the stopper and the second shell includes one or at least two projections spaced apart around the rotation axis, and the other is provided with a recessed portion or at least two recessed portions spaced apart around the rotation axis, and in the first state, the projection is located inside the recessed portion, and in the second state, the projection is located outside the recessed portion. And/or, the stopper is movably connected to the second shell, and any one of the stopper and the first shell includes one projection or at least two projections spaced apart around the rotation axis, and the other is provided with a recessed portion or at least two recessed portions spaced apart around the rotation axis, and in the first state, the projection is located inside the recessed portion, and in the second state, the projection is located outside the recessed portion.
可选地，若设置有至少三个所述凹陷部，每两个凹陷部之间的间隔距离相同。Optionally, if at least three recessed portions are provided, the interval distance between every two recessed portions is the same.
可选地，手持器械还包括弹性件，弹性件的一端与第一壳体连接，弹性件的另一端与限位件连接，在弹性件的弹力作用下，以使限位件处于第一状态。Optionally, the handheld device further comprises an elastic member, one end of which is connected to the first shell, and the other end of which is connected to the limiting member, so that the limiting member is in the first state under the elastic force of the elastic member.
可选地，第一壳体和限位件中任一个设置有滑槽，另一个包括滑动部，滑动部与滑槽滑动配合。Optionally, either one of the first shell and the limiting member is provided with a slide groove, and the other includes a sliding portion, and the sliding portion is slidably matched with the slide groove.
可选地，限位件包括位于第一壳体外部和/或第二壳体外部的操作部。Optionally, the limiting member includes an operating portion located outside the first shell and/or outside the second shell.
可选地，手持器械包括手柄、连接臂和第一驱动件，手柄包括柄首和柄体，柄首与第一驱动件连接，柄体与连接臂连接，柄首为第一壳体，柄体为第二壳体。Optionally, the handheld device includes a handle, a connecting arm and a first driving member, the handle includes a handle head and a handle body, the handle head is connected to the first driving member, the handle body is connected to the connecting arm, the handle head is a first shell, and the handle body is a second shell.
可选地，手持器械还包括执行件和连接丝，第一驱动件通过连接丝与执行件连接(直接连接或间接连接)；连接丝包括松弛状态和拉紧状态，在拉紧状态下，执行件能被连接丝控制。Optionally, the handheld device further includes an actuator and a connecting wire, and the first driving member is connected to the actuator via the connecting wire (directly or indirectly); the connecting wire includes a relaxed state and a tensioned state, and in the tensioned state, the actuator can be controlled by the connecting wire.
可选地，手持器械包括手柄、连接臂和第二驱动件，手柄与第二驱动件连接，手柄为第一壳体，连接臂为第二壳体。Optionally, the handheld instrument includes a handle, a connecting arm and a second driving member, the handle is connected to the second driving member, the handle is the first shell, and the connecting arm is the second shell.
可选地，手持器械还包括端面齿盘、第一传动轴和执行件，第二驱动件与手柄转动连接，端面齿盘与手柄转动连接，第一传动轴与连接臂转动连接，第二驱动件与端面齿盘齿轮啮合，第一传动轴与端面齿盘齿轮啮合，第一传动轴与执行件连接(直接连接或间接连接)。Optionally, the handheld device also includes an end face toothed disc, a first transmission shaft and an actuator, the second driving member is rotatably connected to the handle, the end face toothed disc is rotatably connected to the handle, the first transmission shaft is rotatably connected to the connecting arm, the second driving member is meshed with the end face toothed disc gear, the first transmission shaft is meshed with the end face toothed disc gear, and the first transmission shaft is connected to the actuator (directly or indirectly).
应当理解的是，以上的一般描述和后文的细节描述仅是示例性的，并不能限制本申请。It should be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the present application.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1为本申请所提供的手持器械在一种具体实施例中的结构示意图，其中，手持器械处于第一姿态；FIG1 is a schematic structural diagram of a handheld device provided by the present application in a specific embodiment, wherein the handheld device is in a first posture;
图2为本申请所提供的手持器械在一种具体实施例中的结构示意图，其中，手持器械处于第二姿态；FIG2 is a schematic structural diagram of a handheld device provided by the present application in a specific embodiment, wherein the handheld device is in a second posture;
图3为手柄、第一驱动件、第一限位件、第一弹性件和连接丝的装配结构示意图，其中，仅显示手柄的局部结构；FIG3 is a schematic diagram of the assembly structure of the handle, the first driving member, the first limiting member, the first elastic member and the connecting wire, wherein only a partial structure of the handle is shown;
图4为手柄、第一限位件、第一弹性件的装配结构示意图，其中，第一限位件处于第一状态，且仅显示手柄的局部结构；FIG4 is a schematic diagram of the assembly structure of the handle, the first limiting member, and the first elastic member, wherein the first limiting member is in a first state and only a partial structure of the handle is shown;
图5为手柄、第一限位件、第一弹性件的装配结构示意图，其中，第一限位件处于第二状态，且仅显示手柄的局部结构；FIG5 is a schematic diagram of the assembly structure of the handle, the first limiting member, and the first elastic member, wherein the first limiting member is in the second state and only a partial structure of the handle is shown;
图6为柄首的局部结构示意图；FIG6 is a schematic diagram of a partial structure of the handle;
图7为柄首在另一视角下的结构示意图；FIG7 is a schematic diagram of the structure of the handle from another perspective;
图8为柄首、柄体、第一限位件和第一弹性件的爆炸结构示意图；FIG8 is a schematic diagram of the exploded structure of the handle head, the handle body, the first limiting member and the first elastic member;
图9为柄体在另一视角下的局部结构示意图；FIG9 is a schematic diagram of the partial structure of the handle body from another viewing angle;
图10为手柄、连接臂、第一限位件、第二限位件、第二驱动件的装配结构示意图；FIG10 is a schematic diagram of the assembly structure of the handle, the connecting arm, the first limiting member, the second limiting member, and the second driving member;
图11为手柄、连接臂、第二限位件的装配剖视图，其中，第二限位件处于第一状态；FIG11 is an assembly cross-sectional view of the handle, the connecting arm, and the second limiting member, wherein the second limiting member is in the first state;
图12为手柄、连接臂、第二限位件的装配剖视图，其中，第二限位件处于第二状态；FIG12 is an assembly cross-sectional view of the handle, the connecting arm, and the second limiting member, wherein the second limiting member is in the second state;
图13a为手柄、连接臂、第一限位件、第一弹性件、第二限位件和第二弹性件的爆炸结构示意图；FIG13a is a schematic diagram of the exploded structure of the handle, the connecting arm, the first limiting member, the first elastic member, the second limiting member and the second elastic member;
图13b为手柄、连接臂、第一限位件、第一弹性件、第二限位件和第二弹性件在另一视角下的爆炸结构示意图；FIG13b is a schematic diagram of the exploded structure of the handle, the connecting arm, the first limiting member, the first elastic member, the second limiting member and the second elastic member from another viewing angle;
图14为连接臂的局部结构示意图；FIG14 is a schematic diagram of a partial structure of a connecting arm;
图15为第一限位件的结构示意图；FIG15 is a schematic structural diagram of a first position-limiting member;
图16为第一限位件在另一视角下的结构示意图；FIG16 is a schematic structural diagram of the first position-limiting member from another viewing angle;
图17为第二限位件的结构示意图；FIG17 is a schematic structural diagram of a second position-limiting member;
图18为手柄的结构示意图；FIG18 is a schematic diagram of the structure of the handle;
图19为第二限位件在另一视角下的结构示意图；FIG19 is a schematic structural diagram of the second position-limiting member from another viewing angle;
图20为手柄、连接臂、第一传动轴、端面齿盘和第二驱动件的装配结构视图，其中，仅显示手柄和连接臂的局部结构。Figure 20 is an assembly structure view of the handle, the connecting arm, the first transmission shaft, the end face gear plate and the second driving member, in which only the partial structure of the handle and the connecting arm is shown.
附图标记：Reference numerals:
10-手持器械；10-Handheld instruments;
1-手柄；1-Handle;
11-柄首；11- handle;
111-第一滑槽；111-first chute;
111a-第一部分；111a-Part I;
111b-第二部分；111b-Part II;
111c-第三部分；111c-Part III;
112-第一环形凹槽；112-first annular groove;
113-第一容纳腔；113-first accommodating chamber;
114-第一开口；114-first opening;
115-第二开口；115 - second opening;
116-第三开口；116-the third opening;
117-第四开口；117-the fourth opening;
118-第一挡接部；118- first blocking portion;
12-柄体；12-handle body;
121-第一凹陷部；121- first recessed portion;
122-第二滑槽；122-second chute;
123-第一环形凸起部；123-first annular protrusion;
124-第二容纳腔；124- second accommodating chamber;
125-第五开口；125-Fifth opening;
126-第五凹陷部；126- fifth recessed portion;
127-第六凹陷部；127-sixth recessed portion;
128-第二轴瓦；128- second bearing;
129-第六开口；129-sixth opening;
2-连接臂；2-Connecting arm;
21-第二凹陷部；21- second recessed portion;
22-第七开口；22-Seventh opening;
23-第一轴瓦；23- first bearing shell;
24-第八开口；24- The eighth opening;
25-第三容纳腔；25- third accommodating chamber;
26-第四容纳腔；26- fourth accommodating chamber;
27-第二环形凸起部；27- second annular protrusion;
28-第三环形凸起部；28- a third annular protrusion;
31-第一限位件；31- first limiter;
311-第一滑动部；311-first sliding part;
312-第一凸起部；312-first protrusion;
312a-第一倒角部；312a-first chamfered portion;
313-第一操作部；313-first operating unit;
314-第三凸起部；314- third protrusion;
315-第三凹陷部；315- third recessed portion;
316-第一定位柱；316-first positioning column;
32-第二限位件；32- second limiting member;
321-轴肩；321-shaft shoulder;
322-第二凸起部；322- second protrusion;
322a-第二倒角部；322a- second chamfered portion;
323-第二滑动部；323- second sliding part;
324-第二操作部；324- second operating unit;
325-第四凹陷部；325- fourth recessed portion;
326-第二定位柱；326- second positioning column;
41-第一弹性件；41-first elastic member;
42-第二弹性件；42- a second elastic member;
51-第一驱动件；51-first driving member;
511-第三操作部；511- third operating unit;
52-第二驱动件；52- second driving member;
521-第四操作部；521- fourth operating unit;
522-第二传动轴；522-second transmission shaft;
61-连接丝；61-connecting wire;
62-第一传动轴；62- first transmission shaft;
63-端面齿盘；63-end face gear disc;
7-调弯组件；7-bending adjustment assembly;
8-执行件。8-Executive document.
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本申请的实施例，并与说明书一起用于解释本申请的原理。The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.
具体实施方式Detailed ways
为了更好的理解本申请的技术方案，下面结合附图对本申请实施例进行详细描述。In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.
应当明确，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其它实施例，都属于本申请保护的范围。It should be clear that the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.
在本申请实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请。在本申请实施例和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.
应当理解，本文中使用的术语“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。It should be understood that the term "and/or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and/or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character "/" in this article generally indicates that the associated objects before and after are in an "or" relationship.
需要注意的是，本申请实施例所描述的“上”、“下”、“左”、“右”等方位词是以附图所示的角度来进行描述的，不应理解为对本申请实施例的限定。此外，在上下文中，还需要理解的是，当提到一个元件连接在另一个元件“上”或者“下”时，其不仅能够直接连接在另一个元件“上”或者“下”，也可以通过中间元件间接连接在另一个元件“上”或者“下”。It should be noted that the directional words such as "upper", "lower", "left", and "right" described in the embodiments of the present application are described at the angles shown in the accompanying drawings and should not be understood as limiting the embodiments of the present application. In addition, in the context, it should also be understood that when it is mentioned that an element is connected to another element "upper" or "lower", it can not only be directly connected to another element "upper" or "lower", but also indirectly connected to another element "upper" or "lower" through an intermediate element.
本申请实施例的手持器械可以辅助用户进行精密化操作，例如在医疗领域中医生可以操作手持器械进行微创外科手术，在装备技术领域中技师可以操作手持器械对装备进行拆卸、装配、加工等操作，在生物化学领域中实验人员可以操作手持器械对处于特定环境中的研究对象进行操作。即手持器械可以代替用户的手部对操作对象进行间接操作。本文后续内容主要以应用于医疗领域的手持器械为例进行描述。The handheld device of the embodiment of the present application can assist the user to perform precision operations. For example, in the medical field, doctors can operate handheld devices to perform minimally invasive surgery. In the field of equipment technology, technicians can operate handheld devices to disassemble, assemble, and process equipment. In the field of biochemistry, experimenters can operate handheld devices to operate research objects in a specific environment. That is, the handheld device can replace the user's hand to perform indirect operations on the operation object. The following content of this article mainly describes the handheld device used in the medical field as an example.
微创外科手术是指利用在生物体穿刺形成若干手术通道或者利用生物体自然形成的通道使位于体外的手持器械通过手术通道或自然形成的通道进生物体内并对体内的病灶进行手术操作。由于病患的病灶位置不同(例如位于腹腔、胸腔、盆腔、关节腔、鼻腔、口腔、尿道或肠道的病灶)，用于手持器械穿设的通道的位置也不同，相应地，所需的手术操作角度也不同。基于此，本申请实施例提供一种可调节手术操作角度的手持器械。请参照图1-图2所示，本申请实施例的手持器械10可以包括手柄1、连接臂2、驱动件、调弯组件7和执行件8。驱动件与手柄1连接，手柄1与连接臂2连接，连接臂2与调弯组件7连接，调弯组件7与执行件8连接。在实际使用过程中，用户(医生、护士等医疗人员)需要手握手柄1以使执行件8、调弯组件7的至少部分依次经手术通道进入病患体内，并且使连接臂2、手柄1和驱动件位于体外。用户可以通过操作驱动件以使调弯组件7在病患体内弯曲(俯仰和偏转中任一种或组合)，和/或，通过操作驱动件以使执行件8进行剪切、夹取、持针、缝合、止血或切割等手术操作。位于体外的手柄1的结构和/或连接臂2的结构主要为壳体结构，本申请实施例的手持器械10主要在该壳体结构方面进行创新，以使手持器械10具有可调节手术操作角度的功能，本文后续主要对该部分内容进行介绍。Minimally invasive surgery refers to the use of puncturing a biological body to form several surgical channels or using the naturally formed channels of the biological body to allow a handheld instrument located outside the body to enter the biological body through the surgical channels or naturally formed channels and perform surgical operations on the lesions in the body. Due to the different locations of the patient's lesions (for example, lesions located in the abdominal cavity, thoracic cavity, pelvic cavity, joint cavity, nasal cavity, oral cavity, urethra or intestine), the locations of the channels used for the handheld instrument to penetrate are also different, and accordingly, the required surgical operation angles are also different. Based on this, an embodiment of the present application provides a handheld instrument with adjustable surgical operation angles. Referring to Figures 1-2, the handheld instrument 10 of the embodiment of the present application may include a handle 1, a connecting arm 2, a driving member, a bending adjustment component 7 and an actuator 8. The driving member is connected to the handle 1, the handle 1 is connected to the connecting arm 2, the connecting arm 2 is connected to the bending adjustment component 7, and the bending adjustment component 7 is connected to the actuator 8. During actual use, the user (doctor, nurse or other medical personnel) needs to hold the handle 1 so that the actuator 8 and at least part of the bending adjustment component 7 enter the patient's body through the surgical channel in sequence, and the connecting arm 2, the handle 1 and the driving member are located outside the body. The user can operate the driving member to bend the bending adjustment component 7 inside the patient's body (any one or a combination of pitch and deflection), and/or, operate the driving member to cause the actuator 8 to perform surgical operations such as shearing, clamping, needle holding, suturing, hemostasis or cutting. The structure of the handle 1 and/or the structure of the connecting arm 2 located outside the body is mainly a shell structure. The handheld instrument 10 of the embodiment of the present application is mainly innovative in the shell structure so that the handheld instrument 10 has the function of adjusting the surgical operation angle. This article will mainly introduce this part later.
本申请实施例的手持器械10包括第一壳体、第二壳体和限位件。第一壳体与第二壳体转动连接。限位件的至少部分能相对于第一壳体和第二壳体中的至少一个活动，以使限位件至少具有第一状态和第二状态。其中，在第一状态，限位件能限制第一壳体与第二壳体之间的相对转动，在第二状态，第一壳体与第二壳体之间能相对转动。其中，第一壳体和第二壳体中至少一个用于被用户手动操作(例如握持或托举等手部可以实现的动作)。The handheld device 10 of the embodiment of the present application includes a first shell, a second shell and a limiter. The first shell is rotatably connected to the second shell. At least part of the limiter can move relative to at least one of the first shell and the second shell, so that the limiter has at least a first state and a second state. In the first state, the limiter can limit the relative rotation between the first shell and the second shell, and in the second state, the first shell and the second shell can rotate relative to each other. In the second state, at least one of the first shell and the second shell is used to be manually operated by the user (for example, actions that can be performed by the hand such as holding or lifting).
本实施例中，当限位件处于第一状态时，第一壳体和第二壳体被限位件限位，第一壳体和第二壳体不能相对转动，即第一壳体和第二壳体之间相对固定，结构稳定的第一壳体和第二壳体便于用户可以可靠地操作手持器械。当用户需要调节手术操作角度时，用户可以操作限位件由第一状态转变至第二状态，第一壳体和第二壳体不被限位件限位，第一壳体和第二壳体能相对转动；当第一壳体和第二壳体之间转动至用户所需的角度时，用户再操作限位件由第二状态转变至第一状态，第一壳体和第二壳体被限位件再次限位，即第一壳体和第二壳体之间再次相对固定，用户可以再次可靠地操作手持器械。因此，用户可以调节本申请实施例的手持器械的第一壳体和第二壳体之间的结构角度，以适应不同位置的手术通道所需的手术操作角度，而用户无需大幅度地调节手腕、手臂和肩膀来调节手术操作角度，用户可以处于较为舒适的姿态操作手持器械，即用户的手术操作强度较低，用户的使用体验较好。In this embodiment, when the limiting member is in the first state, the first shell and the second shell are limited by the limiting member, and the first shell and the second shell cannot rotate relative to each other, that is, the first shell and the second shell are relatively fixed, and the first shell and the second shell with stable structures are convenient for the user to reliably operate the handheld instrument. When the user needs to adjust the surgical operation angle, the user can operate the limiting member to change from the first state to the second state, the first shell and the second shell are not limited by the limiting member, and the first shell and the second shell can rotate relative to each other; when the first shell and the second shell are rotated to the angle required by the user, the user operates the limiting member again from the second state to the first state, the first shell and the second shell are limited by the limiting member again, that is, the first shell and the second shell are relatively fixed again, and the user can reliably operate the handheld instrument again. Therefore, the user can adjust the structural angle between the first shell and the second shell of the handheld instrument of the embodiment of the present application to adapt to the surgical operation angle required by the surgical channel at different positions, and the user does not need to adjust the wrist, arm and shoulder significantly to adjust the surgical operation angle, and the user can operate the handheld instrument in a more comfortable posture, that is, the user's surgical operation intensity is low, and the user's use experience is better.
可选地，请参照图2所示，以手柄1为例，手柄1包括柄首11和柄体12，柄首11和柄体12转动连接，驱动件包括第一驱动件51，柄首11用于与第一驱动件51连接，柄体12用于与连接臂2连接。柄首11和柄体12均为壳体结构，即柄首11可以相当于上述内容的第一壳体，柄体12可以相当于上述内容的第二壳体。请参照图3所示，本申请实施例的手持器械10还可以包括相当于上述内容所描述的限位件的第一限位件31。如图4所示，当第一限位件31处于第一状态时，柄首11和柄体12被限位件3限位，柄首11和柄体12不能相对转动。在实际手术过程中，用户可能利用右手操作手柄1以及相连的第一驱动件51，也可能利用左手操作手柄1以及相连的第一驱动件51。由于右手和左手为互异结构，对于第一驱动件51所需的操作角度也不同。用户可以操作第一限位件31由如图4所示的第一状态转变至如图5所示的第二状态，柄首11和柄体12不被限位件3限位，用户可以操作柄首11相对于柄体12绕转送轴线O1转动，从而调节第一驱动件51相对于柄体12的位置，用户再操作第一限位件31由如图5所示的第二状态转变至如图4所示的第一状态，以使柄首11和柄体12之间的结构再次固定，从而便于用户的右手和左手均可以较为舒适地操作第一驱动件51。其次，由于不同用户的手部尺寸不同或抓握习惯不同，用户可以改变柄首11相对于柄体12的转动角度的大小，以便于第一驱动件51位于用户所需的较佳的操作位置。因此，上述设置可以降低用户的手术操作强度，用户的使用体验较高。Optionally, please refer to FIG. 2 , taking the handle 1 as an example, the handle 1 includes a handle head 11 and a handle body 12, the handle head 11 and the handle body 12 are rotatably connected, the driving member includes a first driving member 51, the handle head 11 is used to connect with the first driving member 51, and the handle body 12 is used to connect with the connecting arm 2. The handle head 11 and the handle body 12 are both shell structures, that is, the handle head 11 can be equivalent to the first shell of the above content, and the handle body 12 can be equivalent to the second shell of the above content. Please refer to FIG. 3 , the handheld instrument 10 of the embodiment of the present application can also include a first limiting member 31 equivalent to the limiting member described in the above content. As shown in FIG. 4 , when the first limiting member 31 is in the first state, the handle head 11 and the handle body 12 are limited by the limiting member 3, and the handle head 11 and the handle body 12 cannot rotate relative to each other. In the actual surgical process, the user may use the right hand to operate the handle 1 and the connected first driving member 51, or may use the left hand to operate the handle 1 and the connected first driving member 51. Since the right hand and the left hand are different structures, the operating angle required for the first driving member 51 is also different. The user can operate the first limiting member 31 to change from the first state shown in FIG. 4 to the second state shown in FIG. 5, the handle head 11 and the handle body 12 are not limited by the limiting member 3, the user can operate the handle head 11 to rotate relative to the handle body 12 around the transfer axisO1 , so as to adjust the position of the first driving member 51 relative to the handle body 12, and the user can operate the first limiting member 31 from the second state shown in FIG. 5 to the first state shown in FIG. 4, so that the structure between the handle head 11 and the handle body 12 is fixed again, so that the right hand and the left hand of the user can operate the first driving member 51 more comfortably. Secondly, due to the different hand sizes or gripping habits of different users, the user can change the rotation angle of the handle head 11 relative to the handle body 12, so that the first driving member 51 is located in the better operating position required by the user. Therefore, the above-mentioned setting can reduce the surgical operation intensity of the user, and the user's use experience is higher.
其中，柄体12相比柄首11较长。用户可以利用手掌、大拇指、中指、无名指和小拇指稳固地控制柄体12，用户可以利用食指控制第一驱动件51。或者，用户可以利用手掌、食指、中指、无名指和小拇指稳固地控制柄体12，用户可以利用大拇指控制第一驱动件51。The handle body 12 is longer than the handle head 11. The user can use the palm, thumb, middle finger, ring finger and little finger to firmly control the handle body 12, and the user can use the index finger to control the first driving member 51. Alternatively, the user can use the palm, index finger, middle finger, ring finger and little finger to firmly control the handle body 12, and the user can use the thumb to control the first driving member 51.
另外，柄首11可以与柄体12中背离连接臂2的一端转动连接，柄首11的外侧壁可以设置有第一环形凹槽112(如图6-图7所示)，柄体12的内侧壁可以包括第一环形凸起部123(如图8-图9所示)，第一环形凸起部123的曲面侧壁能与柄体12中用于围合形成第一环形凹槽112的曲面侧壁抵接，以形成柄首11与柄体12的转动连接关系；第一环形凸起部123嵌入第一环形凹槽112内，可以限制柄首11与柄体12分离。In addition, the handle head 11 can be rotatably connected to the end of the handle body 12 that is away from the connecting arm 2, and the outer wall of the handle head 11 can be provided with a first annular groove 112 (as shown in Figures 6-7), and the inner wall of the handle body 12 can include a first annular protrusion 123 (as shown in Figures 8-9), and the curved side wall of the first annular protrusion 123 can abut against the curved side wall of the handle body 12 used to enclose the first annular groove 112 to form a rotating connection relationship between the handle head 11 and the handle body 12; the first annular protrusion 123 is embedded in the first annular groove 112, which can limit the separation of the handle head 11 and the handle body 12.
再者，如图1所示，柄首11相对于柄体12绕转动轴线O1转动，转动轴线O1可以是沿柄体12的长度方向设置，本申请实施例不限制柄首11相对于柄体12转动的角度的具体值，能转动的角度可以为0°～180°，具体可以为0°、10°、20°、30°、40°、50°、60°、70°、80°、90°、100°、110°、120°、130°、140°、150°、160°、170°、180°。Furthermore, as shown in Figure 1, the handle head 11 rotates around the rotation axisO1 relative to the handle body 12. The rotation axisO1 can be set along the length direction of the handle body 12. The embodiment of the present application does not limit the specific value of the rotation angle of the handle head 11 relative to the handle body 12. The rotatable angle can be 0°~180°, specifically 0°, 10°, 20°, 30°, 40°, 50°, 60°, 70°, 80°, 90°, 100°, 110°, 120°, 130°, 140°, 150°, 160°, 170°, and 180°.
可选地，请参照图10所示，以手柄1和连接臂2为例，手柄1和连接臂2转动连接，驱动件包括第二驱动件52，手柄1用于与第二驱动件52连接。手柄1和连接臂2均为壳体结构，即手柄1可以相当于上述内容的第一壳体，连接臂2可以相当于上述内容的第二壳体，本申请实施例的手持器械10还可以包括相当于上述内容所描述的限位件的第二限位件32。请参照图11所示，当第二限位件32处于第一状态时，手柄1和连接臂2被第二限位件32限位，手柄1和连接臂2不能相对转动。在实际手术过程中，不同手术通道的位置所需的手术操作角度不同。用户可以操作第二限位件32由第一状态(如图11所示)转变至第二状态(如图12所示)，手柄1和连接臂2不被第二限位件32限位，用户可以操作手柄1和连接臂2相对转动，以调节手柄1和连接臂2之间的结构角度(例如夹角α)，用户可以再操作第二限位件32由第二状态转变至第一状态，以使手柄1和连接臂2之间的结构再次固定，便于用户通过无需大幅度地调节手腕、手臂和肩膀来调节手术操作角度，从而降低用户的手术操作强度，用户的使用体验较好。Optionally, please refer to FIG. 10 , taking the handle 1 and the connecting arm 2 as an example, the handle 1 and the connecting arm 2 are rotatably connected, the driving member includes a second driving member 52, and the handle 1 is used to connect to the second driving member 52. The handle 1 and the connecting arm 2 are both shell structures, that is, the handle 1 can be equivalent to the first shell of the above content, and the connecting arm 2 can be equivalent to the second shell of the above content. The handheld device 10 of the embodiment of the present application may also include a second limiting member 32 equivalent to the limiting member described in the above content. Please refer to FIG. 11 , when the second limiting member 32 is in the first state, the handle 1 and the connecting arm 2 are limited by the second limiting member 32, and the handle 1 and the connecting arm 2 cannot rotate relative to each other. In actual surgical procedures, different surgical channel positions require different surgical operation angles. The user can operate the second limit member 32 to change from the first state (as shown in FIG. 11) to the second state (as shown in FIG. 12), and the handle 1 and the connecting arm 2 are not limited by the second limit member 32. The user can operate the handle 1 and the connecting arm 2 to rotate relative to each other to adjust the structural angle (for example, the angle α) between the handle 1 and the connecting arm 2. The user can then operate the second limit member 32 to change from the second state to the first state to fix the structure between the handle 1 and the connecting arm 2 again, so that the user can adjust the surgical operation angle without having to adjust the wrist, arm and shoulder significantly, thereby reducing the user's surgical operation intensity and providing a better user experience.
进一步地，在非手术时间内，用户可以缩小手柄1和连接臂2之间的夹角α，以使手柄1和连接臂2之间的结构紧凑性程度较高，相应地，手持器械10所需的存储空间较少，便于收纳，用户的使用体验较高。Furthermore, during non-surgical time, the user can reduce the angle α between the handle 1 and the connecting arm 2 to make the structure between the handle 1 and the connecting arm 2 more compact. Accordingly, the handheld device 10 requires less storage space, is easy to store, and provides a better user experience.
其中，夹角α的范围可以在0°～180°以内(不包括0°)，夹角α具体可以为30°、40°45°、50°、60°、70°、80°、90°、100°、110°、120°、130°、140°、150°、160°、170°、180°。用户可以根据所需的手术操作角度改变夹角α。The angle α may be in the range of 0° to 180° (excluding 0°), and may be specifically 30°, 40°, 45°, 50°, 60°, 70°, 80°, 90°, 100°, 110°, 120°, 130°, 140°, 150°, 160°, 170°, 180°. The user may change the angle α according to the desired surgical operation angle.
再者，请参照图13a-图13b所示，连接臂2可以与手柄1的柄体12中背离柄首11的一端转动连接。连接臂2可以包括两个拼接的壳体结构，以围合形成如图14所示的相连通的第三容纳腔25和第四容纳腔26。柄体12中背离柄首11的一端位于第三容纳腔25内，连接臂2的两个相对设置的内侧壁可以与手柄1的柄体12的两个相对设置的外侧壁转动连接，等效地说，柄体12中背离柄首11的一端被连接臂2夹持。详细地说，请参照图11-图12所示，连接臂2的内侧壁包括第二环形凸起部27，请参照图13a-图13b所示，柄体12设置有圆柱状的第五凹陷部126。第二环形凸起部27的曲面侧壁能与柄体12中围合形成第五凹陷部126的曲面侧壁抵接，以形成连接臂2与柄体12的转动连接关系；柄体12柄体12设置有第二环形凹槽(图中未示出)，请参照图11-图12所示，连接臂2内侧壁还包括凸起的第三环形凸起部28，第三环形凸起部28的曲面侧壁与柄体12中用于围合形成第二环形凹槽的曲面侧壁抵接，以形成连接臂2与柄体12的转动连接关系。在连接臂2中，第二环形凸起部27和第三环形凸起部28相对设置。Furthermore, as shown in FIGS. 13a-13b, the connecting arm 2 can be rotatably connected to the end of the handle body 12 of the handle 1 that is away from the handle head 11. The connecting arm 2 can include two spliced shell structures to enclose and form a third accommodating chamber 25 and a fourth accommodating chamber 26 that are connected as shown in FIG. 14. The end of the handle body 12 that is away from the handle head 11 is located in the third accommodating chamber 25, and the two oppositely disposed inner side walls of the connecting arm 2 can be rotatably connected to the two oppositely disposed outer side walls of the handle body 12 of the handle 1. In other words, the end of the handle body 12 that is away from the handle head 11 is clamped by the connecting arm 2. In detail, as shown in FIGS. 11-12, the inner side wall of the connecting arm 2 includes a second annular protrusion 27, and as shown in FIGS. 13a-13b, the handle body 12 is provided with a cylindrical fifth recess 126. The curved side wall of the second annular protrusion 27 can abut against the curved side wall of the handle body 12 enclosing the fifth recessed portion 126 to form a rotational connection relationship between the connecting arm 2 and the handle body 12; the handle body 12 is provided with a second annular groove (not shown in the figure), please refer to Figures 11-12, the inner side wall of the connecting arm 2 also includes a raised third annular protrusion 28, the curved side wall of the third annular protrusion 28 abuts against the curved side wall of the handle body 12 for enclosing the second annular groove to form a rotational connection relationship between the connecting arm 2 and the handle body 12. In the connecting arm 2, the second annular protrusion 27 and the third annular protrusion 28 are arranged opposite to each other.
可选地，限位件与第一壳体活动连接，在第一状态下，第一壳体通过限位件与第二壳体卡接，在第二状态下，第二壳体与限位件分离。Optionally, the limiting member is movably connected to the first shell, and in a first state, the first shell is engaged with the second shell via the limiting member, and in a second state, the second shell is separated from the limiting member.
本实施例中，限位件能相对于第一壳体活动至第一预设位置，以使限位件处于第一状态，第一壳体可以通过限位件与第二壳体卡接，以限制第一壳体和第二壳体之间的相对转动。限位件能相对于第一壳体活动至第二预设位置，以使限位件处于第二状态，且限位件与第二壳体分离，限位件对于第一壳体和第二壳体不具有限位作用，第一壳体和第二壳体之间能相对转动。In this embodiment, the limiting member can move relative to the first shell to a first preset position so that the limiting member is in a first state, and the first shell can be engaged with the second shell through the limiting member to limit the relative rotation between the first shell and the second shell. The limiting member can move relative to the first shell to a second preset position so that the limiting member is in a second state, and the limiting member is separated from the second shell, and the limiting member has no limiting effect on the first shell and the second shell, and the first shell and the second shell can rotate relative to each other.
可选地，限位件与第二壳体活动连接，在第一状态下，第二壳体通过限位件与第一壳体卡接，在第二状态下，第一壳体与限位件分离。Optionally, the limiting member is movably connected to the second shell, and in the first state, the second shell is clamped with the first shell through the limiting member, and in the second state, the first shell is separated from the limiting member.
本实施例中，限位件能相对于第二壳体活动至第一预设位置，以使限位件处于第一状态，第二壳体可以通过限位件与第一壳体卡接，以限制第一壳体和第二壳体之间的相对转动。限位件能相对于第二壳体活动至第二预设位置，以使限位件处于第二状态，且限位件与第一壳体分离，限位件对于第一壳体和第二壳体不具有限位作用，第一壳体和第二壳体之间能相对转动。In this embodiment, the limiting member can move relative to the second shell to a first preset position so that the limiting member is in the first state, and the second shell can be engaged with the first shell through the limiting member to limit the relative rotation between the first shell and the second shell. The limiting member can move relative to the second shell to a second preset position so that the limiting member is in the second state, and the limiting member is separated from the first shell, and the limiting member has no limiting effect on the first shell and the second shell, and the first shell and the second shell can rotate relative to each other.
在其它实施例中(图中未示出)，限位件可以与第一壳体一体成型，限位件的一部分可以相对于第二壳体变位，以使限位件在第一状态和第二状态之间切换。或者，限位件可以与第二壳体一体成型，限位件的一部分可以相对于第一壳体变位，以使限位件在第一状态和第二状态之间切换。In other embodiments (not shown in the figure), the stopper may be integrally formed with the first housing, and a portion of the stopper may be displaced relative to the second housing so that the stopper switches between the first state and the second state. Alternatively, the stopper may be integrally formed with the second housing, and a portion of the stopper may be displaced relative to the first housing so that the stopper switches between the first state and the second state.
本文后续内容主要以限位件与第一壳体活动连接为例描述。The following content of this article is mainly described by taking the movable connection between the limiting member and the first shell as an example.
可选地，以柄首11与柄体12转动连接为例，第一限位件31可以与柄首11活动连接。如图4所示，在第一状态下，第一限位件31与柄体12连接，从而限制柄首11和柄体12之间的相对转动；如图5所示，在第二状态，第一限位件31与柄体12分离，柄首11和柄体12可以相对转动。Optionally, taking the example of the rotational connection between the handle head 11 and the handle body 12, the first stopper 31 can be movably connected to the handle head 11. As shown in FIG4, in the first state, the first stopper 31 is connected to the handle body 12, thereby limiting the relative rotation between the handle head 11 and the handle body 12; as shown in FIG5, in the second state, the first stopper 31 is separated from the handle body 12, and the handle head 11 and the handle body 12 can rotate relative to each other.
在其它实施例中(图中未示出)，第一限位件31可以与柄体12活动连接。In other embodiments (not shown in the figures), the first limiting member 31 may be movably connected to the handle body 12 .
在其它实施例中(图中未示出)，第一限位件31不仅可以与柄首11活动连接，还可以与柄体12活动连接。In other embodiments (not shown in the figures), the first limiting member 31 may be movably connected not only to the handle head 11 , but also to the handle body 12 .
本文后续内容主要以第一限位件31与柄首11活动连接为例描述。The following content of this article is mainly described by taking the movable connection between the first limiting member 31 and the handle head 11 as an example.
可选地，以手柄1和连接臂2转动连接为例，第二限位件32可以与手柄1活动连接。如图11所示，在第一状态下，第二限位件32与连接臂2连接，从而限制手柄1和连接臂2之间的相对转动；如图12所示，在第二状态，第二限位件32与连接臂2分离，手柄1和连接臂2可以相对转动。Optionally, taking the rotational connection between the handle 1 and the connecting arm 2 as an example, the second stopper 32 can be movably connected to the handle 1. As shown in FIG11 , in the first state, the second stopper 32 is connected to the connecting arm 2, thereby limiting the relative rotation between the handle 1 and the connecting arm 2; as shown in FIG12 , in the second state, the second stopper 32 is separated from the connecting arm 2, and the handle 1 and the connecting arm 2 can rotate relative to each other.
在其它实施例中(图中未示出)，第二限位件32可以与连接臂2活动连接。In other embodiments (not shown in the figures), the second limiting member 32 may be movably connected to the connecting arm 2 .
在其它实施例中(图中未示出)，第二限位件32既可以与手柄1活动连接，也可以与连接臂2活动连接。In other embodiments (not shown in the figures), the second limiting member 32 can be movably connected to the handle 1 or the connecting arm 2 .
本文后续内容主要以第二限位件32与手柄1活动连接为例描述。The following content of this article is mainly described by taking the movable connection between the second limiting member 32 and the handle 1 as an example.
可选地，限位件与第一壳体活动连接，限位件和第二壳体中任一个包括一个凸起部或至少两个绕转动轴线间隔设置的凸起部，另一个设置有一个凹陷部或至少两个绕转动轴线间隔设置的凹陷部。在第一状态，凸起部位于凹陷部内，在第二状态，凸起部位于与凹陷部外。Optionally, the stopper is movably connected to the first shell, and either the stopper or the second shell includes a protrusion or at least two protrusions spaced apart around the rotation axis, and the other is provided with a recessed portion or at least two recessed portions spaced apart around the rotation axis. In the first state, the protrusion is located inside the recessed portion, and in the second state, the protrusion is located outside the recessed portion.
本实施例中，当用户操作限位件运动至第一预设位置时，限位件的凸起部可以位于设置于第二壳体的凹陷部内，凸起部的侧壁能与第二壳体中用于围合形成凹陷部的侧壁抵接以形成限位作用，即限位件能限制第一壳体与第二壳体之间的相对转动。当用户操作限位件运动至第二预设位置时，凸起部可以位于凹陷部外，凸起部的侧壁与第二壳体中用于围合形成凹陷部的侧壁分离，限位件对于第一壳体和第二壳体不具有限位作用，即第一壳体与第二壳体可以相对转动。在该设置下，用户可以较为容易地改变限位件的状态，用户使用体验较高。In this embodiment, when the user operates the limiter to move to the first preset position, the raised portion of the limiter can be located in the recessed portion provided in the second shell, and the side wall of the raised portion can abut against the side wall of the second shell used to enclose the recessed portion to form a limiting effect, that is, the limiter can limit the relative rotation between the first shell and the second shell. When the user operates the limiter to move to the second preset position, the raised portion can be located outside the recessed portion, and the side wall of the raised portion is separated from the side wall of the second shell used to enclose the recessed portion, and the limiter has no limiting effect on the first shell and the second shell, that is, the first shell and the second shell can rotate relative to each other. Under this setting, the user can easily change the state of the limiter, and the user experience is high.
其中，凸起部的数量可以为一个，凹陷部的数量可以为至少两个，且凹陷部绕转动轴线间隔分布；或者，凸起部的数量可以为至少两个，且凸起部绕转动轴线间隔分布，凹陷部的数量可以为一个；或者，凸起部的数量可以为至少两个，且凸起部绕转动轴线间隔分布，凹陷部的数量可以为至少两个，且凹陷部绕转动轴线间隔分布。上述关于凸起部和凹陷部的三种数量情况均可以满足用户调节手术角度需求。本申请实施例不限制每两个相邻的凸起部之间的间隔距离，也不限制每两个相邻的凹陷部之间的间隔距离。Among them, the number of protrusions can be one, the number of recessed portions can be at least two, and the recessed portions are spaced around the rotation axis; or, the number of protrusions can be at least two, and the protrusions are spaced around the rotation axis, and the number of recessed portions can be one; or, the number of protrusions can be at least two, and the protrusions are spaced around the rotation axis, and the number of recessed portions can be at least two, and the recessed portions are spaced around the rotation axis. The above three quantity situations of protrusions and recessed portions can all meet the user's needs for adjusting the surgical angle. The embodiment of the present application does not limit the spacing distance between every two adjacent protrusions, nor does it limit the spacing distance between every two adjacent recessed portions.
在其它实施例中(图中未示出)，限位件可以包括卡钩结构，第二壳体也可以包括卡钩结构。当用户操作限位件运动至第一预设位置时，两个卡钩卡接，即限位件处于第一状态；当用户操作限位件运动至第二预设位置时，两个卡钩分离，即限位件处于第二状态。In other embodiments (not shown in the figure), the limiter may include a hook structure, and the second housing may also include a hook structure. When the user operates the limiter to move to the first preset position, the two hooks are engaged, that is, the limiter is in the first state; when the user operates the limiter to move to the second preset position, the two hooks are separated, that is, the limiter is in the second state.
可选地，限位件与第二壳体活动连接，限位件和第一壳体中任一个包括一个凸起部或至少两个绕转动轴线间隔设置的凸起部，另一个设置一个凹陷部或至少两个绕转动轴线间隔设置的凹陷部；在第一状态，凸起部位于凹陷部内，在第二状态，凸起部位于与凹陷部外。该实施例的技术效果与上述内容中限位件与第一壳体活动连接的实施例的技术效果相同，此处不再赘述。Optionally, the stopper is movably connected to the second shell, and either the stopper or the first shell includes a protrusion or at least two protrusions spaced apart around the rotation axis, and the other includes a recess or at least two recesses spaced apart around the rotation axis; in the first state, the protrusion is located inside the recess, and in the second state, the protrusion is located outside the recess. The technical effect of this embodiment is the same as that of the embodiment in which the stopper is movably connected to the first shell in the above content, and will not be repeated here.
本文后续内容主要以限位件与第一壳体活动连接以及第二壳体设置有至少两个凹陷部为例介绍。The following content of this article mainly introduces the example that the limiting member is movably connected to the first shell and the second shell is provided with at least two recessed parts.
可选地，请参照图3-图4所示，以柄首11和柄体12转动连接为例，第一限位件31与柄首11活动连接。请参照图9所示，柄体12设置有至少两个绕转动轴线O1间隔分布的第一凹陷部121，请参照图15-图16所示，第一限位件31包括第一凸起部312。当用户操作第一限位件31相对于柄首11运动至一预设位置(如图4所示的位置)时，第一限位件31的第一凸起部312(如图15所示)位于设置于第一凹陷部121(如图9所示)内，第一凸起部312的侧壁能与柄体12中用于围合形成第一凹陷部121的侧壁抵接以形成限位作用，即第一限位件31能限制柄首11与柄体12之间的相对转动。当用户操作第一限位件31相对于柄首11运动至另一预设位置(如图5所示的位置)时，第一凸起部312位于第一凹陷部121外，第一凸起部312的侧壁与柄体12中用于围合形成第一凹陷部121的侧壁分离，第一限位件31对于柄首11和柄体12不具有限位作用，即柄首11与柄体12之间可以相对转动，以便于用户调节与柄首11连接的第一驱动件51相对于柄体12的位置。Optionally, referring to FIGS. 3-4, taking the rotational connection between the handle head 11 and the handle body 12 as an example, the first stopper 31 is movably connected to the handle head 11. Referring to FIG. 9, the handle body 12 is provided with at least two first recessed portions 121 spaced apart around the rotation axisO1 . Referring to FIGS. 15-16, the first stopper 31 includes a first protrusion 312. When the user operates the first stopper 31 to move to a preset position (the position shown in FIG. 4) relative to the handle head 11, the first protrusion 312 (as shown in FIG. 15) of the first stopper 31 is located in the first recessed portion 121 (as shown in FIG. 9), and the side wall of the first protrusion 312 can abut against the side wall of the handle body 12 used to enclose and form the first recessed portion 121 to form a limiting effect, that is, the first stopper 31 can limit the relative rotation between the handle head 11 and the handle body 12. When the user operates the first limiting member 31 to move to another preset position relative to the handle head 11 (the position shown in FIG. 5 ), the first protrusion 312 is located outside the first recessed portion 121, and the side wall of the first protrusion 312 is separated from the side wall of the handle body 12 used to enclose the first recessed portion 121. The first limiting member 31 has no limiting effect on the handle head 11 and the handle body 12, that is, the handle head 11 and the handle body 12 can rotate relative to each other, so that the user can adjust the position of the first driving member 51 connected to the handle head 11 relative to the handle body 12.
其中，柄首11的外部可以包括位置标识(图中未示出)，柄体12的外部可以包括至少两个角度标识(图中未示出)，或者，柄首11的外部可以包括至少两个角度标识(图中未示出)，柄体12的外部可以包括位置标识(图中未示出)。每当第一凸起部312与不同的第一凹陷部121配合时，位置标识也可以与不同的角度标识对应，在该设置下，用户可以快速确认柄首11相对于柄体12的转动角度。The outside of the handle 11 may include a position mark (not shown in the figure), and the outside of the handle body 12 may include at least two angle marks (not shown in the figure), or the outside of the handle 11 may include at least two angle marks (not shown in the figure), and the outside of the handle body 12 may include a position mark (not shown in the figure). Whenever the first protrusion 312 cooperates with a different first recessed portion 121, the position mark may also correspond to a different angle mark. Under this setting, the user can quickly confirm the rotation angle of the handle 11 relative to the handle body 12.
可选地，请参照图13a-图13b所示，以手柄1和连接臂2转动连接为例，第二限位件32与手柄1活动连接，请参照图14所示，连接臂2设置有至少两个绕转动轴线O2间隔分布的第二凹陷部21，请参照图17所示，第二限位件32包括至少两个绕转动轴线O2间隔分布的第二凸起部322。当用户操作第二限位件32相对于手柄1运动至一预设位置(如图11所示的位置)时，第二限位件32的第二凸起部322位于设置于连接臂2的第二凹陷部21内，第二凸起部322的侧壁能与连接臂2中用于围合形成第二凹陷部21的侧壁抵接以形成限位作用，即第二限位件32能限制手柄1与连接臂2之间的相对转动。当用户操作第二限位件32相对于手柄1运动至另一预设位置(如图12所示的位置)时，第二凸起部322位于第二凹陷部21外，第二凸起部322的侧壁与连接臂2中用于围合形成第二凹陷部21的侧壁分离，第二限位件32对于手柄1和连接臂2不具有限位作用，即手柄1与连接臂2之间可以相对转动，以便于用户调节手柄1与连接臂2之间的结构角度(夹角α)。Optionally, please refer to FIG. 13a-FIG. 13b, taking the rotational connection between the handle 1 and the connecting arm 2 as an example, the second stopper 32 is movably connected to the handle 1, please refer to FIG. 14, the connecting arm 2 is provided with at least two second recessed portions 21 spaced apart around the rotation axisO2 , please refer to FIG. 17, the second stopper 32 includes at least two second protrusions 322 spaced apart around the rotation axisO2 . When the user operates the second stopper 32 to move to a preset position (the position shown in FIG. 11) relative to the handle 1, the second protrusion 322 of the second stopper 32 is located in the second recessed portion 21 provided in the connecting arm 2, and the side wall of the second protrusion 322 can abut against the side wall of the connecting arm 2 used to enclose and form the second recessed portion 21 to form a limiting effect, that is, the second stopper 32 can limit the relative rotation between the handle 1 and the connecting arm 2. When the user operates the second limit member 32 to move to another preset position relative to the handle 1 (the position shown in Figure 12), the second protrusion 322 is located outside the second recessed portion 21, and the side wall of the second protrusion 322 is separated from the side wall of the connecting arm 2 used to enclose the second recessed portion 21. The second limit member 32 has no limiting effect on the handle 1 and the connecting arm 2, that is, the handle 1 and the connecting arm 2 can rotate relative to each other, so that the user can adjust the structural angle (angle α) between the handle 1 and the connecting arm 2.
其中，第二凸起部322的至少部分呈三棱柱状，相应地，第二凹陷部21的至少部分呈三棱柱状。At least a portion of the second protruding portion 322 is in the shape of a triangular prism, and correspondingly, at least a portion of the second recessed portion 21 is in the shape of a triangular prism.
另外，手柄1的外部可以包括位置标识(图中未示出)，连接臂2的外部可以包括至少两个角度标识(图中未示出)，或者，手柄1的外部包括至少两个角度标识(图中未示出)，连接臂2的外部包括位置标识(图中未示出)。每当第二凸起部322与不同的第二凹陷部21配合时，位置标识可以与不同的角度标识对应，在该设置下，用户可以快速确认手柄1相对于连接臂2的转动角度。In addition, the outside of the handle 1 may include a position mark (not shown in the figure), and the outside of the connecting arm 2 may include at least two angle marks (not shown in the figure), or the outside of the handle 1 includes at least two angle marks (not shown in the figure), and the outside of the connecting arm 2 includes a position mark (not shown in the figure). Whenever the second protrusion 322 cooperates with a different second recessed portion 21, the position mark may correspond to a different angle mark. Under this setting, the user can quickly confirm the rotation angle of the handle 1 relative to the connecting arm 2.
可选地，若设置有至少三个凹陷部，每两个凹陷部之间的间隔距离相同。在该设置下，凸起部每从一凹陷部转动至相邻的凹陷部时，第一壳体可以相对于第二壳体转动预设的单位角度(例如5°、10°、20°或30°)，用户可以根据预设的角度值使凸起部转动预设位置的凹陷部，即第一壳体相对于第二壳体转动的角度为用户所需的角度。Optionally, if at least three recessed portions are provided, the interval between every two recessed portions is the same. Under this setting, each time the protrusion rotates from one recessed portion to an adjacent recessed portion, the first shell can rotate relative to the second shell by a preset unit angle (e.g., 5°, 10°, 20°, or 30°), and the user can rotate the protrusion to the recessed portion at a preset position according to the preset angle value, that is, the angle at which the first shell rotates relative to the second shell is the angle required by the user.
在其它实施例中(图中未示出)，若设置有至少三个凹陷部，每两个凹陷部之间的间隔距离可以不相同，可以根据用户的实用习惯设置每两个凹陷部之间的间隔距离的大小。In other embodiments (not shown in the figures), if at least three recessed portions are provided, the spacing distance between each two recessed portions may be different, and the spacing distance between each two recessed portions may be set according to the practical habits of the user.
在其它实施例中(图中未示出)，第一壳体和第二壳体之间可以无级别调转动角度(第一壳体和第二壳体仅转动连接，不设置凸起部和凹陷部)，限位件与第一壳体螺纹连接。当用户调整第一壳体相对于第二壳体转动预设角度后，用户通过螺旋转动限位件，以使限位件与第二壳体挤压，并且使限位件与第二壳体之间产生静摩擦力，即第一壳体通过限位件与第二壳体自锁，以限制第一壳体与第二壳体之间的相对转动。In other embodiments (not shown in the figure), the rotation angle between the first shell and the second shell can be adjusted steplessly (the first shell and the second shell are only connected by rotation, and no protrusions and recesses are provided), and the limiter is threadedly connected to the first shell. After the user adjusts the first shell to rotate relative to the second shell by a preset angle, the user screws the limiter to squeeze the limiter and the second shell, and generates static friction between the limiter and the second shell, that is, the first shell is self-locked with the second shell through the limiter to limit the relative rotation between the first shell and the second shell.
在其它实施例中(图中未示出)，第一壳体和第二壳体之间可以无级别调转动角度(第一壳体和第二壳体仅转动连接，不设置凸起部和凹陷部)，限位件与第二壳体螺纹连接。当用户调整第一壳体相对于第二壳体转动预设角度后，用户通过螺旋转动限位件，以使限位件与第一壳体挤压，并且使限位件与第一壳体之间产生静摩擦力，即第二壳体通过限位件与第一壳体自锁，以限制第一壳体与第二壳体之间的相对转动。In other embodiments (not shown in the figure), the rotation angle between the first shell and the second shell can be adjusted steplessly (the first shell and the second shell are only connected by rotation, and no protrusions and recesses are provided), and the stopper is threadedly connected to the second shell. After the user adjusts the first shell to rotate relative to the second shell by a preset angle, the user screws the stopper to squeeze the stopper against the first shell and generate static friction between the stopper and the first shell, that is, the second shell is self-locked with the first shell through the stopper to limit the relative rotation between the first shell and the second shell.
在其它实施例中(图中未示出)，第一壳体和第二壳体之间可以无级别调转动角度(第一壳体和第二壳体仅转动连接，不设置凸起部和凹陷部)，限位件可以为夹持结构或抱合结构，在第一状态下，限位件能施加作用力将第一壳体挤压至第二壳体，或者，限位件能施加作用力将第二壳体挤压至第一壳体，以使第一壳体和第二壳体之间产生静摩擦力，从而限制第一壳体和第二壳体之间的转动；在第二状态下，限位件不对第一壳体或第二壳体施加作用力，以使第一壳体和第二壳体之间能相对转动。In other embodiments (not shown in the figures), the rotation angle between the first shell and the second shell can be adjusted steplessly (the first shell and the second shell are only rotationally connected, and no protrusions and recesses are provided), and the limit member can be a clamping structure or an embracing structure. In the first state, the limit member can apply a force to squeeze the first shell to the second shell, or the limit member can apply a force to squeeze the second shell to the first shell, so as to generate static friction between the first shell and the second shell, thereby limiting the rotation between the first shell and the second shell; in the second state, the limit member does not apply a force to the first shell or the second shell, so that the first shell and the second shell can rotate relative to each other.
本文后续内容主要以第一壳体和第二壳体之间有级调转动角度为例(设置一个凸起部和至少三个凹陷部)并且以每两个凹陷部之间的间隔距离相同为例描述。The following content of this article mainly takes the example of a step-by-step rotation angle between the first shell and the second shell (providing a protrusion and at least three recesses) and takes the example of the same spacing distance between every two recesses to describe.
可选地，请参照图9所示，若柄体12设置有至少三个第一凹陷部121，每两个第一凹陷部121之间的间隔距离相同。可选地，请参照图14所示，若连接臂2设置有至少三个第二凹陷部21，每两个第二凹陷部21之间的间隔距离相同。Optionally, as shown in Fig. 9, if the handle body 12 is provided with at least three first recessed portions 121, the spacing distance between every two first recessed portions 121 is the same. Optionally, as shown in Fig. 14, if the connecting arm 2 is provided with at least three second recessed portions 21, the spacing distance between every two second recessed portions 21 is the same.
可选地，凸起部中朝向凹陷部的端面的边缘设置有倒角部。在该设置下，当用户调节处于第二状态的限位件的凸起部的位置以使凸起部用于与另一凹陷部配合时，倒角部可以与第二壳体中用于围合形成凹陷部的侧壁的棱角抵接，倒角部与该棱角之间发生卡死问题的可能性较低，即凸起部可以较为顺畅地重新进入各凹陷部内。因此，上述设置可以提高用户的使用体验。Optionally, the edge of the end surface of the protrusion facing the recessed portion is provided with a chamfered portion. Under this setting, when the user adjusts the position of the protrusion of the stopper in the second state so that the protrusion is used to cooperate with another recessed portion, the chamfered portion can abut against the corner of the side wall of the second shell used to enclose the recessed portion, and the possibility of the chamfered portion and the corner being stuck is low, that is, the protrusion can re-enter each recessed portion relatively smoothly. Therefore, the above setting can improve the user experience.
其中，本申请实施例不限制倒角部的结构类型和尺寸。The embodiments of the present application do not limit the structural type and size of the chamfered portion.
请参照图15所示，以第一限位件31为例，第一限位件31可以包括第一倒角部312a，第一倒角部312a可以为倒圆角或倒直角。请参照图17所示，以第二限位件32为例，第二限位件32可以包括第二倒角部322a，第二倒角部322a可以为倒圆角或倒直角。As shown in FIG15 , taking the first stopper 31 as an example, the first stopper 31 may include a first chamfered portion 312a, which may be a rounded corner or a chamfered right angle. As shown in FIG17 , taking the second stopper 32 as an example, the second stopper 32 may include a second chamfered portion 322a, which may be a rounded corner or a chamfered right angle.
在其它实施例中，第二壳体中用于围合形成凹陷部的侧壁的棱角可以设置有倒角部，当凸起部进入凹陷部时，该倒角部可以与凸起部抵接，倒角部与凸起部之间发生卡死问题的可能性较低，即凸起部可以较为顺畅地重新进入各凹陷部内。因此，上述设置也可以提高用户的使用体验。In other embodiments, the corners of the side walls of the second housing used to enclose the recessed portion may be provided with chamfered portions, and when the protrusion enters the recessed portion, the chamfered portion may abut against the protrusion, and the possibility of a stuck problem between the chamfered portion and the protrusion is low, that is, the protrusion can re-enter each recessed portion relatively smoothly. Therefore, the above arrangement can also improve the user experience.
本文后续内容主要以凸起部中朝向凹陷部的端面的边缘设置有倒角部为例描述。The following content of this article is mainly described by taking the edge of the end surface of the protruding portion facing the recessed portion as an example.
可选地，本申请实施例的手持器械还包括弹性件，弹性件的一端与第一壳体连接，弹性件的另一端与限位件连接，在弹性件的弹力作用下，以使限位件处于第一状态。Optionally, the handheld device of the embodiment of the present application further includes an elastic member, one end of the elastic member is connected to the first shell, and the other end of the elastic member is connected to the limiting member, so that the limiting member is in the first state under the elastic force of the elastic member.
本实施例中，当用户对限位件施加作用力，可以使限位件相对于第一壳体运动并且使限位件由第一状态转变至第二状态，在该过程中弹性件被第一壳体和限位件挤压变形并且积蓄弹性势能；当用户对限位件取消施加作用力后，在弹性件的弹力作用下，弹性件能推动限位件相对于第一壳体运动，以使限位件由第二状态转变至第一状态，并且使凸起部与凹陷部配合，从而限制第一壳体和第二壳体之间的相对转动。因此，上述利用弹性件的弹性势能的设置可以简化用户操作限位件的过程，用户使用体验较高。In this embodiment, when the user applies a force to the limiter, the limiter can be moved relative to the first shell and the limiter can be changed from the first state to the second state. In this process, the elastic member is squeezed and deformed by the first shell and the limiter and accumulates elastic potential energy; when the user cancels the force applied to the limiter, under the elastic force of the elastic member, the elastic member can push the limiter to move relative to the first shell, so that the limiter can be changed from the second state to the first state, and the protrusion and the recessed part can cooperate, thereby limiting the relative rotation between the first shell and the second shell. Therefore, the above-mentioned setting of utilizing the elastic potential energy of the elastic member can simplify the process of the user operating the limiter, and the user experience is higher.
其中，当限位件处于第一状态时，弹性件可以仍处于压缩状态，即弹性件对限位件仍具有稳定的弹力作用，以使限位件的凸起部不容易脱离于凹陷部，从而提高限位件的限位作用的可靠性程度。因此，本申请实施例的手持器械的工作可靠性程度较高。When the limiting member is in the first state, the elastic member can still be in a compressed state, that is, the elastic member still has a stable elastic force on the limiting member, so that the protrusion of the limiting member is not easy to separate from the recessed part, thereby improving the reliability of the limiting effect of the limiting member. Therefore, the working reliability of the handheld device of the embodiment of the present application is relatively high.
在其它实施例中，当用户对限位件施加作用力，以使限位件相对于第一壳体运动并且使限位件由第一状态转变至第二状态，弹性件可以被第一壳体和限位件拉伸变形并且积蓄弹性势能；当用户取消对限位件施加作用力后，在弹性件的弹力作用下，弹性件能回拉限位件相对于第一壳体运动，以使限位件由第二状态转变至第一状态，并且使凸起部与凹陷部配合，从而限制第一壳体和第二壳体之间的相对转动。因此，上述利用弹性件的弹性势能的设置可以简化用户操作限位件的过程，用户使用体验较高。其中，当限位件处于第一状态时，弹性件仍处于拉伸状态，即弹性件对限位件仍具有稳定的弹力作用，以使限位件的凸起部不容易脱离于凹陷部，从而提高限位件的限位作用的工作可靠性程度。因此本申请实施例的手持器械的工作可靠性程度较高。In other embodiments, when the user applies a force to the limiter so that the limiter moves relative to the first shell and the limiter changes from the first state to the second state, the elastic member can be stretched and deformed by the first shell and the limiter and accumulate elastic potential energy; when the user cancels the force applied to the limiter, under the elastic force of the elastic member, the elastic member can pull back the limiter to move relative to the first shell so that the limiter changes from the second state to the first state, and the protrusion cooperates with the recessed portion, thereby limiting the relative rotation between the first shell and the second shell. Therefore, the above-mentioned setting of utilizing the elastic potential energy of the elastic member can simplify the process of the user operating the limiter, and the user experience is higher. Among them, when the limiter is in the first state, the elastic member is still in a stretched state, that is, the elastic member still has a stable elastic force on the limiter, so that the protrusion of the limiter is not easy to separate from the recessed portion, thereby improving the working reliability of the limiting action of the limiter. Therefore, the working reliability of the handheld device of the embodiment of the present application is higher.
本文后续内容主要以弹性件被限位件和第一壳体挤压变形为例描述。The following content of this article mainly describes the elastic member being squeezed and deformed by the limiting member and the first shell as an example.
可选地，请参照图3-图5所示，以柄首11和柄体12转动连接为例，本申请实施例的手持器械10包括第一弹性件41，第一弹性件41的一端与柄首11连接，第一弹性件41的另一端与第一限位件31连接。请参照图5所示，当用户按压第一限位件31后，第一限位件31的第一凸起部312脱离设置于柄体12的第一凹陷部121，同时，第一弹性件41被第一限位件31和柄首11挤压变形；用户可以操作柄首11和柄体12相对转动，并且使第一凸起部312对准至另一第一凹陷部121。在对准后，用户可以取消按压第一限位件31。请参照图4所示，第一凸起部312被第一弹性件41的弹力作用推动至另一第一凹陷部121内，以使第一限位件31重新处于第一状态，以限制柄首11和柄体12之间的相对转动。Optionally, please refer to FIGS. 3 to 5 , taking the rotational connection between the handle head 11 and the handle body 12 as an example, the handheld device 10 of the embodiment of the present application includes a first elastic member 41, one end of the first elastic member 41 is connected to the handle head 11, and the other end of the first elastic member 41 is connected to the first stopper 31. Please refer to FIG. 5 , when the user presses the first stopper 31, the first protrusion 312 of the first stopper 31 is separated from the first recessed portion 121 provided on the handle body 12, and at the same time, the first elastic member 41 is squeezed and deformed by the first stopper 31 and the handle head 11; the user can operate the handle head 11 and the handle body 12 to rotate relative to each other, and align the first protrusion 312 with the other first recessed portion 121. After alignment, the user can cancel pressing the first stopper 31. 4 , the first protrusion 312 is pushed into the other first recess 121 by the elastic force of the first elastic member 41 , so that the first limiting member 31 is in the first state again, so as to limit the relative rotation between the handle head 11 and the handle body 12 .
其中，第一弹性件41可以为弹簧、弹片或硅胶等具有弹性的零件。The first elastic member 41 may be a spring, a spring sheet, a silicone rubber or other elastic parts.
可选地，请参照图11-图13b所示，以手柄1与连接臂2转动连接为例，本申请实施例的手持器械10包括第二弹性件42，第二弹性件42的一端与手柄1连接，第二弹性件42的另一端与第二限位件32连接。请参照图12所示，当用户按压第二限位件32后，第二限位件32的第二凸起部322脱离设置于连接臂2的第二凹陷部21，同时，第二弹性件42被第二限位件32和手柄1挤压变形；用户可以操作手柄1和连接臂2相对转动，并且使第二凸起部322对准至另一第二凹陷部21。在对准后，用户可以取消按压第二限位件32。请参照图11所示，第二凸起部322被第二弹性件42的弹力作用推动至另一第二凹陷部21内，以使第二限位件32重新处于第一状态，以限制手柄1和连接臂2之间的相对转动。Optionally, referring to FIGS. 11-13b, taking the rotational connection between the handle 1 and the connecting arm 2 as an example, the handheld device 10 of the embodiment of the present application includes a second elastic member 42, one end of the second elastic member 42 is connected to the handle 1, and the other end of the second elastic member 42 is connected to the second stopper 32. Referring to FIG. 12, when the user presses the second stopper 32, the second protrusion 322 of the second stopper 32 is separated from the second recess 21 provided on the connecting arm 2, and at the same time, the second elastic member 42 is squeezed and deformed by the second stopper 32 and the handle 1; the user can operate the handle 1 and the connecting arm 2 to rotate relative to each other, and align the second protrusion 322 to another second recess 21. After alignment, the user can cancel pressing the second stopper 32. Referring to FIG. 11, the second protrusion 322 is pushed into another second recess 21 by the elastic force of the second elastic member 42, so that the second stopper 32 is in the first state again, so as to limit the relative rotation between the handle 1 and the connecting arm 2.
其中，第二弹性件42可以为弹簧、弹片或硅胶等具有弹性的零件。The second elastic member 42 may be a spring, a spring sheet, a silicone rubber or other elastic parts.
可选地，第一壳体和限位件中任一个设置有滑槽，另一个包括滑动部，滑动部与滑槽滑动配合。在该设置下，第一壳体和限位件可以滑动连接，限位件可以相对于第一壳体滑动并在第一状态和第二状态之间切换。Optionally, either the first housing or the position limiting member is provided with a slide groove, and the other includes a sliding portion, and the sliding portion is slidably matched with the slide groove. Under this arrangement, the first housing and the position limiting member can be slidably connected, and the position limiting member can slide relative to the first housing and switch between the first state and the second state.
在其它实施例中(图中未示出)，第一壳体和限位件可以转动连接，限位件可以相对于第一壳体转动并在第一状态和第二状态之间切换。或者，第二壳体和限位件可以转动连接，限位件可以相对于第二壳体转动并在第一状态和第二状态之间切换。In other embodiments (not shown in the figure), the first housing and the stopper may be rotatably connected, and the stopper may rotate relative to the first housing and switch between the first state and the second state. Alternatively, the second housing and the stopper may be rotatably connected, and the stopper may rotate relative to the second housing and switch between the first state and the second state.
本文后续内容主要以第一壳体和限位件滑动连接为例描述。The following content of this article is mainly described by taking the sliding connection between the first shell and the limiting member as an example.
可选地，以手柄1的柄首11和柄体12转动连接为例，请参照图6-图7所示，柄首11设置有第一滑槽111，请参照图15-图16所示，第一限位件31包括第一滑动部311，第一滑动部311与第一滑槽111滑动配合，在该设置下，柄首11和第一限位件31可以滑动连接，第一限位件31可以相对于柄首11滑动并在第一状态和第二状态之间切换。Optionally, taking the rotational connection between the handle head 11 and the handle body 12 of the handle 1 as an example, please refer to Figures 6-7, the handle head 11 is provided with a first slide groove 111, please refer to Figures 15-16, the first limiting member 31 includes a first sliding portion 311, and the first sliding portion 311 is slidably matched with the first slide groove 111. Under this setting, the handle head 11 and the first limiting member 31 can be slidably connected, and the first limiting member 31 can slide relative to the handle head 11 and switch between the first state and the second state.
其中，请参照图7所示，柄首11中用于围合形成第一滑槽111的底壁可以用于与上述内容中的第一弹性件41中背离第一限位件31的一端抵接。请参照图16所示，第一滑动部311中朝向第一滑槽111的一面可以设置有第三凹陷部315，第一限位件31还可以包括第一定位柱316，第一定位柱316由第一限位件31中用于围合形成有第三凹陷部315的底壁凸起。第一弹性件41可以为弹簧，第一弹性件41能套设于第一定位柱316且与第一限位件31中用于围合形成有第三凹陷部315的底壁抵接。As shown in FIG. 7 , the bottom wall of the handle 11 for enclosing and forming the first slide groove 111 can be used to abut against the end of the first elastic member 41 in the above content away from the first stopper 31. As shown in FIG. 16 , a third recessed portion 315 can be provided on one side of the first sliding portion 311 facing the first slide groove 111, and the first stopper 31 can also include a first positioning column 316, which is protruded from the bottom wall of the first stopper 31 for enclosing and forming the third recessed portion 315. The first elastic member 41 can be a spring, which can be sleeved on the first positioning column 316 and abut against the bottom wall of the first stopper 31 for enclosing and forming the third recessed portion 315.
另外，请参照图6所示，第一滑槽111可以包括依次连通的第一部分111a、第二部分111b和第三部分111c，第一部分111a位于第二部分111b的一侧，第三部分111c位于第二部分111b的另一侧，第二部分111b与设置于柄首11的第一开口114相连通。如图15所示的第一滑动部311能在如图6所示的第二部分111b内滑动，如图15所示的第一凸起部312能在如图6所示的第三部分111c内滑动。请参照图15所示，第一凸起部312与第一滑动部311的一侧连接，第一限位件31还包括由第一滑动部311中背离第一凸起部312凸起的第三凸起部314，第三凸起部314能在第一部分111a内滑动。请参照图6所示，柄首11包括两个相对设置的第一挡接部118。其中一个第一挡接部118能与第一凸起部312抵接，另一个第一挡接部118能与第三凸起部314抵接，以限制第一限位件31脱离第一滑槽111。第三部分111c还与第一开口114相连通，且第一开口114可以与各第一凹陷部121对准，以便于位于第三部分111c的第一凸起部312可以经第一开口114运动至第一凹陷部121内。第一凸起部312长度相比第三凸起部314的长度较大，以使第一凸起部312既可以具有与第一挡接部118抵接的部位，还可以具有能与第一凹陷部121配合的部位。In addition, as shown in FIG. 6 , the first slide groove 111 may include a first portion 111a, a second portion 111b and a third portion 111c which are connected in sequence, the first portion 111a is located on one side of the second portion 111b, the third portion 111c is located on the other side of the second portion 111b, and the second portion 111b is connected to the first opening 114 provided on the handle head 11. The first sliding portion 311 shown in FIG. 15 can slide in the second portion 111b shown in FIG. 6 , and the first protrusion 312 shown in FIG. 15 can slide in the third portion 111c shown in FIG. 6 . As shown in FIG. 15 , the first protrusion 312 is connected to one side of the first sliding portion 311 , and the first stopper 31 also includes a third protrusion 314 protruding from the first sliding portion 311 away from the first protrusion 312, and the third protrusion 314 can slide in the first portion 111a. As shown in FIG. 6 , the handle head 11 includes two first blocking portions 118 which are arranged opposite to each other. One of the first blocking portions 118 can abut against the first protruding portion 312, and the other first blocking portion 118 can abut against the third protruding portion 314, so as to limit the first stopper 31 from being separated from the first slide groove 111. The third portion 111c is also connected to the first opening 114, and the first opening 114 can be aligned with each of the first recessed portions 121, so that the first protruding portion 312 located in the third portion 111c can move into the first recessed portion 121 through the first opening 114. The length of the first protruding portion 312 is larger than that of the third protruding portion 314, so that the first protruding portion 312 can have both a portion abutting against the first blocking portion 118 and a portion that can cooperate with the first recessed portion 121.
在其它实施例中(图中未示出)，柄首11可以包括滑动部，第一限位件31可以设置有滑槽，滑动部与滑槽可以滑动配合，以使柄首11和第一限位件31滑动连接。In other embodiments (not shown in the figures), the handle 11 may include a sliding portion, the first limiting member 31 may be provided with a sliding groove, and the sliding portion and the sliding groove may be slidably matched to enable the handle 11 and the first limiting member 31 to be slidably connected.
本文后续内容主要以柄首11设置有第一滑槽111为例以及以第一限位件31包括第一滑动部311为例进行描述。The following content of this article is mainly described by taking the example that the handle 11 is provided with the first sliding groove 111 and the example that the first limiting member 31 includes the first sliding portion 311 .
可选地，以手柄1与连接臂2转动连接为例，请参照图18所示，手柄1设置有第二滑槽122，请参照图19所示，第二限位件32包括第二滑动部323，请参照图12所示，第二滑动部323与第二滑槽122滑动配合，在该设置下，手柄1和第二限位件32可以滑动连接，第二限位件32可以相对于手柄1滑动并在第一状态(如图11所示)和第二状态(如图12所示)之间切换。Optionally, taking the rotational connection between the handle 1 and the connecting arm 2 as an example, please refer to Figure 18, the handle 1 is provided with a second slide groove 122, please refer to Figure 19, the second limiting member 32 includes a second sliding portion 323, please refer to Figure 12, the second sliding portion 323 is slidably matched with the second slide groove 122, under this setting, the handle 1 and the second limiting member 32 can be slidably connected, the second limiting member 32 can slide relative to the handle 1 and switch between a first state (as shown in Figure 11) and a second state (as shown in Figure 12).
其中，请参照图11所示，手柄1中用于围合形成第二滑槽122的底壁可以用于与上述内容中的第二弹性件42中背离第二限位件32的一端抵接。请参照图19所示，第二滑动部323中朝向第二滑槽122的一面可以设置有第四凹陷部325，第二限位件32还可以包括第二定位柱326，第二定位柱326由第二限位件32中用于围合形成第四凹陷部325的底壁凸起。请参照图11所示，第二弹性件42可以为弹簧，第二弹性件42能套设于第二定位柱326。第二弹性件42中背离第二滑槽122的一端抵接于第二限位件32中用于围合形成第四凹陷部325的底壁。请参照18所示，手柄1中用于围合形成第一滑槽111的底壁设置有第六凹陷部127，第二定位柱326的至少部分能伸入第六凹陷部127内部或从第六凹陷部127内部伸出，在该设置下，手柄1和第二限位件32之间的结构紧凑性程度较高，以使手持器械10的体积较小，便于用户操作，用户的使用体验较高。As shown in FIG. 11 , the bottom wall of the handle 1 for enclosing and forming the second slide groove 122 can be used to abut against the end of the second elastic member 42 in the above content that is away from the second limiter 32. As shown in FIG. 19 , a fourth recessed portion 325 can be provided on one side of the second sliding portion 323 that faces the second slide groove 122, and the second limiter 32 can also include a second positioning column 326, which is protruded from the bottom wall of the second limiter 32 for enclosing and forming the fourth recessed portion 325. As shown in FIG. 11 , the second elastic member 42 can be a spring, and the second elastic member 42 can be sleeved on the second positioning column 326. The end of the second elastic member 42 that is away from the second slide groove 122 abuts against the bottom wall of the second limiter 32 for enclosing and forming the fourth recessed portion 325. Please refer to FIG18 , a sixth recessed portion 127 is provided on the bottom wall of the handle 1 for enclosing and forming the first slide groove 111, and at least a portion of the second positioning column 326 can extend into or out of the sixth recessed portion 127. Under this arrangement, the structure between the handle 1 and the second limiting member 32 is highly compact, so that the handheld device 10 is smaller in size, which is convenient for user operation and provides a higher user experience.
另外，请参照18所示，第二滑动部323的形状和第二滑槽122的形状相适配，第二滑槽122的至少部分可以呈棱柱体状(例如三棱柱状或四棱柱状)，相应地，第二滑动部323的至少部分也呈棱柱体状(例如三棱柱状或四棱柱状)，在该设置下，可以限制第二限位件32相对于手柄1绕转动轴线O2的转动。In addition, please refer to 18, the shape of the second sliding portion 323 is compatible with the shape of the second slide groove 122, and at least a portion of the second slide groove 122 can be prism-shaped (for example, a triangular prism or a quadrangular prism). Correspondingly, at least a portion of the second sliding portion 323 is also prism-shaped (for example, a triangular prism or a quadrangular prism). Under this setting, the rotation of the second limit member 32 relative to the handle 1 around the rotation axisO2 can be limited.
再者，请参照图17和图19所示，第二限位件32还可以包括轴肩321，轴肩321呈圆柱状，第二凸起部322与轴肩321的一端面连接，第二滑动部323与轴肩321的另一端面连接。请参照图18所示，手柄1设置有第五凹陷部126，第二滑槽122设置于手柄1中用于围合形成第五凹陷部126的底壁，轴肩321能在第五凹陷部126内沿转动轴线O2滑动，在第一状态下，轴肩321中与第二凸起部322连接的端面能与连接臂2抵接，在第二状态下，轴肩321中与第二滑动部323连接的端面能与手柄1中用于围合形成第五凹陷部126的底壁抵接。第二环形凸起部27能套设于轴肩321的曲面侧壁，以形成第二环形凸起部27与轴肩321转动连接的关系。Furthermore, referring to Figures 17 and 19, the second stopper 32 may further include a shoulder 321, the shoulder 321 is cylindrical, the second protrusion 322 is connected to one end face of the shoulder 321, and the second sliding portion 323 is connected to the other end face of the shoulder 321. Referring to Figure 18, the handle 1 is provided with a fifth recessed portion 126, the second slide groove 122 is provided in the handle 1 to enclose and form the bottom wall of the fifth recessed portion 126, the shoulder 321 can slide along the rotation axisO2 in the fifth recessed portion 126, in the first state, the end face of the shoulder 321 connected to the second protrusion 322 can abut against the connecting arm 2, and in the second state, the end face of the shoulder 321 connected to the second sliding portion 323 can abut against the bottom wall of the handle 1 for enclosing and forming the fifth recessed portion 126. The second annular protrusion 27 can be sleeved on the curved side wall of the shaft shoulder 321 to form a rotatable connection between the second annular protrusion 27 and the shaft shoulder 321 .
在其它实施例中(图中未示出)，手柄1可以包括滑动部，第二限位件32可以设置有滑槽，滑动部与滑槽可以滑动配合，以使手柄1和第二限位件32滑动连接。In other embodiments (not shown in the figures), the handle 1 may include a sliding portion, the second limiting member 32 may be provided with a sliding groove, and the sliding portion and the sliding groove may be slidably matched to enable the handle 1 and the second limiting member 32 to be slidably connected.
本文后续内容主要以手柄1设置有第二滑槽122为例以及以第二限位件32包括第二滑动部323为例进行描述。The following content of this article is mainly described by taking the example that the handle 1 is provided with the second sliding groove 122 and the example that the second limiting member 32 includes the second sliding portion 323 .
可选地，限位件包括位于第一壳体外部和/或第二壳体外部的操作部。当用户的手部按压该操作部时，可以使限位件相对于第一壳体和/或第二壳体由第一预设位置运动至第二预设位置，从而使限位件由第一状态切换至第二状态；当用户的手部取消按压该操作部或回拉该操作部时，可以使限位件相对于第一壳体和/或第二壳体由第二预设位置运动至第一预设位置，从而使限位件由第二状态切换至第一状态。Optionally, the position-limiting member includes an operating portion located outside the first shell and/or outside the second shell. When the user's hand presses the operating portion, the position-limiting member can be moved from a first preset position to a second preset position relative to the first shell and/or the second shell, thereby switching the position-limiting member from the first state to the second state; when the user's hand stops pressing the operating portion or pulls back the operating portion, the position-limiting member can be moved from the second preset position to the first preset position relative to the first shell and/or the second shell, thereby switching the position-limiting member from the second state to the first state.
可选地，以手柄1的柄首11和柄体12转动连接为例，请参照图15所示，第一限位件31包括位于柄首11外部的第一操作部313，用户的手部可以对第一操作部313进行操作，以使第一限位件31在第一状态和第二状态之间改变。Optionally, taking the rotational connection between the handle head 11 and the handle body 12 of the handle 1 as an example, please refer to Figure 15, the first limiting member 31 includes a first operating part 313 located outside the handle head 11, and the user's hand can operate the first operating part 313 to change the first limiting member 31 between the first state and the second state.
其中，第一操作部313可以为第一限位件31中背离柄首11的一面。用户可以按压该第一操作部313，以使第一限位件31处于第二状态；结合上述关于第一弹性件41的实施例，当用户取消按压该第一操作部313时，第一弹性件41弹力作用使第一限位件31向远离柄首11的方向运动，从而使第一限位件31处于第一状态。The first operating portion 313 may be a side of the first position-limiting member 31 that is away from the handle 11. The user may press the first operating portion 313 to put the first position-limiting member 31 in the second state; in combination with the above-mentioned embodiment of the first elastic member 41, when the user cancels pressing the first operating portion 313, the elastic force of the first elastic member 41 causes the first position-limiting member 31 to move in a direction away from the handle 11, thereby putting the first position-limiting member 31 in the first state.
可选地，以手柄1与连接臂2转动连接为例，请参照图17所示，第二限位件32包括位于手柄1外部和连接臂2外部的第二操作部324，用户的手部可以对第二操作部324进行操作，以使第二限位件32在第一状态和第二状态之间改变。Optionally, taking the rotational connection between the handle 1 and the connecting arm 2 as an example, please refer to Figure 17, the second limit member 32 includes a second operating part 324 located outside the handle 1 and outside the connecting arm 2, and the user's hand can operate the second operating part 324 to change the second limit member 32 between the first state and the second state.
其中，第二操作部324呈圆柱状，第二操作部324可以与上述实施例中轴肩321中背离第二滑动部323的一面连接，至少两个第二凸起部322与第二操作部324的曲面侧壁连接。The second operating portion 324 is cylindrical and can be connected to a surface of the shoulder 321 away from the second sliding portion 323 in the above embodiment. At least two second protrusions 322 are connected to the curved side wall of the second operating portion 324 .
另外，请参照图13a-图14所示，连接臂2设置有第七开口22，第二操作部324可以穿设于第七开口22并延伸至连接臂2的外部。In addition, referring to FIGS. 13 a to 14 , the connecting arm 2 is provided with a seventh opening 22 , and the second operating portion 324 can be passed through the seventh opening 22 and extend to the outside of the connecting arm 2 .
可选地，请参照图3所示，本申请实施例的手持器械10还包括连接丝61，第一驱动件51通过连接丝61与执行件8(如图1-图2所示)连接(间接连接或直接连接)；连接丝61包括松弛状态和拉紧状态，在拉紧状态下，执行件8能被连接丝61控制。Optionally, please refer to Figure 3, the handheld device 10 of the embodiment of the present application also includes a connecting wire 61, and the first driving member 51 is connected to the actuator 8 (as shown in Figures 1-2) through the connecting wire 61 (indirectly or directly); the connecting wire 61 includes a relaxed state and a tensioned state. In the tensioned state, the actuator 8 can be controlled by the connecting wire 61.
本实施例中，请参照图3所示，用户可以操作第一驱动件51以使连接丝61在松弛状态和拉紧状态之间切换。当用户通过操作第一驱动件51拉紧连接丝61时，连接丝61与执行件8之间具有作用力，可以使执行件8处于被控制状态，即用户可以通过第一驱动件51以及连接丝61直接控制或间接控制执行件8的动作。相应地，第一驱动件51的动作幅度可以通过连接丝61转换为执行件8的动作幅度。当用户通过操作第一驱动件51放松连接丝61时，连接丝61与执行件8之间不具有作用力，可以使执行件8处于不被控制的状态，即执行件8的动作不受控制。其次，由于连接丝61为柔性件，当用户需要转动柄首11和柄体12以调节第一驱动件51的位置时，处于松弛状态的连接丝61可以不受柄首11和柄体12之间的相对转动的影响，即在柄首11相对于柄体12转动至预设位置后，连接丝61仍处于松弛状态，连接丝61仍可以由松弛状态转变至拉紧状态并控制执行件8的动作幅度。因此，本申请实施例的手持器械10中用于调节手术操作角度的壳体结构和用于驱动执行件8的传动结构之间解耦，即用于调节手术操作角度的结构难以干涉执行件8的动作，用户的使用体验较高。In this embodiment, please refer to FIG. 3 , and the user can operate the first driving member 51 to switch the connecting wire 61 between a relaxed state and a tightened state. When the user tightens the connecting wire 61 by operating the first driving member 51, there is a force between the connecting wire 61 and the actuator 8, which can put the actuator 8 in a controlled state, that is, the user can directly or indirectly control the action of the actuator 8 through the first driving member 51 and the connecting wire 61. Correspondingly, the action amplitude of the first driving member 51 can be converted into the action amplitude of the actuator 8 through the connecting wire 61. When the user loosens the connecting wire 61 by operating the first driving member 51, there is no force between the connecting wire 61 and the actuator 8, which can put the actuator 8 in an uncontrolled state, that is, the action of the actuator 8 is uncontrolled. Secondly, since the connecting wire 61 is a flexible member, when the user needs to rotate the handle head 11 and the handle body 12 to adjust the position of the first driving member 51, the connecting wire 61 in a relaxed state can be unaffected by the relative rotation between the handle head 11 and the handle body 12, that is, after the handle head 11 rotates to a preset position relative to the handle body 12, the connecting wire 61 is still in a relaxed state, and the connecting wire 61 can still be transformed from a relaxed state to a tightened state and control the movement amplitude of the actuator 8. Therefore, the housing structure for adjusting the surgical operation angle and the transmission structure for driving the actuator 8 in the handheld instrument 10 of the embodiment of the present application are decoupled, that is, the structure for adjusting the surgical operation angle is unlikely to interfere with the movement of the actuator 8, and the user's use experience is high.
其中，执行件8可以为镊子、剪子、钳子或夹子等具有开合操作功能的工具。The actuator 8 may be a tool with an opening and closing operation function, such as tweezers, scissors, pliers or clamps.
在其它实施例中，执行件8也可以是钩子、刀子或锥子等。在其它实施例中，执行件8还可以是能量器械，例如等离子刀、电刀或超声刀。In other embodiments, the actuator 8 may also be a hook, a knife, or an awl, etc. In other embodiments, the actuator 8 may also be an energy device, such as a plasma knife, an electric knife, or an ultrasonic knife.
另外，请参照图6所示，柄首11设置有第一容纳腔113、第二开口115和第三开口116。第一驱动件51(如图3所示)可以穿设于第三开口116(如图6所示)，第一驱动件51的第三操作部511位于柄首11外部，第一驱动件51的另一部分位于第一容纳腔113(如图6所示)内，第一驱动件51中位于第一容纳腔113内的部分与柄首11转动连接。连接丝61(如图3所示)穿设于第二开口115(如图6所示)，连接丝61的一部分位于第一容纳腔113内并与第一驱动件51中位于第一容纳腔113内的部分连接。请参照图8所示，柄体12设置有相连通的第二容纳腔124和第五开口125，第五开口125能与第二开口115相连通，以使连接丝61(如图3所示)能穿设于第五开口125并延伸至第二容纳腔124内。柄体12中用于与连接臂2连接的一端设置有第六开口129(如图18所示)，以使连接丝61能穿设于第六开口129并延伸至连接臂2的第四容纳腔26(如图14所示)内，连接丝61可以再从第四容纳腔26穿设调弯组件7的容纳腔(图中未示出)，直至连接丝61与执行件8连接。请参照图3所示，当用户按压第三操作部511时，第一驱动件51相对于柄首11转动，以使连接丝61处于拉紧状态，当用户取消按压第三操作部511时，不承受作用力的连接丝61处于松弛状态。In addition, as shown in FIG. 6 , the handle 11 is provided with a first accommodating cavity 113, a second opening 115 and a third opening 116. The first driving member 51 (as shown in FIG. 3 ) can be inserted into the third opening 116 (as shown in FIG. 6 ), the third operating portion 511 of the first driving member 51 is located outside the handle 11 , another part of the first driving member 51 is located in the first accommodating cavity 113 (as shown in FIG. 6 ), and the part of the first driving member 51 located in the first accommodating cavity 113 is rotatably connected to the handle 11. The connecting wire 61 (as shown in FIG. 3 ) is inserted into the second opening 115 (as shown in FIG. 6 ), a part of the connecting wire 61 is located in the first accommodating cavity 113 and connected to the part of the first driving member 51 located in the first accommodating cavity 113. As shown in FIG. 8 , the handle body 12 is provided with a second accommodating cavity 124 and a fifth opening 125 that are connected, and the fifth opening 125 can be connected to the second opening 115, so that the connecting wire 61 (as shown in FIG. 3 ) can be inserted into the fifth opening 125 and extend into the second accommodating cavity 124. The end of the handle body 12 for connecting with the connecting arm 2 is provided with a sixth opening 129 (as shown in FIG. 18 ), so that the connecting wire 61 can be passed through the sixth opening 129 and extend into the fourth accommodating cavity 26 (as shown in FIG. 14 ) of the connecting arm 2. The connecting wire 61 can then pass through the accommodating cavity (not shown) of the bending adjustment component 7 from the fourth accommodating cavity 26 until the connecting wire 61 is connected to the actuator 8. As shown in FIG. 3 , when the user presses the third operating portion 511, the first driving member 51 rotates relative to the handle head 11, so that the connecting wire 61 is in a tensioned state. When the user cancels pressing the third operating portion 511, the connecting wire 61 that is not subjected to the force is in a relaxed state.
可选地，请参照图20所示，本申请实施例的手持器械10还包括端面齿盘63和第一传动轴62，第二驱动件52与手柄1转动连接，端面齿盘63与手柄1转动连接，第一传动轴62与连接臂2转动连接，第二驱动件52与端面齿盘63齿轮啮合，第一传动轴62与端面齿盘63齿轮啮合，第一传动轴62与执行件8直接连接或间接连接。Optionally, please refer to Figure 20, the handheld device 10 of the embodiment of the present application also includes an end face toothed disc 63 and a first transmission shaft 62, the second drive member 52 is rotatably connected to the handle 1, the end face toothed disc 63 is rotatably connected to the handle 1, the first transmission shaft 62 is rotatably connected to the connecting arm 2, the second drive member 52 is gear-engaged with the end face toothed disc 63, the first transmission shaft 62 is gear-engaged with the end face toothed disc 63, and the first transmission shaft 62 is directly or indirectly connected to the actuator 8.
本实施例中，请参照图20所示，用户可以操作第二驱动件52转动，第二驱动件52能带动端面齿盘63相对于手柄1转动，端面齿盘63能带动第二驱动件52相对于连接臂2转动，转动的第二驱动件52能带动执行件8转动，以调节执行件8的姿态(例如执行件8能绕第二驱动件52的转动轴线O1转动)。其次，由于第二驱动件52与端面齿盘63齿轮啮合并且第一传动轴62也与端面齿盘63齿轮啮合，第二驱动件52与端面齿盘63的齿轮啮合位置与端面齿盘63的转动轴线O2之间具有设定的连线，第一传动轴62与端面齿盘63的齿轮啮合位置与端面齿盘63的转动轴线O2之间也具有设定的连线，两个连线之间具有设定夹角α，当用户转动手柄1和连接臂2以调节手柄1和连接臂2之间的结构角度(例如夹角α)时，两个连线之间的夹角α随之变化，第二驱动件52依然与端面齿盘63齿轮啮合，第一传动轴62也依然与端面齿盘63齿轮啮合，即第二驱动件52与端面齿盘63之间的齿轮啮合和第一传动轴62与端面齿盘63之间的齿轮啮合均不受手柄1和连接臂2之间的相对转动的影响。因此，本申请实施例的手持器械10中用于调节手术操作角度的壳体结构和用于驱动执行件8的传动结构解耦，即用于调节手术操作角度的结构难以干涉执行件8的动作，用户的使用体验较高。In this embodiment, please refer to Figure 20. The user can operate the second driving member 52 to rotate. The second driving member 52 can drive the end face toothed disk 63 to rotate relative to the handle 1. The end face toothed disk 63 can drive the second driving member 52 to rotate relative to the connecting arm 2. The rotating second driving member 52 can drive the actuator 8 to rotate to adjust the posture of the actuator 8 (for example, the actuator 8 can rotate around the rotation axisO1 of the second driving member 52). Secondly, since the second driving member 52 is gear-engaged with the end face toothed disk 63 and the first transmission shaft 62 is also gear-engaged with the end face toothed disk 63, there is a set connecting line between the gear-engaging position of the second driving member 52 and the end face toothed disk 63 and the rotation axisO2 of the end face toothed disk 63, and there is also a set connecting line between the gear-engaging position of the first transmission shaft 62 and the end face toothed disk 63 and the rotation axisO2 of the end face toothed disk 63. There is a set angle α between the two connecting lines. When the user rotates the handle 1 and the connecting arm 2 to adjust the structural angle (for example, the angle α) between the handle 1 and the connecting arm 2, the angle α between the two connecting lines changes accordingly, and the second driving member 52 is still gear-engaged with the end face toothed disk 63, and the first transmission shaft 62 is also still gear-engaged with the end face toothed disk 63, that is, the gear meshing between the second driving member 52 and the end face toothed disk 63 and the gear meshing between the first transmission shaft 62 and the end face toothed disk 63 are not affected by the relative rotation between the handle 1 and the connecting arm 2. Therefore, in the handheld instrument 10 of the embodiment of the present application, the shell structure for adjusting the surgical operation angle and the transmission structure for driving the actuator 8 are decoupled, that is, the structure for adjusting the surgical operation angle is unlikely to interfere with the action of the actuator 8, and the user experience is higher.
其中，第二驱动件52与端面齿盘63齿轮啮合可以为锥齿轮啮合，相应地，第一传动轴62与端面齿盘63齿轮啮合可以为锥齿轮啮合。The gear meshing between the second driving member 52 and the end face toothed disc 63 may be bevel gear meshing, and correspondingly, the gear meshing between the first transmission shaft 62 and the end face toothed disc 63 may be bevel gear meshing.
在其它实施例中(图中未示出)，第二驱动件52与端面齿盘63齿轮啮合可以为直齿轮啮合，相应地，第一传动轴62与端面齿盘63齿轮啮合可以为直齿轮啮合。In other embodiments (not shown in the figures), the gear meshing between the second driving member 52 and the end face toothed disc 63 may be a spur gear meshing, and correspondingly, the gear meshing between the first transmission shaft 62 and the end face toothed disc 63 may be a spur gear meshing.
在其它实施例中(图中未示出)，第二驱动件52与端面齿盘63齿轮啮合可以为锥齿轮啮合，相应地，第一传动轴62与端面齿盘63齿轮啮合可以为直齿轮啮合。In other embodiments (not shown in the figures), the gear meshing between the second driving member 52 and the end face toothed disk 63 may be bevel gear meshing, and correspondingly, the gear meshing between the first transmission shaft 62 and the end face toothed disk 63 may be spur gear meshing.
在其它实施例中(图中未示出)，第二驱动件52与端面齿盘63齿轮啮合可以为直齿轮啮合，相应地，第一传动轴62与端面齿盘63齿轮啮合可以为锥齿轮啮合。In other embodiments (not shown in the figures), the gear meshing between the second driving member 52 and the end face toothed disc 63 may be a spur gear meshing, and correspondingly, the gear meshing between the first transmission shaft 62 and the end face toothed disc 63 may be a bevel gear meshing.
在上述内容中，锥齿轮啮合具有传动效率高、运动平稳且噪音小的优点，用户的使用体验较高。Among the above contents, bevel gear meshing has the advantages of high transmission efficiency, smooth movement and low noise, and the user experience is high.
另外，连接臂2可以包括两个相对设置的第一轴瓦23(如图14所示的)，两个相对设置的第一轴瓦23的曲面侧壁与第一传动轴62的曲面侧壁抵接，以形成第一传动轴62与连接臂2的转动连接关系。In addition, the connecting arm 2 may include two oppositely disposed first bearings 23 (as shown in FIG. 14 ), and the curved side walls of the two oppositely disposed first bearings 23 abut against the curved side walls of the first transmission shaft 62 to form a rotational connection relationship between the first transmission shaft 62 and the connecting arm 2 .
再者，请参照图20所示，第二驱动件52包括相连的第四操作部521和第二传动轴522，第四操作部521位于柄首11的外部，柄首11设置有与第一容纳腔113连通的第四开口117，第二传动轴522可以依次穿设于第四开口117、第一容纳腔113和第二容纳腔124，第二传动轴522中背离第四操作部521的一端可以与端面齿盘63齿轮啮合的齿轮。用户可以通过操作第四操作部521转动，以使第二传动轴522、端面齿盘63和第一传动轴62转动。柄体12包括两个相对设置的第二轴瓦128(如图3所示)，两个相对设置的第二轴瓦128的曲面侧壁与第二传动轴522的曲面侧壁抵接，以形成第二传动轴522与柄体12的转动连接关系。第二传动轴522穿设于第四开口117，第二传动轴522可以不受柄首11相对于柄体12的转动的影响；第四操作部521可以与柄首11中背离柄体12的一端转动连接，第四操作部521能相对于柄首11绕转动轴线O1转动，第四操作部521也可以不受柄首11相对于柄体12的转动的影响。因此，本申请实施例的手持器械10中用于调节手术操作角度的壳体结构和用于驱动执行件8的传动结构解耦，即用于调节手术操作角度的结构难以干涉执行件8的动作，用户的使用体验较高。Furthermore, as shown in FIG. 20 , the second driving member 52 includes a fourth operating portion 521 and a second transmission shaft 522 connected to each other. The fourth operating portion 521 is located outside the handle head 11. The handle head 11 is provided with a fourth opening 117 connected to the first accommodating cavity 113. The second transmission shaft 522 can be sequentially arranged in the fourth opening 117, the first accommodating cavity 113 and the second accommodating cavity 124. The end of the second transmission shaft 522 away from the fourth operating portion 521 can be a gear meshed with the end face toothed disc 63. The user can rotate the fourth operating portion 521 to rotate the second transmission shaft 522, the end face toothed disc 63 and the first transmission shaft 62. The handle body 12 includes two second bearing bushes 128 (as shown in FIG. 3 ) arranged opposite to each other. The curved side walls of the two second bearing bushes 128 arranged opposite to each other abut against the curved side walls of the second transmission shaft 522 to form a rotational connection relationship between the second transmission shaft 522 and the handle body 12. The second transmission shaft 522 is passed through the fourth opening 117, and the second transmission shaft 522 may not be affected by the rotation of the handle head 11 relative to the handle body 12; the fourth operating portion 521 may be rotatably connected to the end of the handle head 11 away from the handle body 12, and the fourth operating portion 521 may be rotated relative to the handle head 11 around the rotation axisO1 , and the fourth operating portion 521 may not be affected by the rotation of the handle head 11 relative to the handle body 12. Therefore, the housing structure for adjusting the surgical operation angle and the transmission structure for driving the actuator 8 in the handheld instrument 10 of the embodiment of the present application are decoupled, that is, the structure for adjusting the surgical operation angle is unlikely to interfere with the action of the actuator 8, and the user experience is high.
可选地，请参照图14所示，连接臂2设置有第八开口24和第四容纳腔26，调弯组件7的至少部分能经第八开口24安装于第四容纳腔26内，且调弯组件7与连接臂2的连接关系为球运动副连接。Optionally, as shown in Figure 14, the connecting arm 2 is provided with an eighth opening 24 and a fourth accommodating cavity 26, at least part of the bending adjustment component 7 can be installed in the fourth accommodating cavity 26 through the eighth opening 24, and the connection relationship between the bending adjustment component 7 and the connecting arm 2 is a ball kinematic pair connection.
本文附图中点划线代表转动轴线O1和转动轴线O2，转动轴线O1和转动轴线O2垂直，虚线代表结构断面线。In the figures herein, the dot-dash lines represent the rotation axisO1 and the rotation axisO2 , the rotation axisO1 and the rotation axisO2 are perpendicular, and the dotted lines represent the structural section lines.
以上所述仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322507355.7UCN221285803U (en) | 2023-09-14 | 2023-09-14 | Hand-held instrument |
| PCT/CN2024/102854WO2025055487A1 (en) | 2023-09-14 | 2024-07-01 | Handheld instrument |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322507355.7UCN221285803U (en) | 2023-09-14 | 2023-09-14 | Hand-held instrument |
| Publication Number | Publication Date |
|---|---|
| CN221285803Utrue CN221285803U (en) | 2024-07-09 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322507355.7UActiveCN221285803U (en) | 2023-09-14 | 2023-09-14 | Hand-held instrument |
| Country | Link |
|---|---|
| CN (1) | CN221285803U (en) |
| WO (1) | WO2025055487A1 (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060074429A1 (en)* | 2004-10-06 | 2006-04-06 | Ralph James D | Adjustable angle handle for surgical instruments |
| US7648519B2 (en)* | 2006-09-13 | 2010-01-19 | Cambridge Endoscopic Devices, Inc. | Surgical instrument |
| CN208725874U (en)* | 2017-12-15 | 2019-04-12 | 中国人民解放军第二军医大学 | A bionic surgical instrument and a bionic surgical instrument kit |
| CN114052925B (en)* | 2022-01-12 | 2022-04-12 | 极限人工智能有限公司 | Handle mechanism, split type operation device and operation robot |
| CN219289602U (en)* | 2022-04-18 | 2023-07-04 | 上海东方医疗创新研究院 | Bionic surgical instrument |
| CN219166551U (en)* | 2022-04-18 | 2023-06-13 | 上海东方医疗创新研究院 | Bionic surgical instrument |
| Publication number | Publication date |
|---|---|
| WO2025055487A1 (en) | 2025-03-20 |
| Publication | Publication Date | Title |
|---|---|---|
| CN106034396B (en) | Alignment feature for ultrasonic surgical instrument | |
| US20200029988A1 (en) | Single port instruments | |
| EP1872729B1 (en) | Medical instrument for grasping on object, in particular needle holder | |
| US7338513B2 (en) | Surgical instrument | |
| US7686826B2 (en) | Surgical instrument | |
| US11406464B2 (en) | Handle assemblies for robotic surgical systems | |
| CN108236485B (en) | Surgical instrument with improved lock mechanism | |
| US20130331826A1 (en) | Surgical instrument | |
| US20030208187A1 (en) | Apparatus for positioning a medical instrument | |
| CA2173998A1 (en) | Improved endoscopic instrument | |
| US20220323090A1 (en) | Surgical instruments with coupling members to effect multiple pivot axes | |
| CN109662740B (en) | Surgical instrument | |
| KR20230124774A (en) | System, apparatus and method for patent positioning prior to, during and/or after medical procedures | |
| US5755723A (en) | Retrograde surgical instrument | |
| CN109009254B (en) | Surgical instrument with novel lock mechanism | |
| CN111407401B (en) | Multifunctional minimally invasive surgical forceps and operation method thereof | |
| CN221285803U (en) | Hand-held instrument | |
| WO2017045148A1 (en) | Action execution apparatus and ultrasound surgical instrument | |
| CN108403160B (en) | Surgical instrument with hollow trigger | |
| CN216455279U (en) | Sleeve pipe adapter and surgical robot | |
| RU2389443C2 (en) | Laparoscopic instrument | |
| CN215384241U (en) | Operating handle of minimally invasive surgical instrument | |
| US20060020288A1 (en) | Surgical instrument handle | |
| US12376877B2 (en) | Treatment device | |
| CN209884435U (en) | Lock catch type biological hip joint nail holder |
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |