CN102440820A - Minimally invasive surgical apparatus provided with chain joints - Google Patents
Minimally invasive surgical apparatus provided with chain joints Download PDFInfo
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- CN102440820A CN102440820A CN2010102994070A CN201010299407A CN102440820A CN 102440820 A CN102440820 A CN 102440820A CN 2010102994070 A CN2010102994070 A CN 2010102994070A CN 201010299407 A CN201010299407 A CN 201010299407A CN 102440820 A CN102440820 A CN 102440820A
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- carrier bar
- chain joint
- gear teeth
- chain
- joint
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00305—Constructional details of the flexible means
- A61B2017/00314—Separate linked members
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
- A61B2017/00323—Cables or rods
- A61B2017/00327—Cables or rods with actuating members moving in opposite directions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2908—Multiple segments connected by articulations
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- Ophthalmology & Optometry (AREA)
- Heart & Thoracic Surgery (AREA)
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- Surgical Instruments (AREA)
Abstract
A minimally invasive surgical apparatus provided with chain joints adopts the technical scheme that a joint is composed of the chain joints, teeth are arranged at two ends of chain plates of the chain joints and the teeth of each two adjacent chain plates in the same line are meshed with each other, and achieves the technical effects that the chain joints can be bent to two sides in a wide range and with a large curvature and are positioned accurately, and all bent parts are rigid enough. The minimally invasive surgical apparatus is suitable for stirring, separating, clamping, shearing, puncturing, suturing, nailing or looping tissues and organs of a human body or implants, can be used for dissecting and separating tissues, coagulation hemostasis or cutting tissues with electrotomes, and can be used as a draw hook after being bent and positioned.
Description
Technical field
The present invention relates in micro-wound surgical operation, be used to stir, separation, clamp, cutting, shearing, puncture, needlework are sewed up, nail folder or the histoorgan of snare human body and the minimally invasive surgery apparatus that has the chain joint of implant; Specially refer in operation of chamber mirror surgical operation, endoscopic surgery and hysteroscope surgical operation, be used to stir, separate, clamp, cutting, shearing, puncture, needlework are sewed up, the minimally invasive surgery apparatus that has the chain joint of the histoorgan of nail folder or snare human body; Relate more specifically in the hernia surgical operation, to stir the minimally invasive surgery apparatus that has the chain joint with histoorgan that separates human body or hernia patching material; Also relate more specifically in the operation of percutaneous vertebral plasty, stir the minimally invasive surgery apparatus that has the chain joint of vertebral body inner tissue, also relate more specifically to TURP or the electric minimally invasive surgery apparatus that has the chain joint that coagulates the histoorgan of human body in electrosurgery.
Background technology
In various micro-wound surgical operations, often need stir, separation, clamp, cutting, shearing, puncture, needlework are sewed up, the histoorgan or the implant of nail folder or snare human body.
For example; In micro-wound surgical operations such as chamber mirror surgical operation, endoscopic surgery operation and hysteroscope surgical operation; Form field of operation in order to appear or to peel off histoorgan; Or implant is placed on implant site, need leave 2 to 3 perforators specially according to operative site, so as to stir, separation, clamp, shearing, puncture, needlework are sewed up, the histoorgan or the implant of nail folder or snare human body.The bore of the perforator in micro-wound surgical operation is 5mm to 10mm, and like this, but the working range of separator, pincers or the drag hook of entering perforator is very little, often need in two perforators, insert separator, pincers or drag hook co-operate respectively.After forming field of operation, need to use multiple apparatus to carry out the operation technique of the histoorgan of cutting, puncture, hemostasis, needlework stitching, nail folder or snare human body.
Again for example; In operating patching before the abdomen peritoneum of Wicresoft's hernia (TAPP) or intraperitoneal lapping patching (IPOM); Need 2 perforators that bore is 5mm, appear or peel off histoorgan with pure property separator and form field of operation, the hernia patching material is stirred be laid on hernia repairing position.Outside the operating complete peritoneum of Wicresoft's hernia in the patching (TEP); 'go'gage is the perforator of 5mm; Adopt sacculus to carry out the separation of most preperitoneal space; Accomplish whole gaps through the perforator insertion elastic separating plier of 2 5mm then and separate the formation field of operation, the hernia patching material is stirred be laid on hernia repairing position.Because in Wicresoft's hernia surgical operation; Separator or elastic separating plier need insert very dark; Make that but the working range of the separator can get into perforator or elastic separating plier is very little; Therefore, the hernia patching material stirred being laid on hernia and repairing the position and need 2 perforators that bore is 5mm, is difficulty, the most time-consuming operation in Wicresoft's hernia surgical operation.
Again for example, in the operation of percutaneous vertebral plasty, normal is the puncture needle of 3.5mm to 4mm through bore, the vertebral body of adopting balloon expandable to be crushed.Because the cavity that balloon expandable forms in vertebral body is olive shape; Charge into wherein bone cement and receive the stopping of bone trabecula and spongy bone around the olive shape cavity; Be difficult to penetrate into olive shape cavity zone on every side, also be olive shape after the feasible bone cement that charges into therein solidifies.Therefore, after the operation of percutaneous vertebral plasty, the vertebral body of contiguous health is broken under the extruding of hard olive shape bone cement easily, needs vertebral body operation once more.If strengthen the pressure charge into bone cement, then bone cement can be extruded from the crack that the vertebral body that is crushed produces after by balloon expandable, forms the bone cement thorn near the human body the vertebral body crack, the histoorgan around the injury.
Again for example, electricity commonly used coagulates hook anatomical isolation tissue in electrosurgery, but both electric coagulation hemostasis, also can cut and organize, or adopts electricity to coagulate shovel and separate open texture and the oozing of blood that burns surgical wound surface, or the employing electricity coagulates excellent electric coagulation hemostasis.These high frequency electric knives are divided into one pole high frequency electric knife and bipolar high frequency electric knife, and 'go'gage is the perforator of 5mm, get into field of operation.Therefore, but the working range of the high frequency electric knife of entering perforator is very little, possibly need to carry out electrosurgeries through a plurality of perforators.
The minimally invasive surgery apparatus of in United States Patent (USP) 20100076260, introducing; In the joint, two cables are sealed in the hole of concavo-convex articular sclerite both sides; Make concavo-convex articular sclerite be composed in series the joint; Crooked through tractive cable control joint to both sides, thus drive various have stir, the tool heads of separation, clamp, cutting, shearing, puncture or high frequency electric knife function swings sideward moving.The minimally invasive surgery apparatus of in United States Patent (USP) 20090312773, introducing; In the joint, two sheet metals are sealed in the hole of concavo-convex articular sclerite both sides; Make concavo-convex articular sclerite be composed in series the joint; Crooked through push-and-pull sheet metal control joint to both sides, swing sideward moving thereby drive tool heads with needlework stitching function.The dissatisfied place of making us of the minimally invasive surgery apparatus of these two kinds of styles is; Though it is crooked to both sides that cable or sheet metal can drive the joint; But the joint is after the bending of both sides; The joint that is composed in series by concavo-convex articular sclerite is difficult to all have enough rigidity at any bending position, thereby causes the tool heads of minimally invasive surgery apparatus to be shifted easily, positioning accuracy is relatively poor.Therefore, the articulation structure of minimally invasive surgery apparatus also need improve.
Obviously can find out by above-mentioned; Designed now not minimally invasive surgery apparatus in specie; And the development work of the articulation structure of new minimally invasive surgery apparatus is still continuing; So that the minimally invasive surgery apparatus that uses in a large number in the world every year is done further to improve, make the joint of minimally invasive surgery apparatus all have enough rigidity, but more accurately working range is bigger during the tool heads location at any bending position.
Summary of the invention
The objective of the invention is to propose a kind of minimally invasive surgery apparatus that has the chain joint; The realization joint is made up of the chain joint; There are teeth at the two ends of the carrier bar in chain joint; The intermeshing technical scheme of the teeth of the carrier bar that same column is adjacent reaches that the chain joint can be done on a large scale to both sides, the bending of deep camber, and the location accurately, all have enough inflexible technique effects at any bending position.Be applicable in various micro-wound surgical operations stir, separation, clamp, shearing, puncture, needlework are sewed up, the histoorgan or the implant of nail folder or snare human body; Anatomical isolation tissue, electric coagulation hemostasis or electric knife cut and organize, and can also use as drag hook behind the crooked location.Thereby the operating theater instruments of using in the minimizing minimally invasive surgery and the quantity of perforator, but in tool heads when location,, more accurately working range was bigger, was convenient to operation technique, saved operating time.
At present, known minimally invasive surgery apparatus, its ingredient comprises: tool heads, joint, extension, device body and operating mechanism.Operating mechanism is positioned at device and is in, and the control joint is crooked to both sides, swings sideward moving thereby drive tool heads.Tool heads, joint, extension, device body order successively link to each other.Extension can be a rigid pipe, also can be flexible pipe.Tool heads can be hook-shaped, shovel shape head, horn shape head, curvedly separates shape head, needle-like head, intestinal clamp, right angle forceps, nail anvil holding forceps, lung grasping forceps, nipper, curved elastic separating plier, bending hoe scaler, spherical hemostasis cutter, detaching hook, sharp property hook, curved scissors, big curved scissors, blunt dissector, hold syringe needle, nail folder clamp head, snare, high frequency electric knife or other various tool heads that can be used for minimally invasive surgery.
Task of the present invention realizes through following technical proposals:
A kind of joint that has the minimally invasive surgery apparatus in chain joint is the chain joint.The chain joint is made up of carrier bar and bearing pin.Carrier bar becomes staggered two row by the bearing pin pivotal connection.The near-end of the carrier bar of the most proximal end in chain joint and extension pivotal connection and by operating mechanism drive, far-end has teeth.The far-end of the carrier bar of the distal-most end in chain joint and tool heads pivotal connection, near-end have teeth.The far-end of extension has teeth.The teeth of the teeth of the near-end of the carrier bar of the inferior most proximal end in chain joint and the far-end of extension are meshing with each other.The near-end of tool heads has teeth.The teeth of the teeth of the far-end of the carrier bar of the inferior distal-most end in chain joint and the near-end of tool heads are meshing with each other.There are teeth at the two ends of other carrier bars in chain joint.The teeth of the carrier bar that same column is adjacent are meshing with each other.Teeth on the carrier bar can be for being fixed on the gear teeth of the gear on the carrier bar, also can be for being fixed on shift fork, the thread on the carrier bar or having other various teeth of similar functions.The gear of the gear teeth on each carrier bar can have identical pitch diameter, also can have different pitch diameters.The number of teeth of the gear of the gear teeth on each carrier bar can identical, also can be inequality.It is crooked to both sides that the chain joint drives tool heads, locatees accurately, all has enough rigidity at any bending position
On the two ends of the carrier bar of the minimally invasive surgery apparatus that has a chain joint of the present invention pin-and-hole can be arranged.Bearing pin inserts the pin-and-hole of each carrier bar respectively, makes carrier bar become staggered two row by the bearing pin pivotal connection.
Also can there be pin-and-hole, the other end to be fixed with bearing pin by an end on the carrier bar.Fixed bearing pin inserts the pin-and-hole of another carrier bar on each carrier bar, makes carrier bar become staggered two row by the bearing pin pivotal connection.
Can also on the two ends of a part of carrier bar pin-and-hole be arranged, be fixed with bearing pin on the two ends of another part carrier bar.Each bearing pin that has on the carrier bar of bearing pin inserts the pin-and-hole on each carrier bar that has pin-and-hole, makes carrier bar become staggered two row by the bearing pin pivotal connection.
The periphery in the chain joint of the minimally invasive surgery apparatus that has a chain joint of the present invention can be with sleeve pipe.Sleeve pipe both can prevent that the carrier bar in chain joint and bearing pin broke away from each other, can prevent that also the periarticular tissue of chain from being sandwiched in the teeth of intermeshing carrier bar in the chain joint or in the space between the carrier bar.Sleeve pipe both can be corrugated tube, also can be flexible pipe.
The operating mechanism that has the minimally invasive surgery apparatus in chain joint of the present invention can have the joint cable.Cable can be single cable silk, also can be the many synthetic hawsers of cable skein silk.The far-end of joint cable is connected with the near-end of the carrier bar of the most proximal end in chain joint.Operating mechanism pulling joint cable, the near-end of the carrier bar of the most proximal end in joint cable pulling chain joint, the carrier bar that drives the most proximal end in chain joint rotates, and it is moving that tool heads is swung sideward.
Operating mechanism also can have the gear teeth of tooth bar or the gear teeth of gear at the far-end of extension.The cogged gear teeth of the near-end of the carrier bar of the most proximal end in chain joint.Operating mechanism is meshing with each other at the gear teeth of the gear of the near-end of the carrier bar of the most proximal end in the gear teeth of the gear teeth of the tooth bar of the far-end of extension or gear and chain joint.The gear teeth of the gear of the near-end of the carrier bar of the most proximal end in the gear teeth chain drive-belt joint of the gear teeth or the gear of operating mechanism through tooth bar, the carrier bar that drives the most proximal end in chain joint rotates, and it is moving that tool heads is swung sideward.
Above-mentioned chain arthrogryposis mechanism is specially adapted in various micro-wound surgical operations, to stir, separation, clamp, shearing, puncture, needlework are sewed up, the histoorgan or the implant of nail folder or snare human body; Can also use as drag hook behind the crooked location; Thereby the operating theater instruments of using in the minimizing minimally invasive surgery and the quantity of perforator are convenient to operation technique, are saved operating time; Also be specially adapted in Wicresoft's hernia surgical operation, appear or peel off histoorgan formation field of operation, the hernia patching material is stirred be laid on hernia repairing position; Also be specially adapted in vertebral plasty operation, balloon expandable formed olivary cavity stir and be trimmed to flat cavity in vertebral body, prevent that the vertebral body of the health that vertebral plasty operation back is contiguous from being pushed disruptive side effect by bone cement; Be specially adapted in electrosurgery the various operations carrying out anatomical isolation tissue, electric coagulation hemostasis or cut and organize again.
On the chain joint of the minimally invasive surgery apparatus that has a chain joint of the present invention passage from the proximal extension to the far-end can be arranged.Operating mechanism is delivered to tool heads through the passage in chain joint with operation.Groove from the proximal extension in chain joint to far-end can be arranged on the carrier bar, and the groove on the carrier bar is formed the passage from the proximal extension to the far-end on the chain joint.
Operating mechanism can have actuation cables.Actuation cables is connected to tool heads through the passage from the proximal extension to the far-end on extension and the chain joint.Operating mechanism pulling actuation cables makes actuation cables pulling tool heads carry out various operation techniques.Above-mentioned cable driving mechanism is specially adapted in various micro-wound surgical operations to carry out and stirs, separation, clamp, shearing, puncture, needlework are sewed up, nail folder or the histoorgan of snare human body or the various operations of implant.Also be specially adapted in Wicresoft's hernia surgical operation, appear or peel off histoorgan formation field of operation, the hernia patching material is stirred be laid on hernia repairing position; Also be applicable in vertebral plasty operation, balloon expandable formed olivary cavity stir and be trimmed to flat cavity in vertebral body, prevent that the vertebral body of the health that vertebral plasty operation back is contiguous from being pushed disruptive side effect by bone cement.
Also can be under the control of operating mechanism; The high frequency electric of electric knife main frame is transferred to tool heads through the lead in the passage from the proximal extension to the far-end on extension and the chain joint, makes tool heads in electrosurgery, carry out the various operations that anatomical isolation tissue, electric coagulation hemostasis or electric knife cut and organize.
Description of drawings
Fig. 1 is the stereoscopic figure of the chain joint of the minimally invasive surgery apparatus that has the chain joint of the expression embodiment of the invention when not rotating;
Fig. 2 is that stereoscopic figure was amplified in the part of chain joint and tool heads when rotated in the chain joint after the sleeve pipe on the chain joint of first embodiment of presentation graphs 1 was removed;
Fig. 3 is that stereoscopic figure is amplified in the part at the back side of chain joint and the adnexa thereof of presentation graphs 2;
Fig. 4 is that stereoscopic figure is amplified in the part of chain joint and adnexa thereof when rotating counterclockwise in the chain joint of presentation graphs 2;
Fig. 5 is that stereoscopic figure is amplified in the part at the back side of chain joint and the adnexa thereof of presentation graphs 4;
Fig. 6 is that stereoscopic figure is amplified in the part of chain joint and adnexa thereof when clockwise rotating in the chain joint of presentation graphs 2;
Fig. 7 is the amplification stereoscopic figure that the far-end of the joint cable of presentation graphs 2 is connected with the near-end of the carrier bar of the most proximal end in chain joint;
Fig. 8 is the amplification stereoscopic figure of the carrier bar of band list pin-and-hole and single bearing pin in the chain joint of presentation graphs 2;
Fig. 9 is the telescopic amplification stereoscopic figure of presentation graphs 1;
Figure 10 is that stereoscopic figure is amplified in the part in chain joint when not rotating, the chain joint of second embodiment of presentation graphs 1;
Figure 11 is that stereoscopic figure is amplified in the part at the back side of chain joint and the adnexa thereof of expression Figure 10;
Figure 12 is that stereoscopic figure is amplified in the part of chain joint and adnexa thereof when rotating counterclockwise in the chain joint of expression Figure 10;
Figure 13 is that stereoscopic figure is amplified in the part at the back side of chain joint and the adnexa thereof of expression Figure 12;
Figure 14 is the amplification stereoscopic figure of the carrier bar of the two pin-and-holes of band in the expression chain joint;
Figure 15 is the amplification stereoscopic figure of the bearing pin in the expression chain joint;
Figure 16 is the amplification stereoscopic figure of the carrier bar of the two bearing pins of band in the expression chain joint.
The practical implementation method
Use way of example below, in conjunction with the accompanying drawing statement most preferred embodiment that has the minimally invasive surgery apparatus in chain joint of the present invention.Scope of the present invention will be pointed out in claim.Will be appreciated that some or all accompanying drawing all is for the explanation sketch of most preferred embodiment of the present invention is described, and the full-size(d) of part shown in not depicting.With reference to being described in detail of most preferred embodiment, understand with will be more readily apparent from reach the present invention above-mentioned with other the purpose and the practical ways of advantage.
For the figure and the explanation thereof of outstanding chain joint and tool heads, except chain type joint and tool heads and the correlated parts, in the accompanying drawings other parts are not described in detail.
Accompanying drawing and below description in, term " near-end " is meant the minimally invasive surgery apparatus that has the chain joint end near the operator, and term " far-end " is meant the minimally invasive surgery apparatus that has the chain joint end away from the operator." end " both can be end face, also can be the end.Other directional terminology can be understood according to accompanying drawing and following description.
Below in conjunction with Fig. 1 to Figure 16 each parts of the minimally invasive surgery apparatus that has the chain joint of the embodiment of the invention are described, the specific embodiments of each parts is described.
As shown in Figure 1, the ingredient that has the minimally invasive surgery apparatus 1 in chain joint comprises: tool heads 2, chain joint 3, extension 4, device body 5 and operating mechanism 6.Operating mechanism 6 is positioned at device body 5 places, and control chain joint 3 is swung sideward moving, swings sideward moving thereby drive tool heads 2.Tool heads 2, chain joint 3, extension 4, device body 5 order successively link to each other.
To shown in Figure 8, an end of forming the carrier bar 7 in chain joint 3 is fixed with bearing pin 8, the other end has pin-and-hole 9 like Fig. 2.Fixed bearing pin 8 inserts the pin-and-hole 9 of another carrier bar on each carrier bar, makes carrier bar 7 become staggered two row 10 and 11 with pin-and-hole 9 pivotal connections by bearing pin 8.
The left and right side joint cable 28 of the cogged gear teeth of the far-end of the carrier bar 12 of chain joint 3 most proximal end 14, near-end and operating mechanism 6 links to each other with 29.The near-end of the carrier bar 12 of chain joint 3 most proximal end and extension 4 pivotal connections.Carrier bar 16 near-ends of 3 most proximal end in chain joint have the cogged gear teeth 18 of the gear teeth 17, far-end with the gear teeth 15 pitch wheels of the gear of extension 4 far-ends.Carrier bar 19 near-ends have the be meshing with each other cogged gear teeth 21 of the gear teeth 20, far-end of gear of the gear teeth 14 with the gear of carrier bar 12 far-ends.Carrier bar 22 near-ends of 3 distal-most end in chain joint have the be meshing with each other gear teeth 23, the far-end of gear of the gear teeth 18 with the gear of carrier bar 16 far-ends that the gear teeth 25 with the gear teeth 24 pitch wheels of the gear of the near-end of tool heads 2 are arranged.The cogged gear teeth of carrier bar 26 near-ends of chain joint 3 distal-most end 27, far-end and tool heads 2 pivotal connections.
When operating mechanism 6 spurs joint, left side cable 28, the near-end of the carrier bar 12 of joint, left side cable 28 pulling chain joints 3 most proximal end, the carrier bar 12 that drives chain joint 3 most proximal end rotates around bearing pin 30 counterclockwise, the counterclockwise corner of the generation first order.The carrier bar 16 of inferior most proximal end is under the drive of the bearing pin 31 of carrier bar 12 and under the dual function of the engaged transmission of the gear teeth 17 of the gear of the gear teeth 15 of the gear of extension 4 far-ends and carrier bar 16; The corner stack of carrier bar 12 is transmitted into the counterclockwise corner of carrier bar 16; Make first order corner be superimposed as second level corner, second level corner is two times of first order corner.Carrier bar 19 is under the drive of the bearing pin 32 of carrier bar 16 and under the dual function of the engaged transmission of the gear teeth 20 of the gear of the gear teeth 14 of the gear of carrier bar 12 and carrier bar 19; Again the corner stack of carrier bar 16 is transmitted into the counterclockwise corner of carrier bar 19; Make second level corner be superimposed as third level corner, third level corner is three times of first order corner.The carrier bar 22 of inferior distal-most end is under the drive of the bearing pin 33 of carrier bar 19 and under the dual function of the engaged transmission of the gear teeth 23 of the gear of the carrier bar 22 of the gear teeth 18 of the gear of carrier bar 16 and time distal-most end; Again the corner stack of carrier bar 19 is transmitted into the counterclockwise corner of the carrier bar 22 of time distal-most end; Make third level corner be superimposed as fourth stage corner, fourth stage corner is four times of first order corner.Carrier bar 26 is under the drive of the bearing pin 34 of the carrier bar 22 of inferior distal-most end and under the dual function of the engaged transmission of the gear teeth 27 of the gear of the gear teeth 21 of the gear of carrier bar 19 and carrier bar 26; Again the corner stack of carrier bar 22 is transmitted into the counterclockwise corner of carrier bar 26; Make fourth stage corner be superimposed as the level V corner, the level V corner is five times of first order corner.Tool heads 2 is under the drive of the bearing pin 35 of carrier bar 26 and under the dual function of the engaged transmission of the gear teeth 24 of the gear of the gear teeth 25 of the gear of the carrier bar 22 of time distal-most end and tool heads 2; Further the corner stack of carrier bar 26 is transmitted into the counterclockwise corner of tool heads 2; Make the level V corner be superimposed as the 6th grade of corner, the 6th grade of corner is six times of first order corner.Like this; When 3 actions of operating mechanism 6 control chain joints; Operating mechanism 6 is translated into the corner of the carrier bar 12 of chain joint 3 most proximal end in the transmission of extension 4 far-ends, through the intermeshing transmission of teeth of the adjacent carrier bar of same column; Be delivered to tool heads 2 through 6 grades of stacks, tool heads 2 can obtain to be equivalent to 6 times corner of the corner of carrier bar 12.The carrier bar number in chain joint 3 is many more, and then to be delivered to the multiple of corner of tool heads 2 many more in stack; The carrier bar number in chain joint 3 is few more, and then to be delivered to the multiple of corner of tool heads 2 few more in stack.The chain joint can be done on a large scale to both sides, the bending of deep camber thereby reach, and locatees accurately, all has enough inflexible technique effects at any bending position.More than be that the corner stack of the carrier bar 12 in chain joint 3 is delivered to the multiple of the corner of tool heads 2 under the identical condition of the number of teeth of the gear of the gear teeth on each carrier bar.And under the number of teeth of the gear of the gear teeth on each carrier bar condition inequality, the corner that the stack of the corner of the carrier bar 12 in chain joint 3 is delivered to tool heads 2 then has different multiples.
When the cable 29 of joint, operating mechanism 6 pulling right side, the carrier bar 12 that drives chain joint 3 most proximal end clockwise rotates, and tool heads 2 is swung to opposite side.With operating mechanism the transmission of the extension 4 far-ends corner through chain joint 3 most proximal end carrier bars 12 superpose step by step the process that is delivered to tool heads 2 with above-mentioned in introduce similar.
Minimally invasive surgery apparatus 1 'go'gage that said structure is specially adapted to have the chain joint is that the puncturing hole of 3.5mm to 5mm gets into human body and carries out micro-wound surgical operation.For example; Under the control of operating mechanism 6; The high frequency electric of electric knife main frame is transferred to tool heads 2 through the leads 38 in the passage from the proximal extension to the far-end 37 on extension 4 and the chain joint 3, then is applicable to the various operations of in electrosurgery, carrying out anatomical isolation tissue, electric coagulation hemostasis or cutting and organizing.Again for example; Under the control of operating mechanism 6; With actuation cables 38 through passage 37 driven tool from the proximal extension to the far-end on extension 4 and the chain joint 32; Then be applicable in micro-wound surgical operations such as operation of chamber mirror surgical operation, endoscopic surgery and hysteroscope surgical operation stir, separate, clamp, shearing, puncture, needlework are sewed up, the histoorgan or the implant of nail folder or snare human body; Or in Wicresoft's hernia surgical operation, appear or peel off that histoorgan forms field of operation and the hernia patching material stirred and be laid on hernia and repair the position, or in the vertebral plasty operation, balloon expandable is formed olivary cavity in vertebral body and stir and be trimmed to flat cavity.
Like Fig. 1 and shown in Figure 9, the periphery in chain joint 3 is with corrugated tube 39.Corrugated tube 39 both can prevent that the carrier bar 7 in chain joint 3 and bearing pin 8 broke away from each other, can prevent that again tissue around the chain joint 3 from falling into or being sandwiched in the space between the interior or carrier bar 7 of the gear teeth of gear of chain joint 3 intermeshing carrier bars 7.
To shown in Figure 13, the operating mechanism of second embodiment has tooth bar 41 like Figure 10.The gear teeth of tooth bar 41 are meshing with each other at the gear teeth of far-end and gear 42.The gear teeth 45 of the gear of carrier bar 44 near-ends of the gear teeth of gear 42 and chain joint 43 most proximal end are meshing with each other.Operating mechanism is through the gear teeth 45 of the gear of carrier bar 44 near-ends of gear teeth chain drive-belt joint 43 most proximal end of the gear teeth driven gear 42 of tooth bar 41, and the carrier bar 44 that drives chain joint 43 most proximal end rotates.
When operating mechanism control tool head joint action; Through the intermeshing transmission of teeth of the adjacent carrier bar of same column, with operating mechanism in the transmission of the extension far-end corner through the carrier bar 44 of chain joint 43 most proximal end superposes the process that is delivered to tool heads and Fig. 2 to Fig. 8 step by step, introduce similar.
In aforesaid operations mechanism; Also can by the gear teeth of the tooth bar 41 of operating mechanism directly and the gear teeth 45 of the gear of carrier bar 44 near-ends of chain joint 43 most proximal end be meshing with each other; The gear teeth 45 of the gear of carrier bar 44 near-ends of chain drive-belt joint 43 most proximal end rotate with the carrier bar 44 that drives chain joint 43 most proximal end.
Operating mechanism has actuation cables 49.Actuation cables 49 is connected to tool heads through the passage from the proximal extension to the far-end 48 on the chain joint 43.Operating mechanism pulling actuation cables 49 makes actuation cables 49 pulling tool heads.Minimally invasive surgery apparatus 1 'go'gage that said structure is specially adapted to have the chain joint is that the puncturing hole of 5mm to 10mm gets into human body; In various micro-wound surgical operations such as chamber mirror surgical operation, endoscopic surgery operation, hysteroscope surgical operation, Wicresoft's hernia surgical operation or vertebral plasty operation, carry out various surgical procedures.
Like Figure 14 and shown in Figure 15, there is pin-and-hole 51 at carrier bar 50 two ends of another kind of embodiment.Bearing pin 52 is inserted respectively in the pin-and-hole 51 of each carrier bar 50, make carrier bar 50 pivotal connections become staggered two row.Different with above-mentioned carrier bar 7 or carrier bar 46 is, groove 36 or the groove 47 from the proximal extension in chain joint 3 to far-end not on the carrier bar 50.
Shown in figure 16, carrier bar 53 two ends of another embodiment are fixed with bearing pin 54.Fixed bearing pin 54 inserts respectively in the pin-and-hole 51 of carrier bar 50 on the carrier bar 53, makes carrier bar 53 become staggered two row with carrier bar 50 pivotal connections.
Can know that according to above-mentioned detailed introduction the minimally invasive surgery apparatus that has the chain joint of the present invention has following technique effect:
Often need in various micro-wound surgical operations that utilization various tool head is stirred, separation, clamp, cutting, shearing, puncture, needlework are sewed up, the histoorgan or the implant of nail folder or snare human body.Tool heads can be hook-shaped, shovel shape head, horn shape head, curvedly separates shape head, needle-like head, intestinal clamp, right angle forceps, nail anvil holding forceps, lung grasping forceps, nipper, curved elastic separating plier, bending hoe scaler, spherical hemostasis cutter, detaching hook, sharp property hook, curved scissors, big curved scissors, blunt dissector, hold syringe needle, nail folder clamp head, snare, high frequency electric knife or other various tool heads that can be used for minimally invasive surgery.
For example; In micro-wound surgical operations such as chamber mirror surgical operation, endoscopic surgery operation and hysteroscope surgical operation; Form field of operation in order to appear or to peel off histoorgan; Or implant is placed on implant site, need leave 2 to 3 perforators specially according to operative site, so as to stir, separation, clamp, shearing, puncture, needlework are sewed up, the histoorgan or the implant of nail folder or snare human body.The bore of the perforator in micro-wound surgical operation is 5mm to 10mm, and like this, but the working range of separator, pincers or the drag hook of entering perforator is very little, often need in two perforators, insert separator, pincers or drag hook co-operate respectively.After forming field of operation, need to use multiple apparatus to carry out the operation technique of the histoorgan of cutting, puncture, hemostasis, needlework stitching, nail folder or snare human body.
Again for example; In operating patching before the abdomen peritoneum of Wicresoft's hernia (TAPP) or intraperitoneal lapping patching (IPOM); Need 2 perforators that bore is 5mm, appear or peel off histoorgan with pure property separator and form field of operation, the hernia patching material is stirred be laid on hernia repairing position.Outside the operating complete peritoneum of Wicresoft's hernia in the patching (TEP); 'go'gage is the perforator of 5mm; Adopt sacculus to carry out the separation of most preperitoneal space; Accomplish whole gaps through the perforator insertion elastic separating plier of 2 5mm then and separate the formation field of operation, the hernia patching material is stirred be laid on hernia repairing position.Because in Wicresoft's hernia surgical operation; Separator or elastic separating plier need insert very dark; Make that but the working range of the separator can get into perforator or elastic separating plier is very little; Therefore, the hernia patching material stirred being laid on hernia and repairing the position and need 2 perforators that bore is 5mm, is difficulty, the most time-consuming operation in Wicresoft's hernia surgical operation.
Again for example, in the operation of percutaneous vertebral plasty, normal is the puncture needle of 3.5mm to 4mm through bore, the vertebral body of adopting balloon expandable to be crushed.Because the cavity that balloon expandable forms in vertebral body is olive shape; Charge into wherein bone cement and receive the stopping of bone trabecula and spongy bone around the olive shape cavity; Be difficult to penetrate into olive shape cavity zone on every side, also be olive shape after the feasible bone cement that charges into therein solidifies.Therefore, after the operation of percutaneous vertebral plasty, the vertebral body of contiguous health is broken under the extruding of hard olive shape bone cement easily, needs vertebral body operation once more.If strengthen the pressure charge into bone cement, then bone cement can be extruded from the crack that the vertebral body that is crushed produces after by balloon expandable, forms the bone cement thorn near the human body the vertebral body crack, the histoorgan around the injury.
Again for example, electricity commonly used coagulates hook anatomical isolation tissue in electrosurgery, but both electric coagulation hemostasis, also can cut and organize, or adopts electricity to coagulate shovel and separate open texture and the oozing of blood that burns surgical wound surface, or the employing electricity coagulates excellent electric coagulation hemostasis.These high frequency electric knives are divided into one pole high frequency electric knife and bipolar high frequency electric knife, and 'go'gage is the perforator of 5mm, get into field of operation.Therefore, but the working range of the high frequency electric knife of entering perforator is very little, possibly need to carry out electrosurgeries through a plurality of perforators.
Existing minimally invasive surgery apparatus; In the joint, two cables or two sheet metals are sealed in the hole of concavo-convex articular sclerite both sides; Make concavo-convex articular sclerite be composed in series the joint; Crooked through tractive cable or push-and-pull sheet metal control joint to both sides, thus drive various have stir, the tool heads of separation, clamp, cutting, shearing, puncture or high frequency electric knife function swings sideward moving.The dissatisfied place of making us of the minimally invasive surgery apparatus of these two kinds of styles is; Though it is crooked to both sides that cable or sheet metal can drive the joint; But the joint is after the bending of both sides; The joint that is composed in series by concavo-convex articular sclerite is difficult to all have enough rigidity at any bending position, thereby causes the tool heads of minimally invasive surgery apparatus to be shifted easily, positioning accuracy is relatively poor.Therefore, the articulation structure of minimally invasive surgery apparatus also need improve.
The technical scheme that has the minimally invasive surgery apparatus 1 in chain joint of the present invention is: operating mechanism 6 drives the near-end of the carrier bar 12 of chain joint 3 most proximal end, and the carrier bar 12 of chain joint 3 most proximal end is rotated around bearing pin 30, produces first order corner.The carrier bar 16 of inferior most proximal end is under the drive of the bearing pin 31 of carrier bar 12 and under the dual function of the engaged transmission of the gear teeth 17 of the gear of the gear teeth 15 of the gear of extension 4 far-ends and carrier bar 16; The corner stack of carrier bar 12 is transmitted into the corner of carrier bar 16; Make first order corner be superimposed as second level corner, second level corner is two times of first order corner.Carrier bar 19 is under the drive of the bearing pin 32 of carrier bar 16 and under the dual function of the engaged transmission of the gear teeth 20 of the gear of the gear teeth 14 of the gear of carrier bar 12 and carrier bar 19; Again the corner stack of carrier bar 16 is transmitted into the corner of carrier bar 19; Make second level corner be superimposed as third level corner, third level corner is three times of first order corner.The carrier bar 22 of inferior distal-most end is under the drive of the bearing pin 33 of carrier bar 19 and under the dual function of the engaged transmission of the gear teeth 23 of the gear of the carrier bar 22 of the gear teeth 18 of the gear of carrier bar 16 and time distal-most end; Again the corner stack of carrier bar 19 is transmitted into the corner of the carrier bar 22 of time distal-most end; Make third level corner be superimposed as fourth stage corner, fourth stage corner is four times of first order corner.Carrier bar 26 is under the drive of the bearing pin 34 of the carrier bar 22 of inferior distal-most end and under the dual function of the engaged transmission of the gear teeth 27 of the gear of the gear teeth 21 of the gear of carrier bar 19 and carrier bar 26; Again the corner stack of the carrier bar 22 of inferior distal-most end is transmitted into the corner of carrier bar 26; Make fourth stage corner be superimposed as the level V corner, the level V corner is five times of first order corner.Tool heads 2 is under the drive of the bearing pin 35 of carrier bar 26 and under the dual function of the engaged transmission of the gear teeth 24 of the gear of the gear teeth 25 of the gear of the carrier bar 22 of time distal-most end and tool heads 2; Further the corner stack of carrier bar 26 is transmitted into the corner of tool heads 2; Make the level V corner be superimposed as the 6th grade of corner, the 6th grade of corner is six times of first order corner.Like this; When 3 actions of operating mechanism 6 control chain joints; Operating mechanism 6 is translated into the corner of the carrier bar 12 of chain joint 3 most proximal end in the transmission of extension 4 far-ends, through the intermeshing transmission of teeth of the adjacent carrier bar of same column; Be delivered to tool heads 2 through 6 grades of stacks, tool heads 2 can obtain to be equivalent to 6 times corner of the corner of carrier bar 12.The carrier bar number in chain joint 3 is many more, and then to be delivered to the multiple of corner of tool heads 2 many more in stack; The carrier bar number in chain joint 3 is few more, and then to be delivered to the multiple of corner of tool heads 2 few more in stack.The chain joint can be done on a large scale to both sides, the bending of deep camber thereby reach, and locatees accurately, all has enough inflexible technique effects at any bending position.More than be that the corner stack of the carrier bar 12 in chain joint 3 is delivered to the multiple of the corner of tool heads 2 under the identical condition of the number of teeth of the gear of the gear teeth on each carrier bar.To under the number of teeth of the gear of the gear teeth on each carrier bar condition inequality, the corner that the corner stack of the carrier bar 12 in chain joint 3 is delivered to tool heads 2 then has different multiples.
Another technical scheme that has the minimally invasive surgery apparatus 1 in chain joint of the present invention is: the groove from the proximal extension in chain joint to far-end can be arranged on the carrier bar, and the groove on the carrier bar is formed the passage from the proximal extension to the far-end on the chain joint.Operating mechanism is delivered to tool heads through the passage in chain joint with operation.
Operating mechanism can have actuation cables.Actuation cables is connected to tool heads through the passage from the proximal extension to the far-end on extension and the chain joint.Operating mechanism pulling actuation cables makes actuation cables pulling tool heads carry out various operation techniques.Above-mentioned cable driving mechanism is specially adapted in various micro-wound surgical operations such as operation of chamber mirror surgical operation, endoscopic surgery and hysteroscope surgical operation, carry out and stirs, separates, clamp, shearing, puncture, needlework are sewed up, nail folder or the histoorgan of snare human body or the various operations of implant; Thereby the operating theater instruments of using in the minimizing minimally invasive surgery and the quantity of perforator are convenient to operation technique, are saved operating time; More be specially adapted in Wicresoft's hernia surgical operation, appear or peel off histoorgan formation field of operation, the hernia patching material is stirred be laid on hernia repairing position; Also more be specially adapted in vertebral plasty operation, balloon expandable formed olivary cavity stir and be trimmed to flat cavity in vertebral body, prevent that the vertebral body of the health that vertebral plasty operation back is contiguous from being pushed disruptive side effect by bone cement.
Also can be under the control of operating mechanism; The high frequency electric of electric knife main frame is transferred to tool heads through the lead in the passage from the proximal extension to the far-end on extension and the chain joint, the various operations that make tool heads in electrosurgery, carry out anatomical isolation tissue, electric coagulation hemostasis or cut and organize.
Compare with existing various minimally invasive surgery apparatuses; The minimally invasive surgery apparatus realization joint that has the chain joint of the present invention is made up of the chain joint; There are teeth at the two ends of the carrier bar in chain joint; The intermeshing technical scheme of the teeth of the carrier bar that same column is adjacent reaches that the chain joint can be done on a large scale to both sides, the bending of deep camber, and the location accurately, all have enough inflexible technique effects at any bending position.Both be applicable in various micro-wound surgical operations such as operation of chamber mirror surgical operation, endoscopic surgery and hysteroscope surgical operation stir, separate, clamp, shearing, puncture, needlework are sewed up, the histoorgan or the implant of nail folder or snare human body; Can also use as drag hook behind the crooked location; Thereby the operating theater instruments of using in the minimizing minimally invasive surgery and the quantity of perforator are convenient to operation technique, are saved operating time; Be applicable to again in Wicresoft's hernia surgical operation, to appear or peel off histoorgan to form field of operation, the hernia patching material stirred be laid on hernia repairing position; Also be applicable in vertebral plasty operation, balloon expandable formed olivary cavity stir and be trimmed to flat cavity in vertebral body, prevent that the vertebral body of the health that vertebral plasty operation back is contiguous from being pushed disruptive side effect by bone cement; Be applicable to that also anatomical isolation tissue, electric coagulation hemostasis or electric knife cut and organize in electrosurgery.
So can find out that the above-mentioned target of stating comprises that those targets that shown by the front explanation have been reached effectively.Described here only is the typical best form of implementation of application of the present invention, can do some to said structure and change also without prejudice to the spirit and scope of the present invention.The present invention does not limit to or is placed restrictions on the detail of being stated in here, is conspicuous any improvement or remodeling and should keep affiliated field secondary technology personnel.
Claims (11)
1. minimally invasive surgery apparatus that has the chain joint, its ingredient comprises: tool heads, chain joint, extension, device body and operating mechanism;
Said operating mechanism is positioned at said device and is in, and it is crooked to both sides that operating mechanism is controlled said chain joint, swings sideward moving thereby drive said tool heads;
Tool heads, chain joint, extension, device body order successively link to each other;
The chain joint is made up of carrier bar and bearing pin; Said carrier bar becomes staggered two row by said bearing pin pivotal connection; The near-end of the carrier bar of the most proximal end in chain joint and extension pivotal connection and by operating mechanism drive, the cogged gear teeth of far-end; The far-end of the carrier bar of the distal-most end in chain joint and tool heads pivotal connection, the cogged gear teeth of near-end, the cogged gear teeth of the far-end of extension, the gear teeth of the gear of the gear teeth of the gear of the near-end of the carrier bar of the inferior most proximal end in chain joint and the far-end of said extension are meshing with each other; The cogged gear teeth of the near-end of tool heads; The gear teeth of the gear of the gear teeth of the gear of the far-end of the carrier bar of the inferior distal-most end in chain joint and the near-end of said tool heads are meshing with each other, the cogged gear teeth in the two ends of other carrier bars in chain joint, and the gear teeth of the gear of the carrier bar that same column is adjacent are meshing with each other.
2. the minimally invasive surgery apparatus that has the chain joint according to claim 1 is characterized in that said operating mechanism has the joint cable, and the far-end of said joint cable is connected with the near-end of the carrier bar of the most proximal end in said chain joint; Operating mechanism pulling joint cable, the near-end of the carrier bar of the most proximal end in joint cable pulling chain joint, the carrier bar that drives the most proximal end in chain joint rotates, and it is moving that said tool heads is swung sideward.
3. the minimally invasive surgery apparatus that has the chain joint according to claim 1; It is characterized in that; Said operating mechanism is at the cogged gear teeth of the far-end of said extension; The cogged gear teeth of near-end of the carrier bar of the most proximal end in said chain joint, said operating mechanism is meshing with each other at the gear teeth of the gear of the near-end of the carrier bar of the most proximal end in the gear teeth of the gear of the far-end of extension and chain joint; The gear teeth of operating mechanism through said gear drive the gear teeth of gear of near-end of carrier bar of the most proximal end in said chain joint, and the carrier bar that drives the most proximal end in chain joint rotates, and it is moving that said Executive Head is swung sideward.
4. the minimally invasive surgery apparatus that has the chain joint according to claim 1 is characterized in that said chain has the passage from the proximal extension to the far-end on the joint, and said operating mechanism is delivered to said tool heads through the passage in said chain joint with operation.
5. the minimally invasive surgery apparatus that has the chain joint according to claim 4 is characterized in that, the groove from the proximal extension in said chain joint to far-end is arranged on the said carrier bar, and the groove on the said carrier bar is formed the passage of chain joint from the proximal extension to the far-end.
6. the minimally invasive surgery apparatus that has the chain joint according to claim 4 is characterized in that said operating mechanism has actuation cables, and said actuation cables is connected to said tool heads through the passage from the proximal extension to the far-end on said extension and the chain joint; Operating mechanism pulling actuation cables makes actuation cables pulling tool heads carry out various operation techniques.
7. the minimally invasive surgery apparatus that has the chain joint according to claim 4; It is characterized in that; Under the control of said operating mechanism, the high frequency electric of electric knife main frame is transferred to said tool heads through the lead in the passage from the proximal extension to the far-end on said extension and the chain joint.
8. the minimally invasive surgery apparatus that has the chain joint according to claim 1 is characterized in that on the two ends of said carrier bar pin-and-hole being arranged, and said bearing pin inserts the pin-and-hole of each said carrier bar respectively, makes carrier bar become staggered two row by the bearing pin pivotal connection.
9. the minimally invasive surgery apparatus that has the chain joint according to claim 1; It is characterized in that; An end has pin-and-hole, the other end to be fixed with said bearing pin on the said carrier bar; Fixed bearing pin inserts the pin-and-hole of another carrier bar on each said carrier bar, makes carrier bar become staggered two row by the bearing pin pivotal connection.
10. the minimally invasive surgery apparatus that has the chain joint according to claim 1; It is characterized in that; On the two ends of said a part of carrier bar pin-and-hole is arranged; Be fixed with said bearing pin on the two ends of another part carrier bar, each is said to have bearing pin on the carrier bar of bearing pin and inserts the pin-and-hole on each said carrier bar that has a pin-and-hole, makes carrier bar become staggered two row by the bearing pin pivotal connection.
11. the minimally invasive surgery apparatus that has the chain joint according to claim 1 is characterized in that the periphery in said chain joint is with corrugated tube, under the effect of contraction of said corrugated tube, prevents that the carrier bar in chain joint and bearing pin break away from each other.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010299407 CN102440820B (en) | 2010-09-30 | 2010-09-30 | Minimally invasive surgical apparatus provided with chain joints |
| PCT/CN2010/079761 WO2012040981A1 (en) | 2010-09-30 | 2010-12-14 | Micro-invasive surgical instrument with articulated linkage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010299407 CN102440820B (en) | 2010-09-30 | 2010-09-30 | Minimally invasive surgical apparatus provided with chain joints |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102440820A true CN102440820A (en) | 2012-05-09 |
| CN102440820B CN102440820B (en) | 2013-04-10 |
Family
ID=45891842
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010299407 Withdrawn - After Issue CN102440820B (en) | 2010-09-30 | 2010-09-30 | Minimally invasive surgical apparatus provided with chain joints |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN102440820B (en) |
| WO (1) | WO2012040981A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109620397A (en) * | 2019-01-31 | 2019-04-16 | 郑州大学第附属医院 | Fine biliary tract cuts device under a kind of laparoscope |
| CN110710996A (en) * | 2019-10-18 | 2020-01-21 | 淄博科智星机器人有限公司 | Surgical instrument |
| CN111467048A (en) * | 2020-04-08 | 2020-07-31 | 重庆医科大学附属第二医院 | Whole-course visible 3D hysteroscopic surgery device |
| CN113038862A (en) * | 2018-07-16 | 2021-06-25 | 卢门迪公司 | Methods and apparatus for manipulating a sidewall of a body lumen or cavity to provide increased visualization of and/or access to the body lumen or cavity and/or for stabilizing an instrument relative to the body lumen or cavity |
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| US11986150B2 (en) | 2009-12-15 | 2024-05-21 | Lumendi Ltd. | Method and apparatus for manipulating the side wall of a body lumen or body cavity so as to provide increased visualization of the same and/or increased access to the same, and/or for stabilizing instruments relative to the same |
| US20150202013A1 (en) * | 2012-07-24 | 2015-07-23 | Richard Wolf Gmbh | Shaft for medical instruments, comprising movable sections |
| US8517240B1 (en) * | 2013-01-03 | 2013-08-27 | Just Right Surgical, Llc | Medical device and method of use |
| US9750497B2 (en) | 2013-01-03 | 2017-09-05 | Just Right Surgical, Llc | Device for use in laparoscopic surgery and method of use |
| US11653921B2 (en) | 2020-05-04 | 2023-05-23 | Bolder Surgical, Llc | Anti-buckling actuation members for a surgical instrument |
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| US5810716A (en) * | 1996-11-15 | 1998-09-22 | The United States Of America As Represented By The Secretary Of The Navy | Articulated manipulator for minimally invasive surgery (AMMIS) |
| CN101106945A (en) * | 2004-11-23 | 2008-01-16 | 诺瓦尔外科系统公司 | Articulating mechanisms and link systems with torque transmission in remote manipulation of instruments and tools |
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| US8795325B2 (en) * | 2006-10-05 | 2014-08-05 | Covidien Lp | Handle assembly for articulated endoscopic instruments |
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- 2010-12-14 WO PCT/CN2010/079761 patent/WO2012040981A1/en active Application Filing
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US5810716A (en) * | 1996-11-15 | 1998-09-22 | The United States Of America As Represented By The Secretary Of The Navy | Articulated manipulator for minimally invasive surgery (AMMIS) |
| CN101106945A (en) * | 2004-11-23 | 2008-01-16 | 诺瓦尔外科系统公司 | Articulating mechanisms and link systems with torque transmission in remote manipulation of instruments and tools |
| CN101313864A (en) * | 2007-05-30 | 2008-12-03 | 伊西康内外科公司 | Surgical stapling and cutting instrument with articulatable end effector |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113038862A (en) * | 2018-07-16 | 2021-06-25 | 卢门迪公司 | Methods and apparatus for manipulating a sidewall of a body lumen or cavity to provide increased visualization of and/or access to the body lumen or cavity and/or for stabilizing an instrument relative to the body lumen or cavity |
| CN109620397A (en) * | 2019-01-31 | 2019-04-16 | 郑州大学第附属医院 | Fine biliary tract cuts device under a kind of laparoscope |
| CN110710996A (en) * | 2019-10-18 | 2020-01-21 | 淄博科智星机器人有限公司 | Surgical instrument |
| CN111467048A (en) * | 2020-04-08 | 2020-07-31 | 重庆医科大学附属第二医院 | Whole-course visible 3D hysteroscopic surgery device |
| CN111467048B (en) * | 2020-04-08 | 2023-09-01 | 重庆医科大学附属第二医院 | Whole-course visual 3D hysteroscope operation device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102440820B (en) | 2013-04-10 |
| WO2012040981A1 (en) | 2012-04-05 |
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