CN102090925B - Handheld multi-degree-of-freedom hemostatic cutter for endoscope - Google Patents
Handheld multi-degree-of-freedom hemostatic cutter for endoscope Download PDFInfo
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- CN102090925B CN102090925B CN2011100368683A CN201110036868A CN102090925B CN 102090925 B CN102090925 B CN 102090925B CN 2011100368683 A CN2011100368683 A CN 2011100368683A CN 201110036868 A CN201110036868 A CN 201110036868A CN 102090925 B CN102090925 B CN 102090925B
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Abstract
The invention discloses a handheld multi-degree-of-freedom hemostatic cutter for an endoscope. The hemostatic cutter comprises an operating handle, a tool rod, an autorotation body and a cutter head. The hemostatic cutter is characterized in that: the upper and lower ends of the tool rod are provided with a deflecting wheel set respectively, the upper end of the deflecting wheel set at the upper end of the tool rod is connected with the operating handle through an autorotation seat, and the lower end of the deflecting wheel set at the lower end of the tool rod is connected with the autorotation body through the autorotation seat; the lower end of the autorotation body is connected with the telescopic cutter head; and the lower end of the cutter head is provided with at least two operating needles. The hemostatic cutter can assist a surgeon in finishing hemostatic cutting operation under a pure endoscope condition, saves complex suturing operation in the process of excising a tissue or an organ, and realizes less bleeding and even no bleeding so as to save the surgery time and ensure the surgery quality.
Description
Technical field
The present invention relates to surgery Minimally Invasive Surgery technique with the apparatus field, is a kind of multivariant hemostasis sickle of hand-held under the mirror of chamber that is used for.
Background technology
At present, cut, hemostasis, sew up, knotting is conventional surgical four big operation basic actss, in the operation process few hemorrhage even not hemorrhage then be surgical highest pursue! In open surgery, the related surgical instrument has appearred, and can be implemented under few hemorrhage situation and accomplish cutting, like electric knife, argon cutter, ultrasound knife etc. tissue; The appearance of this type operation tool frees the surgeon from numerous and diverse traditional operation operation, reduce doctor's labor intensity; And shortened hands the art time, and guarantee the operation quality, reduce complication, practiced thrift blood used in clinic.
Being that the minimally invasive surgery of representative is described as 20th century medical sciencies to one of significant contribution of human civilization with the peritoneoscope, is the theme of 21 century whole world surgery development.Minimally Invasive Surgery is compared with traditional open surgery has advantages such as otch is little, amount of bleeding is few, scar after the operation is little, recovery time is fast, and the misery that patient is suffered reduces greatly, is widely used in clinical operation.In recent years; The auxiliary Minimally Invasive Surgery of robot occurs and has obtained developing rapidly; It has overcome many shortcomings of traditional less invasive techniques; Have operation motility height, good stability, realization intuition motor control, stereoscopic vision can be provided and have the advantages such as potentiality of remote operation, be used widely in fields such as department of cardiac surgery, Urology Surgery, general surgery, department of obstetrics and gynecology and department of pediatrics.Yet it is pointed out that under the constraints of less invasive techniques complicated stitching, knotting operation technique become very difficult.Even in this case, no matter be in the traditional less invasive techniques or in the auxiliary less invasive techniques of robot, all there is not the apparatus appearance of the cutting operation of can realizing stopping blooding at present.Therefore, a kind of hemostasis cutting tool that is applied to Minimally Invasive Surgery is provided, can fills up the blank in this field, and, guarantee that Minimally Invasive Surgery quality aspect is significant at the labor intensity that reduces the doctor of Wicresoft.
No matter be in the traditional less invasive techniques or in the auxiliary less invasive techniques of robot, also do not have to substitute simultaneously the apparatuses appearance of conventional surgical conventional surgical four big operation basic fundamentals at present.
Summary of the invention
The purpose of this invention is to provide a kind of multivariant hemostasis sickle of hand-held under the mirror of chamber that is used for; It can the assisted surgery doctor accomplish the hemostasis cutting operation under the mirror condition of simple chamber; In the excision process to tissue, organ, save complicated sew application, realization is few hemorrhage, even not hemorrhage, thereby saves operating time, guarantees the operation quality.
For realizing above-mentioned purpose, the present invention takes following technical scheme:
A kind ofly be used for the multivariant hemostasis sickle of hand-held under the mirror of chamber; It includes operating grip, tool bar, turn certainly, the sickle head; Upper/lower terminal at tool bar is connected with the deflection wheels respectively, and the upper end of the deflection wheels of this tool bar upper end is through autobiography seat attended operation handle, and the lower end of the deflection wheels of this tool bar lower end connects the autobiographical type through the autobiography seat; Be connected with flexible sickle head in this autobiographical lower end, be provided with at least two operation pins in the lower end of sickle head;
Described deflection wheels comprise deflecting wheel, rotation mount pad, deflection wheel shaft, main directive wheel, auxilliary directive wheel; This rotation mount pad is two plate bodys side by side; Two side by side plate body between clamping the deflecting wheel of fixed connection is arranged; Described deflection wheel shaft is stretched out by the rotation mount pad both sides of deflecting wheel, is separately installed with main directive wheel on the deflection wheel shaft that stretches out in rotation mount pad both sides, on the dual-side of rotation mount pad, is separately installed with auxilliary directive wheel; Should auxilliary directive wheel be oppositely arranged, the rotation driving wire be clamped in assist between the guiding race of directive wheel and corresponding main directive wheel with the wheel rim of corresponding main directive wheel.
Described tool bar two ends up and down forms the U-shaped opening, and the deflection wheels are set in opening, and the deflection wheel shaft of these deflection wheels is arranged on the U-shaped opening sidewalls of tool bar.
Described autobiography seat is T-shaped tabular, is protruding with a columniform autobiography joint in the upper surface of autobiography seat, on the autobiography seat of autobiography joint both sides, is provided with the guide pad of two correspondences, and the bottom of this autobiography seat forms tabular from the swivel base anchor tip.
Describedly be inserted in two of rotation mount pad from the swivel base anchor tip and be fixedly connected between the plate body side by side, the autobiography joint of described two autobiography seats is rotationally connected with operating grip lower end, autobiographical type upper end respectively.
On the deflecting wheel of two deflection wheels up and down, be socketed with the deflection driving wire; Be socketed with the deflection driving wire through guide pad, main directive wheel, auxilliary directive wheel, operating grip lower end, autobiographical type upper end.
Described autobiographical type inner top is equipped with motor; The outfan of this motor is fixedly connected with an end of a leading screw; On this leading screw, be socketed with a slide block, this slide block has female thread, and cooperates with leading screw; This slide block is connected with the flexible end of sickle head, and leading screw rotating band movable slider reciprocatingly slides at the intravital sliding intracavity of rotation.
On the sickle head, be set with operation pin I, operation pin II, operation pin III, operation pin IV, wherein operating pin I is one group with operation pin II, and links to each other with lead I; Operation pin III and operation pin IV are one group, and link to each other with lead II, and lead I and lead II pass described tool bar, and link to each other with interface on being arranged on tool bar.
Be protruding with earrings in the operating grip two sides, on the shaft of tool bar, be provided with assist handle.
Compared with prior art, the multiple degrees of freedom hemostasis cutting tool that is used for Minimally Invasive Surgery provided by the invention has following beneficial effect:
1. hemostasis sickle of the present invention uses towards Minimally Invasive Surgery, can fill up the blank of not having this series products in the Minimally Invasive Surgery field.
2. hemostasis sickle of the present invention at first utilizes energy with tissue coagulation in use, implements cutting operation then, compares with existing incision-hemostasis-sew application, and it can realize less hemorrhage, and is even not hemorrhage.
3. hemostasis sickle of the present invention has a plurality of degree of freedom, can guarantee the motility operated, makes it accomplish the hemostasis cutting operation to tissue, organ along any direction.
4. the lower end operation part of hemostasis sickle of the present invention can have various ways, the demand in the time of can satisfying different tissues, organ operation.
5. hemostasis sickle of the present invention can be accepted multiple form of energy, can satisfy the requirement of different hospital conditions.
Description of drawings
Fig. 1 is an overall structure sketch map of the present invention;
Fig. 2 is that driving wire of the present invention is arranged sketch map;
Fig. 3 is a sickle head stretching structure sketch map of the present invention;
Fig. 4 (a) is that deflection wheel shaft 91 of the present invention is connected sketch map with rotation mount pad 92;
To be deflection wheel shaft 91 of the present invention be connected sketch map with main directive wheel 10, rotation mount pad 92 with auxilliary directive wheel 11 to Fig. 4 (b);
Fig. 5 is of the present invention from swivel base 12 structural representations;
Fig. 6 (a) is deflection wheels 9 motion transmission structural principle sketch maps of the present invention;
Fig. 6 (b) is of the present invention from turning 2 motion transmission structural principle sketch maps;
Fig. 6 (c) is that sickle head 3 of the present invention is connected sketch map with the 2 stretching motion structures of turning certainly;
Fig. 7 (a) and (b), (c) are motion analysis sketch maps of the present invention;
Fig. 8 (a) and (b) are of the present invention from turning 2 motion sketch maps;
Fig. 9 is the user mode sketch map that operation pin of the present invention stretches out when injected organism tissue;
Figure 10 is the user mode sketch map that operation pin of the present invention inserts when injected organism tissue;
Wherein:
1 - tool bar 2 - open from twist 3 - cutter head 4 - Operation Pin I 5 - Operation needle II6-operation pin III 7 - Operation needle IV 8 - Operating handle 9 - deflecting wheels 90 - idler pulley hole 91 - deflecting axle 92 - rotation mounts 93 - deflecting wheel 10 - leading to the wheel 11 - guidance to the wheel 12 - rotation Block 121 - rotation of the seat fixed joint 122 - rotation tab 123 - guide block 13 - deflection transmission wire 14 - rotation transmission wire 151 - retained tissue 152 - removal of tissue 153 - cutting line 154 - freezing area 21 - spin axis line 22 - motor 23 - screw 31 - wire I 32 - wire II 33 - interface 34 - slider 101 - auxiliary handle 81 - earrings 931 - wheel slot 111 - guide pulley groove
The specific embodiment
Referring to Fig. 1, Fig. 2, shown in Figure 3:
A kind ofly be used for the multivariant hemostasis sickle of hand-held under the mirror of chamber; It includes operating grip 8, tool bar 1, turn 2 certainly, sickle head 3; Upper/lower terminal at tool bar 2 is connected with deflection wheels 9 respectively; The upper end of the deflection wheels 9 of these tool bar 2 upper ends is through autobiography seat 12 attended operation handles 8, and the lower end of the deflection wheels 9 of this tool bar 1 lower end connects the autobiographical type 2 through autobiography seat 12, is connected with flexible sickle head 3 in the lower end of this autobiographical type 2; Be provided with at least two operation pins in the lower end of sickle head 3, present embodiment is provided with four operation pins 4,5,6,7.
Shown in Fig. 4 (a) and (b): described deflection wheels 9 comprise deflecting wheel 93, rotation mount pad 92, deflection wheel shaft 91, main directive wheel 10, auxilliary directive wheel 11; This rotation mount pad 92 is two plate bodys side by side; Two side by side plate body between clamping the deflecting wheel 93 of fixed connection is arranged; Described deflection wheel shaft 91 is stretched out by the rotation mount pad both sides of deflecting wheel; Be separately installed with main directive wheel 10 on the deflection wheel shaft 91 that stretches out in rotation mount pad 92 both sides; On the dual-side of rotation mount pad, be separately installed with auxilliary directive wheel 11, this auxilliary directive wheel 11 is oppositely arranged with the wheel rim of corresponding main directive wheel 10, rotation driving wire 14 is clamped in assist between the guiding race 111 of directive wheel 11 and corresponding main directive wheel 10 (seeing shown in Figure 2).
Referring to shown in Figure 1: described tool bar forms the U-shaped opening in two ends about in the of 1, and deflection wheels 9 are set in opening, and the deflection wheel shaft 91 of these deflection wheels is arranged on the U-shaped opening sidewalls of tool bar 1.
Referring to shown in Figure 5: described autobiography seat 12 is T-shaped tabular; Be protruding with a columniform autobiography joint 122 in the upper surface of autobiography seat 12; On the autobiography seat of autobiography joint 122 both sides, be provided with the guide pad 123 of two correspondences, the bottom of this autobiography seat 12 forms tabular from swivel base anchor tip 121.
Referring to shown in Figure 2: describedly insert 121 from the swivel base anchor tip and be fixedly connected between the plate body side by side two of rotation mount pad 92, the autobiography joint 122 of described two autobiography seats 12 is rotationally connected with operating grip lower end, autobiographical type upper end respectively.
Shown in Fig. 2, Fig. 6 (a) and (b): on the deflecting wheel 93 of two deflection wheels up and down, be socketed with deflection driving wire 13, be socketed with deflection driving wire 14 through guide pad 123, main directive wheel 10, auxilliary directive wheel 11, operating grip lower end, autobiographical type upper end.
Shown in Fig. 6 (c): described autobiographical type inner top is equipped with motor 22; The outfan of this motor is fixedly connected with an end of a leading screw 23; On this leading screw 23, be socketed with a slide block 34, this slide block 34 has female thread, and cooperates with leading screw 23; This slide block 34 is connected with the flexible end of sickle head 3, and leading screw 23 rotating band movable sliders 34 reciprocatingly slide at the intravital sliding intracavity of rotation.
Referring to shown in Figure 1: on the sickle head, be set with operation pin I, operation pin II, operation pin III, operation pin IV, wherein operating pin I is one group with operation pin II, and links to each other with lead I; Operation pin III and operation pin IV are one group, and link to each other with lead II, and lead I and lead II pass described tool bar, and link to each other with interface on being arranged on tool bar.
Be protruding with earrings in the operating grip two sides, on the shaft of tool bar, be provided with assist handle.
Combine accompanying drawing that the present invention is elaborated below again.
Fig. 1 to Fig. 5 shows structure chart of the present invention.Be used for that the multivariant hemostasis sickle of hand-held comprises tool bar 1 under the mirror of chamber; Be installed on the deflecting wheel 93 at tool bar 1 two ends rotatably through deflection wheel shaft 91; Through pilot hole 90 two auxilliary directive wheels 11 are installed, two main directive wheels 10 on installation and the deflection wheel shaft 91.The centrage that is arranged at the guiding race on auxilliary directive wheel 11 and the main directive wheel 10 is tangent.On described deflecting wheel 93, be provided with race 931, deflection driving wire 13 is connecting two deflecting wheels 93 up and down that are positioned on the described tool bar 1 through described race.
Be installed on the rotation mount pad 92 and setting and from swivel base anchor tip 121 being fixedly linked from swivel base 12 on of deflecting wheel 93 through being provided with on it of tool bar 1 bottom.Be provided with from adaptor 122 from swivel base 12, turning certainly 2 is installed on adaptor 122 rotatably.Certainly turning 2 is provided with the sickle head 3 of moving linearly above that, on sickle head 3, is set with operation pin I4, operation pin II5, operation pin III6, operation pin IV7.Wherein operating pin I4 is one group with operation pin II5, and links to each other with lead I31; Operation pin III6 and operation pin IV7 are one group, and link to each other with lead II32.Lead I31 and lead II32 pass described tool bar 1, and link to each other with interface 33 on being arranged on tool bar 1, and interface 33 can link to each other with the external energy generator.The structure of each parts that is installed on tool bar 1 top is basic identical with the structure of each parts that is installed on tool bar 1 bottom, just through be installed on the operating grip 8 of top on swivel base 12 rotatably from adaptor 122.Sickle head 3 can be provided with and do reciprocating linear motion on 2 from turning certainly under the effect of the 2 inner motor-leading screws of turning; Described being arranged at can be through external trigger control from turning 2 inner motors; This triggering can be forms such as button, foot switch, acoustic control; After described motor is triggered, just can drives sickle head 3 and do reciprocating linear motion on 2 turning certainly automatically.Reciprocating transmission principle is shown in Fig. 6 (c); Motor 22 is fixedly mounted in from turning on 2; The output shaft of leading screw 23 1 ends and motor 22 is fixedly linked, and the other end is installed in from turning on 22 rotatably, and leading screw 23 just can rotate under the driving of motor 22 like this.Can be installed on the leading screw 23 through being arranged at its inner screw at the slide blocks 34 that the 2 inner sliding intracavity of turning certainly slide, like this, when leading screw 23 rotated under the driving of motor 22, slide block 34 just can reciprocatingly slide at 2 the sliding intracavity of turning certainly.The flexible end and the slide block 34 of described sickle head 3 are fixedly linked.
Described power generator can be bipolar electric energy, radio frequency, microwave, ultrasonic etc.The energy that power generator produces, this energy are passed to be installed on through lead I31 and lead II32 respectively operates pin on the bearing 3, in order to realize to organize or organ solidify operation.
Rotation driving wire 14 turn certainly twine on 2 after; Two ends are respectively through being fixed in two guide pads, 123 guiding on swivel base 12; Again through main directive wheel 10 and auxilliary directive wheel 11, be installed on the main directive wheel 10 and the auxilliary directive wheel 11 on tool bar 1 top; And two guide pads on swivel base 12 123 lead through top again, are wrapped at last on the handle 8.
The transmission principle that is used for the multivariant hemostasis sickle of hand-held under the mirror of chamber is as shown in Figure 6.
Fig. 6 (a) shows the kind of drive of yaw motion, and promptly deflection driving wire 13 is connecting two deflecting wheels 93 up and down that are installed on the tool bar 1 through the race 931 that is arranged on the deflecting wheel 93; Like this when operating grip 8 when operation is moved down, turn certainly and 2 just can under the effect of deflection driving wire 13, make corresponding motion.
Fig. 6 (b) shows the kind of drive of spinning motion, because rotation driving wire 14 is identical in the layout up and down of tool bar 1, therefore, only shows the arrangement of bottom among Fig. 6 (b).From turning 2 through being installed in rotatably on the interface on the swivel base 12 from adaptor 122.Rotation driving wire 14 turn certainly twine on 2 after, two ends are respectively through being fixed in two guide pads, 123 guiding on swivel base 12 after main directive wheel 10 and auxilliary directive wheel 11 are passed to the upper end of tool bar 1.Rotation driving wire 14 is arranged identical therewith in the upper end of tool bar 1.Like this, when operating grip 8 operation down around be installed on tool bar 1 top from swivel base 12 rotations the time, owing to the effect of rotation driving wire 14, turning certainly 2 just can rotate on swivel base 12.Fig. 7 shows when instrument deflects motion, is arranged at the situation of change of each driving wire in this instrument.Because the effect of guide pad 123, main directive wheel 10 and auxilliary directive wheel 11 makes instrument when deflecting motion, can ignore the length variations of rotation driving wire 14.Fig. 8 shows the motion conditions that the present invention is used for the hemostasis cutting tool of Minimally Invasive Surgery.
The present invention combines power generator that tissue solidified operating process such as Fig. 9, shown in Figure 10.Operative doctor is at first confirmed tissue 151 that will keep and the tissue 152 that will excise.In view of the above, operative doctor operation the present invention positions and each operation pin is inserted organization internal, at this moment, the power generator produce power, this energy is passed to through described interface and lead and respectively operates pin, realizes the operation of solidifying to tissue; Meanwhile; Be provided with from the 2 inner motors excitations of turning, make and respectively operate pin and move reciprocatingly along the direction of inserting tissue automatically, to strengthen the coagulation result of tissue; Shown in Figure 9 is the reciprocating process that withdraws from, and shown in Figure 10 is the reciprocating process of thrusting.Constantly repeat the above-mentioned operating process of solidifying, just can form one organizationally and solidify zone 154; Change the cutting kind tool and be positioned at described 153 pairs of tissues of line of cut that solidify the zone and cut along illustrated, the final tissue 152 that needs excision accomplished organized 151 lock out operation with needing to keep.Because organizing of line of cut 153 regions solidified, therefore in cutting process, organizing can be not hemorrhage again, and this is a considerable advantage of the present invention, can practice thrift blood used in clinic to a great extent, and can reduce the complication that blood transfusion causes.It is pointed out that described operation pin of the present invention can be provided with different quantity according to the actual requirements, as the operation pin that is installed on the sickle head 3 there are four.Described operation pin can also be according to different operation technique demands, and have different length.
It is worthy of note described operation pin along insert the organizer to reciprocating motion also can realize through operating grip 8 and assist handle 101 are carried out manual operation by the doctor, and do not adopt motor-driven mode.In addition; Utilize principle of the present invention; The operating side of instrument can not be the described pin of respectively operating; Can also be integrated go out other and adopt the unredeemed multiple degrees of freedom Minimally Invasive Surgery of prior aries instrument, can be scalpel, pliers, tweezers, operating scissors etc. like terminal form, and not adopt described operation pin.
Below schematically the present invention and embodiment thereof are described, this description does not have restricted, and shown in the accompanying drawing also is one of embodiment of the present invention, and practical structure is not limited thereto.So; If those skilled in the art is enlightened by it; Under the situation that does not break away from the invention aim; The transmission, driving device and the connected mode that adopt other form all should belong to protection scope of the present invention without creationary design frame mode and the embodiment similar with this technical scheme.
Claims (2)
1. one kind is used for the multivariant hemostasis sickle of hand-held under the mirror of chamber; It includes operating grip (8), tool bar (1), turn certainly (2), sickle head (3); It is characterized in that: the upper/lower terminal at tool bar (1) is connected with deflection wheels (9) respectively; The upper end of the deflection wheels (9) of this tool bar (1) upper end is passed through from swivel base (12) attended operation handle; The lower end of the deflection wheels (9) of this tool bar (1) lower end is connected with flexible sickle head (3) through connecting from swivel base (12) from turning (2) in this lower end from turn (2), is provided with at least two operation pins in the lower end of sickle head (3);
Described deflection wheels (9) comprise deflecting wheel (93), rotation mount pad (92), deflection wheel shaft (91), main directive wheel (10), auxilliary directive wheel (11); This rotation mount pad (92) is two plate bodys side by side; Two side by side between the plate body clamping deflecting wheel (93) of fixed connection is arranged; Described deflection wheel shaft (91) is stretched out by the rotation mount pad both sides of deflecting wheel; Be separately installed with main directive wheel (10) on the deflection wheel shaft (91) that stretches out in rotation mount pad (92) both sides; On the dual-side of rotation mount pad, be separately installed with auxilliary directive wheel (11), this auxilliary directive wheel (11) is oppositely arranged with the wheel rim of corresponding main directive wheel (10), and rotation driving wire (14) is clamped between the guiding race (111) of auxilliary directive wheel (11) and corresponding main directive wheel (10);
Be protruding with in upper surface from swivel base (12) one columniform from adaptor (122), at the guide pad that on swivel base, is provided with two correspondences (123) from adaptor (122) both sides;
Rotation driving wire (14) is after winding is gone up in turn certainly (2); Two ends are respectively through being fixed in two guide pads (123) guiding on swivel base (12); Again through main directive wheel (10) and auxilliary directive wheel (11), the main directive wheel (10) that is installed on tool bar (1) top and auxilliary directive wheel (11); And two guide pads (123) on swivel base (12) lead through top again, are wrapped at last on the handle (8);
On the deflecting wheel (93) of two deflection wheels up and down, be socketed with deflection driving wire (13);
Said operation pin is connected to power generator through lead and the interface (33) that is arranged on the tool bar (1).
2. a kind of multivariant hemostasis sickle of hand-held under the mirror of chamber that is used for according to claim 1; It is characterized in that: described tool bar (1) two ends up and down forms the U-shaped opening; Deflection wheels (9) are set in opening, and the deflection wheel shaft (91) of these deflection wheels is arranged on the U-shaped opening sidewalls of tool bar (1).
3. a kind of multivariant hemostasis sickle of hand-held under the mirror of chamber that is used for according to claim 1 and 2 is characterized in that: described T-shaped tabular from swivel base (12), should be from the bottom of swivel base (12) form tabular from swivel base anchor tip (121).
4. a kind of multivariant hemostasis sickle of hand-held under the mirror of chamber that is used for according to claim 3; It is characterized in that: describedly insert (121) from the swivel base anchor tip and be fixedly connected described two being rotationally connected with operating grip (8) lower end, (2) upper end of turning certainly respectively side by side between the plate body from swivel base (12) from adaptor (122) two of rotation mount pad (92).
5. a kind of multivariant hemostasis sickle of hand-held under the mirror of chamber that is used for according to claim 4; It is characterized in that: described (2) inner top of turning certainly is equipped with motor (22); The outfan of this motor is fixedly connected with an end of a leading screw (23); On this leading screw (23), be socketed with a slide block (34), this slide block (34) has female thread, and cooperates with leading screw (23); This slide block (34) is connected with the flexible end of sickle head (3), and leading screw (23) rotating band movable slider (34) reciprocatingly slides at the intravital sliding intracavity of rotation.
6. a kind of multivariant hemostasis sickle of hand-held under the mirror of chamber that is used for according to claim 5; It is characterized in that: on the sickle head, be set with operation pin I (4), operation pin II (5), operation pin III (6), operation pin IV (7); Wherein operating pin I (4) is one group with operation pin II (5), and links to each other with lead I (31); Operation pin III (6) and operation pin IV (7) are one group, and link to each other with lead II (32), and lead I (31) and lead II (32) pass described tool bar 1, and link to each other with interface (33) on being arranged on tool bar.
7. a kind of multivariant hemostasis sickle of hand-held under the mirror of chamber that is used for according to claim 6 is characterized in that: be protruding with earrings (81) in operating grip (8) two sides, on the shaft of tool bar (1), be provided with assist handle (101).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100368683A CN102090925B (en) | 2011-02-12 | 2011-02-12 | Handheld multi-degree-of-freedom hemostatic cutter for endoscope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100368683A CN102090925B (en) | 2011-02-12 | 2011-02-12 | Handheld multi-degree-of-freedom hemostatic cutter for endoscope |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102090925A CN102090925A (en) | 2011-06-15 |
| CN102090925B true CN102090925B (en) | 2012-04-25 |
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| CN2011100368683A Expired - Fee Related CN102090925B (en) | 2011-02-12 | 2011-02-12 | Handheld multi-degree-of-freedom hemostatic cutter for endoscope |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103169510B (en) * | 2011-12-20 | 2016-07-06 | 刘兴鹏 | For treating the chemical ablation device of atrial fibrillation |
| CN109332105A (en) * | 2018-09-28 | 2019-02-15 | 陈翠华 | One kind is hand-made to use handle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3075404B1 (en) * | 1999-03-11 | 2000-08-14 | 技術研究組合医療福祉機器研究所 | Forceps |
| CN201230906Y (en) * | 2008-06-26 | 2009-05-06 | 北京石油化工学院 | Six freedom degrees trailing type medical support robot |
| CN201602876U (en) * | 2009-12-16 | 2010-10-13 | 余姚市柳叶刀医疗器械科技有限公司 | Rotatable wrist minimally invasive electrode |
| CN201968820U (en) * | 2011-02-12 | 2011-09-14 | 周宁新 | Hand-held multiple-degree-of-freedom hemostasis cutter under endoscope |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3519884B2 (en) * | 1996-09-25 | 2004-04-19 | 本田技研工業株式会社 | Wire drive link device and drive control device thereof |
| JP3912251B2 (en) * | 2002-10-02 | 2007-05-09 | 株式会社日立製作所 | manipulator |
-
2011
- 2011-02-12 CN CN2011100368683A patent/CN102090925B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3075404B1 (en) * | 1999-03-11 | 2000-08-14 | 技術研究組合医療福祉機器研究所 | Forceps |
| CN201230906Y (en) * | 2008-06-26 | 2009-05-06 | 北京石油化工学院 | Six freedom degrees trailing type medical support robot |
| CN201602876U (en) * | 2009-12-16 | 2010-10-13 | 余姚市柳叶刀医疗器械科技有限公司 | Rotatable wrist minimally invasive electrode |
| CN201968820U (en) * | 2011-02-12 | 2011-09-14 | 周宁新 | Hand-held multiple-degree-of-freedom hemostasis cutter under endoscope |
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| Publication number | Publication date |
|---|---|
| CN102090925A (en) | 2011-06-15 |
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