CN111568542B - Gastroenterology peritoneoscope minimal access surgery apparatus - Google Patents
Gastroenterology peritoneoscope minimal access surgery apparatus Download PDFInfo
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- CN111568542B CN111568542B CN202010496404.XA CN202010496404A CN111568542B CN 111568542 B CN111568542 B CN 111568542B CN 202010496404 A CN202010496404 A CN 202010496404A CN 111568542 B CN111568542 B CN 111568542B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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Abstract
The invention discloses a laparoscopic minimally invasive surgical instrument for a gastroenterology department, which belongs to the field of the gastroenterology department and comprises a slave instrument, wherein the slave instrument comprises a forceps head, a bending tube and a driving part, the driving part and the forceps head are positioned at two ends of the bending tube, the bending tube comprises a first tube part, a second tube part, a third tube part and a fourth tube part which are sequentially connected with each other, the far end of the first tube part is connected with the forceps head, the near end of the fourth tube part is connected with the driving part, the first tube part and the second tube part are coaxial, the axial direction of the first tube part and the axial direction of the second tube part are the first axial direction, the axial direction of the fourth tube part is the second axial direction, and the third tube part is.
Description
Technical Field
The present invention relates to a digestive surgical instrument.
Background
The digestive system consists of two major parts, the digestive tract and the digestive glands. The digestive tract comprises oral cavity, pharynx, esophagus, stomach, small intestine (duodenum, jejunum, ileum) and large intestine (cecum, appendix, colon, rectum, anus). Clinically, the part from the mouth to the duodenum is called the upper digestive tract, and the part below the jejunum is called the lower digestive tract. The digestive glands include small digestive glands and large digestive glands. The small digestive gland powder is located in the wall of each part of the digestive tract, and the large digestive gland has three pairs of salivary glands (parotid gland, submandibular gland and sublingual gland), liver and pancreas. The digestive system is one of the nine major systems of the human body.
When the surgical instrument is used, the mechanical arm is used for controlling the forward movement and the backward movement of the tail end of the surgical instrument, and the operation difficulty is high.
Disclosure of Invention
The invention aims to: the laparoscopic minimally invasive surgical instrument comprises a slave instrument, wherein the slave instrument comprises a forceps head, a bending tube and a driving part, the driving part and the forceps head are positioned at two ends of the bending tube, the bending tube comprises a first tube part, a second tube part, a third tube part and a fourth tube part which are sequentially connected with one another, the far end of the first tube part is connected with the forceps head, the near end of the fourth tube part is connected with the driving part, the first tube part and the second tube part are coaxial, the axial direction of the first tube part and the axial direction of the second tube part are the first axial direction, the axial direction of the fourth tube part is the second axial direction, and the third tube part is of a bending structure so that the first axial direction and the second axial direction; the second pipe part is provided with a plurality of concave parts, the first pipe part is provided with a plurality of convex parts, the convex parts are inserted into the concave parts and form a sealed cavity at the bottom of the concave parts, the steel wire rope is connected with the first pipe part, the steel wire rope penetrates through the bent pipe and is connected with the driving part, and the driving part can drive the steel wire rope to enable the convex parts to be inserted into the concave parts and enable the air pressure of the sealed cavity to be larger than the air pressure; the bending pipe is internally provided with a linkage unit, the two ends of the linkage unit are respectively connected with the tong head and the driving part, the driving part can drive the near end of the linkage unit to rotate so as to enable the far end of the linkage unit to rotate, and then the tong head is controlled, the linkage unit comprises a first transmission shaft, a first rotating wheel at the tail end of the first transmission shaft, a second rotating wheel at the tail end of the second transmission shaft, a third transmission shaft, the first transmission shaft and the second transmission shaft are not coaxial in the same direction, the first rotating wheel and the second rotating wheel are transmitted through a transmission belt, the second transmission shaft and the third transmission shaft are coaxial, the second transmission shaft and the third transmission shaft are movably connected so that the second transmission shaft can drive the third transmission shaft to rotate, meanwhile, the third transmission shaft can move axially relative.
As an improvement, the second transmission shaft on be equipped with along the draw-in groove of first axial extension, be equipped with on the third transmission shaft along first axial card strip, card strip card is gone into and can be restricted the relative second transmission shaft axial of third transmission shaft and rotate in the draw-in groove, the card strip can be along first axial displacement and then make the relative second transmission shaft axial displacement of third transmission shaft in the draw-in groove simultaneously.
As an improvement, the driving part comprises a first driving part and a second driving part, the first driving part can pull the steel wire rope, and the second driving part drives the first transmission shaft to rotate.
As an improvement, a protective cover is arranged between the first tube part and the second tube part of the minimally invasive surgical instrument for the laparoscopic surgery of the gastroenterology, and the protective cover prevents the joint of the first tube part and the second tube part from damaging human tissues.
As an improvement, the laparoscopic minimally invasive surgical instrument for gastroenterology further comprises a main instrument, wherein the main instrument comprises a long shaft part, and a clamp head and a control part which are positioned at two ends of the long shaft part, the long shaft part is inserted into a human body through a human body wound, the long shaft part is in a straight pipe shape, a fixing cavity penetrating through the long shaft in the radial direction is arranged on the long shaft part, a supporting piece is arranged in the fixing cavity, a channel is arranged in the supporting piece, and a third pipe part of the bent pipe penetrates through the channel and is fixed by the supporting piece.
As an improvement, the supporting piece comprises an inner supporting piece, the channel is positioned in the inner supporting piece, an outer supporting piece is arranged on the outer side of the inner supporting piece, the inner supporting piece and the outer supporting piece are connected through a first shaft, the outer supporting piece and the upper wall and the lower wall of the fixing cavity are connected through a second shaft, and the first shaft is vertical to the second shaft.
Drawings
FIG. 1 is a slave instrument;
FIG. 2 is a detailed schematic of the slave instrument;
FIG. 3 is a schematic view of a linkage unit;
FIG. 4 is a schematic view of a fixation chamber;
FIG. 5 is a schematic view of the connection of the master and slave surgical instruments;
FIG. 6 is an enlarged partial view of FIG. 5;
the labels in the figure are: 100-slave apparatus, 110-forceps head, 120-bending tube, 121-first tube part, 1211-convex part, 122-second tube part, 1221-concave part, 1221 a-sealing cavity, 123-third tube part, 124-fourth tube part, 125-steel wire rope, 130-driving part, 131-first driving part, 132-second driving part, 140-linkage unit, 141-first transmission shaft, 142-first rotating wheel, 143-second rotating wheel, 144-transmission belt, 145-second transmission shaft, 1451-clamping groove, 146-third transmission shaft, 1461-clamping strip, 200-master apparatus, 150-protective cover, 200-master apparatus 210-long shaft part, 220-fixing cavity, 230-supporting part, 231-inner supporting part, 232-outer supporting part, 233-first axis, 234-second axis, 235-channel.
Detailed Description
As shown in fig. 5, the laparoscopic minimally invasive surgical instrument for gastroenterology comprises a slave instrument 100 and a master instrument 200, wherein the slave instrument comprises a bent tube which comprises a bent third tube part, the master instrument comprises a long shaft part, and a binding clip and a control part which are positioned at two ends of the long shaft part, the long shaft part is inserted into a human body through a human body wound, the long shaft part is in a straight tube shape, a fixing cavity 220 which penetrates through the long shaft in the radial direction is arranged on the long shaft part, the slave instrument penetrates through the fixing cavity 200, the position of the fixing cavity is about the position of the human body wound, and the slave instrument 100 is operated in the human body through the fixing cavity. A support member 230 is disposed in the fixing cavity, a passage 235 is disposed in the support member, and the third pipe portion 123 of the bending pipe passes through the passage 235 and is fixed by the support member 230. The supporting piece comprises an inner supporting piece 231, the channel is located in the inner supporting piece, an outer supporting piece 232 is arranged on the outer side of the inner supporting piece, the inner supporting piece and the outer supporting piece are connected through a first shaft 233, the outer supporting piece and the upper wall and the lower wall of the fixing cavity are connected through a second shaft, the first shaft and the second shaft are perpendicular, and the inner supporting piece 231 and the outer supporting piece 232 can rotate through the first shaft and the second shaft respectively so that the slave device has at least two rotational degrees of freedom relative to the master device, and the operation space of the operation is improved.
As shown in fig. 6, the slave device 100 includes a curved structure which can facilitate an external operation and increase the space for an internal operation, but at the same time, the curved structure is fixed to the fixing cavity of the master device so that it cannot advance and retreat, and the advancing and retreating directions are shown by arrows in fig. 6. In this case, the jaw portion member at the end of the slave device cannot advance and retreat, and the operation thereof is restricted, so that in the embodiment of the present invention, as shown in fig. 1 and 2, the slave device includes a jaw 110, a bending tube 120 and a driving portion 130, the driving portion and the jaw are located at both ends of the bending tube, the bending tube 120 includes a first tube portion 121, a second tube portion 122, a third tube portion 123 and a fourth tube portion 124 which are sequentially connected to each other, a distal end of the first tube portion is connected to the jaw 110, a proximal end of the fourth tube portion is connected to the driving portion, the first tube portion and the second tube portion are coaxial, an axial direction thereof is a first axial direction, an axial direction of the fourth tube portion is a second axial direction, and the third tube portion is a bent structure such that the first axial direction and the second axial direction are different; the second tube part is provided with a plurality of concave parts 1221, the first tube part is provided with a plurality of convex parts 1211, the convex parts are inserted into the concave parts, and the bottom parts of the concave parts form sealed cavities 1221 a. Wire rope 125 is connected to first pipe portion, wire rope passes crooked pipe and is connected with drive division 130, drive division can drive wire rope 125 makes the convex part insert the concave part and make the atmospheric pressure of seal chamber 1221a be greater than air pressure, normal condition is because the fastening of drive division, wire rope 125 is in the state of tightening, in order to maintain seal chamber 1221 a's atmospheric pressure, when needs make first pipe portion advance, make drive division release partly wire rope, because seal chamber's atmospheric pressure effect, and then make first pipe portion and second pipe portion relative movement, first pipe portion and binding clip will advance in order to reach reasonable operation position.
A linkage unit 140 is provided in the bending pipe 120, and the linkage unit links the driving part and the bit, so that the driving part controls the bit,
when the binding clip advances, in order to enable the linkage unit to continuously drive the jaws on one hand and to enable the linkage unit to rotate and transmit on the other hand, the two ends of the linkage unit are respectively connected with the binding clip 110 and the driving part, and the driving part can drive the proximal end of the linkage unit to rotate so as to enable the distal end of the linkage unit to rotate, thereby controlling the binding clip. As shown in fig. 3, the linkage unit includes a first transmission shaft 141, a first rotating wheel 142 at the end of the first transmission shaft, a second transmission shaft 145, a second rotating wheel 143 at the end of the second transmission shaft, and a third transmission shaft 146, the first transmission shaft 141 and the second transmission shaft 145 are coaxial and not coaxial, the first rotating wheel 142 and the second rotating wheel are transmitted by a transmission belt 144, so that the first rotating wheel 142 is driven by the first transmission shaft to rotate and further drive the second transmission shaft 145 to rotate, the second transmission shaft 145 and the third transmission shaft 146 are coaxial, the second transmission shaft 145 and the third transmission shaft 146 are movably connected so that the second transmission shaft 145 can drive the third transmission shaft 146 to rotate, and simultaneously the third transmission shaft 146 can move axially relative to the second transmission shaft 145, on one hand, the linkage unit can drive the second driving part to rotate by bending a pipe part, so as to further control a jaw (usually, opening and closing the jaw), at the same time
The second transmission shaft 145 is provided with a clamping groove 1451 extending along the first axial direction, the third transmission shaft 146 is provided with a clamping strip 1461 extending along the first axial direction, the clamping strip is clamped in the clamping groove to limit the third transmission shaft to rotate axially relative to the second transmission shaft, and meanwhile, the clamping strip can move in the clamping groove along the first axial direction to enable the third transmission shaft to move axially relative to the second transmission shaft. The driving part includes a first driving member 131 and a second driving member 132, the first driving member 131 can pull the cable 125, and the second driving member drives the first transmission shaft 141 to rotate. A protective cover 150 is arranged between the first tube part and the second tube part of the minimally invasive laparoscopic surgical instrument for gastroenterology, the protective cover prevents the joint of the first tube part and the second tube part from damaging human tissues, and the protective cover is an organ and can be made of elastic materials such as rubber.
Claims (2)
1. The laparoscopic minimally invasive surgical instrument is characterized by comprising a slave instrument (100), wherein the slave instrument comprises a forceps head (110), a bending tube (120) and a driving part (130), the driving part and the forceps head are positioned at two ends of the bending tube, the bending tube (120) comprises a first tube part (121), a second tube part (122), a third tube part (123) and a fourth tube part (124) which are sequentially connected with one another, the far end of the first tube part is connected with the forceps head (110), the near end of the fourth tube part is connected with the driving part, the first tube part and the second tube part are coaxial, the axial direction of the first tube part is the first axial direction, the axial direction of the fourth tube part is the second axial direction, and the third tube part is of a bending structure so that the first axial direction and the second axial direction are different; the second pipe part is provided with a plurality of concave parts (1221), the first pipe part is provided with a plurality of convex parts (1211), the convex parts are inserted into the concave parts and form a sealed cavity (1221 a) at the bottom of the concave parts, the first pipe part is connected with a steel wire rope (125), the steel wire rope penetrates through the bent pipe and is connected with a driving part (130), and the driving part can drive the steel wire rope (125) to enable the convex parts to be inserted into the concave parts and enable the air pressure of the sealed cavity (1221 a) to be larger than the air pressure; a linkage unit (140) is arranged in the bent pipe (120), two ends of the linkage unit are respectively connected with the tong head (110) and the driving part (130), the driving part can drive the near end of the linkage unit to rotate so as to enable the far end of the linkage unit to rotate, and further control the tong head, the linkage unit comprises a first transmission shaft (141), a first rotating wheel (142) at the tail end of the first transmission shaft, a second transmission shaft (145), a second rotating wheel (143) at the tail end of the second transmission shaft and a third transmission shaft (146), the first transmission shaft (141) and the second transmission shaft (145) are coaxial and not coaxial, the first rotating wheel (142) and the second rotating wheel are transmitted through a transmission belt (144), the second transmission shaft (145) and the third transmission shaft are coaxial (146), the second transmission shaft (145) and the third transmission shaft (146) are movably connected so that the second transmission shaft (145) can drive the third transmission shaft (146) to rotate, simultaneously the third transmission shaft (146) can axially move relative to the second transmission shaft (145);
a clamping groove (1451) extending along the first axial direction is formed in the second transmission shaft (145), a clamping strip (1461) extending along the first axial direction is formed in the third transmission shaft (146), the clamping strip is clamped in the clamping groove to limit the third transmission shaft to rotate axially relative to the second transmission shaft, and meanwhile, the clamping strip can move in the clamping groove along the first axial direction to further enable the third transmission shaft to move axially relative to the second transmission shaft;
the driving part comprises a first driving part (131) and a second driving part (132), the first driving part (131) can pull the steel wire rope (125), and the second driving part drives the first transmission shaft (141) to rotate;
a protective cover (150) is arranged between the first tube part and the second tube part of the gastroenterology laparoscopic minimally invasive surgical instrument, and the protective cover prevents the joint of the first tube part and the second tube part from damaging human tissues;
the gastroenterology laparoscopic minimally invasive surgery instrument further comprises a main instrument (200), wherein the main instrument comprises a long shaft part, a clamp head and a control part, the clamp head and the control part are positioned at two ends of the long shaft part, the long shaft part is inserted into a human body through a wound of the human body, the long shaft part is in a straight pipe shape, a fixing cavity (220) penetrating through the radial direction of the long shaft is arranged on the long shaft part, a supporting part (230) is arranged in the fixing cavity, a channel (235) is arranged in the supporting part, and a third pipe part (123) of a bent pipe penetrates through the channel (235) and is fixed.
2. The minimally invasive surgical instrument with the laparoscope for the gastroenterology according to claim 1, wherein the support comprises an inner support (231), the channel is positioned in the inner support, an outer support (232) is arranged outside the inner support, the inner support and the outer support are connected through a first shaft (233), the outer support and the upper wall and the lower wall of the fixing cavity are connected through a second shaft, and the first shaft and the second shaft are vertical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010496404.XA CN111568542B (en) | 2020-06-03 | 2020-06-03 | Gastroenterology peritoneoscope minimal access surgery apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010496404.XA CN111568542B (en) | 2020-06-03 | 2020-06-03 | Gastroenterology peritoneoscope minimal access surgery apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111568542A CN111568542A (en) | 2020-08-25 |
| CN111568542B true CN111568542B (en) | 2021-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010496404.XA Expired - Fee Related CN111568542B (en) | 2020-06-03 | 2020-06-03 | Gastroenterology peritoneoscope minimal access surgery apparatus |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102665577A (en) * | 2009-09-02 | 2012-09-12 | 拉兹洛.西基 | Surgical device and accessories |
| CN104224282A (en) * | 2013-06-20 | 2014-12-24 | 商晶晶 | Positioning device and circumcision device |
| CN106388937A (en) * | 2016-09-28 | 2017-02-15 | 西安交通大学 | Multi-degree-of-freedom rigidity-adjustable pneumatic flexible operation motion arm |
| CN108030518A (en) * | 2017-12-01 | 2018-05-15 | 微创（上海）医疗机器人有限公司 | Operating theater instruments |
| CN108498062A (en) * | 2018-04-26 | 2018-09-07 | 郑由周 | Colonoscopy sacculus |
| CN109925061A (en) * | 2017-12-15 | 2019-06-25 | 中国人民解放军第二军医大学 | A kind of bionic surgical Instrument |
| CN209220387U (en) * | 2018-09-16 | 2019-08-09 | 王建华 | A kind of oral cavity hemostasis device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070072466A1 (en) * | 2005-09-27 | 2007-03-29 | Manabu Miyamoto | Instrument for endoscope |
-
2020
- 2020-06-03 CN CN202010496404.XA patent/CN111568542B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102665577A (en) * | 2009-09-02 | 2012-09-12 | 拉兹洛.西基 | Surgical device and accessories |
| CN104224282A (en) * | 2013-06-20 | 2014-12-24 | 商晶晶 | Positioning device and circumcision device |
| CN106388937A (en) * | 2016-09-28 | 2017-02-15 | 西安交通大学 | Multi-degree-of-freedom rigidity-adjustable pneumatic flexible operation motion arm |
| CN108030518A (en) * | 2017-12-01 | 2018-05-15 | 微创（上海）医疗机器人有限公司 | Operating theater instruments |
| CN109925061A (en) * | 2017-12-15 | 2019-06-25 | 中国人民解放军第二军医大学 | A kind of bionic surgical Instrument |
| CN108498062A (en) * | 2018-04-26 | 2018-09-07 | 郑由周 | Colonoscopy sacculus |
| CN209220387U (en) * | 2018-09-16 | 2019-08-09 | 王建华 | A kind of oral cavity hemostasis device |
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| CN111568542A (en) | 2020-08-25 |
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| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhang Qi Inventor after: Zhou Jixiang Inventor after: Zhou Lin Inventor after: Other inventor requests not to publish the name Inventor before: Request for anonymity |
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Effective date of registration: 20210325 Address after: 410008 Hunan province Changsha Xiangya Road No. 87 Applicant after: XIANGYA HOSPITAL, CENTRAL SOUTH University Address before: 601-605, building a, mobile Internet venture building, Tianhua 2nd Road, high tech Zone, Chengdu, Sichuan 610000 Applicant before: Qin Wanxiang |
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Granted publication date: 20210409 |