CN204092074U - 外科手术器械的驱动装置及外科手术器械 - Google Patents
外科手术器械的驱动装置及外科手术器械 Download PDFInfo
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Abstract
本实用新型涉及医疗器械技术领域,公开了一种外科手术器械的驱动装置及外科手术器械,用以简化外科手术器械的器械结构,便于外科手术医生进行外科手术操作。该外科手术器械的驱动装置,包括:驱动组件、螺旋传动组件、第一驱动杆和第二驱动杆,其中:螺旋传动组件包括:被轴向限位的螺柱,被驱动组件驱动旋转,螺柱包括旋向相反的两段螺纹部;被周向限位且套设螺柱的第一从动件组件和第二从动件组件,分别与螺柱的旋向相反的两段螺纹部配合,当螺柱旋转时,带动第一从动件组件和第二从动件组件沿螺柱的轴向方向移动;第一驱动杆沿螺柱的轴线方向延伸,且与第一从动件组件固定连接;第二驱动杆沿螺柱的轴线方向延伸,且与第二从动件组件固定连接。
Description
技术领域
本实用新型涉及医疗器械技术领域,特别是涉及一种外科手术器械的驱动装置及外科手术器械。
背景技术
电动吻合器是外科手术中经常使用到的一种外科手术器械,具有切割和缝合组织的功能。如图1和图2所示,现有的电动吻合器主要包括:末端执行器和驱动装置,通常驱动装置包括:第一电机120和第二电机210,以及与第一电机120传动连接的第一传动系和与第二电机210传动连接的第二传动系,其中第一电机120通过第一传动系驱动末端执行器的钉砧21’向钉匣22’方向移动,以夹紧钉砧21’与钉匣22’之间的人体组织;第二电机210通过第二传动系驱动末端执行器的切割缝合执行机构,以实现切割和缝合人体组织。
现有技术存在的缺陷在于,电动吻合器的切割和缝合组织的功能实现需要两个电机以及与分别与两个电机传动连接的第一传动系和第二传动系驱动,使得器械结构较为复杂,电动吻合器的体积较大并且笨重,因此,现有切割缝合器不利于外科手术医生进行外科手术操作。这种问题在包含类似驱动结构的其它外科手术器械中同样存在。
实用新型内容
本实用新型的目的是提供一种外科手术器械的驱动装置及一种外科手术器械,以简化外科手术器械的器械结构,便于外科手术医生进行外科手术操作。
本实用新型提供的外科手术器械的驱动装置,包括驱动组件、螺旋传动组件、第一驱动杆和第二驱动杆,其中:
所述螺旋传动组件包括:被轴向限位的螺柱,被所述驱动组件驱动旋转,所述螺柱包括旋向相反的两段螺纹部;被周向限位且套设所述螺柱的第一从动件组件和第二从动件组件,分别与所述螺柱的旋向相反的两段螺纹部配合,当所述螺柱旋转时,带动所述第一从动件组件和第二从动件组件沿所述螺柱的轴向方向移动;
所述第一驱动杆沿所述螺柱的轴线方向延伸,且与所述第一从动件组件固定连接;
所述第二驱动杆沿所述螺柱的轴线方向延伸,且与所述第二从动件组件固定连接。
在本实用新型技术方案中,该驱动装置采用双向螺柱和与双向螺柱配合的第一从动件组件和第二从动件组件构成的螺旋传动组件,将双向螺柱的一个方向的运动分解为两个方向的运动,进而驱动第一驱动杆和第二驱动杆动作,从而实现外科手术器械的两种以上的手术动作,大大地简化了驱动装置和外科手术器械的器械结构,并且操作简单,便于外科手术医生进行外科手术操作。
优选的,所述外科手术器械包括被所述第一驱动杆驱动的第一执行机构和被所述第二驱动杆驱动的第二执行机构,所述第一执行机构执行动作在第二执行机构执行动作之前;
所述螺柱的旋向相反的两段螺纹部的长度相等,且与所述第一从动件组件配合的螺纹部的导程大于与第二从动件组件配合的螺纹部的导程。
当驱动组件驱动螺柱旋转时,第一从动件组件比第二从动件组件在螺柱上运动的速度快,第一从动件组件在第一螺纹部上移动直至第一执行机构执行动作完成,此时第二从动件组件随着螺柱的继续旋转而继续运动,进而驱动第二执行机构开始执行动作,从而保障了外科手术器械的可靠性,降低了手术失败的风险。
较佳的,所述第一从动件组件和所述第二从动件组件中至少有一个为与相对应的所述螺柱的螺纹部螺纹配合的螺母。
优选的,与所述第一从动件组件配合的螺纹部的直径大于与第二从动件组件配合的螺纹部的直径。
较佳的,所述第一从动件组件和所述第二从动件组件中至少有一个包括:从动件本体和与所述从动件本体固定连接的销钉,所述销钉穿过所述从动件本体且插入相对应的所述螺柱的螺纹部的螺纹槽内与所述螺纹槽滑动配合。
考虑到外科手术器械的每一个执行机构在执行动作的过程中,有可能对每一个执行机构的动作速度以及其作用力大小的要求不同,本实用新型提供的驱动装置优选采用所述螺柱的每一段螺纹部中至少有两部分的螺距不同。
较佳的,所述驱动组件包括具有输出轴的电机,所述螺柱与所述输出轴固定连接;或者,所述螺柱与所述输出轴通过传动机构传动连接,所述传动机构包括联轴器。
优选的,所述第一驱动杆与所述第一从动件组件可拆卸连接,和/或,所述第二驱动杆与所述第二从动件组件可拆卸连接。
进一步的,该驱动装置还包括:支撑座,所述支撑座轴向限位所述螺柱,且具有容置所述螺柱的远端的通孔;所述支撑座的通孔处的内壁沿径向方向开设有轴向贯通的凹槽,或者所述支撑座的通孔内设置有套设所述螺柱的远端的轴承。
为了保障第一驱动杆的运动方向可靠,从而提高第一驱动杆驱动的第一执行机构的动作精度,降低外科手术失败的风险,本实用新型优选的,所述支撑座还开设有沿所述螺柱的轴向方向的导向孔,所述第一驱动杆穿设于所述导向孔。
进一步的,该驱动装置还包括:手柄壳体,所述驱动组件、所述螺旋传动组件、所述第一驱动杆和所述第二驱动杆设置于所述手柄壳体内;
所述螺柱被所述手柄壳体轴向限位,所述第一从动件组件和第二从动件组件被所述手柄壳体周向限位。
优选的,所述手柄壳体具有为所述第一从动件组件的直线运动提供导向和限位的第一导向槽,所述第一从动件组件具有与所述第一导向槽滑动配合的第一导向凸起;和/或,
所述手柄壳体具有为所述第二从动件组件的直线运动提供导向和限位的第二导向槽,所述第二从动件组件具有与所述第二导向槽滑动配合的第二导向凸起。
较佳的,所述第二驱动杆包括两根第二驱动杆单元,以及与所述两根第二驱动杆单元的远端固定连接的驱动滑块。
优选的,所述手柄壳体具有为所述驱动滑块的直线运动提供导向和限位的第三导向槽,所述驱动滑块具有与所述第三导向槽滑动配合的第三导向凸起。
本实用新型还提供了一种外科手术器械,包括:前述任一技术方案所述的驱动装置。由于该驱动装置具有结构简单,并且操作简单的优点,因此该外科手术器械的器械结构也较为简单,便于外科手术医生进行外科手术操作。
附图说明
图1为现有圆形吻合器的立体结构示意图;
图2为图1示出的圆形吻合器驱动装置的结构示意图;
图3a~图3e为本实用新型提供的外科手术器械一实施例执行一次手术动作过程的结构示意图;
图4为图3e示出的外壳手术器械的剖面结构示意图;
图5为图3a示出的外科手术器械的驱动装置中的螺柱的部分结构示意图;
图6为图4中A处的放大结构示意图;
图7为本实用新型提供的外科手术器械的驱动装置一实施例的剖面结构示意图;
图8为图7示出的外科手术器械的驱动装置的立体结构示意图;
图9为图7示出的外科手术器械的驱动装置的螺柱的结构示意图;
图10为本实用新型提供的外科手术器械另一实施例的末端执行器的结构示意图。
附图标记:
1-驱动装置 11-驱动组件 111-电机
112-电池 12-螺旋传动组件 121-螺柱
121a-第一螺纹部 121b-第二螺纹部
122a-第一从动件组件 122b-第二从动件组件
1221-从动件本体 1222-销钉
1221a-第一导向凸起 1221b-第二导向凸起
13-第一驱动杆 14-第二驱动杆
141-第二驱动杆单元 142-驱动滑块
1421-第三导向凸起 15-支撑座
16-手柄壳体 161-第二导向槽
162-第三导向槽 2-末端执行器
21-钉砧 22-钉匣 31-钉砧臂
32-钉匣臂 33-枢转轴
120-第一电机 210-第二电机
21’-钉砧 22’-钉匣
具体实施方式
为了简化外科手术器械的器械结构,便于外科手术医生进行外科手术操作,本实用新型实施例提供了一种外科手术器械的驱动装置及一种外科手术器械。在该技术方案中,由于该驱动装置采用双向螺柱和与双向螺柱配合的第一从动件组件和第二从动件组件构成的螺旋传动组件,将双向螺柱的一个方向的运动分解为两个方向的运动,进而驱动第一驱动杆和第二驱动杆动作,从而实现外科手术器械的两种以上的手术动作,大大地简化了驱动装置和外科手术器械的器械结构,并且操作简单,便于外科手术医生进行外科手术操作。
为使本实用新型的目的、技术方案和优点更加清楚,以下举具体实施例对本实用新型作进一步详细说明。
如图3a~图3e,以及图4和图5所示,本实用新型第一实施例所提供的外科手术器械的驱动装置,包括:驱动组件11、螺旋传动组件12、第一驱动杆13和第二驱动杆14,其中:
螺旋传动组件12包括:被轴向限位的螺柱121,被驱动组件11驱动旋转,螺柱121包括旋向相反的两段螺纹部;被周向限位且套设螺柱121的第一从动件组件122a和第二从动件组件122b,分别与螺柱121的旋向相反的两段螺纹部配合,当螺柱121旋转时,带动第一从动件组件122a和第二从动件组件122b沿螺柱121的轴线方向运动;
第一驱动杆13沿螺柱121的轴线方向延伸,且与第一从动件组件122a固定连接;
第二驱动杆14沿螺柱121的轴线方向延伸,且与第二从动件组件122b固定连接。
需要说明的是,本实用新型各个实施例中,包含该驱动装置的外科手术器械的具体类型不限,例如可以为切割缝合器等等。“远端”指器械被操作时远离使用者的一端,“近端”则指器械被操作时靠近使用者的一端。“前进”指向远离使用者的方向运动,“后退”则指向靠近使用者的方向运动。两个零部件的可拆卸连接是指,两个零部件连接时固定,同时能够在不损坏两个零部件的前提下将两个零部件拆开。
驱动组件11通常包括:具有输出轴的电机111以及为电机111提供动力的电源装置,例如电源装置可以为一次性动力电池112,也可以是可充电电池,或者还可以是电源适配器,电机111通过电源适配器与供电装置电连接;驱动组件11驱动螺柱121旋转的方式有多种,如图4中所示,螺柱121可以直接与输出轴固定连接(例如螺柱121和输出轴通过键连接),并且参照图4所示,螺柱121与输出轴同轴设置,能够节省输出轴的径向方向上的布置空间,便于外科手术医生操作时的握持。或者,螺柱121可以通过联轴器或者减速器等传动机构与电机111的输出轴传动连接。电机111的输出轴与螺柱121的传动连接具体根据外科手术器械的螺柱121需要的旋转速度和扭矩确定。
螺柱121包括旋向相反的两段螺纹部,也就是说本实用新型各实施例中的螺柱121为双向螺柱。定义两段螺纹部分别为第一螺纹部121a和第二螺纹部121b。第一螺纹部121a和第二螺纹部121b可以连续设置(如图4中所示);或者间隔设置(如图7中所示),即第一螺纹部121a和第二螺纹部121b之间具有光杆部,在此不做具体限定,具体根据外科手术器械的动作要求和外科手术器械的结构确定。
参照3a~图3e所示,下面以驱动组件11包括具有输出轴的电机111为例,来具体说明本实施例提供的驱动装置的动作过程:
电机111的输出轴旋转带动螺柱121旋转,由于螺柱121被轴向限位,第一从动件组件122a和第二从动件组件122b被周向限位,因此,螺旋传动组件12能够将螺柱121的旋转转化为第一从动件组件122a和第二从动件组件122b的相向或相背的直线运动,即相互靠近或相互远离的直线运动。第一从动件组件122a和第二从动件组件122b随着螺柱121的旋转而沿螺柱121的轴向方向做直线运动,并且由于螺柱121的两段螺纹部的旋向相反,第一从动件组件122a和第二从动件组件122b的直线运动的方向也相反,进而带动第一驱动杆13和第二驱动杆14动作。
由上述驱动装置的动作过程可知,本实施例提供的外科手术器械的驱动装置,通过一个电机111便可带动第一驱动杆13和第二驱动杆14动作,第一驱动杆13和第二驱动杆14分别驱动至少一个外科手术器械的执行机构动作,例如,当外科手术器械为圆形缝合器时,第一驱动杆13驱动圆形缝合器的收紧机构,带动钉砧21与钉匣22的靠近或分离,第二驱动杆14驱动圆形缝合器的击发机构,进行人体组织的切割缝合。也就是说本实施例提供的外科手术器械的驱动装置通过双向螺柱和与双向螺柱配合的第一从动件组件和第二从动件组件构成的螺旋传动组件12,将双向螺柱的一个方向的运动分解为至少两个方向的运动,从而实现外科手术器械的两种以上的手术动作,与现有技术相比,大大地简化了驱动装置和外科手术器械的器械结构,并且外科手术器械的两种以上的手术动作的切换容易,操作简单,便于外科手术医生进行外科手术操作;并且由于本实施例提供的驱动装置大大减少了零部件的数量,因此还有效降低了产品的生产成本;并且驱动组件通过螺旋传动组件进而驱动外科手术器械的各个执行机构时,由于螺旋传动组件能够传输较大的扭矩,因此还能够提高外科手术器械的可靠性。
进一步的,在本实用新型各个实施例中,第一螺纹部121a和第二螺纹部121b的长度、第一螺纹部121a的导程、第二螺纹部121b的导程,第一螺纹部121a的螺距,以及第二螺纹部121b的螺距具体根据外科手术器械的具体结构、所要实现的功能以及手术的可靠性要求确定。例如圆形吻合器,其夹紧人体组织的动作在切割缝合的动作之前,假设第一螺纹部121a与第一从动件组件122a的螺旋配合驱动第一驱动杆13,进而驱动第一执行机构(圆形吻合器的收紧机构)以夹紧人体组织,第二螺纹部121b与第二从动件组件122b的螺旋配合驱动第二驱动杆14,进而驱动第二执行机构(圆形吻合器的击发机构)以切割缝合人体组织,也就是要求第一从动件组件122a在第一螺纹部121a上移动至夹紧人体组织的目标位置后,第二从动件组件122b在第二螺纹部121b上继续移动才能驱动第二驱动杆14以及第二执行机构开始切割缝合人体组织。
继续参照图3a~图3e,以及图5所示,本实用新型第二实施例提供的外科手术器械的驱动装置,在前述任一实施例的基础上,该外科手术器械包括被第一驱动杆13驱动的第一执行机构和被第二驱动杆14驱动的第二执行机构,第一执行机构执行动作在第二执行机构执行动作之前;
螺柱121的旋向相反的两段螺纹部的长度相等,且与第一从动件组件配合的螺纹部的导程大于与第二从动件组件配合的螺纹部的导程。
在该实施例中,由于螺柱121的旋向相反的两段螺纹部的长度相等,且与第一从动件组件配合的螺纹部(也就是第一螺纹部121a)的导程大于与第二从动件组件配合的螺纹部(也就是第二螺纹部121b)的导程,因此,当驱动组件11驱动螺柱121旋转时,螺柱121旋转一圈,第一从动件组件122a在螺柱121上的直线位移大于第二从动件组件122b在螺柱121上的直线位移,也就是说,当螺柱121旋转时,第一从动件组件122a比第二从动件组件122b在螺柱121上运动的速度快,第一从动件组件122a在第一螺纹部121a上移动,直至第一执行机构执行动作完成,此时第二从动件组件122b随着螺柱121的继续旋转而继续运动,进而驱动第二执行机构开始执行动作,从而保障了外科手术器械的可靠性,降低了手术失败的风险。
参照图4和图7所示,本实用新型各实施例中的第一从动件组件122a和第二从动件组件122b的具体结构有多种,例如图4所示,从动件组件可以为与相对应的螺柱121的螺纹部螺纹配合的螺母,或者,如图7所示,从动件组件也可以包括:从动件本体1221和与从动件本体1221固定连接的销钉1222,销钉1222穿过从动件本体1221且插入相对应的螺柱121的螺纹部的螺纹槽内与螺纹槽滑动配合。
如图4所示,本实用新型提供的第三实施例中,在第一实施例的基础上,驱动装置中的第一从动件组件122a和第二从动件组件122b分别为与相对应的螺柱121的螺纹部螺纹配合的螺母。
本实施例提供的驱动装置中的螺旋传动组件12采用螺母与螺纹部的螺纹配合,使得螺旋传动组件12本身具有自锁功能,因此,外科手术器械可在任意驱动位置实现自锁,能够大大减小器械误击发的风险,操作的安全性较高。
继续参照图4~图6所示,第三实施例中优选采用与第一从动件组件122a配合的螺纹部(也就是第一螺纹部121a)的直径大于与第二从动件组件122b配合的螺纹部(也就是第二螺纹部121b)的直径。当第一从动件组件122a和第二从动件组件122b相向运动时,由于第一螺纹部121a的直径大于第二螺纹部121b的直径,第一从动件组件122a在第一执行机构的动作完成时,与第一螺纹部121a滑脱,螺柱121继续旋转以带动第二从动件组件122b继续移动,进而驱动第二执行机构开始动作,从而能够在第一从动件组件122a滑脱之后而螺柱121继续旋转这一过程中保护第一从动件组件122a(螺母)的螺纹,防止螺母的损坏而导致螺旋配合的失效情况的发生。
如图7和图8所示,本实用新型提供的第四实施例中,在第一实施例的基础上,第一从动件组件122a和第二从动件组件122b分别包括:从动件本体1221和与从动件本体1221固定连接的销钉1222,销钉1222穿过从动件本体1221且插入相对应的螺柱121的螺纹部的螺纹槽内与螺纹槽滑动配合。也就是说,从动体本体和销钉1222构成了一个从动件组件。
下面以第二从动件组件122b为例,具体说明本实施例中第二从动件组件122b与螺柱121的相应的螺纹部构成螺旋传动组件12的工作过程。当螺柱121随着电机111的输出轴旋转时,螺纹槽相当于导向槽,销钉1222插入螺纹槽内随着螺柱121的旋转而沿螺柱121的轴向做直线运动,从而第二从动件组件122b随着螺柱121的旋转而沿螺柱121的轴向做直线运动,同理,第一从动件组件122a也随着螺柱121的旋转而沿螺柱121的轴向做直线运动,由于螺柱121的第一螺纹部121a和第二螺纹部121b的旋向相反,因此,第一从动件组件122a和第二从动件组件122b做方向相反的直线运动。
由于销钉1222与螺纹槽的滑动配合的摩擦阻力较小,因此,采用本实施例提供的驱动装置的输出的作用力较大,从而提高外科手术器械的可靠性。
当然,上述第三实施例和第四实施例仅为较佳的一种实施方式,螺旋传动组件12还可以采用:第一从动件组件122a和第二从动件组件122b中任意一个为与相对应的螺柱121的螺纹部螺纹配合的螺母。或者,第一从动件组件122a和第二从动件组件122b中任意一个包括:从动件本体1221和与从动件本体1221固定连接的销钉1222,销钉1222穿过从动件本体1221且插入相对应的螺柱121的螺纹部的螺纹槽内与螺纹槽滑动配合。
考虑到外科手术器械的每一个执行机构在执行动作的过程中,有可能对每一个执行机构的动作速度以及其作用力大小的要求不同,因此本实用新型第五实施例提供的驱动装置,在第四实施例的基础上,参照图9所示,螺柱121的每一段的螺纹部中至少有两部分的螺距不同。
需要说明的是,螺柱121的每一段的螺纹部中至少有两部分的螺距不同,可以为每一段的螺纹部中可以有两部分的螺距不同,也可以有三部分的螺距不同,即每一段的螺纹部的螺距是分段式变化,当然,每一段的螺纹部的螺距也可以是渐变式变化。
由于每一段的螺纹部的螺距不同,当螺距较大时,与螺纹部螺旋配合的从动件组件的移动速度较快,从而使得相对应的执行机构的动作速度较快;当螺距较小时,螺距较小的螺纹部的扭矩较大,与该螺纹部螺旋配合的从动件组件施加到相对应的驱动杆的作用力较大,从而使得相对应的执行机构的作用力较大。因此,本实施例提供的驱动装置能够满足外科手术器械的每一个执行机构在执行动作的过程中,每一个执行机构的动作速度以及其作用力大小的不同要求,从而进一步提高外科手术器械的可靠性。
每一段螺柱121的螺纹部中的螺距较大的部分和螺距较小的部分的具体的分布情况根据外科手术器械的种类和功能确定,在此不作具体限定。
例如外科手术器械为圆形吻合器,参照图7~图9所示,第一螺纹部121a与第一从动件组件122a的螺旋配合驱动第一驱动杆13,进而驱动第一执行机构以夹紧人体组织,第二螺纹部121b与第二从动件组件122b的螺旋配合驱动第二驱动杆14,进而驱动第二执行机构以切割缝合人体组织。圆形吻合器的每一个执行机构在执行动作时有一部分是空行程或者执行动作时刚与人体组织接触时施加的作用力较小而要求动作速度较快,此时可以将螺柱的每一段螺纹部中的螺距较大的部分和螺距较小的部分沿螺柱121的端部向中部分布;并且,当第一从动件组件122a和第二从动件组件122b相向运动时,第一从动件组件122a在第一执行机构的动作完成后,螺柱121继续旋转以带动第二从动件组件122b继续移动,进而驱动第二执行机构开始动作,第一螺纹部121a的螺距较小的部分的近端相当于限位槽,从而能够在第一从动件组件122a滑脱之后而螺柱121继续旋转这一过程中,第一从动件组件122a的销钉1222继续随着螺柱121的旋转而在该限位槽内滑动,从而防止第一从动件组件的损坏而导致螺旋配合的失效情况的发生。
继续参照图3a所示,在上述各个实施例的基础上,本实用新型的第六实施例提供的驱动装置中,第一驱动杆13与第一从动件组件122a可拆卸连接,第二驱动杆14与第二从动件组件122b可拆卸连接。
本实施例采用第一驱动杆13与第一从动件组件122a可拆卸连接,第二驱动杆14与第二从动件组件122b可拆卸连接,能够有效地简化驱动装置的安装和拆卸过程,从而降低产品成本。可拆卸连接的具体型式有多种,例如两个零部件直接通过螺纹连接,或者插接等,在此不作具体限定。例如图3a中所示,第一驱动杆13与第一从动件组件122a采用插接的方式固定连接,第二驱动杆14与第二从动件组件122b采用螺纹连接的方式固定连接。
当然,上述实施例仅为本实用新型较佳的一种实施方式,本实用新型提供的驱动装置中,还可以是第一驱动杆13与第一从动件组件122a可拆卸连接,和/或者,第二驱动杆14与第二从动件组件122b可拆卸连接。
如图4所示,本实用新型第七实施例提供的驱动装置,为了实现螺柱121的轴向限位,在前述各个实施例的基础上,还包括:支撑座15,支撑座15轴向限位螺柱121,且具有容置螺柱121的远端的通孔;支撑座15的通孔处的内壁沿径向方向开设有轴向贯通的凹槽,或者支撑座15的通孔内设置有套设螺柱121的远端的轴承。
本实施例提供的驱动装置,支撑座15轴向限位螺柱121的具体形式有多种,例如可以为:螺柱121的轴肩与支撑座15的通孔的配合,或者可以为:支撑座15的通孔为阶梯孔,螺柱121与阶梯孔配合。支撑座15的通孔处的内壁沿径向方向开设有轴向贯通的凹槽,或者支撑座15的通孔内设置有套设螺柱121的远端的轴承,使得支撑座15在轴向限位螺柱121的同时,能够使螺柱121的旋转运动顺畅。
继续参照图4所示,为了保障第一驱动杆13的运动方向可靠,在支撑座15上还开设有沿螺柱121的轴向方向的导向孔,第一驱动杆13穿设于导向孔。第一驱动杆13穿设于导向孔内,能够保证第一驱动杆13的运动方向,从而提高第一驱动杆13驱动的第一执行机构的动作精度,降低外科手术失败的风险。
对螺柱121进行轴向限位以及对第一从动件组件122a和第二从动件组件122b进行周向限位的具体实现方式不限,例如,可利用外科手术器械内部的一些固定结构件对螺柱121、第一从动件组件122a和第二从动件组件122b进行限位,也可通过外科手术器械的手柄壳体16对螺柱121进行轴向限位以及对第一从动件组件122a和第二从动件组件122b进行周向限位。
如图3a~图4所示,本实用新型第八实施例提供的驱动装置,还包括:手柄壳体16,驱动组件11、螺旋传动组件12、第一驱动杆13和第二驱动杆14设置于手柄壳体16内;
螺柱121被手柄壳体16轴向限位,第一从动件组件122a和第二从动件组件122b被手柄壳体16周向限位。
为了便于安装和拆卸,手柄壳体16通常由相对的两部分扣合形成具有容置腔的壳体结构,驱动组件11、螺旋传动组件12、第一驱动杆13和第二驱动杆14支撑座15设置于手柄壳体16内。
手柄壳体16轴向限位螺柱121,以及周向限位第一从动件组件122a和第二从动件组件122b,可以分别通过凹槽和凸起结构的配合实现,凹槽和凸起结构的具体设置位置不限,例如,凹槽可以设置在手柄壳体16上,凸起设置在螺柱121、第一从动件组件122a和第二从动件组件122b上,或者,凹槽可以设置在螺柱121、第一从动件组件122a和第二从动件组件122b上,凸起设置在手柄壳体16上。
当然,手柄壳体16轴向限位螺柱121,以及周向限位第一从动件组件122a和第二从动件组件122b的形式还可以如图3c和图4中所示,首先支撑座15轴向限位螺柱121,同时支撑座15固定于手柄壳体16上,从而实现手柄壳体16对螺柱121的轴向限位;手柄壳体16具有为第一从动件组件的直线运动提供导向和限位的第一导向槽(图中未示出),第一从动件组件122a具有与第一导向槽滑动配合的第一导向凸起1221a,手柄壳体16具有为第二从动件组件的直线运动提供导向和限位的第二导向槽161,第二从动件组件122b具有与第二导向槽161滑动配合的第二导向凸起1221b。
导向凸起和导向槽的配合能够在周向限位第一从动件组件122a和第二从动件组件122b的同时,保证第一从动件组件122a和第二从动件组件122b的运动方向,从而提高外科手术器械的执行机构的动作精度,降低外科手术失败的风险。
当然,手柄壳体16对第一从动件组件122a和第二从动件组件122b的周向限位还可以为:手柄壳体16具有为第一从动件组件的直线运动提供导向和限位的第一导向槽,第一从动件组件122a具有与第一导向槽滑动配合的第一导向凸起,或者,手柄壳体16具有为第二从动件组件的直线运动提供导向和限位的第二导向槽,第一从动件组件122a具有与第二导向槽滑动配合的第二导向凸起。
在本实用新型各个实施例中,第一驱动杆13和第二驱动杆14的具体结构型式不限,以保证外科手术器械在各个执行机构动作时不发生运动干涉为准,如图3a所示,第二驱动杆14可以包括对称设置的两根第二驱动杆单元141,以及与两根第二驱动杆单元141的远端固定连接的驱动滑块142。第二驱动杆14通过驱动滑块142驱动相对应的执行机构动作。
进一步的,如图所示,为了提高外科手术器械的执行机构的动作精度,降低外科手术失败的风险,手柄壳体16还为第二驱动杆14提供导向作用,当第二驱动杆14包括驱动滑块142时,手柄壳体16具有为驱动滑块142的直线运动提供导向和限位的第三导向槽162,驱动滑块142具有与第三导向槽162滑动配合的第三导向凸起1421,从而实现手柄壳体16对第二驱动杆14的运动导向的作用。
需要说明的是,本实用新型的前述各个实施例在不违背机械原理的情况下可以根据需要任意组合,使其具有相应的功能。
基于上述实施例中提供的外科手术器械的驱动装置,如图3a所示,本实用新型实施例还提供了一种外科手术器械,包括:前述任一实施例提供的驱动装置1。外科手术器械除了包括驱动装置1外,通常还包括末端执行器2。外科手术器械的种类不限,例如可以为圆形缝切吻合器,或者弯转式缝切吻合器。
下面以包括本实用新型提供的驱动装置的圆形吻合器,其中驱动装置的螺旋传动组件12采用螺母与螺柱121的螺纹部螺纹配合为例具体说明。
如图3a~图6所示,该实施例中的圆形吻合器包括:末端执行器2和驱动装置1,其中,
末端执行器2包括:钉砧21和钉匣22,其中钉匣22内设置有用于切割人体组织的切割刀,与钉砧21相配合实现缝合的缝钉,用于击发缝钉和使切割刀切割人体组织的击发机构,以及用于使钉砧21和钉匣22相互靠近以夹紧人体组织或相互远离以松开人体组织的收紧机构;
驱动装置1,包括:手柄壳体16,以及设置于手柄壳体16内的驱动组件11、螺旋传动组件12、第一驱动杆13、第二驱动杆14和支撑座15,其中,
驱动组件11包括具有输出轴的电机111和为电机111提供动力的可充电电池112;
螺旋传动组件12包括与电机111的输出轴键连接的螺柱121,该螺柱121包括旋向相反且连续设置的第一螺纹部121a和第二螺纹部121b,第一螺纹部121a与第二螺纹部121b的长度相等,且第一螺纹部121a的导程大于第二螺纹部121b的导程,第一螺纹部121a的直径大于第二螺纹部121b的直径;以及分别与第一螺纹部121a和第二螺纹部121b螺纹配合的第一从动件组件122a(第一螺母)和第二从动件组件122b(第二螺母);
第一驱动杆13用于驱动收紧机构,沿螺柱121的轴线方向延伸,且与第一螺母插接固定;
第二驱动杆14用于驱动击发机构,包括两根沿螺柱121的轴线方向延伸的第二驱动杆单元141,以及与两根第二驱动杆单元141的远端固定连接的驱动滑块142,两根第二驱动杆单元141的近端分别与第二螺母螺纹连接固定;
支撑座15与手柄壳体16固定连接,其具有容置螺柱121的远端的通孔且轴向限位螺柱121;支撑座15的通孔处的内壁沿径向方向开设有轴向贯通的凹槽;
手柄壳体16还具有为第一螺母的直线运动提供导向和限位的第一导向槽(图中未示出),为第二螺母的直线运动提供导向和限位的第二导向槽161,为驱动滑块142的直线运动提供导向和限位的第三导向槽162;相应的,第一螺母具有与第一导向槽滑动配合的第一导向凸起1221a,第二螺母具有与第二导向槽161滑动配合的第二导向凸起1221b,驱动滑块142具有与第三导向槽162滑动配合的第三导向凸起1421。
假设螺柱121逆时针转动时,第一螺母和第二螺母相向运动,螺柱121顺时针转动时,第一螺母和第二螺母相背运动;第一螺母向近侧运动时,圆形吻合器的收紧机构开始收紧动作,第一螺母向远侧运动时,圆形吻合器的收紧机构开始松开动作,参照图3a~图3e所示,本实施例提供的圆形吻合器的具体工作过程如下:
参照图3a和图3b所示,通过启动驱动装置的电机111并控制电流使输出轴逆时针(图3a中带箭头的弧线d所示)旋转,带动螺柱121逆时针旋转,第一螺母和第二螺母相向运动(图3a中带箭头的且与螺柱的轴向方向平行的带箭头直线所示),且第一螺母的运动速度大于第二螺母的运动速度,第一螺母驱动第一驱动杆13移动,带动收紧机构后退并开始执行收紧动作,第二螺母驱动第二驱动杆14移动,带动击发机构前进但未开始执行击发动作;
参照图3c~图3d所示,当第一螺母移动至第一螺纹部121a的近端时滑脱(如图3c所示),此时,圆形吻合器的末端执行器2的钉砧21和钉匣22夹紧人体组织,第二螺母移动至圆形吻合器最合适的开始缝切组织的位置,螺柱121继续逆时针旋转,第二螺母继续向螺柱121的远端移动以驱动第二驱动杆14,并带动击发机构开始执行击发动作,直至圆形吻合器的缝切动作完成,在这一过程中第一螺母与第一螺纹部121a的螺纹配合具有自锁功能,能够使得缝切动作始终在钉砧21和钉匣22夹紧人体组织的情况下进行;
参照图3d~图3e所示,当缝切动作完成后,通过开关控制电机111的电流反向使输出轴顺时针(图3e中带箭头的弧线d所示)旋转,第一螺母和第二螺母相背运动(图3e中带箭头的且与螺柱的轴向方向平行的带箭头直线所示),第一螺母旋入第一螺纹部121a,驱动第一驱动杆13,并带动收紧机构前进开始执行松开动作,第二螺母驱动第二驱动杆14,并带动击发机构后退,直至第一螺母和第二螺母回到初始位置。至此,圆形吻合器完成了一次手术动作。
由上述圆形吻合器的工作过程可知,本实施例中的圆形吻合器通过双向螺柱121和与双向螺柱121配合的第一螺母和第二螺母构成的螺旋传动组件12,便可实现圆形吻合器的收紧动作和缝切动作,与现有技术相比,大大地简化了驱动装置和外科手术器械的器械结构,并且操作简单,便于外科手术医生进行外科手术操作。
如图10所示,当包括本实用新型提供的驱动装置的外科手术器械为弯转式缝切吻合器时,驱动装置中的第一从动件组件通过第一驱动杆驱动弯转机构,从而使钉砧臂31和钉匣臂32可绕枢转轴33转动并锁定在合适的弯转角度,第二从动件组件通过第二驱动杆驱动击发机构,从而使切割刀切割人体组织并击发缝钉以缝合人体组织。
综上可知,当需要实现两种或两种以上的动作的外科手术器械采用本实用新型实施例提供的驱动装置时,能够大大简化外科手术器械的器械结构,并且操作简单,便于外科手术医生进行外科手术操作。
显然,本领域的技术人员可以对本实用新型进行各种改动和变型而不脱离本实用新型的精神和范围。这样,倘若本实用新型的这些修改和变型属于本实用新型权利要求及其等同技术的范围之内,则本实用新型也意图包含这些改动和变型在内。
Claims (15)
1.一种外科手术器械的驱动装置,其特征在于,包括驱动组件(11)、螺旋传动组件(12)、第一驱动杆(13)和第二驱动杆(14),其中:
所述螺旋传动组件(12)包括:被轴向限位的螺柱(121),被所述驱动组件(11)驱动旋转,所述螺柱(121)包括旋向相反的两段螺纹部;被周向限位且套设所述螺柱(121)的第一从动件组件(122a)和第二从动件组件(122b),分别与所述螺柱(121)的旋向相反的两段螺纹部配合,当所述螺柱(121)旋转时,带动所述第一从动件组件(122a)和第二从动件组件(122b)沿所述螺柱(121)的轴向方向移动;
所述第一驱动杆(13)沿所述螺柱(121)的轴线方向延伸,且与所述第一从动件组件(122a)固定连接;
所述第二驱动杆(14)沿所述螺柱(121)的轴线方向延伸,且与所述第二从动件组件(122b)固定连接。
2.如权利要求1所述的驱动装置,其特征在于,所述外科手术器械包括被所述第一驱动杆(13)驱动的第一执行机构和被所述第二驱动杆(14)驱动的第二执行机构,所述第一执行机构执行动作在第二执行机构执行动作之前;
所述螺柱(121)的旋向相反的两段螺纹部的长度相等,且与所述第一从动件组件(122a)配合的螺纹部的导程大于与第二从动件组件(122b)配合的螺纹部的导程。
3.如权利要求2所述的驱动装置,其特征在于,所述第一从动件组件(122a)和所述第二从动件组件(122b)中至少有一个为与相对应的所述螺柱的螺纹部螺纹配合的螺母。
4.如权利要求3所述的驱动装置,其特征在于,与所述第一从动件组件(122a)配合的螺纹部的直径大于与第二从动件组件(122b)配合的螺纹部的直径。
5.如权利要求2所述的驱动装置,其特征在于,所述第一从动件组件(122a)和所述第二从动件组件(122b)中至少有一个包括:从动件本体(1221)和与所述从动件本体(1221)固定连接的销钉(1222),所述销钉(1222)穿过所述从动件本体(1221)且插入相对应的所述螺柱的螺纹部的螺纹槽内与所述螺纹槽滑动配合。
6.如权利要求5所述的驱动装置,其特征在于,所述螺柱(121)的每一段螺纹部中至少有两部分的螺距不同。
7.如权利要求1所述的驱动装置,其特征在于,所述驱动组件(11)包括具有输出轴的电机(111),所述螺柱(121)与所述输出轴固定连接;或者,所述螺柱(121)与所述输出轴通过传动机构传动连接,所述传动机构包括联轴器。
8.如权利要求1所述的驱动装置,其特征在于,所述第一驱动杆(13)与所述第一从动件组件(122a)可拆卸连接,和/或,所述第二驱动杆(14)与所述第二从动件组件(122b)可拆卸连接。
9.如权利要求1所述的驱动装置,其特征在于,还包括:支撑座(15),所述支撑座(15)轴向限位所述螺柱(121),且具有容置所述螺柱(121)的远端的通孔;所述支撑座(15)的通孔处的内壁沿径向方向开设有轴向贯通的凹槽,或者所述支撑座(15)的通孔内设置有套设所述螺柱的远端的轴承。
10.如权利要求9所述的驱动装置,其特征在于,所述支撑座(15)还开设有沿所述螺柱(121)的轴向方向的导向孔,所述第一驱动杆(13)穿设于所述导向孔。
11.如权利要求1~10任一所述的驱动装置,其特征在于,还包括手柄壳体(16),所述驱动组件(11)、所述螺旋传动组件(12)、所述第一驱动杆(13)和所述第二驱动杆(14)设置于所述手柄壳体内;
所述螺柱(121)被所述手柄壳体(16)轴向限位,所述第一从动件组件和第二从动件组件被所述手柄壳体(16)周向限位。
12.如权利要求11所述的驱动装置,其特征在于,所述手柄壳体(16)具有为所述第一从动件组件(122a)的直线运动提供导向和限位的第一导向槽,所述第一从动件组件(122a)具有与所述第一导向槽滑动配合的第一导向凸起(1221a);和/或,
所述手柄壳体(16)具有为所述第二从动件组件的直线运动提供导向和限位的第二导向槽(161),所述第二从动件组件(122b)具有与所述第二导向槽(161)滑动配合的第二导向凸起(1221b)。
13.如权利要求12所述的驱动装置,其特征在于,所述第二驱动杆(14)包括两根第二驱动杆单元(141),以及与所述两根第二驱动杆单元(141)的远端固定连接的驱动滑块(142)。
14.如权利要求13所述的驱动装置,其特征在于,所述手柄壳体(16)具有为所述驱动滑块(142)的直线运动提供导向和限位的第三导向槽(162),所述驱动滑块具有与所述第三导向槽(162)滑动配合的第三导向凸起(1421)。
15.一种外科手术器械,其特征在于,包括如权利要求1~14任一所述的驱动装置(1)。
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Address after: 300457 Tianjin Binhai New Area Economic and Technological Development Zone, Fourth Street, No. 5, block B, floor 4 Patentee after: Tianjin Ricky surgical instruments Limited by Share Ltd Address before: 300457 Tianjin Binhai New Area Economic and Technological Development Zone, Fourth Street, No. 5, block B, floor 4 Patentee before: Reach Surgical Instrument (China) Co.,Ltd. |
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