CN112618007B - Double-joint surgical instrument - Google Patents
Double-joint surgical instrument Download PDFInfo
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- CN112618007B CN112618007B CN202011636332.0A CN202011636332A CN112618007B CN 112618007 B CN112618007 B CN 112618007B CN 202011636332 A CN202011636332 A CN 202011636332A CN 112618007 B CN112618007 B CN 112618007B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1442—Probes having pivoting end effectors, e.g. forceps
- A61B18/1445—Probes having pivoting end effectors, e.g. forceps at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/08—Means for varying tension of belts, ropes, or chains
- F16H7/10—Means for varying tension of belts, ropes, or chains by adjusting the axis of a pulley
- F16H7/12—Means for varying tension of belts, ropes, or chains by adjusting the axis of a pulley of an idle pulley
- F16H7/1254—Means for varying tension of belts, ropes, or chains by adjusting the axis of a pulley of an idle pulley without vibration damping means
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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- Heart & Thoracic Surgery (AREA)
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- Animal Behavior & Ethology (AREA)
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Abstract
The invention belongs to the technical field of medical instruments, and particularly relates to a double-joint surgical instrument. The invention provides a double-joint surgical instrument, aiming at the problems that a forceps head structure in the prior art can only rotate in one direction, the operation is not flexible enough and the requirement under a complex surgical environment cannot be met. The first operating assembly is used for controlling the rotation of the rotating assembly through the first control rope, the second operating assembly is used for controlling the rotation of the tong head assembly through the second control rope, and the tong head assembly is connected to the rotating assembly, so that the tong head assembly can be driven by the rotating assembly to realize multidirectional rotation, is flexible to operate and can meet the requirements under complex operation environments.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a double-joint surgical instrument.
Background
Surgical forceps are used for holding human tissue during surgery. In the prior art, a steel wire rope is used for controlling the rotation and the opening and closing of a forceps head.
For example, the chinese patent application discloses a high-frequency electrosurgical forceps head [ application number: 201610103263.4], the patent application of the invention comprises an outer catheter and two clamp arms, wherein the two clamp arms are hinged with each other and fixed at the front end of the outer catheter through a hinge shaft, the tail ends of the clamp arms are fixed on the inner catheter through a connecting piece, the inner sides of the front ends of the clamp arms are provided with bulges, a hemostatic nail is arranged in one of the bulges, one of the clamp arms is provided with a vacuum suction tube, the other clamp arm is provided with a high-definition camera, and an electrode is arranged in the clamp arm; the guide pipe of wire, vacuum suction pipe and the data line of high definition digtal camera all set up in interior pipe.
The invention has the advantages of convenient cleaning of blood pulp or other sundries and good hemostatic effect, but the forceps head structure can only rotate in one direction, the operation is not flexible enough, and the requirements under complex operation environments cannot be met.
Disclosure of Invention
The present invention addresses the above-mentioned problems by providing a flexibly operable double-jointed surgical instrument.
In order to achieve the purpose, the invention adopts the following technical scheme:
a double-joint surgical instrument comprises an outer shell, a wire passing cavity is arranged in the outer shell, a forceps head seat is connected on the outer shell, the outer shell is also rotatably connected with a first operating component, the first operating component is provided with a second operating component, the second operating assembly is rotationally connected with the first operating assembly, one end of the plier head seat is rotationally connected with the plier head assembly, the second control rope penetrates through the wire passing cavity and then is connected to the plier head assembly, and the second operating assembly is rotated to pull the second control rope and enable the plier head assembly to rotate, a rotating assembly is arranged between the binding clip assembly and the binding clip seat, one end of the rotating assembly is rotationally connected with the binding clip seat, the other end is rotationally connected with the binding clip assembly, and the rotating direction of the rotating assembly is different from that of the binding clip assembly, the first control rope penetrates through the wire passing cavity and then is connected to the rotating assembly, and the first operating assembly is rotated to pull the first control rope and enable the rotating assembly to rotate.
In the above double-joint surgical instrument, the first operating assembly includes a first operating handle and a first driving wheel, the first operating handle is fixedly connected with the first driving wheel through a driving rod, one end of the first control rope, which is far away from the rotating assembly, is fixedly connected to the first driving wheel, and the driving rod is connected with the outer shell and can rotate relative to the outer shell; the second operation assembly comprises a second operation handle and a second driving wheel which are fixedly connected, one end, far away from the binding clip assembly, of the second control rope is fixedly connected to the second driving wheel, a limiting rod penetrates through the axis of the second driving wheel, the second driving wheel is rotatably connected with the limiting rod, and the limiting rod is fixedly connected to the first operation handle.
In the double-joint surgical instrument, at least one group of tightening wheels rotatably connected with the outer shell is arranged in the wire passing cavity, the first control rope and the second control rope are arranged on the tightening wheels in a pressing mode, the double-joint surgical instrument further comprises a tightness adjusting assembly connected to the outer shell, and one end of the tightness adjusting assembly can be arranged on the first control rope and/or the second control rope in a pressing mode by moving the tightness adjusting assembly.
In foretell double-joint surgical instruments, the elasticity adjusting part include with shell body threaded connection's adjusting screw and fixed connection the compact heap in adjusting screw one end, the compact heap is located the line cavity of crossing, rotates on the compact heap to be connected with and compresses tightly the pulley, rotates adjusting screw and can make to compress tightly the pulley and press and establish on first control rope and/or second control rope, has seted up the guiding hole on the shell body, and the guide block of fixed connection in the compact heap side is located the guiding hole, guide block and guiding hole sliding connection.
In foretell double joint surgical instruments, the runner assembly is including rotating the seat, the one end of rotating the seat is equipped with first rotation wheel, first rotation wheel rotates with the binding clip seat to be connected, first control rope is connected on first rotation wheel and the first control rope of pulling can drive first rotation wheel and take place to rotate, the one end of rotating the seat and keeping away from first rotation wheel rotates with the binding clip subassembly to be connected, it installs the axle still to fixedly connected with on the seat to rotate, and spacing round of cover is established and is installed epaxially and be connected with the installation hub rotation, the pressure of second control rope is established on spacing round.
In the above-mentioned double-joint surgical instrument, the forceps head assembly includes a left forceps head and a right forceps head, one end of the left forceps head close to the rotating assembly is provided with a second rotating wheel, the second rotating wheel is rotatably connected with the rotating assembly, one end of the right forceps head close to the rotating assembly is provided with a third rotating wheel, the third rotating wheel is rotatably connected with the rotating assembly, the second control rope is connected to the second rotating wheel and the third rotating wheel, and the second rotating wheel and/or the third rotating wheel can be rotated by pulling the second control rope, and an anti-interference step extends from the outer edge of the second rotating wheel and/or the third rotating wheel.
In the double-joint surgical instrument, the tension wheel assembly and the difference compensation assembly are used for preventing the second control rope from loosening in the rotation process of the rotating assembly, the tension wheel assembly is connected to the forceps head seat and the rotating assembly, the second control rope is arranged on the tension wheel assembly and the difference compensation assembly in a pressing mode, and when the rotating assembly rotates, the change trend of the length of the second control rope arranged on the difference compensation assembly in a pressing mode is opposite to the change trend of the length of the second control rope arranged on the tension wheel assembly in a pressing mode.
In the double-joint surgical instrument, the difference compensation assembly comprises an operation frame and a fixing frame which are connected in a rotating mode, the operation frame is fixedly connected to the first operation assembly, the fixing frame is fixedly connected to the outer shell, the operation frame is provided with the wire pressing wheel and the difference compensation wheel, the axis of the difference compensation wheel coincides with the rotating axis of the operation frame, which rotates relative to the fixing frame, the second control rope is sequentially arranged at the upper end of the wire pressing wheel and the lower end of the difference compensation wheel in a pressing mode, or the second control rope is sequentially arranged at the lower end of the wire pressing wheel and the upper end of the difference compensation wheel in a pressing mode.
In the above double-joint surgical instrument, the tensioning wheel assembly includes a first tensioning wheel, a second tensioning wheel and a third tensioning wheel, which are sequentially disposed, the first tensioning wheel is connected to the forceps base, the second tensioning wheel and the third tensioning wheel are connected to the rotating assembly, the second control rope includes a left control rope and a right control rope, the first tensioning wheel, the second tensioning wheel, the third tensioning wheel, the wire pressing wheel and the difference compensation wheel are all disposed in two and respectively correspond to the left control rope and the right control rope, the left control rope is sequentially pressed at the upper end of the wire pressing wheel, the lower end of the difference compensation wheel, the lower end of the first tensioning wheel, the upper end of the second tensioning wheel and the lower end of the third tensioning wheel, and the right control rope is sequentially pressed at the lower end of the wire pressing wheel, the upper end of the difference compensation wheel, the upper end of the first tensioning wheel, the lower end of the second tensioning wheel and the upper end of the third tensioning wheel.
In the above double-joint surgical instrument, the operation frame is provided with a first limiting surface, the fixing frame is provided with a second limiting surface, the operation frame is rotated to enable the first limiting surface to be pressed on the second limiting surface, an included angle between the first limiting surface and the second limiting surface is 20-45 degrees, and the diameter of the difference compensation wheel is 2-4.5 times of that of the second tensioning wheel.
Compared with the prior art, the invention has the advantages that:
1. the first operating assembly is used for controlling the rotation of the rotating assembly through the first control rope, the second operating assembly is used for controlling the rotation of the tong head assembly through the second control rope, and the tong head assembly is connected to the rotating assembly, so that the tong head assembly can be driven by the rotating assembly to realize multidirectional rotation, is flexible to operate and can meet the requirements under complex operation environments.
2. The tensioning wheel assembly is further arranged, so that tensioning of the second control rope is achieved, and the problem that the second control rope is loosened to be separated from the preset track in the rotating process of the rotating assembly is solved.
3. The invention is provided with the difference compensation component, and the length change trend of the second control rope pressed on the difference compensation component is just opposite to that of the tensioning wheel component in the rotating process, so that the tension or the looseness of the second control rope caused by the change of the length pressed on the surface of the tensioning wheel component can be compensated and offset by the difference compensation component, thereby preventing the position of the tong head component from being influenced by the change of the tension degree of the second control rope and ensuring that the tong head component is independently controlled.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a portion of the structure of the present invention;
FIG. 3 is a schematic view of the internal structure of the present invention;
FIG. 4 is an enlarged view at A in FIG. 2;
FIG. 5 is an enlarged view at B in FIG. 2;
FIG. 6 is a schematic view of the structure of the clamping end of the present invention;
FIG. 7 is a schematic view of the clamp of the present invention;
in the figure: the pliers head seat 1, the rotating assembly 2, the first control rope 3, the pliers head assembly 4, the second control rope 5, the tensioning wheel assembly 6, the difference compensation assembly 7, the rotating seat 21, the first rotating wheel 22, the mounting shaft 23, the limiting wheel 24, the left pliers head 41, the right pliers head 42, the second rotating wheel 43, the third rotating wheel 44, the interference prevention step 45, the left control rope 51, the right control rope 52, the first tensioning wheel 61, the second tensioning wheel 62, the third tensioning wheel 63, the wire pressing wheel 71, the difference compensation wheel 72, the operating frame 73, the fixing frame 74, the first limiting surface 76, the second limiting surface 77, the outer shell 100, the wire passing cavity 200, the first operating assembly 300, the first operating handle 301, the driving rod 302, the first driving wheel 303, the second operating assembly 400, the second operating handle 401, the limiting rod 402, the second driving wheel 403, the tensioning wheel 600, the tightness adjustment assembly 700, the adjustment screw 701, the clamping block 702, A pressing pulley 703, a guide hole 704 and a guide block 705.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1-5, a double-joint surgical instrument comprises an outer shell 100, a wire passing cavity 200 is provided in the outer shell 100, a forceps head holder 1 is connected to the outer shell 100, a first operation assembly 300 is further rotatably connected to the outer shell 100, a second operation assembly 400 is provided on the first operation assembly 300, the second operation assembly 400 is rotatably connected to the first operation assembly 300, one end of the forceps head holder 1 is rotatably connected to a forceps head assembly 4, a second control rope 5 penetrates through the wire passing cavity 200 and is connected to the forceps head assembly 4, the second operation assembly 400 is rotated to pull the second control rope 5 and rotate the forceps head assembly 4, a rotation assembly 2 is provided between the forceps head assembly 4 and the forceps head holder 1, one end of the rotation assembly 2 is rotatably connected to the forceps head holder 1, the other end of the rotation assembly is rotatably connected to the forceps head assembly 4, and the rotation direction of the rotation assembly 2 is different from the rotation direction of the forceps head assembly 4, the first control rope 3 penetrates through the wire passing cavity 200 and then is connected to the rotating assembly 2, and the first operating assembly 300 is rotated to pull the first control rope 3 and rotate the rotating assembly 2. The first control rope 3 and the second control rope 5 can both adopt steel wire rope materials.
When the invention is used, the first operating assembly 300 is rotated to pull the first control rope 3 so as to drive the rotating assembly 2 to rotate, the second operating assembly 400 is rotated to pull the second control rope 5 so as to drive the tong head assembly 4 to rotate, and the rotating directions of the first control rope 3 and the second control rope are different. According to the invention, the first operating assembly 300 is used for controlling the rotation of the rotating assembly 2 through the first control rope 3, the second operating assembly 400 is used for controlling the rotation of the tong head assembly 4 through the second control rope 5, and the tong head assembly 4 is connected to the rotating assembly 2, so that the tong head assembly can be driven by the rotating assembly 2 to realize multidirectional rotation, is flexible to operate and can meet the requirements under a complex operation environment.
Preferably, the plane of the rotation track of the rotating assembly 2 is perpendicular to the plane of the rotation track of the tong head assembly 4. I.e. the directions of rotation of the rotating assembly 2 and the tong head assembly 4 are perpendicular to each other. Therefore, when the rotating assembly 2 rotates, the partial movement of the forceps head assembly 4 in the rotating direction cannot be generated, namely, the rotation independence of the forceps head assembly and the forceps head assembly is better, and the final position of the forceps head after the rotation is easier to predict and control during the operation.
Referring to fig. 2 and 5, the first operating assembly 300 includes a first operating handle 301 and a first driving wheel 303, the first operating handle 301 is fixedly connected to the first driving wheel 303 through a driving rod 302, one end of the first control rope 3 far from the rotating assembly 2 is fixedly connected to the first driving wheel 303, and the driving rod 302 is connected to the outer casing 100 and can rotate relative to the outer casing 100. When the device is used, the first operating handle 301 is pressed down or moved up, so that the first driving wheel 303 is driven to rotate, and the first control rope 3 is driven to move.
The second operating assembly 400 comprises a second operating handle 401 and a second driving wheel 403 which are fixedly connected, one end of the second control rope 5, which is far away from the tong head assembly 4, is fixedly connected to the second driving wheel 403, a limiting rod 402 penetrates through the axle center of the second driving wheel 403, the second driving wheel 403 is rotatably connected with the limiting rod 402, and the limiting rod 402 is fixedly connected to the first operating handle 301. In use, the second operating handle 401 is moved left and right to drive the second driving wheel 403 to rotate, so as to drive the second control rope 5 to move. Since the second control rope 5 is provided with the left control rope 51 and the right control rope 52 independent of each other, the second driving wheel 403 is preferably provided in two for the corresponding control, and the left control rope 51 and the right control rope 52 are pulled by the independent control.
As shown in fig. 3, at least one group of tightening wheels 600 rotatably connected to the outer housing 100 is disposed in the wire passing cavity 200, the first control rope 3 and the second control rope 5 are pressed on the tightening wheels 600, and the tension adjusting assembly 700 is connected to the outer housing 100, and when the tension adjusting assembly 700 is moved, one end of the tension adjusting assembly 700 is pressed on the first control rope 3 and/or the second control rope 5. In the routing paths of the first control rope 3 and the second control rope 5, a plurality of tightening wheels 600 may be provided so that the control ropes are always in a certain tightening state, and the tightness degree may be adjusted by the tightness adjusting assembly 700.
Specifically, the tightness adjusting assembly 700 comprises an adjusting screw 701 in threaded connection with the outer shell 100 and a pressing block 702 fixedly connected to one end of the adjusting screw 701, the pressing block 702 is located in the wire passing cavity 200, and a pressing pulley 703 is rotatably connected to the pressing block 702, so that friction between the control rope and the tightness adjusting assembly 700 when the control rope is pulled can be reduced. The adjusting screw 701 is rotated to enable the pressing pulley 703 to be pressed on the first control rope 3 and/or the second control rope 5, the outer shell 100 is provided with a guide hole 704, a guide block 705 fixedly connected to the side surface of the pressing block 702 is located in the guide hole 704, and the guide block 705 is in sliding connection with the guide hole 704. The guide block 705 and the guide hole 704 are matched with each other to realize the guide limit of the moving direction of the pressing block 702.
As shown in fig. 6, if the second control rope 5 is directly connected to the binding clip assembly 4 through the rotating assembly 2, when the rotating assembly 2 rotates to one side, the side forms a passage with a shorter path, and the second control rope 5 in a free state tends to be connected to the binding clip assembly 4 through the shorter passage, and the second control rope 5 is loosened to be separated from the predetermined track. Therefore, a tensioning wheel assembly 6 for preventing the second control rope 5 from loosening is arranged on the tong head seat 1, and the second control rope 5 is pressed on the tensioning wheel assembly 6.
Although lateral slackening of the second control cord 5 is prevented, it has been found that during use, the jaw assembly 4 is slightly displaced when the rotating assembly 2 is rotated, i.e. the rotation of the two interferes. This is because the length of the second control wire 5 pressed against the tension pulley assembly 6 during the rotation of the rotating assembly 2 becomes long, resulting in the overall tension of the second control wire 5, which causes a slight shift of the jaw assembly 4. Taking fig. 6 as an example, when the rotating assembly 2 rotates downward, the second tensioning wheel 62 rotates along the axis, the third tensioning wheel 63 presses downward, the first tensioning wheel 61 remains stationary, the angle increases, the length of the left control cord 51 wound around the surface of the second tensioning wheel 62 increases, the left control cord 51 is tightened, and the left tong head 41 is affected to rotationally offset the left tong head 41.
Therefore, a difference compensation assembly 7 is additionally arranged, the second control rope 5 is pressed on the surface of the difference compensation assembly 7, and the change trend of the length of the second control rope 5 pressed on the difference compensation assembly 7 is opposite to the change trend of the length of the second control rope 5 pressed on the tension pulley assembly 6 in the rotating process. That is, when the length of the second control rope 5 pressed against the tension pulley assembly 6 is increased so that the second control rope 5 is tightened, the length of the second control rope 5 pressed against the difference value compensating assembly 7 is decreased so that the second control rope 5 is loosened to cancel out the tightening of the second control rope 5 on the tension pulley assembly 6, and vice versa. Therefore, the invention is provided with the difference value compensation assembly 7, the length change trend of the second control rope 5 pressed on the difference value compensation assembly 7 is just opposite to that of the tensioning wheel assembly 6 in the rotating process, so that the tension or the looseness of the second control rope 5 caused by the length change of the second control rope 5 pressed on the surface of the tensioning wheel assembly 6 can be compensated and offset by the difference value compensation assembly 7, thereby preventing the position of the tong head assembly 4 from being influenced by the change of the tension degree of the second control rope 5 and ensuring that the tong head assembly 4 is independently controlled.
Specifically, the difference compensation assembly 7 includes an operation frame 73 and a fixing frame 74 which are rotatably connected, the operation frame 73 is fixedly connected to the first operation assembly 300, the fixing frame 74 is fixedly connected to the outer casing 100, the wire pressing wheel 71 and the difference compensation wheel 72 are arranged on the operation frame 73, an axial line of the difference compensation wheel 72 coincides with a rotation axis of the operation frame 73 rotating relative to the fixing frame 74, the second control rope 5 is sequentially arranged at the upper end of the wire pressing wheel 71 and the lower end of the difference compensation wheel 72 in a pressing manner, or the second control rope 5 is sequentially arranged at the lower end of the wire pressing wheel 71 and the upper end of the difference compensation wheel 72 in a pressing manner. The control device further comprises a first driving wheel 303 which is coaxially arranged with the difference value compensation wheel 72, and one end of the first control rope 3, which is far away from the rotating assembly 2, is fixedly connected to the first driving wheel 303.
When the manual control operating frame 73 is used, the manual control operating frame is controlled to rotate upwards or downwards, and the rotating assembly 2 is driven by the first control rope 3 to rotate upwards or downwards. The creasing wheel 71 is raised or depressed so that the length of the second control cord 5 pressed against the difference compensating wheel 72 increases or decreases.
Referring to fig. 6 and 7, the rotating assembly 2 includes a rotating seat 21, a first rotating wheel 22 is arranged at one end of the rotating seat 21, the first rotating wheel 22 is rotatably connected to the bit holder 1, the first control rope 3 is connected to the first rotating wheel 22 and pulls the first control rope 3 to drive the first rotating wheel 22 to rotate, and one end of the rotating seat 21, which is far away from the first rotating wheel 22, is rotatably connected to the bit assembly 4. Pulling the first control rope 3, the first control rope 3 drives the first rotating wheel 22 to rotate the rotating seat 21.
The first control rope 3 and the rotating assembly 2, and the second control rope 5 and the binding clip assembly 4 are connected with each other in a manner that the control ropes are fixedly connected to a fixed block (not shown in the figure) firstly, and then the fixed block is fixedly connected to the rotating wheel.
Preferably, the rotating base 21 is further fixedly connected with a mounting shaft 23, the limiting wheel 24 is sleeved on the mounting shaft 23 and is rotatably connected with the mounting shaft 23, and the second control rope 5 is pressed on the limiting wheel 24. In order to ensure that the binding clip can rotate in two directions, the control rope should be connected to the fixed block in two directions, so that the control rope needs to be wound onto the rotating wheel from different directions, the connection relationship between the right control rope 52 and the third rotating wheel 44 in fig. 2 can be combined, the right control rope 52 can be bent into two parallel lines by pulling the third rotating wheel 44 from two directions, but when approaching the third rotating wheel 44, the right control rope 52 is connected to the fixed block (not shown in the figure, but is a lug fixedly connected to the third rotating wheel 44) from two directions, the two parallel lines at the tail end can gradually extend out an angle and cannot be kept parallel, after the limiting wheel 24 is arranged, the right control rope 52 is pressed on the limiting wheel 24, so that the limiting wheel 24 plays a role in limiting and contracting on the right control rope 52, so that the distance between the two lines can be kept parallel is longer, when in use, the control is more stable.
Referring to fig. 6 and 7, the binding clip assembly 4 includes a left binding clip 41 and a right binding clip 42, a second rotating wheel 43 is disposed at an end of the left binding clip 41 close to the rotating assembly 2, the second rotating wheel 43 is rotatably connected to the rotating assembly 2, a third rotating wheel 44 is disposed at an end of the right binding clip 42 close to the rotating assembly 2, the third rotating wheel 44 is rotatably connected to the rotating assembly 2, the second control rope 5 is connected to the second rotating wheel 43 and the third rotating wheel 44, and pulling the second control rope 5 can rotate the second rotating wheel 43 and/or the third rotating wheel 44.
Preferably, the second control cord 5 includes a left control cord 51 connected to the second turning wheel 43 and a right control cord 52 connected to the third turning wheel 44. The left control rope 51 and the right control rope 52 are controlled independently, so that the left binding clip 41 and the right binding clip 42 can rotate independently, and the user can operate and control the forceps conveniently.
Preferably, the outer edge of the second rotating wheel 43 and/or the third rotating wheel 44 is extended with an interference prevention step 45. In this way, the left control rope 51 connected to the second rotatable wheel 43 and the right control rope 52 connected to the third rotatable wheel 44 can be separated from each other by the interference prevention step 45 during use, thereby preventing the left control rope 51 and the right control rope 52 from being worn due to mutual friction during use.
As shown in fig. 6 and 7, the tensioning wheel assembly 6 includes a first tensioning wheel 61, a second tensioning wheel 62, and a third tensioning wheel 63, which are sequentially disposed, the first tensioning wheel 61 is connected to the holder 1, the second tensioning wheel 62 and the third tensioning wheel 63 are connected to the rotating assembly 2, two first tensioning wheels 61, two second tensioning wheels 62, and two third tensioning wheels 63 are disposed and respectively correspond to the left control rope 51 and the right control rope 52, the left control rope 51 is sequentially pressed at a lower end of the first tensioning wheel 61, an upper end of the second tensioning wheel 62, and a lower end of the third tensioning wheel 63, and the right control rope 52 is sequentially pressed at an upper end of the first tensioning wheel 61, a lower end of the second tensioning wheel 62, and an upper end of the third tensioning wheel 63. Similarly, two of the tension roller 71 and the difference compensating pulley 72 are provided, corresponding to the left control rope 51 and the right control rope 52, respectively.
Preferably, the axis of the second tension pulley 62 coincides with the rotation axis of the rotating assembly 2. That is, the axis of the second tension pulley 62 coincides with the axis of the first rotation wheel 22.
As shown in fig. 5 and 6, the length of the second control rope 5 pressed against the difference-compensating sheave 72 and the second tension sheave 62 is constant. Therefore, the difference can be completely filled, and the ideal state that the rotation of the tong head assembly 4 and the rotation assembly 2 is completely not interfered is realized.
Referring to fig. 3 and 5, a first limiting surface 76 is disposed on the operating frame 73, a second limiting surface 77 is disposed on the fixing frame 74, the operating frame 73 is rotated to press the first limiting surface 76 on the second limiting surface 77, an included angle between the first limiting surface 76 and the second limiting surface 77 is 20-45 degrees, and a diameter of the difference compensation wheel 72 is 2-4.5 times a diameter of the second tensioning wheel 62. Preferably, the angle between the first and second limiting surfaces 76 and 77 is 30 degrees, the diameter of the difference compensation wheel 72 is 3 times the diameter of the second tension wheel 62, and the diameter of the first driving wheel 303 is 3 times the diameter of the first driving wheel 22. Thus, the rotation of the operating frame 73 within the range of 30 degrees just can drive the rotating assembly 2 to rotate within the range of 90 degrees, and the tight state of the second control rope 5 is not changed in any way during the rotation of the rotating assembly 2.
The working principle of the invention is as follows: the adjusting screw 701 is turned to change the force exerted by the pinch pulley 703 on the first control cord 3 and the second control cord 5 so that the first control cord 3 and the second control cord 5 are under a suitable degree of tightness. During the use, push down or shift up first operating handle 301 to drive handling frame 73, further drive first drive wheel 303 and rotate, thereby first control rope 3 is pulled to first drive wheel 22 is driven in first drive wheel 303 pulling, make and rotate seat 21 and take place to rotate, because binding clip subassembly 4 is connected in the one end of rotating seat 21, so when rotating seat 21 and rotating, binding clip subassembly 4 can wholly follow and rotate seat 21 and move, still can drive second through pulling left control rope 51 in addition and rotate wheel 43, make left binding clip 41 take place to rotate, drive third and rotate wheel 44 through pulling right control rope 52, make right binding clip 42 take place to rotate. In the rotating process of the rotating seat 21, the tightness or looseness of the second control rope 5 on the surface of the second tensioning wheel 62 due to the change of the winding length is offset by the reverse change of the winding length of the second control rope 5 on the surface of the difference value compensation wheel 72, so that the tightness of the second control rope 5 is not changed in the whole process, and the tong head assembly 4 is independently controlled. The second operating handle 401 is rotated by moving left and right, so that the second driving wheel 403 is driven to rotate, and the second control rope 5 is pulled to drive the tong head assembly 4 to rotate. According to the invention, the first operating assembly 300 is used for controlling the rotation of the rotating assembly 2 through the first control rope 3, the second operating assembly 400 is used for controlling the rotation of the tong head assembly 4 through the second control rope 5, and the tong head assembly 4 is connected to the rotating assembly 2, so that the tong head assembly can be driven by the rotating assembly 2 to realize multidirectional rotation, is flexible to operate and can meet the requirements under a complex operation environment.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Although the present disclosure largely uses the vice head base 1, the rotating assembly 2, the first control rope 3, the vice head assembly 4, the second control rope 5, the tensioning wheel assembly 6, the difference compensation assembly 7, the rotating base 21, the first rotating wheel 22, the mounting shaft 23, the limiting wheel 24, the left vice head 41, the right vice head 42, the second rotating wheel 43, the third rotating wheel 44, the interference prevention step 45, the left control rope 51, the right control rope 52, the first tensioning wheel 61, the second tensioning wheel 62, the third tensioning wheel 63, the wire pressing wheel 71, the difference compensation wheel 72, the operation frame 73, the fixing frame 74, the first limiting surface 76, the second limiting surface 77, the outer housing 100, the wire passing cavity 200, the first operation assembly 300, the first operation handle 301, the driving rod 302, the first driving wheel 303, the second operation assembly 400, the second operation handle 401, the limiting rod 402, the second driving wheel 403, the tensioning wheel 600, the tightness adjustment assembly 700, the tension adjustment assembly 51, the left control rope 51, the right control rope 52, the right control rope, the left control rope 52, the left tensioning wheel 71, the third tensioning wheel 72, the third tensioning wheel 71, the tension wheel, the difference compensation wheel, the operating bracket 74, the third tension bracket, the third operating handle, and the third operating handle, the third operating lever, and the third operating lever, the third operating handle, the third operating lever, and the third operating lever, adjusting screw 701, hold down block 702, hold down pulley 703, guide hole 704, guide block 705, etc., but does not exclude the possibility of using other terms. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.
Claims (8)
1. A double-joint surgical instrument, includes shell body (100), have line cavity (200) in shell body (100), the pincers head seat (1) is connected on shell body (100), its characterized in that: the clamp head is characterized in that a first operation assembly (300) is further rotatably connected to the outer shell (100), a second operation assembly (400) is arranged on the first operation assembly (300), the second operation assembly (400) is rotatably connected with the first operation assembly (300), one end of the clamp head seat (1) is rotatably connected with the clamp head assembly (4), a second control rope (5) penetrates through the wire passing cavity (200) and then is connected to the clamp head assembly (4), the second control rope (5) can be pulled and the clamp head assembly (4) can be rotated by rotating the second operation assembly (400), a rotating assembly (2) is arranged between the clamp head assembly (4) and the clamp head seat (1), one end of the rotating assembly (2) is rotatably connected with the clamp head seat (1), the other end of the rotating assembly is rotatably connected with the clamp head assembly (4), and the rotating direction of the rotating assembly (2) is different from that of the clamp head assembly (4), the first control rope (3) penetrates through the wire passing cavity (200) and then is connected to the rotating assembly (2), and the rotating assembly (2) can be rotated by rotating the first operating assembly (300) to pull the first control rope (3);
the tong head assembly (4) comprises a left tong head (41) and a right tong head (42), a second rotating wheel (43) is arranged at one end, close to the rotating assembly (2), of the left tong head (41), the second rotating wheel (43) is rotatably connected with the rotating assembly (2), a third rotating wheel (44) is arranged at one end, close to the rotating assembly (2), of the right tong head (42), the third rotating wheel (44) is rotatably connected with the rotating assembly (2), the second control rope (5) is connected to the second rotating wheel (43) and the third rotating wheel (44), the second rotating wheel (43) and/or the third rotating wheel (44) can rotate by pulling the second control rope (5), and an interference preventing step (45) extends from the outer edge of the second rotating wheel (43) and/or the third rotating wheel (44);
the tension mechanism is characterized by further comprising a difference compensation assembly (7) and a tension wheel assembly (6) used for preventing the second control rope (5) from loosening in the rotation process of the rotation assembly (2), the tension wheel assembly (6) is connected to the clamp head seat (1) and the rotation assembly (2), the second control rope (5) is arranged on the tension wheel assembly (6) and the difference compensation assembly (7) in a pressing mode, and when the rotation assembly (2) rotates, the change trend of the length of the second control rope (5) arranged on the difference compensation assembly (7) in the pressing mode is opposite to the change trend of the length of the second control rope (5) arranged on the tension wheel assembly (6) in the pressing mode.
2. The dual joint surgical instrument of claim 1, wherein: the first operating assembly (300) comprises a first operating handle (301) and a first driving wheel (303), the first operating handle (301) is fixedly connected with the first driving wheel (303) through a driving rod (302), one end, far away from the rotating assembly (2), of the first control rope (3) is fixedly connected to the first driving wheel (303), and the driving rod (302) is connected with the outer shell (100) and can rotate relative to the outer shell (100); the second operation assembly (400) comprises a second operation handle (401) and a second driving wheel (403) which are fixedly connected, one end, far away from the tong head assembly (4), of the second control rope (5) is fixedly connected to the second driving wheel (403), a limiting rod (402) penetrates through the axis of the second driving wheel (403), the second driving wheel (403) is rotatably connected with the limiting rod (402), and the limiting rod (402) is fixedly connected to the first operation handle (301).
3. The dual joint surgical instrument of claim 1, wherein: the tension control device is characterized in that at least one group of tightening wheels (600) rotatably connected with the outer shell (100) is arranged in the wire passing cavity (200), the first control rope (3) and the second control rope (5) are pressed on the tightening wheels (600), the tension control device further comprises a tension adjusting assembly (700) connected to the outer shell (100), and one end of the tension adjusting assembly (700) can be pressed on the first control rope (3) and/or the second control rope (5) by moving the tension adjusting assembly (700).
4. The dual joint surgical instrument of claim 3, wherein: elasticity adjusting part (700) include adjusting screw (701) with shell body (100) threaded connection and compact heap (702) of fixed connection in adjusting screw (701) one end, compact heap (702) are located cross line cavity (200), rotate on compact heap (702) and are connected with on compress tightly pulley (703), rotate adjusting screw (701) and can make compress tightly pulley (703) press and establish on first control rope (3) and/or second control rope (5), seted up guiding hole (704) on shell body (100), guide block (705) of fixed connection in compact heap (702) side are located guiding hole (704), guide block (705) and guiding hole (704) sliding connection.
5. The dual joint surgical instrument of claim 1, wherein: rotating assembly (2) are including rotating seat (21), the one end of rotating seat (21) is equipped with first rotation wheel (22), first rotation wheel (22) rotate with tong seat (1) and be connected, first control rope (3) are connected on first rotation wheel (22) and the first control rope (3) of pulling can drive first rotation wheel (22) and take place to rotate, rotate the one end that first rotation wheel (22) were kept away from in seat (21) and rotate with tong head subassembly (4) and be connected, it still fixedly connected with installation axle (23) to rotate on seat (21), and spacing wheel (24) cover is established on installation axle (23) and is rotated with installation axle (23) and be connected, second control rope (5) are pressed and are established on spacing wheel (24).
6. The dual joint surgical instrument of claim 1, wherein: difference value compensating assembly (7) are including rotating operation frame (73) and mount (74) of connecting, operation frame (73) fixed connection on first operation subassembly (300), and mount (74) fixed connection is on shell body (100), be equipped with fabric wheel (71) and difference value compensating wheel (72) on operation frame (73), the axial lead of difference value compensating wheel (72) coincides mutually with operation frame (73) relative mount (74) pivoted axis of rotation, second control rope (5) are pressed in proper order and are established the upper end of fabric wheel (71) and the lower extreme of difference value compensating wheel (72), or second control rope (5) are pressed in proper order and are established the lower extreme of fabric wheel (71) and the upper end of difference value compensating wheel (72).
7. The dual joint surgical instrument of claim 6, wherein: the tensioning wheel assembly (6) comprises a first tensioning wheel (61), a second tensioning wheel (62) and a third tensioning wheel (63) which are sequentially arranged, the first tensioning wheel (61) is connected to the pliers seat (1), the second tensioning wheel (62) and the third tensioning wheel (63) are connected to the rotating assembly (2), the second control rope (5) comprises a left control rope (51) and a right control rope (52), the first tensioning wheel (61), the second tensioning wheel (62), the third tensioning wheel (63), the wire pressing wheel (71) and the difference compensation wheel (72) are respectively provided with two control ropes (51) and two control ropes (52) which respectively correspond to the left control rope (51) and the right control rope (52), and the left control rope (51) is sequentially arranged at the upper end of the wire pressing wheel (71), the lower end of the difference compensation wheel (72), the lower end of the first tensioning wheel (61), the upper end of the second tensioning wheel (62) and the lower end of the third tensioning wheel (63), the right control rope (52) is sequentially pressed at the lower end of the wire pressing wheel (71), the upper end of the difference compensation wheel (72), the upper end of the first tensioning wheel (61), the lower end of the second tensioning wheel (62) and the upper end of the third tensioning wheel (63).
8. The dual joint surgical instrument of claim 7, wherein: the operating frame (73) is provided with a first limiting surface (76), the fixing frame (74) is provided with a second limiting surface (77), the operating frame (73) is rotated to enable the first limiting surface (76) to be pressed on the second limiting surface (77), an included angle between the first limiting surface (76) and the second limiting surface (77) is 20-45 degrees, and the diameter of the difference compensation wheel (72) is 2-4.5 times of that of the second tensioning wheel (62).
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| CN202011636332.0A CN112618007B (en) | 2020-12-31 | 2020-12-31 | Double-joint surgical instrument |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011636332.0A CN112618007B (en) | 2020-12-31 | 2020-12-31 | Double-joint surgical instrument |
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| CN112618007B true CN112618007B (en) | 2022-02-11 |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108472092A (en) * | 2015-12-10 | 2018-08-31 | Cmr外科有限公司 | Surgical instrument articulated section |
| CN109717913A (en) * | 2019-01-30 | 2019-05-07 | 深圳市罗伯医疗科技有限公司 | Lift operating system |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070208375A1 (en) * | 2006-02-23 | 2007-09-06 | Kouji Nishizawa | Surgical device |
| US8540748B2 (en) * | 2008-07-07 | 2013-09-24 | Intuitive Surgical Operations, Inc. | Surgical instrument wrist |
| US8900267B2 (en) * | 2010-08-05 | 2014-12-02 | Microline Surgical, Inc. | Articulable surgical instrument |
| US10753439B2 (en) * | 2015-04-03 | 2020-08-25 | The Regents Of The University Of Michigan | Tension management apparatus for cable-driven transmission |
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2020
- 2020-12-31 CN CN202011636332.0A patent/CN112618007B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108472092A (en) * | 2015-12-10 | 2018-08-31 | Cmr外科有限公司 | Surgical instrument articulated section |
| CN109717913A (en) * | 2019-01-30 | 2019-05-07 | 深圳市罗伯医疗科技有限公司 | Lift operating system |
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