CN102100581A - Rotatable wrist minimally invasive device - Google Patents
Rotatable wrist minimally invasive device Download PDFInfo
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- CN102100581A CN102100581A CN2009101550737A CN200910155073A CN102100581A CN 102100581 A CN102100581 A CN 102100581A CN 2009101550737 A CN2009101550737 A CN 2009101550737A CN 200910155073 A CN200910155073 A CN 200910155073A CN 102100581 A CN102100581 A CN 102100581A
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- head
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Abstract
The invention discloses a rotatable wrist minimally invasive device. The rotatable wrist minimally invasive device comprises a head, an extending rod, a handle and two joints, wherein the head can finish 5-degree-of-freedom activity, is close to the function of a human wrist and can finish action and operations which are finished difficultly, even cannot be finished by the traditional minimally invasive surgery devices; and a handle operating region can sense pressure of the head to a certain degree and provides certain basis to a doctor to distinguish tissues, organs, tumors and stones.
Description
Technical field
The present invention relates to the Minimally Invasive Surgery apparatus, relating in particular to change the wrist mis instruments.
Background technology
Behind Charles Robert Richet successful implementation in 1987 the first routine laparoscopic cholecystectomy, it with the laparoscopic surgery development that the Minimally Invasive Surgery of representative experiences surplus in the of 20 year, form a relatively independent subject, derived a series of Minimally Invasive Surgerys such as thoracoscope, pelvioscope, arthroscope.At present, Minimally Invasive Surgery has become forefront, surgical operation the inside, complicated technology, and a large amount of advanced equipment, material and apparatuses at first are applied to this field, and Minimally Invasive Surgery also is an important directions of 21 century surgery development.
Minimally Invasive Surgery is meant at body surface does some perforation, endoscope and operating apparatus are entered in the body cavity by above-mentioned aperture, as abdominal cavity, thoracic cavity, pelvic cavity, articular cavity etc., by the patient under the supervision of endoscope, by hands operating apparatus outside the patient body, excise the focus of intracavity the working end that apparatus is stretched in the patient's body cavity, or to organ repair, operation such as stitching, art finishes takes out endoscope and apparatus, sews up the aperture of body surface and can finish whole surgery.
Minimally Invasive Surgery is with respect to traditional surgery, and its great advantage is that wound is little, and it is few to lose blood, and patient's post-operative recovery is fast, and distress level is lighter, and scar after the operation is not obvious etc.But Minimally Invasive Surgery still can not substitute traditional open surgery at present, and reason is: 1, the degree directly perceived in the visual field of Minimally Invasive Surgery is lower than traditional operation; 2, the motility of Minimally Invasive Surgery apparatus can not show a candle to surgical hands, can't finish complicated operations; 3, Minimally Invasive Surgery almost can't transmit the touch-pressure sensation in the operating process.Above-mentioned 3 reasons become the bottleneck of present stage Minimally Invasive Surgery development, make the development of Minimally Invasive Surgery be in sluggish state.
Before this, patent " a kind of bionic surgical Instrument; the patent No. 200820153783.7 " has proposed a kind of Minimally Invasive Surgery apparatus of changeed wrist of 5 degree of freedom, but in the actual production process of this patent, find its complex structure, difficulty in process, reliability of products and ruggedness remain further to be improved.
Therefore, develop a kind of truly feasible commentaries on classics wrist structure, the Minimally Invasive Surgery apparatus that can address the above problem is the important topic of present stage Minimally Invasive Surgery development.
Summary of the invention
The object of the present invention is to provide a kind of a plurality of freedom of movement that possess, to a certain extent the changeed wrist of sensed pressure mis instruments.
In order to achieve the above object, the technical solution used in the present invention is:
Can change the wrist mis instruments, comprise head, extension rod, handle and two joints, described head is fixedlyed connected with the extension rod front end by joint of head, and described handle is fixedlyed connected with the extension rod rear end by handle joint; Described joint of head and handle joint are connected in series by driving wire by several articular sclerites, driving wire is distributed in the articular sclerite edge, the driving wire front end is fixedlyed connected with the joint of head pedestal, fixedly connected with the handle joint pedestal in the rear end, adjacent two articular sclerites become square crossing to arrange, and can realize two action transmissions between the joint; Be provided with drive link between head and the handle, can realize the action transmission between head and the handle.
Described articular sclerite one end is the plane, and the other end is made up of two inclined-planes.
Described head rear end is provided with chute, is slidingly connected with the gate shafts of drive link front end.
The form of described head is binding clip pattern and shears pattern.
The beneficial effect that the present invention has is:
On the one hand, with respect to traditional mis instruments, the present invention possesses the more freedom degree, and more near the function of staff wrist, the pressure of perception head working area can be finished the action that some traditional Minimally Invasive Surgery apparatuses can't be finished or be difficult to finish to a certain extent; Structure is practical more on the other hand, and process and assemble is more reasonable.
Description of drawings
Fig. 1 is a sketch map of the present invention;
Fig. 2 is the sketch map in two joints of the present invention;
Fig. 3 is the structural representation in joint of the present invention;
Fig. 4 is the sketch map of articular sclerite of the present invention;
Fig. 5 a is the front view in joint of the present invention;
Fig. 5 b is the vertical view in joint of the present invention;
Fig. 6 is the sketch map that the present invention realizes arthrogryposis;
Fig. 7 is the sketch map that the present invention realizes the head transmission;
Fig. 8 is a head chute sketch map of the present invention;
Fig. 9 is the sketch map that head of the present invention is in open configuration;
Figure 10 is the sketch map of head of the present invention near closure state;
Figure 11 is the sketch map of binding clip pattern of the present invention;
Figure 12 is the sketch map of shears pattern of the present invention;
Among the figure: 1. head; 2. extension rod; 3. joint of head; 4. handle joint; 5. hands handle; 6. locking tooth; 7. drive link; 8. joint of head pedestal; 9. handle joint pedestal; 10. driving wire; 11. articular sclerite; 12. medium pore; 13. periphery hole; 14. inclined-plane; 15. chute; 16. axis hole; 17. gate shafts; 18. binding clip; 19. shears.
The specific embodiment
As Fig. 1, shown in Figure 6, the present invention includes head 1, extension rod 2, handle 5, joint of head 3, handle joint 4 and two inner cover drive system---joint drive system and head folding drive systems.Wherein head 1 is fixedlyed connected with extension rod 2 front ends by joint of head 3, and handle 5 is fixedlyed connected with extension rod 2 tail ends by handle joint 4, and handle 5 is provided with locking tooth 6, is used for fixing the folding angle of handle 5.Twisting handle 5 can drive handle joint 4, and joint of head 3 also produces corresponding flexure operation simultaneously.
As Fig. 2, Fig. 3, Fig. 4, Fig. 5, shown in Figure 6, the joint drive system is made up of joint of head 3 and handle joint 4 and driving wire 10, wherein two joints are formed by articular sclerite 11 polyphones, one end of articular sclerite 11 is the plane, the other end is provided with 2 inclined-planes 14, central authorities are provided with medium pore 12, current for drive link 7, the surrounding is provided with periphery hole 13, walk driving wire 10 in the hole, driving wire 10 front ends are fixedlyed connected with joint of head pedestal 8, fixedly connected with handle joint pedestal 9 in the rear end, and adjacent two articular sclerites 11 are 90 degree rotations and arrange.When handle joint 4 bends, space between the inclined-plane 14 of one side is compressed, space between the inclined-plane 14 of opposite side is exaggerated, make that the driving wire 10 of compression one side is loosened, the driving wire 10 of opposite side is tightened up, because the length of driving wire 10 immobilizes, and is delivered to joint of head 3, makes joint of head produce corresponding flexure operation.
As Fig. 4, Fig. 7, Fig. 8, Fig. 9, shown in Figure 10, head folding drive system is made up of head 1 and handle 5 and drive link 7, and drive link 7 front ends are provided with gate shafts 17, is slidingly connected with the chute 15 of head 1, be equipped with axis hole 16 on two heads 1, can sway.When drive link 7 slides forward, head 1 closure, otherwise head 1 open, drive link 7 rear ends are connected with handle 5 by connecting rod, promote drive link 7 when handle 5 is closed and slide forward.Thereby realized the transmission between handle folding and the binding clip folding.
As Figure 11, shown in Figure 12, head 1 has two kinds of patterns, and a kind of is binding clip 18 patterns, is used for clamp tissue, blood vessel, suture needle etc.; Another kind is shears 19 patterns, is used for operations such as cutting, separation.
The above-mentioned specific embodiment is used for the present invention that explains, rather than limits the invention, and in the protection domain of spirit of the present invention and claim, any modification and change to the present invention makes all fall into protection scope of the present invention.
Claims (4)
1. can change the wrist mis instruments, comprise head (1), extension rod (2), handle (5) and two joints, described head (1) is fixedlyed connected with extension rod (2) front end by joint of head (3), and described handle (5) is fixedlyed connected with extension rod (2) rear end by handle joint (4); Described joint of head (3) and handle joint (4) are connected in series by driving wire (10) by several articular sclerites (11), driving wire (10) is distributed in articular sclerite (11) edge, driving wire (10) front end is fixedlyed connected with joint of head pedestal (8), fixedly connected with handle joint pedestal (9) in the rear end, adjacent two articular sclerites (11) become square crossing to arrange, and can realize two action transmissions between the joint; Be provided with drive link (7) between head (1) and the handle (5), can realize the action transmission between head (1) and the handle (5).
2. the wrist mis instruments of changeing according to claim 1 is characterized in that: described articular sclerite (11) one ends are the plane, and the other end is made up of two inclined-planes (14).
3. the wrist mis instruments of changeing according to claim 1 is characterized in that: described head (1) rear end is provided with chute (15), is slidingly connected with the gate shafts (17) of drive link (7) front end.
4. the wrist mis instruments of changeing according to claim 1 is characterized in that: the form of described head (1) is binding clip (18) pattern and shears (19) pattern.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101550737A CN102100581A (en) | 2009-12-16 | 2009-12-16 | Rotatable wrist minimally invasive device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101550737A CN102100581A (en) | 2009-12-16 | 2009-12-16 | Rotatable wrist minimally invasive device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102100581A true CN102100581A (en) | 2011-06-22 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009101550737A Pending CN102100581A (en) | 2009-12-16 | 2009-12-16 | Rotatable wrist minimally invasive device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102100581A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106377316A (en) * | 2016-09-18 | 2017-02-08 | 上海交通大学 | Thyroid minimally invasive surgery operation equipment |
| CN106448403A (en) * | 2016-12-14 | 2017-02-22 | 四川大学华西医院 | Training device for simulating thoracoscopic surgery |
| CN106880389A (en) * | 2017-03-30 | 2017-06-23 | 北京市普惠生物医学工程有限公司 | One kind tissue folder closes system |
| WO2022253065A1 (en) * | 2021-06-02 | 2022-12-08 | 上海生知医疗科技有限公司 | Portable manual surgical robot |
-
2009
- 2009-12-16 CN CN2009101550737A patent/CN102100581A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106377316A (en) * | 2016-09-18 | 2017-02-08 | 上海交通大学 | Thyroid minimally invasive surgery operation equipment |
| CN106448403A (en) * | 2016-12-14 | 2017-02-22 | 四川大学华西医院 | Training device for simulating thoracoscopic surgery |
| CN106448403B (en) * | 2016-12-14 | 2019-11-19 | 四川大学华西医院 | It is a kind of for simulating the training aids of thoracoscopic operation |
| CN106880389A (en) * | 2017-03-30 | 2017-06-23 | 北京市普惠生物医学工程有限公司 | One kind tissue folder closes system |
| WO2022253065A1 (en) * | 2021-06-02 | 2022-12-08 | 上海生知医疗科技有限公司 | Portable manual surgical robot |
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Legal Events
| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20110622 |