CN105962981A - Joint rotation structure and anastomat with structure - Google Patents
Joint rotation structure and anastomat with structure Download PDFInfo
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- CN105962981A CN105962981A CN201610403158.2A CN201610403158A CN105962981A CN 105962981 A CN105962981 A CN 105962981A CN 201610403158 A CN201610403158 A CN 201610403158A CN 105962981 A CN105962981 A CN 105962981A
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- gear
- rotation
- eccentric projection
- translation
- articulation structure
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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
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/3209—Incision instruments
- A61B17/32093—Incision instruments for skin incisions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B2017/07214—Stapler heads
- A61B2017/07271—Stapler heads characterised by its cartridge
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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
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B2017/07214—Stapler heads
- A61B2017/07285—Stapler heads characterised by its cutter
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
- A61B2560/02—Operational features
- A61B2560/0204—Operational features of power management
- A61B2560/0214—Operational features of power management of power generation or supply
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Dermatology (AREA)
- Surgical Instruments (AREA)
Abstract
The invention discloses a joint rotation structure which is used for achieving follow-up motions of an abdominal cavity anastomat. The structure comprises a trigger unit used for achieving first-angle rotation, a first transmission unit used for converting first-angle rotation generated by the triggering unit into first translation, a second transmission unit used for converting first translation into second-angle rotation, and an execution unit used for converting second-angle rotation of the second transmission unit into third-angle rotation corresponding to the first-angle rotation. Thus, the execution unit of the anastomat can be bent and steered by means of the joint rotation structure, the intermittent angle adjusting mode of the joint rotation structure is changed into a continuous angle stepless rotation mode, precision and application range of operating instruments are greatly improved, and requirements of required angles are met on the occasions where the operation environment is strict, operation difficulty is high and operation precision requirements are high.
Description
Technical field
The present invention relates to anastomat field, be specifically related to a kind of articulation structure and there is coincideing of this structure
Device.
Background technology
Anastomat is the equipment substituting manual suture medically used, due to development and the making of modern science and technology
The improvement of technology, the anastomat reliable in quality used the most clinically, easy to use, tight, degree of tightness suitable,
Especially its stitching is quick, easy and simple to handle and seldom has the advantage such as side effect and postoperative complication, also makes
The tumor operation that cannot excise is gone to be able to aura excision, very by favor and the high praise of domestic and international Clinical Surgery doctor.
Anastomat main operational principle is to utilize titanium nail tissue carries out detachment or coincide, and is similar to stapler.
Owing to the front end of anastomat is typically straight-bar, focus generally cannot be mated and kiss by straight-bar well
Close, in order to adapt to more applied environment, in order in the case of operative space and angle are restricted, real
Sewing process under the surgical environments of existing limit limited space angle, it is therefore desirable to a kind of rotational structure of design,
So as to the front end rod-like structure of anastomat is curved.
In view of drawbacks described above, creator of the present invention obtains the present invention finally through research for a long time and practice.
Summary of the invention
For solving above-mentioned technological deficiency, the technical solution used in the present invention is, it is provided that a kind of articulation knot
Structure, it is in order to realize the servo-actuated action of an abdominal cavity anastomat, comprising:
One trigger element, it is in order to realize one first angular turn；
One first transfer unit, it is converted into one in order to the first angular turn produced by described trigger element
One translation；
One second transfer unit, it is in order to be converted into the second angular turn by the first described translation；
One performance element, it is in order to be converted into the second angular turn of described second transfer unit described in correspondence
One third angle of the first angular turn rotates,
Described first angular turn degree of rotation < 360 degree.
It is also preferred that the left described first transfer unit includes: one slides block and a linkage portion, described in slide bottom block
Being provided with an inclined ramp, described inclined ramp is slidably connected with described linkage portion one end, and described inclined ramp is used for
One second translation is converted into described first translation.
It is also preferred that the left described trigger element includes: a turning handle, it is the operation of described articulation structure
Handle；One rotates gear, and it is for transmitting the operating physical force of described turning handle, and described rotation gear is provided with tooth
Shape structure；Described block side of sliding is provided with and slides tooth bar with the tooth-shape structure on described rotation gear is meshed.
It is also preferred that the left described linkage portion includes: a catenating slider, it is used for embedding described inclined ramp and along institute
State inclined ramp to slide；One rotates STATEMENT OF FEDERALLY SPONSORED, and it is for being rotatably assorted with described catenating slider；One locking is drawn
Lever, it is for extending the transmission distance of described first translation；Be provided with inside described rotation STATEMENT OF FEDERALLY SPONSORED a male/
Female, described locking pull lever one end is provided with corresponding female/male, in described rotation STATEMENT OF FEDERALLY SPONSORED
The mutual clamping of female/male of male/female and described locking pull lever one end.
It is also preferred that the left described second transfer unit includes an eccentric projection gear, described eccentric projection gear sets
Being equipped with an eccentric projection, described eccentric projection is positioned at the non-home position on described eccentric projection gear, described
Eccentric projection is cylindrical；The described locking pull lever other end arranges one stroke hole, and described eccentric projection is placed in
In described stroke hole, described locking pull lever is moved along described first translation direction, drives described eccentric projection
Gear rotates around the gear center of circle；Described stroke hole is parallel to the size in described first translation direction and described bias
Bump diameter is equivalently-sized, and described stroke hole is perpendicular to the size in described first translation direction more than described bias
The diameter dimension of projection；Described eccentric projection gear is meshed with described performance element.
It is also preferred that the left described second transfer unit includes that a tooth bar sheet, described tooth bar sheet one end draw with described locking
Lever is fixing to be connected, and described tooth bar sheet is provided with tooth, described second transfer unit also include an one-stage gear and
One secondary gear, described one-stage gear engages with described secondary gear and can rotate around respective axis, described tooth
Silver engages with described one-stage gear, and described secondary gear is meshed with described performance element.
Slide tooth bar both sides described in it is also preferred that the left to be respectively provided with one and slide limited block；It is provided with on described performance element
Slip-off preventing end face, is used for preventing described performance element rotational angle from exceeding restriction.
It is also preferred that the left described articulation structure also includes a swivel joint, described swivel joint is provided with one
Slider throughbores, described slider throughbores be used for placing described in slide block and slide block along the second translation side described in limiting
To motion.
A kind of anastomat with articulation structure as described above.
The beneficial effects of the present invention is compared with the prior art: 1, by the angle of articulation structural break formula
Adjust the stepless rotation formula becoming continuous angle, substantially increase precision and the range of operating theater instruments,
Add the selectivity to operating theater instruments rotational angle when doctor operates, and, operation difficulty harsh at surgical environments
Spend higher and that operation fine degree requirement is higher occasion and meet the demand to required angle；2, by one hand
Rotate described turning handle and can realize the angle adjustment of described articulation structure, reduce operation complexity,
Add in the probability carrying out trickle angle adjustment in the patient, thus add the motility of operating theater instruments,
Avoid repeatedly passing in and out patient's wound, cause unnecessary damage；3, slide tooth bar both sides described in and be respectively provided with a cunning
Row limited block, when sliding on limited block described in the tooth of described rotation gear turns to, described rotation gear
Rotational action by resistance, be meshed therewith described in slide tooth bar and stop mobile, thus slide described in preventing
Tooth bar coasting distance is excessive, comes off from described articulation structure；4, arranging described locking pull lever can
Be greatly prolonged the described articulation structure command range to performance element, thus realize performance element remote
End controls.
Accompanying drawing explanation
For the technical scheme being illustrated more clearly that in various embodiments of the present invention, institute in embodiment being described below
The accompanying drawing used is needed to be briefly described.
Fig. 1 is the schematic diagram of the articulation structure of the present invention；
Fig. 2 is the schematic internal view of the articulation structure of the present invention；
Fig. 3 is the rotation gear schematic diagram of the articulation structure of the present invention；
Fig. 4 be the articulation structure of the present invention slide block schematic diagram；
Fig. 5 is the locking pull lever connection diagram of the articulation structure of the present invention；
Fig. 6 is the rotation section schematic diagram one of the articulation structure of the present invention；
Fig. 7 is the rotation section schematic diagram two of the articulation structure of the present invention；
Fig. 8 is the spacing schematic diagram of performance element of the articulation structure of the present invention；
Fig. 9 is clamping subelement external structure schematic diagram；
Figure 10 is clamping subelement tail end internal structure schematic diagram；
Figure 11 is staple cartridge tray structure of glide path schematic diagram；
Figure 12 is nail supporting base internal structure schematic diagram；
Figure 13 is cutter structural representations；
Figure 14 is nail bin groupware structural representation；
Figure 15 is gun barrel overall structure profile；
Figure 16 is clamping transmission subunit front-end architecture schematic diagram；
Figure 17 is clamping transmission subunit end construction schematic diagram；
Figure 18 is the first fixed cover structural representation；
Figure 19 is to shear transmission subunit structural representation；
Figure 20 is rotary drive sub-unit structure schematic diagram；
Figure 21 is to rotate interior head position view；
Figure 22 is to rotate STATEMENT OF FEDERALLY SPONSORED structural representation；
Figure 23 is swivel joint schematic internal view；
Figure 24 is inner core and the connection diagram rotating STATEMENT OF FEDERALLY SPONSORED；
Figure 25 is rotary head structural representation；
Figure 26 is rotating base structural representation；
Figure 27 is locked out bar structural representation；
Figure 28 is automatic reset structure schematic diagram；
Figure 29 is rotational structure schematic diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing, to the present invention, above-mentioned and other technical characteristic and advantage are described in more detail.
As shown in Figure 1 and Figure 2, the described articulation structure that the present invention provides, it is in order to realize an abdominal cavity kiss
The servo-actuated action of clutch, comprising:
One trigger element, it is in order to realize one first angular turn；
One first transfer unit, it is converted into one in order to the first angular turn produced by described trigger element
One translation；
One second transfer unit, it is in order to be converted into the second angular turn by the first described translation；
One performance element, it in order to be converted into corresponding described the by the second angular turn of described second transfer unit
One third angle of one angular turn rotates, described first angular turn degree of rotation < 360 degree.
Shown in Figure 3, described trigger element includes: a turning handle 257, and it is described articulation
The operation handle of structure, described turning handle 257 is outside is handle arrangement, facilitates operator to grip and right
Described turning handle 257 applies rotary torsion, and described turning handle 257 is internal is provided with groove；One turning gear
Wheel 256, it is for transmitting the operating physical force of described turning handle 257, and described rotation gear 256 is for turning around axle
Move and drive the subsequent parts contacted therewith, described rotation gear 256 top to be provided with projection, described rotation
The mutually clamping consistent with the groove shapes within described turning handle 257 of the projection on gear 256 top, described
Rotating gear 256 bottom is gear structure；The described block 255 that slides is for parallel along described second translation direction
Mobile also power is acted on the subsequent parts being attached thereto, described in slide block 255 and described rotation gear 256
The side that contacts is provided with and slides tooth bar 2551, described in slide the profile of tooth of tooth bar 2551 and described rotation gear 256
Profile of tooth match, it is simple to described rotation gear 256 drive described in slide tooth bar 2551 and move；Described slide
Tooth bar 2551 both sides are respectively provided with one and slide limited block, for limiting the rotation of described rotation gear 256；
Rotating described turning handle 257, under force, the groove within described turning handle 257 drives
The projection on described rotation gear 256 top of clamping therewith, make the gear of described rotation gear 256 bottom around
Axis rotate, the gear of described rotation gear 256 bottom stir contact therewith described in slide tooth bar 2551,
Slide block 255 described in and then and do translational motion along described second translation direction, when described rotation gear 256
Tooth turn to described in when sliding on limited block, the rotational action of described rotation gear 256 is by resistance, therewith
Slide tooth bar 2551 described in being meshed and stop mobile, thus described in preventing, slide tooth bar 2551 coasting distance
Excessive, come off from described articulation structure.
Shown in Figure 4, described first transfer unit includes: one slides block 255 and a linkage portion, institute
Stating to slide and be additionally provided with an inclined ramp 2552 bottom block 255, described inclined ramp is sliding with described linkage portion one end
Being dynamically connected, described inclined ramp is for being converted into described first translation by one second translation；Described inclined ramp
Bearing of trend all forms an angle with described first translation direction and described second translation direction.
Described linkage portion includes: a catenating slider 254, and described inclined ramp 2552 is internal is embedded with described linkage
Slide block 254, and make described catenating slider 254 can slide along described inclined ramp 2552, incline due to described
Inclined ramp 2552 slides for being obliquely installed bottom block 255 described, when the described block 255 that slides maintains static,
Described catenating slider 254 is when described inclined ramp 2552 internal slide, and described catenating slider 254 can produce
The displacement on tooth bar 2551 direction is slided described in being perpendicular to；Otherwise, when described catenating slider 254 is with described
Slide when maintaining static on the direction that tooth bar 2551 is parallel, described in slide the most described catenating slider of block 255 254
During slip, described in slide block 255 described for promotion catenating slider 254 slided tooth bar 2551 described in being perpendicular to
Direction is moved；Being additionally provided with a bearing pin bottom described catenating slider 254, described rotation STATEMENT OF FEDERALLY SPONSORED 253 ' is provided with
One pin-and-hole, described bearing pin matches with described pin-and-hole, shown in Fig. 1, described swivel joint 252 ' sets
Be equipped with a slider throughbores, described slider throughbores be used for placing described in slide block 255, described slider throughbores limits institute
State and slide block 255 and move up along sliding tooth bar 2551 side described in being perpendicular to；Described rotation STATEMENT OF FEDERALLY SPONSORED 253 '
Being placed in outside a stock, the most described rotation STATEMENT OF FEDERALLY SPONSORED 253 ' only can be moved along the axis direction of described stock
Dynamic, the most described rotation STATEMENT OF FEDERALLY SPONSORED 253 ' only can move up along sliding tooth bar 2551 side described in being perpendicular to, with
The described catenating slider 254 that described rotation STATEMENT OF FEDERALLY SPONSORED 253 ' is connected the most only can slide tooth bar described in being perpendicular to
2551 sides move up；
Described linkage portion also includes: one rotates STATEMENT OF FEDERALLY SPONSORED 253 ', and it is for being rotatably assorted with described catenating slider；
One locking pull lever 2743 ', it is for extending the transmission distance of described first translation；
Rotate described turning handle 257, drive the pivoting of described rotation gear 256, described rotation gear
256 stir described in slide tooth bar 2551, due to described slider throughbores limit described in slide block 255 along being perpendicular to
Described slide tooth bar 2551 side and move up, described in slide block 255 and slide tooth bar 2551 described in being parallel to
Translational motion is done in direction；Owing to described catenating slider 254 only can slide tooth bar 2551 direction described in being perpendicular to
Upper movement, described inclined ramp 2552, under the effect of slideway gradient, promotes described catenating slider 254 in institute
State that inclined ramp 2552 is internal to move up along sliding tooth bar 2551 side described in being perpendicular to, and then, described
Movable slider 254 drives described rotation STATEMENT OF FEDERALLY SPONSORED 253 ' to move up along sliding tooth bar 2551 side described in being perpendicular to.
Shown in Figure 5, described rotation STATEMENT OF FEDERALLY SPONSORED 253 ' is internal is provided with one male/female, described locking
Pull lever 2743 ' one end is provided with corresponding female/male, in described rotation STATEMENT OF FEDERALLY SPONSORED 253 '
Male/female and the mutual clamping of female/male of described locking pull lever 2743 ' one end, make described rotation join
Moving part 253 ' drives described locking pull lever 2743 ' to move, and the direction of motion is consistent；Described locking is set
Pull lever 2743 ' can be greatly prolonged the described articulation structure command range to performance element, thus real
Now the far-end of performance element is controlled.
Shown in Figure 6, described second transfer unit includes an eccentric projection gear 278, and described bias is convex
Being provided with an eccentric projection on block gear 278, described eccentric projection is positioned on described eccentric projection gear 278
Non-home position, described eccentric projection gear 278 around the gear center of circle rotate, described eccentric projection is cylinder
Shape；The described locking pull lever 2743 ' other end arranges one stroke hole 27431, and described eccentric projection is placed in institute
Stating in stroke hole 27431, described stroke hole 27431 is parallel to the described locking pull lever 2743 ' direction of motion
Size identical with described eccentric projection diameter dimension, described stroke hole 27431 is perpendicular to described locking and pulls
The size of the bar 2743 ' direction of motion is more than the diameter dimension of described eccentric projection；Outside described articulation structure
Portion connects described performance element, and described performance element includes a rotary head 271, and it is used for realizing described joint and turns
The rotational action of dynamic structure, described rotary head 271 one end is covering of the fan tooth-shape structure, described covering of the fan tooth-shape structure
Engaging with described eccentric projection gear 278, described rotary head 271 can rotate around a bearing pin；Such as Fig. 8 institute
Showing, described rotary head 271 both sides are respectively provided with a slip-off preventing end face, when described rotary head 271 turns to necessarily
During angle, described slip-off preventing end face is propped up, and the rotational angle limiting described rotary head 271 exceedes restriction,
Prevent described covering of the fan tooth-shape structure from departing from from engagement with described eccentric projection gear 278.
When described locking pull lever 2743 ' moves along a straight line, described stroke hole 27431 drives described bias
Projection moves, owing to described eccentric projection is limited on the direction being parallel to described locking pull lever 2743 ',
Described eccentric projection is only capable of to be done relative to described row on the direction being perpendicular to described locking pull lever 2743 '
The linear motion in journey hole 27431, now, under the drive of described eccentric projection, described eccentric projection gear
278 do the action around axis rotation, and then drive the described rotation being meshed with described eccentric projection gear 278
271 do the action rotated around bearing pin；Owing to the movement locus of described eccentric projection is around described eccentric projection
The circular motion in gear 278 axle center, when described locking pull lever 2743 ' stops mobile, described eccentric projection
Movement locus limited, the most described eccentric projection gear 278 stops operating, so with described eccentric projection
The rotational motion of the described rotary head 271 that gear 278 is meshed is limited, as required, and described rotary head
271 can be fixed on arbitrary required angle, thus realize the stepless rotation of described rotary head 271.
As it is shown in fig. 7, different from articulation structure described above, described linkage portion includes a tooth bar sheet
279, described tooth bar sheet 279 one end is fixing with described locking pull lever 2743 ' to be connected, described tooth bar sheet 279
Being provided with tooth, described rotation section includes one-stage gear 2781 ' and secondary gear 2782 ', described one-stage gear
2781 ' engage with described secondary gear 2782 ' and can rotate around respective axis, described tooth bar sheet 279 and institute
Stating one-stage gear 2781 ' engagement, described secondary gear 2782 ' is meshed with described rotary head 271；Described
Tooth bar sheet 279 moves along described first translation direction under the drive of described locking pull lever 2743 ', and then
Driving described one-stage gear 2781 ' to rotate, described one-stage gear 2781 ' drives described two grades be engaged with
Gear 2782 ' rotates, and then under the drive of described secondary gear 2782 ', it is achieved described rotary head 271
Stepless rotation.
Described articulation structure also includes a swivel joint 252 ', and described swivel joint 252 ' is provided with
One slider throughbores, described slider throughbores be used for placing described in slide block 255 and slide block 255 edge described in limiting
Described second translation direction motion.
A kind of anastomat with above-mentioned articulation structure, different from said structure, it also includes:
One performance element, is used for realizing clamping, shears and stapling function action；One gear unit, being used for will
Power passes to described performance element；One control unit, for controlling the time program process that above-mentioned functions realizes；
One power unit, carries out clamping, shearing and the power of stapling action for output；One battery unit, is used for
Power to motor and circuit.One clamping holding unit, being used for maintaining described close handles is closure state；One
Automatically reset unit, for making rotary head automatically reset when non-locking state.
Described performance element includes: a clamping subelement, cutting subelement and a stapling subelement.
As shown in Fig. 9-Figure 12, described clamping subelement has been used for the holding action to treatment target, described
Clamping subelement include: nail supporting base 111 and staple cartridge tray 121, described staple cartridge tray 121 is provided with staple cartridge tray slideway
122, described staple cartridge tray slideway 122 two ends are respectively staple cartridge tray slipway location 1 and staple cartridge tray slideway position
Putting 2 1222, be provided with a staple cartridge tray glidepath 124 bottom described staple cartridge tray 121, described nail supporting base 111 wraps
Include slide rail 1112 on nail supporting base, nail supporting base forming tank 1113, nail supporting base slide block 1111 and arc groove 1114,
Described nail supporting base slide block 1111 is placed in staple cartridge tray slideway 122, can slide along staple cartridge tray slideway 122.Described
Arc groove 1114 outer cover has a projection, when second equipped with the second holster 112, described second holster 112
During holster axially-movable, power is acted on arc groove 1114 by described projection, is used for making nail supporting base slide block 1111
Mobile.When described nail supporting base slide block 1111 is positioned at staple cartridge tray slipway location 2 1222, nail supporting base 111 in
Open configuration.When nail supporting base slide block 1111 is positioned at staple cartridge tray slipway location 1, nail supporting base 111
In closure state.Described clamping subelement by the axially-movable of the second holster 112 complete staple cartridge tray 121 with
The clamping of nail supporting base 111.
As shown in figure 13, described cutting subelement is for carrying out shear treatment to treatment target after stapling action.
Described cutting subelement includes cutter 151.Described cutter 151 include: protruding 152 on cutter,
Cutting edge 153 and cutter sliding block 154.Projection 152 slide rail 1112 on nail supporting base on described cutter
Interior slip, described cutter sliding block 154 slides in staple cartridge tray glidepath 124.Described cutter back
Projection 155 is combined with push broach bar 231, and described push broach bar 231 promotes cutter 151 to slide, and is used for cutting
Object.
As shown in figure 14, described stapling subelement has been used for the stapling action to treatment target.Described nail
Crack unit includes nail bin groupware.Described nail bin groupware includes nail bin 1231, anastomosis staple the 1232, first ejector pin
Sheet the 1233, second pushing slice of nail the 1234, the 3rd pushing slice of nail 1235, ejector pin slide plate 1236 and nail bin cover 1237.
Described cutter 151 withstand ejector pin slide plate 1236 and move near nail bin direction, at ejector pin slide plate 1236
Under effect, first pushing slice of nail the 1233, second pushing slice of nail 1234 and the 3rd pushing slice of nail 1235 drive anastomosis staple 1232
Upwards firing, the anastomosis staple 1232 after percussion clashes into nail supporting base forming tank 1113, and anastomosis staple 1232 becomes then
For B font, complete to sew up.
Described gear unit includes: a clamping transmission subunit, for described clamping subelement transmission
Holding action；One stapling transmission subunit, for described stapling subelement transmission stapling action；One cuts
Cut transmission subunit, for described cutting subelement transmission shear action；One rotary drive subelement,
For to clamping subelement transmission spinning movement；One rotates transmission subunit, is used for locking described clamping single
The rotational angle of unit.
Wherein, described stapling transmission subunit and shearing transmission subunit share same structure.
As shown in Figure 15-Figure 18, described clamping transmission subunit includes: drive link 215, first is fixed
Set 214, second fixed cover the 213, first holster 212, closing spring 218, a connecting piece 2173 and the
Two connect sheet 2174, and described first fixed cover 214 is cut with scissors with drive link 215 by the first fixed cover bearing pin 2141
Connect.Described first fixed cover 214 is loop configuration, is internally provided with the first fixed cover draw-in groove 2142.Described
First holster 212 is provided with the first holster draw-in groove 2124.Described first holster 212 one end is put in first and fixes
Set 214 is internal so that described first holster draw-in groove 2124 docks placement with the first fixed cover draw-in groove 2142,
Thus form annular groove.Described second fixed cover 213 is placed in described annular groove, for clamping first
Holster 212.Therefore, described first protection set 214, second protects set 213 and described first holster 212 shape
Become fixed relationship, define that described first holster 212 can only be along axial defined in described first holster 212
Mobile, but do not limit its rotation in being perpendicular to axial plane.Described first holster 212 other end with
Second holster 112 is connected by a connecting piece 2173 and the second connection sheet 2174 so that described first rifle
The axially-movable of set 212 can drive the second holster 112 axially-movable, and then controls beating of nail supporting base 111
Open or close.
As shown in figure 19, described shearing transmission subunit includes: rack 232, pull bar 233 and push broach
Bar 231, described push broach bar 231 includes the sub-connecting rod of arranged side by side four, described push broach bar 231 one end and cutter
151 fixing connections, described push broach bar 231 other end and pull bar 233 clamping, described pull bar 233 is gone back and gear
Bar 232 connects.Described pull bar 233 is connected one end with described push broach bar 231 and is provided with pull bar groove 2331, uses
In connecting described push broach bar 231.Described push broach bar 231 is connected one end with pull bar 233 push broach bar projection 2311,
Described push broach bar protruding 2311 is fixing with described pull bar groove 2331 to be connected.Described rack 232 one end sets
There are rack clamping groove 2324, described pull bar 233 to connect described rack 232 one end and are provided with pull bar clamping
Part 2332, described pull bar shackle member 2332 is fixing with described rack clamping groove 2324 to be connected.
As shown in figure 20, described rotary drive subelement includes: rotate fresh idea 251, swivel joint 252 and
First holster 212.Described rotation fresh idea 251 is connected with the portion of the handle of anastomat, and described holster 212 is made
For being probeed into a part for inside of human body by Wicresoft's mouth, and an axle can be defined, probe into inside of human body
Other structures are extended along this axle.
Described swivel joint 252 includes that relative two part, two parts are connected by described swivel joint
Male 2521 is connected female 2522 and carries out affixed with swivel joint.
The shown fresh idea 251 that rotates has a rotary flower head portion and a rotary flower head-tail, shown rotary flower
Head portion is mutually close with described swivel joint 252.Described rotary flower head-tail is flower shape, to facilitate behaviour
Author uses.As shown in figure 21, described rotation fresh idea 251 also includes that one is wrapped by described swivel joint 252
The rotation wrapped up in interior 2511, described rotation fresh idea 251 is entered with described swivel joint 252 by the way of clamping
Row connects, and described swivel joint 252 can be driven to carry out along defined in described first holster 212 one
Individual axial direction moves, and described rotation fresh idea 251 can rotate, and drives the structure that other are relevant
Rotate, but described swivel joint 252 is not necessarily carried out and institute with described rotation fresh idea 251 simultaneously
Rotate in stating the plane that axle defined in the first holster 212 is vertical.Described rotation fresh idea 251 is turning
The when of dynamic, it is possible to drive described first holster 212 with described first holster 212 defined in axle hung down
Rotate in straight plane.
As shown in Figure 22, Figure 23, described swivel joint 252 is provided with a rotation STATEMENT OF FEDERALLY SPONSORED 253, and this rotation joins
Moving part 253 is a circulus, described rotation STATEMENT OF FEDERALLY SPONSORED 253 be provided with linkage cave in 2531, link convex
Play 2532, clamping groove 2533 and clamping projection 2534.Described clamping groove 2533 and clamping projection 2534
It is connected together, for fixedly locked pull lever 2743 away from one end of securing rod 274.Described rotation is linked
Part 253 is a circulus, and the most described rotation STATEMENT OF FEDERALLY SPONSORED 253 includes a protruding flange, described
Flange and head phase clamping in described rotation, in described rotation, head can drive described rotation STATEMENT OF FEDERALLY SPONSORED to carry out along institute
Stating the first holster 212 axial direction motion, this motion in axial direction is by described flange and described rotation
In turning, head clamping is realized.
Described rotation STATEMENT OF FEDERALLY SPONSORED 253 includes that some linkages cave in 2531, and described linkage caves in 2531 along described rotation
Turn STATEMENT OF FEDERALLY SPONSORED 253 outer wall inward wall to sink, form hole shape structure at outer wall, form projection at inwall, described
Linkage cave in 2531 on described inwall formed projections can match with described first holster 212, work as institute
State rotation STATEMENT OF FEDERALLY SPONSORED 253 by described rotation 2511 drive rotate time, it is possible to drive described first rifle
Set 212 rotates, and described rotation STATEMENT OF FEDERALLY SPONSORED 253 can be rotated by described rotation 2511, is
Owing to being provided with some linkages protruding 2532 in described rotation STATEMENT OF FEDERALLY SPONSORED 253, described linkage protruding 2532 and institute
State rotation interior 2511 and there is good clamping, when making described rotation interior 2511 rotate, drive described
Linkage protruding 2532 thus drive described rotation linkage block 253 to rotate.
Such as Figure 24, for inner core and the connection diagram rotating STATEMENT OF FEDERALLY SPONSORED.Described first holster 212 exists one
Individual tubular cavity, including a tubular core 281, described inner core 281 has similar to described first holster
Axle, but described axle might not be exactly the same with the axle of described first holster 212.On described inner core 281
It is provided with the first inner core to lack block the 2811, second inner core and lack block 2812 and the 3rd inner core lacks block 2813.Described
Two inner cores lack block 2812 and can cave in described linkage and 2531 mate, the most described rotation linkage block 2531
The when of rotation, described rotation linkage block 253 can lack the linkage between block by described inner core and make
Rotate with driving described inner core 281.
Described rotation fresh idea 251 is rotated linkage block 253 by described rotation 2511 and rotates,
Described rotation linkage block 253 is caved in 2531 described inner cores of drive 281 and described the by the rotation arranged on it
One holster 212 rotates, and is further driven to other structures and rotates.
Described rotation linkage block 253 is synchronized with the movement by described rotation fresh idea 251 by rotating 2511,
And in described rotation 2511 is wrapped by described swivel joint 252 with described rotation linkage block 253.
Within described inner core 281 is positioned at described first holster 212.
Being provided with linkage projection 2532 in described rotation linkage block 253, described linkage block can be drawn with a locking
The locking arranged in lever 2743 pulls borehole jack to connect such that it is able to drive described locking pull lever 2743 to carry out
Motion, thus drive some front-end architectures to perform relevant action.In this process, other relevant knot
Structure is also driven, such as catch bar 231.
As illustrated in figs. 25-27, described rotation transmission subunit includes: rotary head 271, spring catch 2711,
Rotating base 272, securing rod 274 and locking pull lever 2743, staple cartridge tray 111 passes through with rotary head 271
Spring catch 2711 connects；Rotary head 271 is connected by latch structure 2722 with rotating base 272 side, turns
Circumferentially can rotate around the rotating shaft of rotating base 272 for dynamic 271；A locking is had bottom rotating base 272
Gathering sill 2723, securing rod 274 is cased with lock spring 2741 and is placed in locking in gathering sill 2723, lock
Fixed pole 274 can be slided in locking gathering sill 2723.Described rotary head 271 is provided with ratchet 2712, described
There are 7 teeth ratchet 2712 end, and there is dentalation described securing rod 274 side that contacts with ratchet 2712
2742, dentalation 2742 can block any one tooth in ratchet 2712, limits rotary head 271 and rotates.
Securing rod 274 is provided with groove, locking pull lever 2743 and securing rod 274 away from one end of rotary head 271
Linked mutually by this groove.Described locking pull lever 2743 links with rotating away from the other end of securing rod 274
Part 253 clamping.
Pull rotation fresh idea 251 to away from nail supporting base 111 direction, swivel joint 252 can be pulled successively, rotate
STATEMENT OF FEDERALLY SPONSORED 253, locking pull lever 2743 and securing rod 274, when dentalation 2742 and 2712 points of ratchet
From time, rotary head 271 can be around rotating base 272 axis of rotation.Turn to suitable angle, unclamp rotation
Joint 252, described one of them tooth of ratchet 2712 can be blocked by dentalation 2742, said process, it is possible to
Reach to rotate staple cartridge tray 121 and the purpose of nail supporting base 111.
As shown in figure 28, for automatic reset structure schematic diagram；As shown in figure 29, for rotational structure schematic diagram.
The described unit that automatically resets includes rotating base 272, rotary head 271 and release link 273.Described rotating base
272 as the main body supporting structure of the unit that automatically resets, to described rotary head 271 and described release link 273
To the effect supported.
The reset guide groove 2721 identical with described release link 273 quantity it is provided with on described rotating base 272,
Described reset guide groove 2721 has opening, described reset guide groove 2721 near one end of described rotary head 371
One end away from described rotary head 271 is provided with plug.
Described reset guide groove 2721 for providing the space slided, described release link 273 for described release link 273
On include a reset limited block 2731 swelled, 2731 position-limiting actions of described reset limited block, be used for preventing
Described release link 273 deviates from described reset guide groove 2721, and corresponding described reset guide groove 2721 middle end of upper section is arranged
There is the open segment can passed through for described reset limited block 2731.
Described release link 273 is with described reset limited block 2731 as division limits, including reset front end 2733
With reset rear end 2732, described reset front end 2733 is all partially disposed within described reset rear end 2732
In described reset guide groove 2721, make the direction of motion of described release link 273 by described reset guide groove 2721 institute
Limit.Described reset front end 2733 includes a reset contact head 2734, described reset contact head 2734 and institute
State rotation jag 2713 moment arranged on rotary head 271 to conflict, form resistance surface.Described rotary head 271
And it is attached by latch structure 2722 between described rotating base 272, makes the described rotary head 271 can be around
Described latch structure 2722 rotates.
Locking gathering sill 2723 it is provided with for providing accommodating sky for securing rod 274 on described rotating base 272
Between.
The foregoing is only presently preferred embodiments of the present invention, be merely illustrative for the purpose of the present invention, rather than
Restrictive.Those skilled in the art understands, can in the spirit and scope that the claims in the present invention are limited
It is carried out many changes, amendment, even equivalence, but falls within protection scope of the present invention.
Claims (9)
1. an articulation structure, it is in order to realize the servo-actuated action of an anastomat, it is characterised in that its
Including:
One trigger element, it is in order to realize one first angular turn；
One first transfer unit, it is converted into one first in order to the first angular turn produced by described trigger element
Translation；
One second transfer unit, it is in order to be converted into the second angular turn by the first described translation；
One performance element, it in order to be converted into corresponding described the by the second angular turn of described second transfer unit
One third angle of one angular turn rotates；
Described first angular turn degree of rotation < 360 degree.
2. articulation structure as claimed in claim 1, it is characterised in that described first transfer unit bag
Include: one slides block and a linkage portion, described in slide and bottom block, be provided with an inclined ramp, described inclined ramp and institute
Stating linkage portion one end to be slidably connected, described inclined ramp is for being converted into described first translation by one second translation.
3. articulation structure as claimed in claim 2, it is characterised in that described trigger element includes:
One turning handle, it is the operation handle of described articulation structure；One rotates gear, and it is used for transmitting institute
Stating the operating physical force of turning handle, described rotation gear is provided with tooth-shape structure；Described block side of sliding is provided with and institute
That states that the tooth-shape structure rotated on gear is meshed slides tooth bar.
4. articulation structure as claimed in claim 3, it is characterised in that described linkage portion includes:
Catenating slider, it is used for embedding described inclined ramp and sliding along described inclined ramp；One rotates STATEMENT OF FEDERALLY SPONSORED,
It is for being rotatably assorted with described catenating slider；One locking pull lever, it is for extending described first translation
Transmission distance；Being provided with one male/female inside described rotation STATEMENT OF FEDERALLY SPONSORED, described locking pull lever one end is provided with
Corresponding female/male, the male/female in described rotation STATEMENT OF FEDERALLY SPONSORED and described locking pull lever one
The mutual clamping of female/male of end.
5. articulation structure as claimed in claim 4, it is characterised in that described second transfer unit bag
Include an eccentric projection gear, described eccentric projection gear is provided with an eccentric projection, described eccentric projection position
Non-home position on described eccentric projection gear, described eccentric projection is cylindrical；Described locking pulls
The bar other end arranges one stroke hole, and described eccentric projection is placed in described stroke hole, described locking pull lever edge
Described first translation direction motion, drives described eccentric projection gear to rotate around the gear center of circle；Described stroke hole
The size being parallel to described first translation direction is identical with described eccentric projection diameter dimension, hangs down in described stroke hole
The straight size in described first translation direction is more than the diameter dimension of described eccentric projection；Described eccentric projection tooth
Wheel is meshed with described performance element.
6. articulation structure as claimed in claim 4, it is characterised in that described second transfer unit bag
Including a tooth bar sheet, described tooth bar sheet one end is fixing with described locking pull lever to be connected, and described tooth bar sheet is provided with
Tooth, described second transfer unit also includes an one-stage gear and a secondary gear, and described one-stage gear is with described
Secondary gear engagement also can rotate around respective axis, and described tooth bar sheet engages with described one-stage gear, and described two
Level gear is meshed with described performance element.
7. the articulation structure as described in claim 1-6 is arbitrary, it is characterised in that described in slide tooth bar
Both sides are respectively provided with one and slide limited block；It is provided with slip-off preventing end face on described performance element, is used for preventing described
Treat that rotatable parts rotational angle exceedes restriction.
8. articulation structure as claimed in claim 7, it is characterised in that described articulation structure is also
Including a swivel joint, described swivel joint being provided with a slider throughbores, described slider throughbores is used for placing
Described slide block and slide block and move along the second translation direction described in limiting.
9. one kind has the anastomat of articulation structure as described in claim 1-6 any claim.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610403158.2A CN105962981B (en) | 2016-06-08 | 2016-06-08 | A kind of articulation structure and the stapler with the structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610403158.2A CN105962981B (en) | 2016-06-08 | 2016-06-08 | A kind of articulation structure and the stapler with the structure |
Publications (2)
| Publication Number | Publication Date |
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| CN105962981A true CN105962981A (en) | 2016-09-28 |
| CN105962981B CN105962981B (en) | 2018-10-02 |
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| CN201610403158.2A Active CN105962981B (en) | 2016-06-08 | 2016-06-08 | A kind of articulation structure and the stapler with the structure |
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| CN106510784A (en) * | 2016-11-30 | 2017-03-22 | 北京派尔特医疗科技股份有限公司 | Staple cartridge rotating control device for endoscope anastomat |
| CN107693068A (en) * | 2017-10-25 | 2018-02-16 | 宁波维尔凯迪医疗器械有限公司 | A kind of angular transformation mechanism and the stapler with the structure |
| CN109431568A (en) * | 2018-12-18 | 2019-03-08 | 逸思（苏州）医疗科技有限公司 | A kind of auxiliary device and stapler for stapler |
| CN110559030A (en) * | 2018-06-06 | 2019-12-13 | 重庆西山科技股份有限公司 | Anastomat bending actuating mechanism and anastomat |
| CN111803162A (en) * | 2020-08-19 | 2020-10-23 | 苏州越众生物科技有限公司 | Medical linear cutting anastomat with wide-angle joint |
| CN112617929A (en) * | 2020-12-04 | 2021-04-09 | 苏州法兰克曼医疗器械有限公司 | Tool rest rotating bracket for linear cutting anastomat |
| CN114073554A (en) * | 2022-01-19 | 2022-02-22 | 江苏泰科博曼医疗器械有限公司 | Minimally invasive surgery suture end locking device and method and operation gun body |
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| CN106510784A (en) * | 2016-11-30 | 2017-03-22 | 北京派尔特医疗科技股份有限公司 | Staple cartridge rotating control device for endoscope anastomat |
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| CN107693068A (en) * | 2017-10-25 | 2018-02-16 | 宁波维尔凯迪医疗器械有限公司 | A kind of angular transformation mechanism and the stapler with the structure |
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| CN109431568A (en) * | 2018-12-18 | 2019-03-08 | 逸思（苏州）医疗科技有限公司 | A kind of auxiliary device and stapler for stapler |
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| CN111803162A (en) * | 2020-08-19 | 2020-10-23 | 苏州越众生物科技有限公司 | Medical linear cutting anastomat with wide-angle joint |
| CN112617929A (en) * | 2020-12-04 | 2021-04-09 | 苏州法兰克曼医疗器械有限公司 | Tool rest rotating bracket for linear cutting anastomat |
| CN114073554A (en) * | 2022-01-19 | 2022-02-22 | 江苏泰科博曼医疗器械有限公司 | Minimally invasive surgery suture end locking device and method and operation gun body |
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