CN113951989A - Flexible shearing device and using method thereof - Google Patents
Flexible shearing device and using method thereof Download PDFInfo
- Publication number
- CN113951989A CN113951989A CN202111189760.8A CN202111189760A CN113951989A CN 113951989 A CN113951989 A CN 113951989A CN 202111189760 A CN202111189760 A CN 202111189760A CN 113951989 A CN113951989 A CN 113951989A
- Authority
- CN
- China
- Prior art keywords
- flexible
- shell
- upper knife
- shearing
- tube
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
- A61B17/320016—Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
- A61B17/0467—Instruments for cutting sutures
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
- A61B17/0469—Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
-
- 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
- A61B17/3201—Scissors
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Pathology (AREA)
- Surgical Instruments (AREA)
Abstract
The invention discloses a flexible shearing device and a using method thereof, wherein the flexible shearing device comprises the following steps: an actuator for penetrating the body tissue to shear the medical element; an operating mechanism for controlling the movement of the actuator to switch the actuator between a shearing state and a non-shearing state; the flexible connecting mechanism is characterized by further comprising a flexible connecting mechanism, one end of the flexible connecting mechanism is connected with the executing mechanism, the other end of the flexible connecting mechanism is connected with the operating mechanism, and the control action of the operating mechanism is transmitted to the executing mechanism through the flexible connecting mechanism so as to control the executing state of the executing mechanism. The invention adopts a flexible connection mode and can be suitable for complex human tissue structures; by adopting the lever principle, the shearing process is labor-saving, the deformation of the flexible connecting mechanism is reduced, and the operation synchronism is improved; the length of the remaining line can be shortened by reasonably setting the position of the knife edge; by adopting a shearing principle instead of an extrusion principle, the cutter edge can be protected, the shearing effect on the tough material is improved, and the service life of the device is prolonged.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a flexible shearing device and a using method thereof.
Background
In the field of human tissue intervention repair, particularly heart valve repair, some implantation instruments are provided with wire and thin rod structures, and after specific operation is completed in the operation process, redundant wire and thin rod structures need to be cut under the intervention condition. Due to space limitations of the environment of transvascular interventions and the like, instruments required to provide the cutting operation are very small in size. Although the instrument structure driven by the rigid rod can deal with the shearing work of medical elements in minimally invasive surgery at present, the current rigid instrument cannot complete the shearing work of the elements in environments of long-distance vascular interventional surgery and the like. Therefore, a new instrument is urgently needed to solve the above problems.
Disclosure of Invention
To overcome the above problems, the present invention provides a flexible shearing apparatus and a method of using the same. The flexible connection mode is adopted, so that the flexible cutting tool is applicable to complex human tissue structures, overcomes the defects of the existing rigid instrument, and improves the cutting quality under the condition of finishing the cutting task. And by adopting a lever principle, the shearing process is labor-saving, the deformation of the flexible connecting mechanism is reduced, and the synchronism of operation is improved. The length of the remaining line can be shortened by reasonably setting the position of the knife edge. By adopting a shearing principle instead of an extrusion principle, the cutter edge can be protected, the shearing effect on the tough material is improved, and the service life of the device is prolonged.
To achieve the above object, according to an aspect of an embodiment of the present invention, there is provided a flexible shearing apparatus including:
an actuator for penetrating the body tissue to shear the medical element;
an operating mechanism for controlling the movement of the actuator to switch the actuator between a shearing state and a non-shearing state;
the flexible connecting mechanism is characterized by further comprising a flexible connecting mechanism, one end of the flexible connecting mechanism is connected with the executing mechanism, the other end of the flexible connecting mechanism is connected with the operating mechanism, and the control action of the operating mechanism is transmitted to the executing mechanism through the flexible connecting mechanism so as to control the executing state of the executing mechanism.
Optionally, the actuating mechanism includes a lower knife, an upper knife and a base;
the lower knife is fixedly connected to one end of the base, and a rotating shaft is arranged on the top surface of the lower knife;
the upper knife is pivoted with the lower knife through the rotating shaft, the flexible connecting mechanism is connected with one end of the upper knife, and the operating mechanism controls the upper knife to rotate along the rotating shaft through the flexible connecting mechanism so as to control the execution state of the executing mechanism.
Optionally, the upper knife and the lower knife are respectively provided with a thread passing hole, and the medical element passes through the thread passing hole and is located between the upper knife edge of the upper knife and the lower knife edge of the lower knife;
when the medical element is cut, the length of the force arm from the contact point between the medical element and the upper knife edge to the rotating shaft is C1;
the length of the force arm from the connecting point between the flexible connecting mechanism and one end of the upper knife to the rotating shaft is C2;
the C1 is less than C2.
Optionally, the lower knife is provided with an avoidance groove for accommodating the medical element and the cutting edge of the upper knife during the shearing process;
the upper knife edge and the lower knife edge are closed in a staggered mode, and when the medical element is sheared, the medical element is broken through the staggered closing of the upper knife edge and the lower knife edge.
Optionally, when the upper blade edge and the lower blade edge are closed, the distance between the upper blade edge and the end face where the wire passing hole is located on the lower blade is smaller than or equal to the diameter of the medical element.
Optionally, the flexible connection mechanism includes a flexible synchronization tube and a flexible sheath tube;
the flexible synchronous tube is arranged in the flexible sheath tube and can move in the flexible sheath tube; one end of the flexible synchronous pipe is connected with the execution mechanism, and the other end of the flexible synchronous pipe is connected with the operation mechanism, so that the operation mechanism synchronously controls the execution mechanism through the flexible synchronous pipe, and further controls the execution state of the execution mechanism;
one end of the flexible sheath tube is connected with the actuating mechanism, and the other end of the flexible sheath tube is connected with the operating mechanism and provides support for the flexible synchronous tube.
Optionally, the flexible connection mechanism includes a flexible synchronization tube and a flexible sheath tube;
the flexible synchronous tube is arranged in the flexible sheath tube and can move in the flexible sheath tube; one end of the flexible synchronous pipe is connected with the traction arm of the upper knife, and the other end of the flexible synchronous pipe is connected with the operating mechanism, so that the operating mechanism controls the upper knife to rotate by pulling the flexible synchronous pipe, and further controls the execution state of the executing mechanism;
one end of the flexible sheath tube is connected with the end part of the base, which is far away from the lower knife, and the other end of the flexible sheath tube is connected with the operating mechanism and provides support for the flexible synchronous tube.
Optionally, the operating mechanism includes a housing, and sliding grooves are formed in the left side and the right side of the housing; a front seat, a rear seat and a handle mechanism are also arranged in the shell;
the front seat is fixedly arranged in the shell, and one end of the front seat close to the actuating mechanism is connected with the flexible sheath tube;
the rear seat is arranged in the shell, the flexible synchronous tube penetrates through the axial inner hole of the front seat and then is connected with one end of the rear seat, and the other end of the rear seat is connected with the handle mechanism; the rear seat can slide along sliding grooves formed in the left side and the right side of the shell, and the handle mechanism drives the rear seat to reciprocate along the sliding grooves so as to control the flexible synchronous tube to move back and forth.
Optionally, the handle mechanism comprises a connecting rod, a wrench and a tension spring;
the wrench is rotationally connected to the shell, one side of the part of the wrench, which is positioned in the shell, is connected with the tension spring, the other end of the tension spring is fixed in the shell, and the tension spring is used for controlling the handle mechanism to reset; the other side of the part of the wrench positioned in the shell is connected with one end of a connecting rod, and the other end of the connecting rod is connected with the end part of the rear seat far away from the actuating mechanism.
Optionally, the length of the force arm between the external force acting point on the wrench and the rotation connecting point of the wrench and the shell is L1,
the length of the force arm between the connecting rod and the rotating connection point of the wrench and the shell is L2,
l1 is greater than L2.
According to a second aspect of embodiments of the present invention, there is provided a method of using a flexible shearing device, comprising:
an actuator for penetrating the body tissue to shear the medical element;
an operating mechanism for controlling the movement of the actuator to switch the actuator between a shearing state and a non-shearing state;
the flexible connecting mechanism is characterized by also comprising a flexible connecting mechanism, wherein one end of the flexible connecting mechanism is connected with the executing mechanism, and the other end of the flexible connecting mechanism is connected with the operating mechanism;
during shearing, the control action of the operating mechanism is transmitted to the actuating mechanism through the flexible connecting mechanism so as to control the actuating state of the actuating mechanism.
Optionally, in the use method, the actuator includes a lower blade, an upper blade and a base;
the lower knife is fixedly connected to one end of the base, and a rotating shaft is arranged on the top surface of the lower knife;
the upper knife is pivoted with the lower knife through the rotating shaft, the flexible connecting mechanism is connected with one end of the upper knife, and the operating mechanism controls the upper knife to rotate along the rotating shaft through the flexible connecting mechanism so as to control the execution state of the executing mechanism.
Optionally, in the using method, the upper knife and the lower knife are respectively provided with a wire passing hole, and the medical element passes through the wire passing hole and is located between the upper knife edge of the upper knife and the lower knife edge of the lower knife;
when the medical element is cut, the length of the force arm from the contact point between the medical element and the upper knife edge to the rotating shaft is C1;
the length of the force arm from the connecting point between the flexible connecting mechanism and one end of the upper knife to the rotating shaft is C2;
the C1 is smaller than the C2, so that the shearing operation force is reduced.
Optionally, in the using method, an avoiding groove is formed in the lower knife and used for accommodating the medical element and the cutting edge of the upper knife in the shearing process;
the upper knife edge and the lower knife edge are closed in a staggered mode, when the medical element is cut, the medical element is broken through the staggered closing of the upper knife edge and the lower knife edge, and the medical element to be moved out of the human tissue and the upper knife edge enter the avoiding groove.
Optionally, in the using method, when the upper blade edge and the lower blade edge are closed, a distance between the upper blade edge and the end face where the wire passing hole is located on the lower blade is smaller than or equal to the diameter of the medical element.
Optionally, in the using method, the flexible connecting mechanism includes a flexible synchronizing tube and a flexible sheath;
the flexible synchronous tube is arranged in the flexible sheath tube and can move in the flexible sheath tube; one end of the flexible synchronous pipe is connected with the execution mechanism, and the other end of the flexible synchronous pipe is connected with the operation mechanism, so that the operation mechanism synchronously controls the execution mechanism through the flexible synchronous pipe, and further controls the execution state of the execution mechanism;
one end of the flexible sheath tube is connected with the actuating mechanism, and the other end of the flexible sheath tube is connected with the operating mechanism and provides support for the flexible synchronous tube.
Optionally, in the using method, the flexible connecting mechanism includes a flexible synchronizing tube and a flexible sheath;
the flexible synchronous tube is arranged in the flexible sheath tube and can move in the flexible sheath tube; one end of the flexible synchronous pipe is connected with the traction arm of the upper knife, and the other end of the flexible synchronous pipe is connected with the operating mechanism, so that the operating mechanism controls the upper knife to rotate by pulling the flexible synchronous pipe, and further controls the execution state of the executing mechanism;
one end of the flexible sheath tube is connected with the end part of the base, which is far away from the lower knife, and the other end of the flexible sheath tube is connected with the operating mechanism and provides support for the flexible synchronous tube.
Optionally, in the using method, the operating mechanism includes a housing, and sliding grooves are formed in the left side and the right side of the housing; a front seat, a rear seat and a handle mechanism are also arranged in the shell;
the front seat is fixedly arranged in the shell, and one end of the front seat close to the actuating mechanism is connected with the flexible sheath tube;
the rear seat is arranged in the shell, the flexible synchronous tube penetrates through the axial inner hole of the front seat and then is connected with one end of the rear seat, and the other end of the rear seat is connected with the handle mechanism; the rear seat can slide along sliding grooves formed in the left side and the right side of the shell;
when the flexible synchronous pipe is used, the handle mechanism drives the rear seat to reciprocate along the sliding groove so as to control the flexible synchronous pipe to move back and forth, and therefore the working state of the actuating mechanism is controlled.
Optionally, in the use method, the handle mechanism includes a connecting rod, a wrench and a tension spring;
the wrench is rotationally connected to the shell, one side of the part of the wrench, which is positioned in the shell, is connected with the tension spring, the other end of the tension spring is fixed in the shell, and the tension spring is used for controlling the handle mechanism to reset; the other side of the part of the wrench positioned in the shell is connected with one end of a connecting rod, and the other end of the connecting rod is connected with the end part of the rear seat far away from the actuating mechanism.
Optionally, the length of the force arm between the external force acting point on the wrench and the rotation connecting point of the wrench and the shell in the using method is L1,
the length of the force arm between the connecting rod and the rotating connection point of the wrench and the shell is L2,
l1 is greater than L2 to reduce shear operating forces.
The technical scheme of the invention has the following advantages or beneficial effects:
(1) the flexible connecting mechanism is adopted to connect the actuating mechanism and the operating mechanism, so that the shearing device is suitable for complex human tissue structures, such as the purpose of cutting in an interventional blood vessel, is suitable for long-distance shearing operation, and overcomes the defects of the conventional rigid instrument. Meanwhile, the flexible connecting element with proper size can be selected according to the requirement to be suitable for different operation environments.
(2) The length of the shearing driving force arm is larger than the force arm of the reaction force of the medical element on the upper knife, and the lever principle is adopted, so that the driving force is reduced, and the shearing operation is easier. And then the acting force of the driving force on the flexible connecting mechanism is reduced, the influence on the operation effect caused by excessive deformation of the flexible mechanism is avoided, and the action synchronism of the operating mechanism and the executing mechanism is improved.
(3) The upper cutter cutting edge and the lower cutter cutting edge are closed in a staggered mode, the driving force required by the shearing process can be reduced relative to the extrusion fracture mode, the abrasion loss of the cutter is reduced, the service life is prolonged, and the shearing is stable and reliable.
(4) The operating mechanism adopts a lever principle to pull the flexible synchronous tube, thereby reducing the driving force and the acting force on the flexible sheath tube. The operation is convenient, and the deformation of the flexible sheath tube is reduced.
(5) The actuating mechanism and the operating mechanism both adopt a lever principle, the use of double levers can further reduce the driving external force, further reduce the deformation of the sheath tube, improve the synchronous precision of the operating action of the operating mechanism and improve the shearing effect.
(6) The setting position of the upper knife edge is controlled to reduce the length of the excess line and improve the shearing quality.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
FIG. 1 is a schematic structural view of a main body of a shearing apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic view of an actuator according to an embodiment of the invention;
FIG. 3 is a schematic cross-sectional view of an actuator shear state according to an embodiment of the present invention;
FIG. 4 is a schematic cross-sectional view of an actuator according to an embodiment of the invention;
FIG. 5 is a schematic view of the crush fracture principle according to an embodiment of the present invention;
FIG. 6 is a schematic view of the shear fracture principle according to an embodiment of the present invention;
FIG. 7 is an exploded view of an operating mechanism according to an embodiment of the present invention;
fig. 8 is a schematic cross-sectional view of an operating mechanism according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
According to an aspect of an embodiment of the present invention, there is provided a flexible shearing device.
In order to solve the problem that the rigid minimally invasive surgery instrument in the prior art cannot cut off medical elements for a long distance, such as part of elements of an instrument implanted into the heart through blood vessels, an embodiment of the invention provides a flexible cutting device. Medical elements referred to herein include, but are not limited to, wires or rods. Specifically, as shown in fig. 1, the flexible cutting device includes an actuator 101 that is inserted into human tissue to cut the medical element; an actuator 102 for controlling movement of the actuator to switch the actuator between a shearing state and a non-shearing state. The operating mechanism may include a wrench or the like to facilitate manual operation of the actuator by the medical personnel. The flexible connecting mechanism 103 is further included, one end of the flexible connecting mechanism is connected with the executing mechanism, and the other end of the flexible connecting mechanism is connected with the operating mechanism. The length and the diameter of the flexible connecting mechanism can be adjusted according to the space of intervening tissues, namely, a modular design idea can be adopted, so that the shearing device disclosed by the invention can be suitable for various operation environments. The control action of the operating mechanism is transmitted to the actuator via said flexible linkage to control the actuator's actuation state, such as switching between a shearing state and a non-shearing state.
Optionally, the actuator 101 includes a lower blade 201, an upper blade 204, and a base 203. As shown in fig. 2, the lower blade 201 is fixedly connected to the left end of the base 203, i.e. the end away from the medical staff. The top surface of the lower knife 201 is provided with a rotating shaft 202. In one embodiment as shown in fig. 2, the spindle is shown disposed near the middle of the top surface of the lower blade. The upper knife is pivoted with the lower knife through the rotating shaft, the flexible connecting mechanism is connected with one end of the upper knife, and the operating mechanism controls the upper knife to rotate along the rotating shaft through the flexible connecting mechanism so as to control the execution state of the executing mechanism.
Optionally, as shown in fig. 3 and 4, the upper knife and the lower knife are respectively provided with a wire passing hole 401, 402, and the medical element 104 is located between the upper knife edge 403 of the upper knife and the lower knife edge 403 of the lower knife after passing through the wire passing hole. The dotted line shown in fig. 4 is the movement track of the cutting edge on the upper knife around the rotating shaft, the upper knife cutting edge can realize the staggered closing with the lower knife cutting edge, and the closing gap is small enough, so that the shearing quality of the port is improved. When the medical element needs to be cut, the length of the force arm from the contact point between the medical element and the upper knife edge to the rotating shaft is C1; the length of the force arm from the connecting point between the flexible connecting mechanism and one end of the upper knife to the rotating shaft is C2; the C1 is less than C2. In a certain shearing state as shown in fig. 4, the length of the force arm from the contact point between the medical element and the upper knife edge to the rotating shaft is C; the length of the force arm from the connecting point between the flexible connecting mechanism and one end of the upper knife to the rotating shaft is D; d is greater than C, namely the length of the shearing driving force arm is greater than the force arm of the reaction force of the medical element on the upper knife, and the lever principle is adopted, so that the driving force is reduced, and the shearing operation is easier. In the mode, the driving force is reduced, so that the force of the driving force on the flexible connecting mechanism is also reduced, and the influence on the operation effect caused by excessive deformation of the flexible connecting mechanism is avoided.
Optionally, as shown in fig. 4, the lower blade is provided with an escape groove 405 for accommodating the medical element and the upper blade edge during the cutting process. In one embodiment, the cutting edges of the upper knife and the lower knife are staggered and closed to realize shearing. Namely, when the medical element is sheared, the medical element is broken through the staggered closing of the cutting edges of the upper knife and the lower knife. Compared with the mode of extrusion fracture, the mode can reduce the driving force required by the shearing process, reduce the abrasion loss of the cutter and prolong the service life. In practice, shearing is a relative dislocation deformation phenomenon of a cross section of a material along the action direction of a pair of closely-spaced, equal-size and oppositely-directed lateral external forces (i.e., forces perpendicular to the action surface). Forces that can cause shear deformation of a material are referred to as shear forces or shear forces. The cross section where shear deformation occurs is called the shear plane. The key to determining whether to "shear" is whether the cross-section of the material is relatively dislocated. Fig. 5 is a schematic diagram illustrating the principle of pressing the broken wire, wherein the cutting edge 501 presses the material 502 onto the supporting plate 503, and the material is advanced to break the wire by controlling the cutting edge 501. The limitations of extrusion-type fracture materials are: (1) the required extrusion force is larger, (2) the cutting edge has smaller taper angle to improve the pressure, so that the abrasion of the cutting edge is large, the service life is short, and (3) a large enough supporting structure needs to be provided for the cut material, so that the operation instrument has larger volume. The invention adopts the wire cutting and breaking principle shown in fig. 6, wherein the cutting edges 601 and 602 are distributed on two sides of the wire rod in a staggered F distance, and the wire breaking is completed through the cutting action, so that the wire cutting device has the advantages of stable and reliable wire breaking for harder wire rods. Moreover, the cutting edge shown in fig. 6 can be in other shapes, and a wedge-shaped structure is preferably adopted instead of a mode like extrusion fracture, so that the pressure on the cutting edge is reduced, and the service life is prolonged. Moreover, the shearing principle of the invention can protect the knife edge and improve the shearing effect on the tough material.
Optionally, when the upper blade edge and the lower blade edge are closed, the distance between the upper blade edge and the end face where the wire passing hole is located on the lower blade is smaller than or equal to the diameter of the medical element. In practice, the length of the remaining line after shearing is an important index for evaluating the performance of the shearing device. As shown in fig. 4, an embodiment of the present invention reasonably controls the distance between the cutting edge of the upper blade and the end surface of the lower blade where the wire passing hole is located, i.e., the distance E shown in fig. 4, so as to shorten the remaining wire length. In use, dimension E can be designed as desired, and a preferred embodiment of the invention selects a distance that is less than or equal to the diameter of the medical element. Other dimensions may of course be used. According to the shearing principle described in the foregoing, the scheme of the invention can realize stable and reliable shearing operation, and the excess wire length of the invention can be 0.5mm through design verification.
Optionally, as shown in fig. 1 and 3, the flexible connection mechanism includes a flexible synchronization tube 301 and a flexible sheath tube 302; the flexible synchronous tube is arranged in the flexible sheath tube and moves in the flexible sheath tube under the control of the operating mechanism. Preferably, the flexible synchronous tube has good tensile property and can synchronously transmit the action of the operating mechanism in a ratio of 1: 1. One end of the flexible synchronous pipe is connected with the execution mechanism, and the other end of the flexible synchronous pipe is connected with the operation mechanism, so that the operation mechanism synchronously controls the execution mechanism by pulling the flexible synchronous pipe, and further the execution state of the execution mechanism is switched between shearing and non-shearing. One end of the flexible sheath tube is connected with the actuating mechanism, and the other end of the flexible sheath tube is connected with the operating mechanism and provides support for the flexible synchronous tube. In practice, the flexible sheath is not only required to have good flexibility so as to be suitable for use in complex human tissue environments, such as human vascular environments. Meanwhile, the flexible sheath tube also needs to have enough pressure resistance, and the phenomenon that the action of the operating mechanism cannot be synchronously transmitted due to excessive deformation of the flexible sheath tube caused by external force generated when the flexible synchronous tube moves is avoided, so that the shearing effect is influenced.
Optionally, as shown in fig. 3 and 4, the flexible connection mechanism includes a flexible synchronization tube and a flexible sheath; the flexible synchronous tube is arranged in the flexible sheath tube and can move in the flexible sheath tube; one end of the flexible synchronous tube is connected with the pulling arm 406 of the upper knife, and the other end of the flexible synchronous tube is connected with the operating mechanism, so that the operating mechanism pulls the flexible synchronous tube to enable the flexible synchronous tube to move in the sheath tube, and further pulls the pulling arm to enable the upper knife to rotate, and the actuating mechanism is switched between a shearing state and a non-shearing state. One end of the flexible sheath tube is connected with the end part of the base, which is far away from the lower knife, and the other end of the flexible sheath tube is connected with the operating mechanism and provides support for the flexible synchronous tube.
Alternatively, as shown in fig. 7, the operating mechanism includes a housing 701, which may be provided in a separate manner to facilitate manufacturing and assembly. The left and right sides of the housing are provided with sliding grooves 702, which can be disposed on the housing that is separated from the left and right sides. A front seat 703, a rear seat 704 and a handle mechanism are also arranged in the shell; the front seat is fixedly arranged in the shell, and one end of the front seat close to the actuating mechanism is connected with the flexible sheath (see figure 8); the rear seat is arranged in the shell, the flexible synchronous tube penetrates through the axial inner hole of the front seat and then is connected with one end of the rear seat, and the other end of the rear seat is connected with the handle mechanism; the backseat can slide along the sliding grooves formed in the left side and the right side of the shell, and the handle mechanism drives the backseat to reciprocate along the sliding grooves so as to control the flexible synchronous tube to move back and forth, so that the actuating mechanism is pulled to be in a shearing or non-shearing state, such as controlling the upper knife and the lower knife to be closed in a staggered mode or enabling the upper knife to be far away from the lower knife.
Alternatively, as shown in fig. 7 and 8, the handle mechanism includes a link 705, a wrench 706, and a tension spring 707. The wrench is rotatably connected to the housing, and in one embodiment the rotatable connection is located at the top of the housing. One side of the part of the wrench 706 located in the housing is connected with a tension spring, optionally, a hook may be provided on the wrench, and the tension spring is hung on the hook. The other end of the tension spring is fixed in the shell, and the tension spring is in a stretching state and always provides restoring force for the wrench for resetting the control handle mechanism. The other side of the part of the wrench in the shell is connected with one end of the connecting rod. In the embodiment shown in fig. 7, a groove is arranged at the end part of the connecting rod, so that the wrench can be rotatably arranged in the groove. The other end of the connecting rod is connected with the end part of the rear seat far away from the actuating mechanism. In the embodiment shown in fig. 7, a groove is also arranged at the other end of the connecting rod, so that the rear seat is rotatably arranged in the groove.
Optionally, the length of the force arm between the external force acting point on the wrench and the rotation connection point between the wrench and the housing is L1, the length of the force arm between the connecting rod and the rotation connection point between the wrench and the housing is L2, and L1 is greater than L2. The working principle of the invention is illustrated by simplifying the stress state as shown in fig. 8. Under certain shear state, the arm of force length between the external force effect point on the spanner and the rotation tie point of spanner and casing is A, and the arm of force length between the tie rod and the rotation tie point of spanner and casing is B, and A is greater than B, adopts lever principle pulling flexible synchronizing tube promptly to reduce drive power, also reduce the effort to flexible sheath pipe. The operation is convenient, and the deformation of the flexible sheath tube is reduced. In addition, the lever structure is matched with the lever structure described in the foregoing, so that the driving external force can be further reduced, the deformation of the sheath tube can be further reduced, the synchronous precision of the operation action of the operating mechanism is improved, and the shearing effect is improved.
According to a second aspect of embodiments of the present invention, there is provided a method of using a flexible shearing device, comprising: an actuator for penetrating the body tissue to shear the medical element; an operating mechanism for controlling the movement of the actuator to switch the actuator between a shearing state and a non-shearing state; the flexible connecting mechanism is characterized by also comprising a flexible connecting mechanism, wherein one end of the flexible connecting mechanism is connected with the executing mechanism, and the other end of the flexible connecting mechanism is connected with the operating mechanism;
during shearing operation, the control action of the operating mechanism is transmitted to the actuating mechanism through the flexible connecting mechanism so as to control the actuating state of the actuating mechanism.
Optionally, in the use method, the actuator includes a lower blade, an upper blade and a base; the lower knife is fixedly connected to one end of the base, and a rotating shaft is arranged on the top surface of the lower knife; the upper knife is pivoted with the lower knife through the rotating shaft, the flexible connecting mechanism is connected with one end of the upper knife, and the operating mechanism controls the upper knife to rotate along the rotating shaft through the flexible connecting mechanism so as to control the execution state of the executing mechanism.
Optionally, in the using method, the upper knife and the lower knife are respectively provided with a wire passing hole, and the medical element passes through the wire passing hole and is located between the upper knife edge of the upper knife and the lower knife edge of the lower knife; when the medical element is cut, the length of the force arm from the contact point between the medical element and the upper knife edge to the rotating shaft is C1; the length of the force arm from the connecting point between the flexible connecting mechanism and one end of the upper knife to the rotating shaft is C2; the C1 is smaller than the C2, so that the shearing operation force is reduced.
Optionally, in the using method, an avoiding groove is formed in the lower knife and used for accommodating the medical element and the cutting edge of the upper knife in the shearing process; the upper knife edge and the lower knife edge are closed in a staggered mode, when the medical element is cut, the medical element is broken through the staggered closing of the upper knife edge and the lower knife edge, and the medical element to be moved out of the human tissue and the upper knife edge enter the avoiding groove.
Optionally, in the using method, when the upper blade edge and the lower blade edge are closed, a distance between the upper blade edge and the end face where the wire passing hole is located on the lower blade is smaller than or equal to the diameter of the medical element.
Optionally, in the using method, the flexible connecting mechanism includes a flexible synchronizing tube and a flexible sheath; the flexible synchronous tube is arranged in the flexible sheath tube and can move in the flexible sheath tube; one end of the flexible synchronous pipe is connected with the execution mechanism, and the other end of the flexible synchronous pipe is connected with the operation mechanism, so that the operation mechanism synchronously controls the execution mechanism through the flexible synchronous pipe, and further controls the execution state of the execution mechanism; one end of the flexible sheath tube is connected with the actuating mechanism, and the other end of the flexible sheath tube is connected with the operating mechanism and provides support for the flexible synchronous tube.
Optionally, in the using method, the flexible connecting mechanism includes a flexible synchronizing tube and a flexible sheath; the flexible synchronous tube is arranged in the flexible sheath tube and can move in the flexible sheath tube; one end of the flexible synchronous pipe is connected with the traction arm of the upper knife, and the other end of the flexible synchronous pipe is connected with the operating mechanism, so that the operating mechanism controls the upper knife to rotate by pulling the flexible synchronous pipe, and further controls the execution state of the executing mechanism; one end of the flexible sheath tube is connected with the end part of the base, which is far away from the lower knife, and the other end of the flexible sheath tube is connected with the operating mechanism and provides support for the flexible synchronous tube.
Optionally, in the using method, the operating mechanism includes a housing, and sliding grooves are formed in the left side and the right side of the housing; a front seat, a rear seat and a handle mechanism are also arranged in the shell; the front seat is fixedly arranged in the shell, and one end of the front seat close to the actuating mechanism is connected with the flexible sheath tube; the rear seat is arranged in the shell, the flexible synchronous tube penetrates through the axial inner hole of the front seat and then is connected with one end of the rear seat, and the other end of the rear seat is connected with the handle mechanism; the rear seat can slide along sliding grooves formed in the left side and the right side of the shell; when the flexible synchronous pipe is used, the handle mechanism drives the rear seat to reciprocate along the sliding groove so as to control the flexible synchronous pipe to move back and forth, and therefore the working state of the actuating mechanism is controlled.
Optionally, in the use method, the handle mechanism includes a connecting rod, a wrench and a tension spring; the wrench is rotationally connected to the shell, one side of the part of the wrench, which is positioned in the shell, is connected with the tension spring, the other end of the tension spring is fixed in the shell, and the tension spring is used for controlling the handle mechanism to reset; the other side of the part of the wrench positioned in the shell is connected with one end of a connecting rod, and the other end of the connecting rod is connected with the end part of the rear seat far away from the actuating mechanism.
Optionally, in the using method, the length of the force arm between the external force acting point on the wrench and the rotation connecting point of the wrench and the housing is L1, the length of the force arm between the connecting rod and the rotation connecting point of the wrench and the housing is L2, and L1 is greater than L2, so as to reduce the shearing operation force.
The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (20)
1. A flexible shearing device comprising:
an actuator for penetrating the body tissue to shear the medical element;
an operating mechanism for controlling the movement of the actuator to switch the actuator between a shearing state and a non-shearing state;
the method is characterized in that: the flexible connecting mechanism is characterized by further comprising a flexible connecting mechanism, one end of the flexible connecting mechanism is connected with the executing mechanism, the other end of the flexible connecting mechanism is connected with the operating mechanism, and the control action of the operating mechanism is transmitted to the executing mechanism through the flexible connecting mechanism so as to control the executing state of the executing mechanism.
2. The shearing device of claim 1,
the actuating mechanism comprises a lower cutter, an upper cutter and a base;
the lower knife is fixedly connected to one end of the base, and a rotating shaft is arranged on the top surface of the lower knife;
the upper knife is pivoted with the lower knife through the rotating shaft, the flexible connecting mechanism is connected with one end of the upper knife, and the operating mechanism controls the upper knife to rotate along the rotating shaft through the flexible connecting mechanism so as to control the execution state of the executing mechanism.
3. The shearing device of claim 2,
the upper knife and the lower knife are respectively provided with a thread passing hole, and the medical element passes through the thread passing hole and then is positioned between the upper knife edge of the upper knife and the lower knife edge of the lower knife;
when the medical element is cut, the length of the force arm from the contact point between the medical element and the upper knife edge to the rotating shaft is C1;
the length of the force arm from the connecting point between the flexible connecting mechanism and one end of the upper knife to the rotating shaft is C2;
the C1 is less than C2.
4. The shearing device of claim 3,
the lower knife is provided with an avoiding groove for accommodating the medical element and the cutting edge of the upper knife in the shearing process;
the upper knife edge and the lower knife edge are closed in a staggered mode, and when the medical element is sheared, the medical element is broken through the staggered closing of the upper knife edge and the lower knife edge.
5. The shearing device of claim 3,
when the upper knife edge and the lower knife edge are closed, the distance between the upper knife edge and the end face where the wire passing hole is located on the lower knife is small or equal to the diameter of the medical element.
6. The shearing device of claim 1,
the flexible connecting mechanism comprises a flexible synchronous tube and a flexible sheath tube;
the flexible synchronous tube is arranged in the flexible sheath tube and can move in the flexible sheath tube; one end of the flexible synchronous pipe is connected with the execution mechanism, and the other end of the flexible synchronous pipe is connected with the operation mechanism, so that the operation mechanism synchronously controls the execution mechanism through the flexible synchronous pipe, and further controls the execution state of the execution mechanism;
one end of the flexible sheath tube is connected with the actuating mechanism, and the other end of the flexible sheath tube is connected with the operating mechanism and provides support for the flexible synchronous tube.
7. The shearing device as recited in any one of claims 2 to 5,
the flexible connecting mechanism comprises a flexible synchronous tube and a flexible sheath tube;
the flexible synchronous tube is arranged in the flexible sheath tube and can move in the flexible sheath tube; one end of the flexible synchronous pipe is connected with the traction arm of the upper knife, and the other end of the flexible synchronous pipe is connected with the operating mechanism, so that the operating mechanism controls the upper knife to rotate by pulling the flexible synchronous pipe, and further controls the execution state of the executing mechanism;
one end of the flexible sheath tube is connected with the end part of the base, which is far away from the lower knife, and the other end of the flexible sheath tube is connected with the operating mechanism and provides support for the flexible synchronous tube.
8. The shearing device of claim 7,
the operating mechanism comprises a shell, and sliding grooves are formed in the left side and the right side of the shell; a front seat, a rear seat and a handle mechanism are also arranged in the shell;
the front seat is fixedly arranged in the shell, and one end of the front seat close to the actuating mechanism is connected with the flexible sheath tube;
the rear seat is arranged in the shell, the flexible synchronous tube penetrates through the axial inner hole of the front seat and then is connected with one end of the rear seat, and the other end of the rear seat is connected with the handle mechanism; the rear seat can slide along sliding grooves formed in the left side and the right side of the shell, and the handle mechanism drives the rear seat to reciprocate along the sliding grooves so as to control the flexible synchronous tube to move back and forth.
9. The shearing device of claim 8,
the handle mechanism comprises a connecting rod, a wrench and a tension spring;
the wrench is rotationally connected to the shell, one side of the part of the wrench, which is positioned in the shell, is connected with the tension spring, the other end of the tension spring is fixed in the shell, and the tension spring is used for controlling the handle mechanism to reset; the other side of the part of the wrench positioned in the shell is connected with one end of a connecting rod, and the other end of the connecting rod is connected with the end part of the rear seat far away from the actuating mechanism.
10. The shearing device of claim 9,
the length of the force arm between the external force acting point on the wrench and the rotation connecting point of the wrench and the shell is L1,
the length of the force arm between the connecting rod and the rotating connection point of the wrench and the shell is L2,
l1 is greater than L2.
11. A method of using a flexible shearing device, comprising:
an actuator for penetrating the body tissue to shear the medical element;
an operating mechanism for controlling the movement of the actuator to switch the actuator between a shearing state and a non-shearing state;
the method is characterized in that: the flexible connecting mechanism is characterized by also comprising a flexible connecting mechanism, wherein one end of the flexible connecting mechanism is connected with the executing mechanism, and the other end of the flexible connecting mechanism is connected with the operating mechanism;
during shearing, the control action of the operating mechanism is transmitted to the actuating mechanism through the flexible connecting mechanism so as to control the actuating state of the actuating mechanism.
12. Use according to claim 11,
the actuating mechanism comprises a lower cutter, an upper cutter and a base;
the lower knife is fixedly connected to one end of the base, and a rotating shaft is arranged on the top surface of the lower knife;
the upper knife is pivoted with the lower knife through the rotating shaft, the flexible connecting mechanism is connected with one end of the upper knife, and the operating mechanism controls the upper knife to rotate along the rotating shaft through the flexible connecting mechanism so as to control the execution state of the executing mechanism.
13. Use according to claim 12,
the upper knife and the lower knife are respectively provided with a thread passing hole, and the medical element passes through the thread passing hole and then is positioned between the upper knife edge of the upper knife and the lower knife edge of the lower knife;
when the medical element is cut, the length of the force arm from the contact point between the medical element and the upper knife edge to the rotating shaft is C1;
the length of the force arm from the connecting point between the flexible connecting mechanism and one end of the upper knife to the rotating shaft is C2;
the C1 is smaller than the C2, so that the shearing operation force is reduced.
14. Use according to claim 13,
the lower knife is provided with an avoiding groove for accommodating the medical element and the cutting edge of the upper knife in the shearing process;
the upper knife edge and the lower knife edge are closed in a staggered mode, when the medical element is cut, the medical element is broken through the staggered closing of the upper knife edge and the lower knife edge, and the medical element to be moved out of the human tissue and the upper knife edge enter the avoiding groove.
15. Use according to claim 13,
when the upper knife edge and the lower knife edge are closed, the distance between the upper knife edge and the end face where the wire passing hole is located on the lower knife is small or equal to the diameter of the medical element.
16. Use according to claim 11,
the flexible connecting mechanism comprises a flexible synchronous tube and a flexible sheath tube;
the flexible synchronous tube is arranged in the flexible sheath tube and can move in the flexible sheath tube; one end of the flexible synchronous pipe is connected with the execution mechanism, and the other end of the flexible synchronous pipe is connected with the operation mechanism, so that the operation mechanism synchronously controls the execution mechanism through the flexible synchronous pipe, and further controls the execution state of the execution mechanism;
one end of the flexible sheath tube is connected with the actuating mechanism, and the other end of the flexible sheath tube is connected with the operating mechanism and provides support for the flexible synchronous tube.
17. Use according to any one of claims 12 to 15,
the flexible connecting mechanism comprises a flexible synchronous tube and a flexible sheath tube;
the flexible synchronous tube is arranged in the flexible sheath tube and can move in the flexible sheath tube; one end of the flexible synchronous pipe is connected with the traction arm of the upper knife, and the other end of the flexible synchronous pipe is connected with the operating mechanism, so that the operating mechanism controls the upper knife to rotate by pulling the flexible synchronous pipe, and further controls the execution state of the executing mechanism;
one end of the flexible sheath tube is connected with the end part of the base, which is far away from the lower knife, and the other end of the flexible sheath tube is connected with the operating mechanism and provides support for the flexible synchronous tube.
18. Use according to claim 17,
the operating mechanism comprises a shell, and sliding grooves are formed in the left side and the right side of the shell; a front seat, a rear seat and a handle mechanism are also arranged in the shell;
the front seat is fixedly arranged in the shell, and one end of the front seat close to the actuating mechanism is connected with the flexible sheath tube;
the rear seat is arranged in the shell, the flexible synchronous tube penetrates through the axial inner hole of the front seat and then is connected with one end of the rear seat, and the other end of the rear seat is connected with the handle mechanism; the rear seat can slide along sliding grooves formed in the left side and the right side of the shell;
when the flexible synchronous pipe is used, the handle mechanism drives the rear seat to reciprocate along the sliding groove so as to control the flexible synchronous pipe to move back and forth, and therefore the working state of the actuating mechanism is controlled.
19. Use according to claim 18,
the handle mechanism comprises a connecting rod, a wrench and a tension spring;
the wrench is rotationally connected to the shell, one side of the part of the wrench, which is positioned in the shell, is connected with the tension spring, the other end of the tension spring is fixed in the shell, and the tension spring is used for controlling the handle mechanism to reset; the other side of the part of the wrench positioned in the shell is connected with one end of a connecting rod, and the other end of the connecting rod is connected with the end part of the rear seat far away from the actuating mechanism.
20. Use according to claim 19,
the length of the force arm between the external force acting point on the wrench and the rotation connecting point of the wrench and the shell is L1,
the length of the force arm between the connecting rod and the rotating connection point of the wrench and the shell is L2,
l1 is greater than L2 to reduce shear operating forces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111189760.8A CN113951989B (en) | 2021-10-13 | 2021-10-13 | Flexible shearing device and application method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111189760.8A CN113951989B (en) | 2021-10-13 | 2021-10-13 | Flexible shearing device and application method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113951989A true CN113951989A (en) | 2022-01-21 |
| CN113951989B CN113951989B (en) | 2023-06-20 |
Family
ID=79463652
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111189760.8A Active CN113951989B (en) | 2021-10-13 | 2021-10-13 | Flexible shearing device and application method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113951989B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116421243A (en) * | 2023-06-15 | 2023-07-14 | 杭州锐健马斯汀医疗器材有限公司 | Medical cutter |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6673087B1 (en) * | 2000-12-15 | 2004-01-06 | Origin Medsystems | Elongated surgical scissors |
| US20050070764A1 (en) * | 2003-09-29 | 2005-03-31 | Rudolph Nobis | Handle for endoscopic device |
| US20080319478A1 (en) * | 2007-04-25 | 2008-12-25 | Foerster Seth A | Knotless suture anchor having discrete polymer components and related methods |
| CN207996960U (en) * | 2018-03-13 | 2018-10-23 | 赛宝（江西）实业有限公司 | A kind of data wire-electrode cutting device |
| CN109127957A (en) * | 2018-08-16 | 2019-01-04 | 上海沃恒机械设备有限公司 | A kind of split type cutter and split type parting tool |
| CN109706648A (en) * | 2019-03-06 | 2019-05-03 | 拓卡奔马机电科技有限公司 | A kind of automatic thread trimming device on sewing machine |
| CN110238326A (en) * | 2019-06-28 | 2019-09-17 | 惠州市兴声科技有限公司 | Wire cutting mechanism |
| CN211325273U (en) * | 2019-11-22 | 2020-08-25 | 茵络(无锡)医疗器械有限公司 | Thread trimming device |
| US20210161662A1 (en) * | 2017-03-28 | 2021-06-03 | Immanuel Diakonie Gmbh | Device that can be implanted in a minimally invasive manner and mitral valve implant system |
-
2021
- 2021-10-13 CN CN202111189760.8A patent/CN113951989B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6673087B1 (en) * | 2000-12-15 | 2004-01-06 | Origin Medsystems | Elongated surgical scissors |
| US20050070764A1 (en) * | 2003-09-29 | 2005-03-31 | Rudolph Nobis | Handle for endoscopic device |
| US20080319478A1 (en) * | 2007-04-25 | 2008-12-25 | Foerster Seth A | Knotless suture anchor having discrete polymer components and related methods |
| US20210161662A1 (en) * | 2017-03-28 | 2021-06-03 | Immanuel Diakonie Gmbh | Device that can be implanted in a minimally invasive manner and mitral valve implant system |
| CN207996960U (en) * | 2018-03-13 | 2018-10-23 | 赛宝（江西）实业有限公司 | A kind of data wire-electrode cutting device |
| CN109127957A (en) * | 2018-08-16 | 2019-01-04 | 上海沃恒机械设备有限公司 | A kind of split type cutter and split type parting tool |
| CN109706648A (en) * | 2019-03-06 | 2019-05-03 | 拓卡奔马机电科技有限公司 | A kind of automatic thread trimming device on sewing machine |
| CN110238326A (en) * | 2019-06-28 | 2019-09-17 | 惠州市兴声科技有限公司 | Wire cutting mechanism |
| CN211325273U (en) * | 2019-11-22 | 2020-08-25 | 茵络(无锡)医疗器械有限公司 | Thread trimming device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116421243A (en) * | 2023-06-15 | 2023-07-14 | 杭州锐健马斯汀医疗器材有限公司 | Medical cutter |
| CN116421243B (en) * | 2023-06-15 | 2023-09-12 | 杭州锐健马斯汀医疗器材有限公司 | medical cutter |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113951989B (en) | 2023-06-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11457939B2 (en) | Forceps blade control | |
| US5290302A (en) | Surgical instrument | |
| JP3676385B2 (en) | Surgical instrument for endoscopy | |
| EP3001970B1 (en) | Accurate jaw closure force in a catheter based instrument | |
| EP1450698B1 (en) | Surgical instrument | |
| US20110295296A1 (en) | Variable drive vitrectomy cutter | |
| CN113951989A (en) | Flexible shearing device and using method thereof | |
| US11426187B2 (en) | Laparoscopic forceps instrument | |
| CN106491186A (en) | Have the Minimally Invasive Surgery shears of flexible and anti-rotation concurrently | |
| CN107920856B (en) | Action execution device and ultrasonic surgical operation instrument | |
| CN111317522A (en) | Knotter | |
| US11357528B2 (en) | Apparatus for removably receiving an end effector for performing surgical operations | |
| CN206714800U (en) | A kind of touch feedback formula puncture needle and puncture outfit | |
| CN102631231A (en) | Suture scissors for endoscopic surgery | |
| CN215651317U (en) | Wire breaking device | |
| CN217853298U (en) | Control mechanism of surgical instrument and surgical robot | |
| US11744574B2 (en) | Systems, devices, and methods for extruding a suture core | |
| US10874412B2 (en) | Surgical instrument and removable end effector apparatus | |
| US11259827B2 (en) | Coring tool | |
| CN219878229U (en) | Medical scissors with novel scissor blade | |
| CN114569199B (en) | High-toughness ceramic surgical knife and operation method thereof | |
| CN210749412U (en) | Medical field tissue cutting scissors | |
| CN216495517U (en) | Ultrasonic surgical instrument | |
| US20220287761A1 (en) | Distal wire routing for straight jaw forceps | |
| EP0466781B1 (en) | Improved surgical instrument |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 201207 Shanghai Pudong New Area free trade trial area, 1 spring 3, 400 Fang Chun road. Applicant after: Shanghai Huihe Medical Instrument Co.,Ltd. Applicant after: Shanghai Huihe Medical Technology Co.,Ltd. Address before: 201207 Shanghai Pudong New Area free trade trial area, 1 spring 3, 400 Fang Chun road. Applicant before: Shanghai Huihe Medical Instrument Co.,Ltd. Applicant before: Shanghai Huihe Medical Technology Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |