CN102440820B - Minimally invasive surgical apparatus provided with chain joints - Google Patents
Minimally invasive surgical apparatus provided with chain joints Download PDFInfo
- Publication number
- CN102440820B CN102440820B CN 201010299407 CN201010299407A CN102440820B CN 102440820 B CN102440820 B CN 102440820B CN 201010299407 CN201010299407 CN 201010299407 CN 201010299407 A CN201010299407 A CN 201010299407A CN 102440820 B CN102440820 B CN 102440820B
- Authority
- CN
- China
- Prior art keywords
- chain joints
- carrier bar
- gear teeth
- gear
- far
- 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.)
- Withdrawn - After Issue
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
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00305—Constructional details of the flexible means
- A61B2017/00314—Separate linked members
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
- A61B2017/00323—Cables or rods
- A61B2017/00327—Cables or rods with actuating members moving in opposite directions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2908—Multiple segments connected by articulations
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Engineering & Computer Science (AREA)
- Ophthalmology & Optometry (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
Abstract
A minimally invasive surgical apparatus provided with chain joints adopts the technical scheme that a joint is composed of the chain joints, teeth are arranged at two ends of chain plates of the chain joints and the teeth of each two adjacent chain plates in the same line are meshed with each other, and achieves the technical effects that the chain joints can be bent to two sides in a wide range and with a large curvature and are positioned accurately, and all bent parts are rigid enough. The minimally invasive surgical apparatus is suitable for stirring, separating, clamping, shearing, puncturing, suturing, nailing or looping tissues and organs of a human body or implants, can be used for dissecting and separating tissues, coagulation hemostasis or cutting tissues with electrotomes, and can be used as a draw hook after being bent and positioned.
Description
Technical field
The present invention relates to and in micro-wound surgical operation, be used for stirring, separate, clamp, cutting, shear, puncture, needlework are sewed up, the minimally invasive surgery apparatus with chain joints of the histoorgan of nail clip or snare human body and implant, specially refer at chamber mirror surgical operation, be used for stirring in endoscopic surgery operation and the hysteroscope surgical operation, separate, clamp, cutting, shear, puncture, needlework are sewed up, the minimally invasive surgery apparatus with chain joints of the histoorgan of nail clip or snare human body, relate more specifically in the hernia surgical operation, to stir the minimally invasive surgery apparatus with chain joints with the histoorgan that separates human body or hernia patching material, also relate more specifically in the percutaneous pyramid plastic operation, stir the minimally invasive surgery apparatus with chain joints of vertebral body inner tissue, also relate more specifically to the minimally invasive surgery apparatus with chain joints of the histoorgan of in electrosurgery TURP or coagulation human body.
Background technology
In various micro-wound surgical operations, often need to stir, histoorgan or the implant of separation, clamp, cutting, shearing, puncture, needlework stitching, nail clip or snare human body.
For example, in the micro-wound surgical operations such as chamber mirror surgical operation, endoscopic surgery operation and hysteroscope surgical operation, form field of operation in order to appear or to peel off histoorgan, or implant is placed on implant site, need to leave specially 2 to 3 perforators according to operative site, so as to stir, histoorgan or the implant of separation, clamp, shearing, puncture, needlework stitching, nail clip or snare human body.The bore of the perforator in micro-wound surgical operation is 5mm to 10mm, and like this, but it is very little to enter the working range of separator, pincers or drag hook of perforator, often need to insert respectively separator, pincers or drag hook co-operate in two perforators.After forming field of operation, need to use multiple apparatus to carry out the operation technique of the histoorgan of cutting, puncture, hemostasis, needlework stitching, nail clip or snare human body.
Again for example, in the operating patching before the abdomen peritoneum of Wicresoft's hernia (TAPP) or intraperitoneal lapping patching (IPOM), need 2 perforators that bore is 5mm, appear or peel off histoorgan with pure property separator and form field of operation, the hernia patching material is stirred be laid on hernia and repair the position.Outside the operating complete peritoneum of Wicresoft's hernia in the patching (TEP), 'go'gage is the perforator of 5mm, adopt sacculus to carry out the separation of most preperitoneal space, then finish whole gaps by the perforator insertion elastic separating plier of 2 5mm and separate the formation field of operation, the hernia patching material is stirred be laid on hernia repairing position.Because in Wicresoft's hernia surgical operation, separator or elastic separating plier need to insert very dark, so that but it is very little to enter the working range of the separator of perforator or elastic separating plier, therefore, the hernia patching material stirred being laid on hernia and repairing the position and need 2 perforators that bore is 5mm, is difficult, the most time-consuming operation in Wicresoft's hernia surgical operation.
Again for example, in the percutaneous pyramid plastic operation, normal is the puncture needle of 3.5mm to 4mm by bore, the vertebral body of adopting balloon expandable to be crushed.Because the cavity that balloon expandable forms in vertebral body is olive shape, be filled with wherein bone cement and be subjected to stopping of bone trabecula around the olive shape cavity and spongy bone, be difficult to penetrate into olive shape cavity zone on every side, so that the bone cement that is filled with therein also is olive shape after solidifying.Therefore, behind the percutaneous pyramid plastic operation, the vertebral body of contiguous health is broken under the extruding of hard olive shape bone cement easily, needs again vertebral body operation.If strengthen the pressure be filled with bone cement, then bone cement can be extruded from the crack that the vertebral body that is crushed produces after by balloon expandable, forms the bone cement thorn near the human body the vertebral body crack, the histoorgan around the injury.
Again for example, coagulation hook anatomical isolation tissue commonly used in electrosurgery, but both electric coagulation hemostasis, also can cut and organize, or adopt the coagulation shovel to separate open texture and burn the oozing of blood of surgical wound surface, or adopt the excellent electric coagulation hemostasis of coagulation.These high frequency electric knives are divided into one pole high frequency electric knife and bipolar high frequency electric knife, and 'go'gage is the perforator of 5mm, enters field of operation.Therefore, but it is very little to enter the working range of high frequency electric knife of perforator, may need to carry out electrosurgeries by a plurality of perforators.
The minimally invasive surgery apparatus of in United States Patent (USP) 20100076260, introducing, in the joint, two cables are sealed in the hole of concavo-convex articular sclerite both sides, make concavo-convex articular sclerite be composed in series the joint, by tractive cable control joint to two lateral bends, thereby drive various have stir, the tool heads of separation, clamp, cutting, shearing, puncture or high frequency electric knife function swings sideward moving.The minimally invasive surgery apparatus of in United States Patent (USP) 20090312773, introducing, in the joint, two sheet metals are sealed in the hole of concavo-convex articular sclerite both sides, make concavo-convex articular sclerite be composed in series the joint, to two lateral bends, swing sideward moving thereby drive the tool heads with needlework stitching function by push-and-pull sheet metal control joint.The unsatisfactory place of the minimally invasive surgery apparatus of these two kinds of styles is, although cable or sheet metal can be with movable joint to two lateral bends, but the joint is behind two lateral bends, the joint that is composed in series by concavo-convex articular sclerite is difficult to all have enough rigidity at any bending position, thereby causes the tool heads of minimally invasive surgery apparatus to be shifted easily, positioning accuracy is relatively poor.Therefore, the articulation structure of minimally invasive surgery apparatus also need improve.
Obviously can be found out by above-mentioned, designed now not minimally invasive surgery apparatus in specie, and the development work of the articulation structure of new minimally invasive surgery apparatus is still continuing, in order to the minimally invasive surgery apparatus that uses in a large number in the world every year is done further to improve, so that the joint of minimally invasive surgery apparatus all has enough rigidity at any bending position, but more accurate working range was larger when tool heads was located.
Summary of the invention
The object of the invention is to propose a kind of minimally invasive surgery apparatus with chain joints, realize that the joint is comprised of chain joints, there are teeth at the two ends of the carrier bar of chain joints, the intermeshing technical scheme of the teeth of the carrier bar that same column is adjacent, reach that chain joints can be done on a large scale to both sides, the bending of deep camber, registration, the technique effect that all has enough rigidity at any bending position.Be applicable in various micro-wound surgical operations, to stir, histoorgan or the implant of separation, clamp, shearing, puncture, needlework stitching, nail clip or snare human body, anatomical isolation tissue, electric coagulation hemostasis or electric knife cut and organize, and can also use as drag hook behind the crooked location.Thereby the operating theater instruments of using in the minimizing minimally invasive surgery and the quantity of perforator, but more accurate working range was larger when tool heads was located, and was convenient to operation technique, save operating time.
At present, known minimally invasive surgery apparatus, its ingredient comprises: tool heads, joint, extension, device body and operating mechanism.Operating mechanism is positioned at device and is in, and the control joint is swung sideward moving to two lateral bends thereby drive tool heads.Tool heads, joint, extension, device body successively order link to each other.Extension can be rigid pipe, also can be flexible pipe.Tool heads can be hook-shaped, shovel shape head, horn shape head, curved separation shape head, needle-like head, intestinal clamp, right angle forceps, nail anvil holding forceps, lung grasping forceps, nipper, curved elastic separating plier, bending hoe scaler, spherical hemostatic cutter, detaching hook, sharp property hook, curved scissors, large curved scissors, blunt dissector, hold syringe needle, nail clip clamp head, snare, high frequency electric knife or other various tool heads that can be used for minimally invasive surgery.
Task of the present invention is achieved through the following technical solutions:
A kind of joint of the minimally invasive surgery apparatus with chain joints is chain joints.Chain joints is comprised of carrier bar and bearing pin.Carrier bar is by staggered two row of the pivotally connected one-tenth of bearing pin.The near-end of the carrier bar of the most proximal end of chain joints and extension pivotally connected and by operating mechanism drive, far-end has teeth.Far-end and the tool heads of the carrier bar of the distal-most end of chain joints is pivotally connected, near-end has teeth.The far-end of extension has teeth.The teeth of the teeth of the near-end of the carrier bar of the inferior most proximal end of chain joints and the far-end of extension are intermeshing.The near-end of tool heads has teeth.The teeth of the teeth of the far-end of the carrier bar of the inferior distal-most end of chain joints and the near-end of tool heads are intermeshing.There are teeth at the two ends of other carrier bars of chain joints.The teeth of the carrier bar that same column is adjacent are intermeshing.Teeth on the carrier bar can be for being fixed on the gear teeth of the gear on the carrier bar, also can be for being fixed on shift fork, the thread on the carrier bar or having other various teeth of similar functions.The gear of the gear teeth on each carrier bar can have identical pitch diameter, also can have different pitch diameters.The number of teeth of the gear of the gear teeth on each carrier bar can identical, can be not identical yet.Chain joints drives tool heads to two lateral bends, registration, all has enough rigidity at any bending position
On the two ends of the carrier bar of the minimally invasive surgery apparatus with chain joints of the present invention pin-and-hole can be arranged.Bearing pin inserts respectively the pin-and-hole of each carrier bar, makes carrier bar by staggered two row of the pivotally connected one-tenth of bearing pin.
Also can there be pin-and-hole, the other end to be fixed with bearing pin by an end on the carrier bar.Fixing bearing pin inserts the pin-and-hole of another carrier bar on each carrier bar, makes carrier bar by staggered two row of the pivotally connected one-tenth of bearing pin.
Can also on the two ends of a part of carrier bar pin-and-hole be arranged, be fixed with bearing pin on the two ends of another part carrier bar.Each inserts each with the pin-and-hole on the carrier bar of pin-and-hole with the bearing pin on the carrier bar of bearing pin, makes carrier bar by staggered two row of the pivotally connected one-tenth of bearing pin.
The periphery of the chain joints of the minimally invasive surgery apparatus with chain joints of the present invention can be overlapped sleeve pipe is arranged.Sleeve pipe both can prevent that the carrier bar of chain joints and bearing pin broke away from mutually, can prevent that also tissue around the chain joints from being sandwiched in the teeth of intermeshing carrier bar in the chain joints or in the space between the carrier bar.Sleeve pipe both can be corrugated tube, also can be flexible pipe.
The operating mechanism of the minimally invasive surgery apparatus with chain joints of the present invention can have the joint cable.Cable can be single cable silk, also can be the synthetic hawsers of many cable skein silks.The far-end of joint cable is connected with the near-end of the carrier bar of the most proximal end of chain joints.Operating mechanism pulling joint cable, the near-end of the carrier bar of the most proximal end of joint cable pulling chain joints, the carrier bar that drives the most proximal end of chain joints rotates, and it is moving that tool heads is swung sideward.
Operating mechanism also can have at the far-end of extension the gear teeth of tooth bar or the gear teeth of gear.The cogged gear teeth of the near-end of the carrier bar of the most proximal end of chain joints.Operating mechanism is intermeshing at the gear teeth of the gear of the near-end of the carrier bar of the most proximal end of the gear teeth of the gear teeth of the tooth bar of the far-end of extension or gear and chain joints.The gear teeth of operating mechanism by tooth bar or the gear teeth of the gear of the near-end of the carrier bar of the most proximal end in the gear teeth chain drive-belt joint of gear, the carrier bar that drives the most proximal end of chain joints rotates, and it is moving that tool heads is swung sideward.
Above-mentioned chain joints bending mechanism is specially adapted to stir in various micro-wound surgical operations, histoorgan or the implant of separation, clamp, shearing, puncture, needlework stitching, nail clip or snare human body, can also use as drag hook behind the crooked location, thereby the operating theater instruments of using in the minimizing minimally invasive surgery and the quantity of perforator are convenient to operation technique, are saved operating time; Also be specially adapted in Wicresoft's hernia surgical operation, appear or peel off histoorgan formation field of operation, the hernia patching material is stirred be laid on hernia repairing position; Also be specially adapted in pyramid plastic operation, balloon expandable formed olivary cavity stir and be trimmed to flat cavity in vertebral body, prevent the side effect that the vertebral body of health contiguous behind the pyramid plastic operation is broken by the bone cement extruding; Be specially adapted to again in electrosurgery the various operations carrying out anatomical isolation tissue, electric coagulation hemostasis or cut and organize.
Passage from the proximal extension to the far-end can be arranged on the chain joints of the minimally invasive surgery apparatus with chain joints of the present invention.Operating mechanism is delivered to tool heads by the passage of chain joints with operation.Groove from the proximal extension of chain joints to far-end can be arranged on the carrier bar, and the groove on the carrier bar forms the passage from the proximal extension to the far-end on the chain joints.
Operating mechanism can have the driving cable.Drive cable and be connected to tool heads by the passage from the proximal extension to the far-end on extension and the chain joints.The operating mechanism pulling drives cable, makes driving cable pulling tool heads carry out various operation techniques.Above-mentioned cable driving mechanism is specially adapted in various micro-wound surgical operations to carry out and stirs, separation, clamp, shearing, puncture, needlework stitching, nail clip or the histoorgan of snare human body or the various operations of implant.Also be specially adapted in Wicresoft's hernia surgical operation, appear or peel off histoorgan formation field of operation, the hernia patching material is stirred be laid on hernia repairing position; Also be applicable in pyramid plastic operation, balloon expandable formed olivary cavity stir and be trimmed to flat cavity in vertebral body, prevent the side effect that the vertebral body of health contiguous behind the pyramid plastic operation is broken by the bone cement extruding.
Also can be under the control of operating mechanism, with the high frequency electric of electric knife main frame by the wire transmission in the passage from the proximal extension to the far-end on extension and the chain joints to tool heads, make tool heads in electrosurgery, carry out the various operations that anatomical isolation tissue, electric coagulation hemostasis or electric knife cut and organize.
Description of drawings
Fig. 1 is the stereoscopic figure of the chain joints with the minimally invasive surgery apparatus of chain joints of the expression embodiment of the invention when not rotating;
Fig. 2 is that stereoscopic figure was amplified in the part of chain joints and tool heads when chain joints rotated after the sleeve pipe on the chain joints of the first embodiment of presentation graphs 1 was removed;
Fig. 3 is that stereoscopic figure is amplified in the part at the back side of the chain joints of presentation graphs 2 and adnexa thereof;
Fig. 4 is that the chain joints of presentation graphs 2 amplifies stereoscopic figure in the part of chain joints and adnexa thereof when rotating counterclockwise;
Fig. 5 is that stereoscopic figure is amplified in the part at the back side of the chain joints of presentation graphs 4 and adnexa thereof;
Fig. 6 is that the chain joints of presentation graphs 2 amplifies stereoscopic figure in the part of chain joints and adnexa thereof when clockwise rotating;
Fig. 7 is the amplification stereoscopic figure that the far-end of the joint cable of presentation graphs 2 is connected with the near-end of the carrier bar of the most proximal end of chain joints;
Fig. 8 is the amplification stereoscopic figure of the carrier bar of band list pin-and-hole in the chain joints of presentation graphs 2 and single bearing pin;
Fig. 9 is the amplification stereoscopic figure of the sleeve pipe of presentation graphs 1;
Figure 10 is that stereoscopic figure is amplified in the part of the chain joints of the second embodiment of presentation graphs 1 chain joints when not rotating;
Figure 11 is that stereoscopic figure is amplified in the part at the back side of the expression chain joints of Figure 10 and adnexa thereof;
Figure 12 is that the chain joints of expression Figure 10 amplifies stereoscopic figure in the part of chain joints and adnexa thereof when rotating counterclockwise;
Figure 13 is that stereoscopic figure is amplified in the part at the back side of the expression chain joints of Figure 12 and adnexa thereof;
Figure 14 is the amplification stereoscopic figure with the carrier bar in double-pin hole of expression in the chain joints;
Figure 15 is the amplification stereoscopic figure of the bearing pin in the expression chain joints;
Figure 16 is the amplification stereoscopic figure with the carrier bar of double pin axle of expression in the chain joints.
Specific implementation method
The below uses way of example, states by reference to the accompanying drawings the most preferred embodiment of the minimally invasive surgery apparatus with chain joints of the present invention.Scope of the present invention will be pointed out in the claims.Will be appreciated that some or all accompanying drawing all is for the explanation sketch of most preferred embodiment of the present invention is described, and the full-size(d) of part shown in not depicting.With reference to being described in detail of most preferred embodiment, understand with will be more readily apparent from reach the present invention above-mentioned with practical ways other objects and advantages.
For figure and the explanation thereof of outstanding chain joints and tool heads, except the chain type joint and tool heads and correlated parts thereof, in the accompanying drawings other parts are not described in detail.
In the the accompanying drawings and the following description, term " near-end " refers to the minimally invasive surgery apparatus of the chain joints end near the operator, and term " far-end " refers to the minimally invasive surgery apparatus of the chain joints end away from the operator." end " both can be end face, also can be the end.Other directional terminology can be understood with following description with reference to the accompanying drawings.
Below in conjunction with Fig. 1 to Figure 16 each parts with the minimally invasive surgery apparatus of chain joints of the embodiment of the invention are described, the specific embodiments of each parts is described.
As shown in Figure 1, the ingredient with the minimally invasive surgery apparatus 1 of chain joints comprises: tool heads 2, chain joints 3, extension 4, device body 5 and operating mechanism 6.Operating mechanism 6 is positioned at device body 5 places, and control chain joints 3 is swung sideward moving, swings sideward moving thereby drive tool heads 2.Tool heads 2, chain joints 3, extension 4, device body 5 successively order link to each other.
To shown in Figure 8, an end that forms the carrier bar 7 of chain joints 3 is fixed with bearing pin 8, the other end has pin-and-hole 9 such as Fig. 2.Fixing bearing pin 8 inserts the pin-and-hole 9 of another carrier bars on each carrier bar, makes carrier bar 7 become staggered two row 10 and 11 by bearing pin 8 and pin-and-hole 9 are pivotally connected.
The left and right side joint cable 28 of the cogged gear teeth 14 of the far-end of the carrier bar 12 of chain joints 3 most proximal end, near-end and operating mechanism 6 links to each other with 29.Near-end and the extension 4 of the carrier bar 12 of chain joints 3 most proximal end are pivotally connected.Carrier bar 16 near-ends of 3 most proximal end of chain joints have the cogged gear teeth 18 of the gear teeth 17, far-end with the gear teeth 15 pitch wheels of the gear of extension 4 far-ends.Carrier bar 19 near-ends have the cogged gear teeth 21 of the gear teeth 20, far-end with the gear teeth 14 intermeshing gears of the gear of carrier bar 12 far-ends.Carrier bar 22 near-ends of 3 distal-most end of chain joints have the gear teeth 23, the far-end with the gear teeth 18 intermeshing gears of the gear of carrier bar 16 far-ends that the gear teeth 25 with the gear teeth 24 pitch wheels of the gear of the near-end of tool heads 2 are arranged.The cogged gear teeth 27 of carrier bar 26 near-ends, far-end and the tool heads 2 of chain joints 3 distal-most end are pivotally connected.
When operating mechanism 6 spurs joint, left side cable 28, the near-end of the carrier bar 12 of joint, left side cable 28 pulling chain joints 3 most proximal end, the carrier bar 12 that drives chain joints 3 most proximal end rotates around bearing pin 30 counterclockwise, the counterclockwise corner of the generation first order.The carrier bar 16 of inferior most proximal end is under the drive of the bearing pin 31 of carrier bar 12 and under the dual function of the engaged transmission of the gear teeth 17 of the gear of the gear teeth 15 of the gear of extension 4 far-ends and carrier bar 16, the corner stack of carrier bar 12 is transmitted into the counterclockwise corner of carrier bar 16, make first order corner be superimposed as second level corner, second level corner is two times of first order corner.Carrier bar 19 is under the drive of the bearing pin 32 of carrier bar 16 and under the dual function of the engaged transmission of the gear teeth 20 of the gear of the gear teeth 14 of the gear of carrier bar 12 and carrier bar 19, again the corner stack of carrier bar 16 is transmitted into the counterclockwise corner of carrier bar 19, make second level corner be superimposed as third level corner, third level corner is three times of first order corner.The carrier bar 22 of inferior distal-most end is under the drive of the bearing pin 33 of carrier bar 19 and under the dual function of the engaged transmission of the gear teeth 23 of the gear of the carrier bar 22 of the gear teeth 18 of the gear of carrier bar 16 and time distal-most end, again the corner stack of carrier bar 19 is transmitted into the counterclockwise corner of the carrier bar 22 of time distal-most end, make third level corner be superimposed as fourth stage corner, fourth stage corner is four times of first order corner.Carrier bar 26 is under the drive of the bearing pin 34 of the carrier bar 22 of inferior distal-most end and under the dual function of the engaged transmission of the gear teeth 27 of the gear of the gear teeth 21 of the gear of carrier bar 19 and carrier bar 26, again the corner stack of carrier bar 22 is transmitted into the counterclockwise corner of carrier bar 26, make fourth stage corner be superimposed as the level V corner, the level V corner is five times of first order corner.Tool heads 2 is under the drive of the bearing pin 35 of carrier bar 26 and under the dual function of the engaged transmission of the gear teeth 24 of the gear of the gear teeth 25 of the gear of the carrier bar 22 of time distal-most end and tool heads 2, further the corner stack of carrier bar 26 is transmitted into the counterclockwise corner of tool heads 2, make the level V corner be superimposed as the 6th grade of corner, the 6th grade of corner is six times of first order corner.Like this, when 3 action of operating mechanism 6 control chain joints, operating mechanism 6 is in the transmission of extension 4 far-ends, be translated into the corner of the carrier bar 12 of chain joints 3 most proximal end, the intermeshing transmission of teeth by the adjacent carrier bar of same column, be delivered to tool heads 2 through 6 grades of stacks, tool heads 2 can obtain to be equivalent to 6 times corner of the corner of carrier bar 12.The carrier bar number of chain joints 3 is more, and then to be delivered to the multiple of corner of tool heads 2 more in stack; The carrier bar number of chain joints 3 is fewer, and then to be delivered to the multiple of corner of tool heads 2 fewer in stack.Chain joints can be done on a large scale to both sides, the bending of deep camber thereby reach, registration, the technique effect that all has enough rigidity at any bending position.More than be that the corner stack of the carrier bar 12 of chain joints 3 is delivered to the multiple of the corner of tool heads 2 under the identical condition of the number of teeth of the gear of the gear teeth on each carrier bar.And under the not identical condition of the number of teeth of the gear of the gear teeth on each carrier bar, the corner that the stack of the corner of the carrier bar 12 of chain joints 3 is delivered to tool heads 2 then has different multiples.
When operating mechanism 6 spurred joint, right side cable 29, the carrier bar 12 that drives chain joints 3 most proximal end clockwise rotated, and tool heads 2 swings to opposite side.With operating mechanism the transmission of the extension 4 far-ends corner by chain joints 3 most proximal end carrier bars 12 the similar of the process that is delivered to tool heads 2 and above-mentioned middle introduction that superpose step by step.
It is that the puncturing hole of 3.5mm to 5mm enters human body and carries out micro-wound surgical operation that said structure is specially adapted to minimally invasive surgery apparatus 1 'go'gage with chain joints.For example, under the control of operating mechanism 6, the high frequency electric of electric knife main frame is transferred to tool heads 2 by the wire 38 in the passage from the proximal extension to the far-end on extension 4 and the chain joints 3 37, then is applicable to the various operations of in electrosurgery, carrying out anatomical isolation tissue, electric coagulation hemostasis or cutting and organizing.Again for example, under the control of operating mechanism 6, to drive cable 38 by passage 37 driven tool from the proximal extension to the far-end on extension 4 and the chain joints 32, then be applicable at chamber mirror surgical operation, stir in the micro-wound surgical operations such as endoscopic surgery operation and hysteroscope surgical operation, separate, clamp, shear, puncture, needlework are sewed up, the histoorgan of nail clip or snare human body or implant, or in Wicresoft's hernia surgical operation, appear or peel off that histoorgan forms field of operation and the hernia patching material stirred and be laid on hernia and repair the position, or in pyramid plastic operation, balloon expandable formed olivary cavity stir and be trimmed to flat cavity in vertebral body.
Such as Fig. 1 and shown in Figure 9, the periphery cover of chain joints 3 has corrugated tube 39.Corrugated tube 39 both can prevent that the carrier bar 7 of chain joints 3 and bearing pin 8 broke away from mutually, can prevent that again tissue around the chain joints 3 from falling into or being sandwiched in the space between the interior or carrier bar 7 of the gear teeth of gear of chain joints 3 intermeshing carrier bars 7.
To shown in Figure 13, the operating mechanism of the second embodiment has tooth bar 41 such as Figure 10.The gear teeth of tooth bar 41 are intermeshing at the gear teeth of far-end and gear 42.The gear teeth 45 of the gear of carrier bar 44 near-ends of the gear teeth of gear 42 and chain joints 43 most proximal end are intermeshing.Operating mechanism is by the gear teeth 45 of the gear of carrier bar 44 near-ends of gear teeth chain drive-belt joint 43 most proximal end of the gear teeth driven gear 42 of tooth bar 41, and the carrier bar 44 that drives chain joints 43 most proximal end rotates.
When operating mechanism control tool head joint action, by the intermeshing transmission of teeth of the adjacent carrier bar of same column, with operating mechanism in the transmission of the extension far-end corner by the carrier bar 44 of chain joints 43 most proximal end superposes the process that is delivered to tool heads and Fig. 2 to Fig. 8 step by step, introduce similar.
In aforesaid operations mechanism, also can by the gear teeth of the tooth bar 41 of operating mechanism directly and the gear teeth 45 of the gear of carrier bar 44 near-ends of chain joints 43 most proximal end intermeshing, the gear teeth 45 of the gear of carrier bar 44 near-ends of chain drive-belt joint 43 most proximal end rotate with the carrier bar 44 that drives chain joints 43 most proximal end.
Operating mechanism has the cable 49 of driving.Drive cable 49 and be connected to tool heads by the passage from the proximal extension to the far-end 48 on the chain joints 43.The operating mechanism pulling drives cable 49, makes to drive cable 49 pulling tool heads.It is that the puncturing hole of 5mm to 10mm enters human body that said structure is specially adapted to minimally invasive surgery apparatus 1 'go'gage with chain joints, in the various micro-wound surgical operations such as chamber mirror surgical operation, endoscopic surgery operation, hysteroscope surgical operation, Wicresoft's hernia surgical operation or pyramid plastic operation, carry out various surgical procedures.
Such as Figure 14 and shown in Figure 15, there is pin-and-hole 51 at carrier bar 50 two ends of another kind of embodiment.Bearing pin 52 is inserted respectively in the pin-and-hole 51 of each carrier bar 50, make staggered two row of carrier bar 50 pivotally connected one-tenth.Different from above-mentioned carrier bar 7 or carrier bar 46 is, groove 36 or the groove 47 from the proximal extension of chain joints 3 to far-end not on the carrier bar 50.
As shown in figure 16, carrier bar 53 two ends of another embodiment are fixed with bearing pin 54.Bearing pin 54 fixing on the carrier bar 53 inserts respectively in the pin-and-hole 51 of carrier bar 50, makes that carrier bar 53 and carrier bar 50 are pivotally connected to become staggered two row.
According to above-mentioned detailed introduction as can be known, the minimally invasive surgery apparatus with chain joints of the present invention has following technique effect:
Often need in various micro-wound surgical operations to use that the various tool head is stirred, histoorgan or the implant of separation, clamp, cutting, shearing, puncture, needlework stitching, nail clip or snare human body.Tool heads can be hook-shaped, shovel shape head, horn shape head, curved separation shape head, needle-like head, intestinal clamp, right angle forceps, nail anvil holding forceps, lung grasping forceps, nipper, curved elastic separating plier, bending hoe scaler, spherical hemostatic cutter, detaching hook, sharp property hook, curved scissors, large curved scissors, blunt dissector, hold syringe needle, nail clip clamp head, snare, high frequency electric knife or other various tool heads that can be used for minimally invasive surgery.
For example, in the micro-wound surgical operations such as chamber mirror surgical operation, endoscopic surgery operation and hysteroscope surgical operation, form field of operation in order to appear or to peel off histoorgan, or implant is placed on implant site, need to leave specially 2 to 3 perforators according to operative site, so as to stir, histoorgan or the implant of separation, clamp, shearing, puncture, needlework stitching, nail clip or snare human body.The bore of the perforator in micro-wound surgical operation is 5mm to 10mm, and like this, but it is very little to enter the working range of separator, pincers or drag hook of perforator, often need to insert respectively separator, pincers or drag hook co-operate in two perforators.After forming field of operation, need to use multiple apparatus to carry out the operation technique of the histoorgan of cutting, puncture, hemostasis, needlework stitching, nail clip or snare human body.
Again for example, in the operating patching before the abdomen peritoneum of Wicresoft's hernia (TAPP) or intraperitoneal lapping patching (IPOM), need 2 perforators that bore is 5mm, appear or peel off histoorgan with pure property separator and form field of operation, the hernia patching material is stirred be laid on hernia and repair the position.Outside the operating complete peritoneum of Wicresoft's hernia in the patching (TEP), 'go'gage is the perforator of 5mm, adopt sacculus to carry out the separation of most preperitoneal space, then finish whole gaps by the perforator insertion elastic separating plier of 2 5mm and separate the formation field of operation, the hernia patching material is stirred be laid on hernia repairing position.Because in Wicresoft's hernia surgical operation, separator or elastic separating plier need to insert very dark, so that but it is very little to enter the working range of the separator of perforator or elastic separating plier, therefore, the hernia patching material stirred being laid on hernia and repairing the position and need 2 perforators that bore is 5mm, is difficult, the most time-consuming operation in Wicresoft's hernia surgical operation.
Again for example, in the percutaneous pyramid plastic operation, normal is the puncture needle of 3.5mm to 4mm by bore, the vertebral body of adopting balloon expandable to be crushed.Because the cavity that balloon expandable forms in vertebral body is olive shape, be filled with wherein bone cement and be subjected to stopping of bone trabecula around the olive shape cavity and spongy bone, be difficult to penetrate into olive shape cavity zone on every side, so that the bone cement that is filled with therein also is olive shape after solidifying.Therefore, behind the percutaneous pyramid plastic operation, the vertebral body of contiguous health is broken under the extruding of hard olive shape bone cement easily, needs again vertebral body operation.If strengthen the pressure be filled with bone cement, then bone cement can be extruded from the crack that the vertebral body that is crushed produces after by balloon expandable, forms the bone cement thorn near the human body the vertebral body crack, the histoorgan around the injury.
Again for example, coagulation hook anatomical isolation tissue commonly used in electrosurgery, but both electric coagulation hemostasis, also can cut and organize, or adopt the coagulation shovel to separate open texture and burn the oozing of blood of surgical wound surface, or adopt the excellent electric coagulation hemostasis of coagulation.These high frequency electric knives are divided into one pole high frequency electric knife and bipolar high frequency electric knife, and 'go'gage is the perforator of 5mm, enters field of operation.Therefore, but it is very little to enter the working range of high frequency electric knife of perforator, may need to carry out electrosurgeries by a plurality of perforators.
Existing minimally invasive surgery apparatus, in the joint, two cables or two sheet metals are sealed in the hole of concavo-convex articular sclerite both sides, make concavo-convex articular sclerite be composed in series the joint, by tractive cable or push-and-pull sheet metal control joint to two lateral bends, thereby drive various have stir, the tool heads of separation, clamp, cutting, shearing, puncture or high frequency electric knife function swings sideward moving.The unsatisfactory place of the minimally invasive surgery apparatus of these two kinds of styles is, although cable or sheet metal can be with movable joint to two lateral bends, but the joint is behind two lateral bends, the joint that is composed in series by concavo-convex articular sclerite is difficult to all have enough rigidity at any bending position, thereby causes the tool heads of minimally invasive surgery apparatus to be shifted easily, positioning accuracy is relatively poor.Therefore, the articulation structure of minimally invasive surgery apparatus also need improve.
The technical scheme of the minimally invasive surgery apparatus 1 with chain joints of the present invention is: operating mechanism 6 drives the near-end of the carrier bar 12 of chain joints 3 most proximal end, and the carrier bar 12 of chain joints 3 most proximal end is rotated around bearing pin 30, produces first order corner.The carrier bar 16 of inferior most proximal end is under the drive of the bearing pin 31 of carrier bar 12 and under the dual function of the engaged transmission of the gear teeth 17 of the gear of the gear teeth 15 of the gear of extension 4 far-ends and carrier bar 16, the corner stack of carrier bar 12 is transmitted into the corner of carrier bar 16, make first order corner be superimposed as second level corner, second level corner is two times of first order corner.Carrier bar 19 is under the drive of the bearing pin 32 of carrier bar 16 and under the dual function of the engaged transmission of the gear teeth 20 of the gear of the gear teeth 14 of the gear of carrier bar 12 and carrier bar 19, again the corner stack of carrier bar 16 is transmitted into the corner of carrier bar 19, make second level corner be superimposed as third level corner, third level corner is three times of first order corner.The carrier bar 22 of inferior distal-most end is under the drive of the bearing pin 33 of carrier bar 19 and under the dual function of the engaged transmission of the gear teeth 23 of the gear of the carrier bar 22 of the gear teeth 18 of the gear of carrier bar 16 and time distal-most end, again the corner stack of carrier bar 19 is transmitted into the corner of the carrier bar 22 of time distal-most end, make third level corner be superimposed as fourth stage corner, fourth stage corner is four times of first order corner.Carrier bar 26 is under the drive of the bearing pin 34 of the carrier bar 22 of inferior distal-most end and under the dual function of the engaged transmission of the gear teeth 27 of the gear of the gear teeth 21 of the gear of carrier bar 19 and carrier bar 26, again the corner stack of the carrier bar 22 of inferior distal-most end is transmitted into the corner of carrier bar 26, make fourth stage corner be superimposed as the level V corner, the level V corner is five times of first order corner.Tool heads 2 is under the drive of the bearing pin 35 of carrier bar 26 and under the dual function of the engaged transmission of the gear teeth 24 of the gear of the gear teeth 25 of the gear of the carrier bar 22 of time distal-most end and tool heads 2, further the corner stack of carrier bar 26 is transmitted into the corner of tool heads 2, make the level V corner be superimposed as the 6th grade of corner, the 6th grade of corner is six times of first order corner.Like this, when 3 action of operating mechanism 6 control chain joints, operating mechanism 6 is in the transmission of extension 4 far-ends, be translated into the corner of the carrier bar 12 of chain joints 3 most proximal end, the intermeshing transmission of teeth by the adjacent carrier bar of same column, be delivered to tool heads 2 through 6 grades of stacks, tool heads 2 can obtain to be equivalent to 6 times corner of the corner of carrier bar 12.The carrier bar number of chain joints 3 is more, and then to be delivered to the multiple of corner of tool heads 2 more in stack; The carrier bar number of chain joints 3 is fewer, and then to be delivered to the multiple of corner of tool heads 2 fewer in stack.Chain joints can be done on a large scale to both sides, the bending of deep camber thereby reach, registration, the technique effect that all has enough rigidity at any bending position.More than be that the corner stack of the carrier bar 12 of chain joints 3 is delivered to the multiple of the corner of tool heads 2 under the identical condition of the number of teeth of the gear of the gear teeth on each carrier bar.To under the not identical condition of the number of teeth of the gear of the gear teeth on each carrier bar, the corner that the corner stack of the carrier bar 12 of chain joints 3 is delivered to tool heads 2 then has different multiples.
Another technical scheme of minimally invasive surgery apparatus 1 with chain joints of the present invention is: the groove from the proximal extension of chain joints to far-end can be arranged on the carrier bar, and the groove on the carrier bar forms the passage from the proximal extension to the far-end on the chain joints.Operating mechanism is delivered to tool heads by the passage of chain joints with operation.
Operating mechanism can have the driving cable.Drive cable and be connected to tool heads by the passage from the proximal extension to the far-end on extension and the chain joints.The operating mechanism pulling drives cable, makes driving cable pulling tool heads carry out various operation techniques.Above-mentioned cable driving mechanism is specially adapted to carry out in the various micro-wound surgical operations such as the operation of chamber mirror surgical operation, endoscopic surgery and hysteroscope surgical operation and stirs, separates, clamp, shearing, puncture, needlework stitching, nail clip or the histoorgan of snare human body or the various operations of implant, thereby the operating theater instruments of using in the minimizing minimally invasive surgery and the quantity of perforator are convenient to operation technique, are saved operating time; More be specially adapted in Wicresoft's hernia surgical operation, appear or peel off histoorgan formation field of operation, the hernia patching material is stirred be laid on hernia repairing position; Also more be specially adapted in pyramid plastic operation, balloon expandable formed olivary cavity stir and be trimmed to flat cavity in vertebral body, prevent the side effect that the vertebral body of health contiguous behind the pyramid plastic operation is broken by the bone cement extruding.
Also can be under the control of operating mechanism, with the high frequency electric of electric knife main frame by the wire transmission in the passage from the proximal extension to the far-end on extension and the chain joints to tool heads, the various operations that make tool heads in electrosurgery, carry out anatomical isolation tissue, electric coagulation hemostasis or cut and organize.
Compare with existing various minimally invasive surgery apparatuses, minimally invasive surgery apparatus with chain joints of the present invention realizes that the joint is comprised of chain joints, there are teeth at the two ends of the carrier bar of chain joints, the intermeshing technical scheme of the teeth of the carrier bar that same column is adjacent, reach that chain joints can be done on a large scale to both sides, the bending of deep camber, registration, the technique effect that all has enough rigidity at any bending position.Both be applicable in the various micro-wound surgical operations such as the operation of chamber mirror surgical operation, endoscopic surgery and hysteroscope surgical operation, to stir, separated, histoorgan or the implant of clamp, shearing, puncture, needlework stitching, nail clip or snare human body, can also use as drag hook behind the crooked location, thereby the operating theater instruments of using in the minimizing minimally invasive surgery and the quantity of perforator are convenient to operation technique, are saved operating time; Be applicable to again in Wicresoft's hernia surgical operation, appear or peel off histoorgan formation field of operation, the hernia patching material is stirred be laid on hernia repairing position; Also be applicable in pyramid plastic operation, balloon expandable formed olivary cavity stir and be trimmed to flat cavity in vertebral body, prevent the side effect that the vertebral body of health contiguous behind the pyramid plastic operation is broken by the bone cement extruding; Be applicable to also that anatomical isolation tissue, electric coagulation hemostasis or electric knife cut and organize in electrosurgery.
So can find out that the above-mentioned target of stating comprises by front those shown targets of explanation being effectively achieved.Described here only is the typical best form of implementation of the present patent application, can do some to said structure and change also without prejudice to the spirit and scope of the present invention.The present invention is not limited to the detail of stating here, is apparent any improvement or remodeling and should keep affiliated field secondary technology personnel.
Claims (7)
1. minimally invasive surgery apparatus with chain joints, its ingredient comprises: tool heads, chain joints, extension, device body and operating mechanism;
Described operating mechanism is positioned at described device and is in, and operating mechanism is controlled described chain joints to two lateral bends, swings sideward moving thereby drive described tool heads;
Tool heads, chain joints, extension, device body successively order link to each other;
Chain joints is comprised of carrier bar and bearing pin, described carrier bar is by staggered two row of the pivotally connected one-tenth of described bearing pin, the near-end of the carrier bar of the most proximal end of chain joints and extension are pivotally connected and driven by operating mechanism, the cogged gear teeth of far-end, far-end and the tool heads of the carrier bar of the distal-most end of chain joints are pivotally connected, the cogged gear teeth of near-end, the cogged gear teeth of the far-end of extension, the gear teeth of the gear of the gear teeth of the gear of the near-end of the carrier bar of the inferior most proximal end of chain joints and the far-end of described extension are intermeshing, the cogged gear teeth of the near-end of tool heads, the gear teeth of the gear of the gear teeth of the gear of the far-end of the carrier bar of the inferior distal-most end of chain joints and the near-end of described tool heads are intermeshing, the cogged gear teeth in the two ends of other carrier bars of chain joints, the gear teeth of the gear of the carrier bar that same column is adjacent are intermeshing.
2. the minimally invasive surgery apparatus with chain joints according to claim 1 is characterized in that described operating mechanism has the joint cable, and the far-end of described joint cable is connected with the near-end of the carrier bar of the most proximal end of described chain joints; Operating mechanism pulling joint cable, the near-end of the carrier bar of the most proximal end of joint cable pulling chain joints, the carrier bar that drives the most proximal end of chain joints rotates, and it is moving that described tool heads is swung sideward.
3. the minimally invasive surgery apparatus with chain joints according to claim 1, it is characterized in that, described operating mechanism is at the cogged gear teeth of the far-end of described extension, the cogged gear teeth of the near-end of the carrier bar of the most proximal end of described chain joints, described operating mechanism is intermeshing at the gear teeth of the gear of the near-end of the carrier bar of the most proximal end of the gear teeth of the gear of the far-end of extension and chain joints; The gear teeth of operating mechanism by described gear drive the gear teeth of gear of near-end of carrier bar of the most proximal end of described chain joints, and the carrier bar that drives the most proximal end of chain joints rotates, and it is moving that described tool heads is swung sideward.
4. the minimally invasive surgery apparatus with chain joints according to claim 1 is characterized in that, the passage from the proximal extension to the far-end is arranged on the described chain joints, and described operating mechanism is delivered to described tool heads by the passage of described chain joints with operation.
5. the minimally invasive surgery apparatus with chain joints according to claim 4 is characterized in that, the groove from the proximal extension of described chain joints to far-end is arranged on the described carrier bar, and the groove on the described carrier bar forms the passage of chain joints from the proximal extension to the far-end.
6. the minimally invasive surgery apparatus with chain joints according to claim 4 is characterized in that described operating mechanism has the driving cable, and described driving cable is connected to described tool heads by the passage from the proximal extension to the far-end on described extension and the chain joints; The operating mechanism pulling drives cable, makes driving cable pulling tool heads carry out various operation techniques.
7. the minimally invasive surgery apparatus with chain joints according to claim 4, it is characterized in that, under the control of described operating mechanism, with the high frequency electric of electric knife main frame by the wire transmission in the passage from the proximal extension to the far-end on described extension and the chain joints to described tool heads.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010299407 CN102440820B (en) | 2010-09-30 | 2010-09-30 | Minimally invasive surgical apparatus provided with chain joints |
| PCT/CN2010/079761 WO2012040981A1 (en) | 2010-09-30 | 2010-12-14 | Micro-invasive surgical instrument with articulated linkage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010299407 CN102440820B (en) | 2010-09-30 | 2010-09-30 | Minimally invasive surgical apparatus provided with chain joints |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102440820A CN102440820A (en) | 2012-05-09 |
| CN102440820B true CN102440820B (en) | 2013-04-10 |
Family
ID=45891842
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010299407 Withdrawn - After Issue CN102440820B (en) | 2010-09-30 | 2010-09-30 | Minimally invasive surgical apparatus provided with chain joints |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN102440820B (en) |
| WO (1) | WO2012040981A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US12022998B2 (en) | 2021-11-16 | 2024-07-02 | Lumendi Ltd. | Methods and apparatus for inverting a hollow sleeve and thereafter reverting an inverted hollow sleeve |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11986150B2 (en) | 2009-12-15 | 2024-05-21 | Lumendi Ltd. | Method and apparatus for manipulating the side wall of a body lumen or body cavity so as to provide increased visualization of the same and/or increased access to the same, and/or for stabilizing instruments relative to the same |
| WO2014016337A1 (en) * | 2012-07-24 | 2014-01-30 | Richard Wolf Gmbh | Shaft for medical instruments, comprising movable sections |
| US8517240B1 (en) * | 2013-01-03 | 2013-08-27 | Just Right Surgical, Llc | Medical device and method of use |
| US9750497B2 (en) | 2013-01-03 | 2017-09-05 | Just Right Surgical, Llc | Device for use in laparoscopic surgery and method of use |
| CA3106405A1 (en) * | 2018-07-16 | 2020-01-23 | Lumendi Ltd. | Method and apparatus for manipulating the side wall of a body lumen or body cavity so as to provide increased visualization of the same and/or increased access to the same and/or for stabilizing instruments relative to the same |
| CN109620397A (en) * | 2019-01-31 | 2019-04-16 | 郑州大学第附属医院 | Fine biliary tract cuts device under a kind of laparoscope |
| CN110710996A (en) * | 2019-10-18 | 2020-01-21 | 淄博科智星机器人有限公司 | Surgical instrument |
| CN111467048B (en) * | 2020-04-08 | 2023-09-01 | 重庆医科大学附属第二医院 | Whole-course visual 3D hysteroscope operation device |
| US11653921B2 (en) | 2020-05-04 | 2023-05-23 | Bolder Surgical, Llc | Anti-buckling actuation members for a surgical instrument |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5810716A (en) * | 1996-11-15 | 1998-09-22 | The United States Of America As Represented By The Secretary Of The Navy | Articulated manipulator for minimally invasive surgery (AMMIS) |
| CN101106945A (en) * | 2004-11-23 | 2008-01-16 | 诺瓦尔外科系统公司 | Articulating mechanisms and link systems with torque transmission in remote manipulation of instruments and tools |
| CN101313864A (en) * | 2007-05-30 | 2008-12-03 | 伊西康内外科公司 | Surgical stapling and cutting instrument with articulatable end effector |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5458603A (en) * | 1993-05-12 | 1995-10-17 | Futch, Sr.; William A. | Elongated drive tool for prosthesis in body cavity |
| US6309403B1 (en) * | 1998-06-01 | 2001-10-30 | Board Of Trustees Operating Michigan State University | Dexterous articulated linkage for surgical applications |
| US8795325B2 (en) * | 2006-10-05 | 2014-08-05 | Covidien Lp | Handle assembly for articulated endoscopic instruments |
-
2010
- 2010-09-30 CN CN 201010299407 patent/CN102440820B/en not_active Withdrawn - After Issue
- 2010-12-14 WO PCT/CN2010/079761 patent/WO2012040981A1/en active Application Filing
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5810716A (en) * | 1996-11-15 | 1998-09-22 | The United States Of America As Represented By The Secretary Of The Navy | Articulated manipulator for minimally invasive surgery (AMMIS) |
| CN101106945A (en) * | 2004-11-23 | 2008-01-16 | 诺瓦尔外科系统公司 | Articulating mechanisms and link systems with torque transmission in remote manipulation of instruments and tools |
| CN101313864A (en) * | 2007-05-30 | 2008-12-03 | 伊西康内外科公司 | Surgical stapling and cutting instrument with articulatable end effector |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US12022998B2 (en) | 2021-11-16 | 2024-07-02 | Lumendi Ltd. | Methods and apparatus for inverting a hollow sleeve and thereafter reverting an inverted hollow sleeve |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2012040981A1 (en) | 2012-04-05 |
| CN102440820A (en) | 2012-05-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102440820B (en) | Minimally invasive surgical apparatus provided with chain joints | |
| US11583333B2 (en) | Mapping vessels for resecting body tissue | |
| US9827002B2 (en) | Tissue removal and closure device | |
| CN108392239A (en) | Become the connector clamp that guide is fastened to surgical fasteners application devices | |
| JP6302842B2 (en) | Insertion device and insertion system for laparoscopic instruments | |
| EP3461428B1 (en) | Surgical instrument with staple reinforcement clip | |
| US8899464B2 (en) | Attachment of surgical staple buttress to cartridge | |
| CN103565488B (en) | Operation device including surgical buttress | |
| US20060241344A1 (en) | Intra-abdominal surgical method and associated apparatus | |
| EP2168502A2 (en) | Methods and devices for performing gastroplasties using a multiple port access device | |
| JP2010240419A (en) | Method and device for cutting and fastening tissue | |
| KR20120123065A (en) | Systems, implants, tools, and methods for treatments of pelvic conditions | |
| US20160135798A1 (en) | Surgical capture device and methods of use | |
| US9186053B2 (en) | Methods of using light to repair hernia defects | |
| CN104887285A (en) | Novel minimally invasive percutaneous intervertebral disc surgery fibrous ring stitching instrument used under endoscope | |
| CN106714718A (en) | Tissue staplers, stapler heads, and methods of surgically fastening and cutting a bodily tissue | |
| CN102018542A (en) | Puncture type multifunctional poking rod used under laparoscope | |
| CN116806134A (en) | Surgical instrument employing linear staples and purse-string suture staples | |
| US10595892B2 (en) | Tissue removal system | |
| CN108882931B (en) | Suturing device | |
| CN220801079U (en) | Cutting nippers suitable for minimally invasive surgery | |
| US20080312495A1 (en) | Method of Performing Transgastric Abdominal Surgery | |
| Levitt et al. | Instruments for laparoscopy and thoracoscopy | |
| WO2017019629A1 (en) | Tissue removal and closure device | |
| JP2004337474A (en) | Medical guiding manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130410 Effective date of abandoning: 20151130 |
|
| C20 | Patent right or utility model deemed to be abandoned or is abandoned |