CN105411664A - Minimally invasive surgical operating instrument - Google Patents
Minimally invasive surgical operating instrument Download PDFInfo
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- CN105411664A CN105411664A CN201510578453.7A CN201510578453A CN105411664A CN 105411664 A CN105411664 A CN 105411664A CN 201510578453 A CN201510578453 A CN 201510578453A CN 105411664 A CN105411664 A CN 105411664A
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Classifications
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- 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
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- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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- Surgical Instruments (AREA)
Abstract
The invention discloses a minimally invasive surgical operating instrument. The minimally invasive surgical operating instrument comprises a working portion and a drive portion used for driving the working portion to move. The drive portion comprises a swing drive portion used for driving the working portion to conduct swing movement. The swing drive portion comprises an execution device and a power device, the first end of the execution device is movably connected with the working portion, the second end of the execution device is connected with the power device, and the execution device drives the working portion to conduct the swing movement by being driven by the power device. According to the minimally invasive surgical operating instrument, the execution device and the power device which correspond to the swing movement are arranged to complete the swing movement of the working portion, and therefore the swing control defect existing in a traditional operating instrument is overcome. The minimally invasive surgical operating instrument has the advantages of being simple in structure, easy and convenient to operate and maintain, high in working reliability, long in service life and the like.
Description
Technical field
The present invention relates to a kind of operating theater instruments, particularly relate to a kind of flexible micro-wound surgical operation apparatus.
Background technology
Along with the fast development of Minimally Invasive Surgery technology, the surgical operation quantity performed in the mode of Wicresoft is also significantly increasing.The object of minimally invasive medical technology reduces to diagnose or extraneous tissue amount of damage during operation process, thus reduce the recovery time of patient, reduces sense of discomfort and harmful side effect.Meanwhile, Minimally Invasive Surgery technology is used also significantly can to shorten the average stay of standard surgical.Therefore, adopt less invasive techniques can effectively save a large amount of hospital stayss, only just can save on hospital's lodging cost a lot, discomfort, surgery side effect and the time of delaying work of patient recovery time, patient also can reduce because of the application of Minimally Invasive Surgery technology.
Along with the development of technology, Minimally Invasive Surgery by four traditional hole methods gradually to single-hole method perform the operation transition, also more and more less to the damage of patient, postoperative infection rate have also been obtained and declines to a great extent.But, be no matter four hole method endoscope-assistant surgeries or single-hole method operation, all there is the situation that the reason due to apparatus itself makes operation carry out smoothly.
At present, be 0 ° and 30 ° of peritoneoscopes for what commonly use in operation, the visual field in operation process is more limited.And the normally straight type of existing laparoscopic instrument, and be all rigidity, the degree of freedom itself had is less, therefore easily interacts in operation technique.For addressing this problem, market is proposed some and there is multivariant flexible instrument, although the difficulty that endoscope-assistant surgery faces can be alleviated to a certain extent, but the cost that existing multiple degrees of freedom apparatus still exists apparatus is high, structure is comparatively complicated, the defect of maintenance difficulty, the more important thing is, the flexible part of existing apparatus is general too soft, easily occurs abnormal curvatures and cause apparatus to exceed the problems such as field range in art.
China's application (application number 200920202713.0) adopts the flexible structure in " steel wire+snake bone joint " to carry out bending control, when apparatus is in straight type state, because steel wire cannot provide enough rigid support, therefore apparatus head end working portion is relatively soft, be not easy to control, cause apparatus in performing the operation cannot perform the intention of patient exactly.
U. S. application (US6206903) adopts the structure of " steel wire+drive " to carry out bending control, but the complicated structure of apparatus, operational maintenance cost is very high, and dependability is not high, restricted lifetime.In addition, this structure is used for operating robot platform at present, and rely on motor and program to control the bending of apparatus, not yet find that this structure is for hand-held apparatus, it popularizes has certain limitation.
Summary of the invention
In view of this, the invention provides a kind of micro-wound surgical operation apparatus, be intended to the defect overcoming prior art, it is simple that it has structure, operation, easy maintenance, and functional reliability strong and life-span such as to grow at the feature.
Micro-wound surgical operation apparatus provided by the present invention comprises working portion and the drive part for driving working portion to move; Described drive part comprises the wobble drive portion for driving working portion to do oscillating motion; Described wobble drive portion comprises actuating unit and power set, the first end of described actuating unit is flexibly connected with described working portion, second end of described actuating unit is connected with power set, and described actuating unit drives working portion to do oscillating motion under the driving of described power set.
Micro-wound surgical operation apparatus as above, preferably, described micro-wound surgical operation apparatus also comprises coupling part, and coupling part is rigid member, connects working portion and drive part, and accommodates the part of drive part in described coupling part.
Micro-wound surgical operation apparatus as above, preferably, described wobble drive portion also comprises center-pole, and described center-pole is located in described coupling part, and the end of described working portion is connected to the first end of described center-pole by bending joint; Described actuating unit comprises bent connecting rod and bending push rod, described bending pushing rod sleeve is located on described center-pole, described bent connecting rod first end and described working portion pivotally connected, second end of described bent connecting rod and the first end of described bending push rod pivotally connected, the second end of described bending push rod is connected with described power set.
Micro-wound surgical operation apparatus as above, preferably, described power set comprise bending runner and bending ejector sleeve, described bending rotaring wheeling sleeve is located on described center-pole, the first end of described bending ejector sleeve is fixedly connected with the second end of described bending push rod, second end of described bending ejector sleeve is threaded with described bending runner, and the axis of the screw thread between described bending ejector sleeve with described bending runner is parallel with the axis of described center-pole.
Micro-wound surgical operation apparatus as above, preferably, the two ends of described bent connecting rod are equipped with connector, two connectors eccentric setting each other.
Micro-wound surgical operation apparatus as above, preferably, described working portion comprises binding clip and binding clip seat, and described binding clip comprises two binding clip assemblies, followed closely pivotally connected between two described binding clip assemblies and described binding clip seat by gudgeon-pin, described bending joint is connected to the end of described binding clip seat.
Micro-wound surgical operation apparatus as above, preferably, described drive part also comprises: the rotary driving part rotated for driving working portion.
Micro-wound surgical operation apparatus as above, preferably, the coaxial setting of described rotary driving part and wobble drive portion.
Micro-wound surgical operation apparatus as above, preferably, described drive part also comprises: for the folding drive division driving working portion to do open and close movement.
Micro-wound surgical operation apparatus as above, preferably, described coupling part is provided with sealing device near the end of working portion.
Adopt micro-wound surgical operation apparatus of the present invention, by arranging the actuating unit relevant to oscillating motion and power set, with the oscillating motion of part of finishing the work, thus overcome weave control defect existing in traditional operating theater instruments, there is structure simple, operation, easy maintenance, functional reliability strong and life-span such as to grow at the feature.Micro-wound surgical operation apparatus provided by the present invention has the following advantages: compensate for the operating difficulties caused because apparatus degree of freedom is not enough in existing endoscope-assistant surgery; Reduce the operation easier of single hole endoscope-assistant surgery, expand the indication of operation; Improve service life and the reliability of apparatus, reduce the cost using flexible apparatus; Operate portions potential energy optional position within the scope of beat realizes fixing.
Accompanying drawing explanation
Preferred embodiment in the present invention will be described in detail by accompanying drawing below, will contribute to understanding objects and advantages of the present invention, wherein:
Fig. 1 is the overall structure figure of micro-wound surgical operation apparatus preferred embodiment of the present invention.
Fig. 2 is the part explosive view of Fig. 1.
Fig. 3 is the explosive view of binding clip in Fig. 2.
The preferred syndeton of the one of working portion and coupling part in Fig. 4 Fig. 2.
Fig. 5 is the sectional view of section components in Fig. 2.
Fig. 6 is the sectional view of parts relevant to oscillating motion in Fig. 2.
(a) in Fig. 7, (b) and (c) are three kinds of states in binding clip oscillating motion respectively.
Fig. 8 is the sectional view of parts relevant to rotational motion in Fig. 2.
Fig. 9 is the sectional view of parts relevant to open and close movement in Fig. 2.
Figure 10 is the detail view of the section components relevant to oscillating motion, wherein: (a) is the schematic diagram of binding clip seat; B () and (c) is the view of two angles connect before center-pole respectively; D () and (e) is the view of two angles of bent connecting rod respectively; F () and (g) is the view of two angles connect before outer tube respectively; H () and (i) is the view of two angles of bending push rod respectively.
Figure 11 is the detail view of the section components relevant to rotary motion, wherein: (a) is the structure chart of bending runner; B () is the structure chart connect after outer tube; C () is the structure chart of great wheel; D () is the structure chart rotating locating flange.
Description of reference numerals:
1 binding clip 2 binding clip pin 3 binding clip seat
5 bending joint 6 center-poles are connect before 4 center-poles
9 bent connecting rods are connect after 7 center-pole spring 8 center-poles
10 bending push rods 11 bend ejector sleeve 12 augering screw hold-down screw
Connect before 13 bending augering screws 14 bend runner 15 outer tube
Connect after 16 outer tube 17 great wheel hold-down screw 18 outer tubes
19 great wheel stifle 20 clutch shaft bearings 21 bend runner end cap
22 great wheels 23 rotate locating flange 24 second bearing
Swivel nut 27 miniature lever fixed by 25 the 3rd bearing 26 great wheels
28 large handles
Detailed description of the invention
Below in conjunction with embodiment, the present invention is described in detail.The identical Reference numeral of wherein identical parts represents.It should be noted that, the word "front", "rear" of use is described below, "left", "right", "up" and "down" refer to direction in accompanying drawing, word " interior " and " outward " refer to the direction towards or away from particular elements geometric center respectively.
As shown in figs. 1-11, micro-wound surgical operation apparatus provided by the present invention comprises: working portion and drive part, and described drive part moves accordingly for driving working portion.In specific implementation process, described drive part can comprise the wobble drive portion for driving working portion to do oscillating motion; Described wobble drive portion comprises actuating unit and power set, the first end of described actuating unit is flexibly connected with described working portion, second end of described actuating unit is connected with power set, and described actuating unit drives working portion to do oscillating motion under the driving of described power set.In a particular embodiment, described working portion can comprise binding clip 1 and binding clip seat 3, and described binding clip 1 comprises two binding clip assemblies, is followed closely 2 pivotally connected between two described binding clip assemblies and described binding clip seat 3 by gudgeon-pin.
In general, micro-wound surgical operation apparatus provided by the present invention is by arranging the actuating unit relevant to oscillating motion and power set, with the oscillating motion of part of finishing the work, thus overcome weave control defect existing in traditional operating theater instruments, there is structure simple, operation, easy maintenance, functional reliability strong and life-span such as to grow at the feature.
In a preferred embodiment, described micro-wound surgical operation apparatus can also comprise coupling part, coupling part is rigid member, for connecting working portion and drive part, and the correlated parts that can hold in described coupling part in drive part, such as: described coupling part can be realized by the tubing of rigidity.Described wobble drive portion also comprises center-pole 6, described center-pole 6 is located in described coupling part, the end of described working portion is connected to the first end of described center-pole 6 by bending joint 5, make to relatively rotate around described bending joint 5 between described working portion and described center-pole 6, even if described working portion carries out corresponding oscillating motion.Such as: the end that bending joint 5 can be connected to described binding clip seat 3.
Particularly, described actuating unit can comprise bent connecting rod 9 and bending push rod 10, described bending push rod 10 is set on described center-pole 6, described bent connecting rod 9 first end and described working portion pivotally connected, second end of described bent connecting rod 9 and the first end of described bending push rod 10 pivotally connected, the second end of described bending push rod 10 is connected with described power set.Under the driving of described power set, described bending push rod 10 drives described bent connecting rod 9 to move, and the described working portion of final drive rotates around described bending joint 5.
Preferably, described power set can be cooperatively interacted by bending runner 14 and bending ejector sleeve 11 and realize, described bending runner 14 can on sheathed described center-pole 6 again, the first end of described bending ejector sleeve 11 can be fixedly connected with the second end of described bending push rod 10, second end of described bending ejector sleeve 11 is threaded with described bending runner 14, and the axis of the screw thread between described bending ejector sleeve 11 with described bending runner 14 is parallel with the axis of described center-pole 6.When rotation bending runner 14, under the effect of screw thread, bending ejector sleeve 11 can axially pulling bending push rod 10 or promoting along described center-pole 6.In specific embodiment in the drawings, can be realized by following manner: wobble drive portion power set can comprise bending runner 14, bending augering screw 13 and bending ejector sleeve 11.Bending being threaded connection between runner 14 and bending augering screw 13 realizes screw-driven, bending push away only screw rod 13 and use screw to be connected with bending ejector sleeve 11, bending ejector sleeve 11 can realize by being fixedly connected with (as welded) with bending push rod 10, thus forms corresponding drive mechanism.The design of this drive mechanism promotes bending push rod 10 when can be implemented in rotation bending runner 14, thus drives binding clip seat 3 to pivot, and handle 27,28 pairs of center-poles 6 provide thrust, realize the folding of binding clip 1; Rotoflector runner 14, by screw-driven be bending augering screw 13, bending ejector sleeve 11, bending push rod 10 provide thrust, thus drive bent connecting rod 9 and drive be arranged on center-pole bending joint 5 on binding clip seat 3, center-pole before connect 4 and the mechanism that forms of binding clip 7 before outer tube, connect 15 motions, realize the swing of binding clip 1.Screw thread can be set to self-locking thread, and itself has self-locking performance, can fix the relative position between bending runner 14 and bending augering screw 13, and it is accurate that assurance device is located.In addition, the screw in rotary driving part and wobble drive portion with angle setting device, can be able to ensure in operation process, rotate and pendulum angle accurate, thus accurate positioning in guarantee operation process.
Preferably, the two ends of described bent connecting rod 9 are equipped with connector, two connectors eccentric setting each other.This eccentric setting can ensure that operate portions flexible swinging not easily the phenomenons such as stuck occurs, and affects instrumentation reliability, ensures operating time and effect.
For micro-wound surgical operation apparatus provided by the present invention, the function of described drive part is not limited only to drive working portion to do oscillating motion, as above, described in embodiment, working portion can also be driven to do other by other vibrational power flow various and move accordingly.Such as: described drive part can also comprise the rotary driving part for driving working portion to rotate, the folding drive division and for driving working portion to do open and close movement.Preferably, the coaxial setting of described rotary driving part and wobble drive portion, arrange point-blank by rotary driving part and wobble drive portion, the actuating unit of rotary driving part is arranged in coupling part, can be set to sheathed relation with the actuating unit in wobble drive portion, rotary actuation and wobble drive arrange and point-blank or nearby arrange, and can handled easily person operate fast nearby, ensure operation technique precision, save the operating time.
Preferably, described coupling part is provided with sealing device near the end of working portion, can prevent body fluid in operation process from flowing in apparatus, cause unnecessary trouble.
Concrete and detailed description is carried out to the parts in the embodiment shown in figure and structure below.Minimally Invasive Surgery apparatus provided by the present invention comprises working portion, coupling part and drive part, coupling part is rigid member, connect working portion and drive part, and drive part part can be held, drive part is divided into three parts: folding drive division drives working portion to do open and close movement; Rotary driving part drives working portion to rotate; Wobble drive portion drives working portion to do oscillating motion.Rotary actuation and wobble drive arrange and point-blank or nearby arrange, and can handled easily person operate fast nearby, ensure operation technique precision, save the operating time.
See Fig. 1-4, in the present embodiment, working portion is mainly binding clip 1; Coupling part is mainly outer tube 16; Folding drive division is mainly miniature lever 27, mediates miniature lever 27 and drives binding clip 1 to do open and close movement; The power set of rotary driving part are mainly great wheel 22, rotate great wheel 22 and binding clip 1 can be driven to rotate; The power set in wobble drive portion are mainly bending runner 14, and rotoflector runner 14 can drive binding clip 1 to do oscillating motion.
Binding clip 1 has two assemblies, pivotally connected between assembly, and is fixed by binding clip pin 2 with binding clip seat 3 is pivotally connected.Connect 4 before center-pole through binding clip seat 3 corresponding aperture, connect 4 cylindrical bosses before center-pole and load in the semiclosed oval groove of binding clip 1 assembly.In embody rule process, before also binding clip pin 2 can being passed the oval groove on bar headstock 3, the oval groove on binding clip 1 assembly and center-pole simultaneously, the corresponding aperture connect on 4 realizes.Center-pole bending joint 5 respectively with center-pole before connect 4 and center-pole 6 pivotally connected.Outer tube 16 with connect 15 before outer tube and be fixedly connected with, as welding, bending push rod 10 is fixedly connected with bending ejector sleeve 11, as welding, and connects 15 corresponding apertures before passing outer tube.Bent connecting rod 9 and binding clip seat 3 and bending push rod 10 pivotally connected.
See Fig. 2-5, great wheel 22 loads clutch shaft bearing 20, and puts great wheel stifle 19 (shaft retaining ring), and great wheel 22 is fixedly connected with great wheel stifle 19, as welding.Bending runner 14 loads clutch shaft bearing 20 outer ring, and loads bending runner end cap 21, and bending runner is fixedly connected with bending runner end cap 21, as welding, makes bending runner 14 only to rotate around great wheel 22 by connecting.Said structure can also realize in the following manner: great wheel inner sleeve and great wheel 22 are closely cooperated, and great wheel 22 and bending runner 14 are assembled by hold-down screw, makes bending runner 14 only to rotate around great wheel 22.
Bending augering screw 13 and bending runner 14 threaded engagement.Outer tube 16 with connect 18 after outer tube for being fixedly connected with, as welding, simultaneously by great wheel 22, bending runner 14, bending augering screw 13 corresponding aperture.Connect 18 after outer tube to fix by connecing hold-down screw 17 after great wheel outer tube with great wheel 22.Bending ejector sleeve 10 is fixed with bending augering screw 13 through the oval groove on outer tube 16 by augering screw hold-down screw 12.Rotate locating flange 23 and large handle 28 tight fit, and be fixedly connected with, as welding, rotate locating flange 23 and load the bearing group be made up of the second bearing 24 and the 3rd bearing 25 as bearing block, bearing group loads great wheel 22, and great wheel is fixed after swivel nut 26 screws with great wheel 22 screw thread and fixed great wheel 22 and large handle 28.Center-pole spring 7 through large handle 28 corresponding aperture, is loaded large handle 28 by center-pole 6 end of thread, connects 8 screw threads and screw after center-pole 6 and center-pole, miniature lever 27 with connect 8 corresponding grooves after center-pole and coordinate.Center-pole 6 other end is through bending push rod 10 corresponding aperture.Said structure can also realize in the following manner: the fixing swivel nut of great wheel 22 is loaded the correspondence position of large handle 28 and matched in clearance, rotation locating flange 23 and large handle 28 are closely cooperated, and be fixedly connected with (as welding), for external threading in the fixing swivel nut of great wheel and great wheel is fixed great wheel 22 after screwing, the bulb end of center-pole 6 through the corresponding aperture of large handle 28, and can coordinate with the corresponding groove of miniature lever 27
See Fig. 2, Fig. 6 and Fig. 7, when rotating clockwise bending runner 14, being extrapolated by bending augering screw 13, driving bending ejector sleeve 11 to extend forward, making bending push rod 10 act on bent connecting rod 9, binding clip seat 3 drives via bent connecting rod 9 and beat occurs.
When rotating counterclockwise bending runner 14, will bend augering screw 13 adduction, and driving bending ejector sleeve 11 to move to large handle 28 direction, making bending push rod 10 pull back bent connecting rod 9, binding clip seat 3 drives via bent connecting rod 9 and rightabout beat occurs.
The design of this kind of swinging structure, under the prerequisite of rigidity that ensure that whole operation device, makes the flexible swinging of operate portions, and scope is comparatively large, apparatus structure, simple to operate, and reliable operation is easy to maintenance.
See Fig. 2 and Fig. 8, connect 18 after outer tube and be positioned at great wheel 22, connecing 18 after great wheel 22 and outer tube and closely cooperate, being interfixed connecing after the outer tube of great wheel by two screws 17 simultaneously.Connect 18 after outer tube to be fixedly installed, such as, can be welded in one end of outer tube 16.Augering screw hold-down screw 12 through oval groove on bending augering screw 13 and outer tube 16, is screwed into bending ejector sleeve 11 successively.
Outer tube 16 with connect 15 before outer tube and be fixedly connected with, as welding.Bending ejector sleeve 11 is with bending push rod 10 tight fit or be fixedly connected with, as welding, connect in the accommodation space of 15 before outer tube is located in bending push rod 10 front end, one end of bent connecting rod 9 is flexibly connected with the front end of bending push rod 10, the other end is movably connected on binding clip seat 3, one end of binding clip seat 3 with connect 15 before outer tube and be flexibly connected, bent connecting rod 9 is offset to the side of central shaft.
Rotate great wheel 22, connect 18 after outer tube, connect 15 before outer tube 16, outer tube and rotate thereupon, the oval groove on outer tube drives crooked assembly to rotate together, but does not change the pendulum angle of binding clip 1.
This rotary actuation and wobble drive arrange and point-blank or nearby arrange, and Minimally Invasive Surgery operator can be facilitated nearby to operate fast, to guarantee Minimally Invasive Surgery performance accuracy, save the Minimally Invasive Surgery operating time.
Center-pole 6 is located at bending ejector sleeve 11 inner chamber, one end with connect 8 after center-pole and be threaded, miniature lever 27 connects groove after being located at center-pole; Or the bulb end of center-pole can be arranged with on miniature lever 27.The other end of center-pole 6 is flexibly connected with bending joint 5, bending joint 5 also with connect 3 before center-pole and be flexibly connected.Connecing 4 before center-pole is located in binding clip seat 3, connects 4 flexible connections before binding clip 1 and center-pole; Or pin joint can be carried out by binding clip pin by connecing 4 before binding clip seat 4, binding clip 1 and center-pole.
See Fig. 9, mediate miniature lever, when External Force Acting is in miniature lever 27, miniature lever 27 pivotally rotates counterclockwise, miniature lever 27 connects 8 and moves center-pole spring 7 is compressed after promoting center-pole, connect 8 simultaneously after ordering about center-pole, connect 4 before center-pole 6, center-pole bending joint 5, center-pole and move forward, the cylinder boss connect before center-pole on 4 moves in skewed slot on binding clip, order about binding clip 1 assembly to rotate around binding clip pin 2, realize binding clip 1 and close.Unclamp miniature lever 27, connect 8 after center-pole spring 7 reverse push disorder of internal organs core bar, binding clip 1 opens, and orders about miniature lever and set back.
As shown in figs. 2 and 10, following explanation is made to the preferred embodiment of the emphasis part that oscillating motion is correlated with:
The external diameter connecing 4 before center-pole is opened a groove circumferentially, for placing O type circle, play blocking solution effect, anti-Hemostatic Oral Liquid flow in apparatus and forms blood stains;
Binding clip seat 3, during assembling, binding clip 1 is placed on binding clip seat 3, uses binding clip pin 2 through binding clip and binding clip seat corresponding aperture, makes both movable riveted joints.When specific implementation, also can use binding clip pin simultaneously through the oval groove on binding clip seat, binding clip, realize working as along central axis direction, when moving up and down binding clip pin, binding clip folding.When binding clip pin be moved upward to contact with groove time, no longer move, limit the maximum angle that binding clip jaw is opened.
Connecting cylinder boss before center-pole to be located in the semiclosed oval groove of binding clip, making when connecing before moving up and down center-pole along central axis direction, binding clip folding.
Bent connecting rod 9, on bent connecting rod 9, two ends, left and right have a hole and an axle respectively, and the vertical direction distance in their centers of circle can be set to 0.15-0.5mm, are preferably 0.3m.This eccentric setting can ensure that operate portions flexible swinging not easily the phenomenons such as stuck occurs, and affects instrumentation reliability, ensures operating time and effect.
Connect 15 front ends before outer tube and binding clip seat 3 is pivotally connected, and cut and bending push rod respective channel.
Bending push rod 10 front end is cut into fan-shaped column, and center is through by circular hole, and through center-pole 6, rear termination bends ejector sleeve 11.
See Fig. 2 and Figure 11, following explanation is made to rotating part emphasis part:
Great wheel 22, clutch shaft bearing 20 is loaded into shaft shoulder position on great wheel 22, and is fixedly connected with as all back-up rings with great wheel by great wheel stifle 19, realizes the displacement of the central axis direction limiting clutch shaft bearing 20.Hole A inserts after outer tube fixed by great wheel hold-down screw and connects.
Bending runner 14, clutch shaft bearing 20 and bending runner end cap 21 load bending runner 14 successively, and bending runner is fixedly connected with bending runner end cap, realize the displacement of the central axis direction limiting bending runner.
Connect a hole in 18, figure after outer tube to coordinate with great wheel corresponding aperture, b puts in hole spring and steel ball, realizes rotating locate with rotation locating flange 23.
Rotate the multiple ball recess of locating flange 23 Shangrao circumference uniform distribution, with connect after outer tube corresponding aperture coordinate realize great wheel every rotating 360 degrees/N angle have one spacing, and preferably can have prompt tone.
About bearing of the present invention, such as: great wheel and bending runner all pass through bearings, reduce the friction in rotation process, and ensure its rotating accuracy.Bearing material can choose bearing steel as GCR15; Carbon steel; Rustless steel, as 440,304,316; Pottery, as ZRO2 zirconium oxide, SI3N4 silicon nitride, SIC carborundum, Al2O3 aluminium oxide; Plastics, as PA nylon, PP polypropylene, POM polyformaldehyde, PEEK polyether-ether-ketone, PVDF gathers difluoroethylene, PTFE politef, UPE polyethylene, PVC polrvinyl chloride.
This device preferably overall can adopt rigid material, and its vibrational power flow to ensure that in operation process binding clip can prop up in-vivo tissue and avoids being flicked.Matching relationship between rotary apparatus and pendulous device can ensure that binding clip deflection angle is constant when rotating great wheel.
This device, except being applied to manual Minimally Invasive Surgery operating means, can also be used for electronics operation operating means by combining with digital control equipment.
Adopt micro-wound surgical operation apparatus of the present invention, by arranging the actuating unit relevant to oscillating motion and power set, with the oscillating motion of part of finishing the work, thus overcome weave control defect existing in traditional operating theater instruments, there is structure simple, operation, easy maintenance, functional reliability strong and life-span such as to grow at the feature.Micro-wound surgical operation apparatus provided by the present invention has the following advantages: compensate for the operating difficulties caused because apparatus degree of freedom is not enough in existing endoscope-assistant surgery; Reduce the operation easier of single hole endoscope-assistant surgery, expand the indication of operation; Improve service life and the reliability of apparatus, reduce the cost using flexible apparatus; Operate portions potential energy optional position within the scope of beat realizes fixing.
Last it is noted that above embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to previous embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.
Claims (10)
1. a micro-wound surgical operation apparatus, comprises working portion and the drive part for driving working portion to move;
It is characterized in that, described drive part comprises the wobble drive portion for driving working portion to do oscillating motion;
Described wobble drive portion comprises actuating unit and power set, the first end of described actuating unit is flexibly connected with described working portion, second end of described actuating unit is connected with power set, and described actuating unit drives working portion to do oscillating motion under the driving of described power set.
2. micro-wound surgical operation apparatus according to claim 1, it is characterized in that, described micro-wound surgical operation apparatus also comprises coupling part, and coupling part is rigid member, connect working portion and drive part, and in described coupling part, accommodate the part of drive part.
3. micro-wound surgical operation apparatus according to claim 2, it is characterized in that, described wobble drive portion also comprises center-pole, and described center-pole is located in described coupling part, and the end of described working portion is connected to the first end of described center-pole by bending joint;
Described actuating unit comprises bent connecting rod and bending push rod, described bending pushing rod sleeve is located on described center-pole, described bent connecting rod first end and described working portion pivotally connected, second end of described bent connecting rod and the first end of described bending push rod pivotally connected, the second end of described bending push rod is connected with described power set.
4. micro-wound surgical operation apparatus according to claim 3, it is characterized in that, described power set comprise bending runner and bending ejector sleeve, described bending rotaring wheeling sleeve is located on described center-pole, the first end of described bending ejector sleeve is fixedly connected with the second end of described bending push rod, second end of described bending ejector sleeve is threaded with described bending runner, and the axis of the screw thread between described bending ejector sleeve with described bending runner is parallel with the axis of described center-pole.
5. micro-wound surgical operation apparatus according to claim 3, is characterized in that, the two ends of described bent connecting rod are equipped with connector, two connectors eccentric setting each other.
6. micro-wound surgical operation apparatus according to claim 3, it is characterized in that, described working portion comprises binding clip and binding clip seat, described binding clip comprises two binding clip assemblies, followed closely pivotally connected between two described binding clip assemblies and described binding clip seat by gudgeon-pin, described bending joint is connected to the end of described binding clip seat.
7. according to the micro-wound surgical operation apparatus in claim 1-6 described in any one, it is characterized in that, described drive part also comprises: the rotary driving part rotated for driving working portion.
8. micro-wound surgical operation apparatus according to claim 7, is characterized in that, the coaxial setting of described rotary driving part and wobble drive portion.
9. micro-wound surgical operation apparatus according to claim 7, is characterized in that, described drive part also comprises: for the folding drive division driving working portion to do open and close movement.
10. according to the micro-wound surgical operation apparatus in claim 1-6 described in any one, it is characterized in that, described coupling part is provided with sealing device near the end of working portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510578453.7A CN105411664B (en) | 2014-09-15 | 2015-09-11 | Micro-wound surgical operation apparatus |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2014104678767 | 2014-09-15 | ||
| CN201410467876 | 2014-09-15 | ||
| CN201510578453.7A CN105411664B (en) | 2014-09-15 | 2015-09-11 | Micro-wound surgical operation apparatus |
Publications (2)
| Publication Number | Publication Date |
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| CN105411664A true CN105411664A (en) | 2016-03-23 |
| CN105411664B CN105411664B (en) | 2018-04-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520704803.5U Expired - Fee Related CN205041453U (en) | 2014-09-15 | 2015-09-11 | Surgery surgical instruments of wicresoft |
| CN201510578453.7A Active CN105411664B (en) | 2014-09-15 | 2015-09-11 | Micro-wound surgical operation apparatus |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520704803.5U Expired - Fee Related CN205041453U (en) | 2014-09-15 | 2015-09-11 | Surgery surgical instruments of wicresoft |
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| CN (2) | CN205041453U (en) |
| WO (1) | WO2016041465A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106137272A (en) * | 2016-08-06 | 2016-11-23 | 上海市同济医院 | A kind of head rotary type biopsy forceps |
| CN106955129A (en) * | 2017-05-09 | 2017-07-18 | 佛山衡生医疗自动化有限公司 | A kind of Minimally Invasive Surgery apparatus with force feedback |
| CN112971873A (en) * | 2021-01-26 | 2021-06-18 | 生一科技(北京)有限公司 | Surgical instrument |
| CN113116505A (en) * | 2019-12-30 | 2021-07-16 | 北京术锐技术有限公司 | Monopole seals operation tool head |
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| CN205041453U (en) * | 2014-09-15 | 2016-02-24 | 上海林超医疗设备科技有限公司 | Surgery surgical instruments of wicresoft |
| CN108236501A (en) * | 2017-01-03 | 2018-07-03 | 杭州广德医疗器械有限公司 | One kind can turn double-pole electric coagulation forceps |
| CN107550526B (en) * | 2017-10-16 | 2020-07-03 | 吉林大学 | Handheld minimally invasive surgical instrument with self-locking property |
| CN108514441B (en) * | 2018-04-28 | 2024-06-18 | 美茵（北京）医疗器械研发有限公司 | Blood vessel punching assembly and puncher |
| CN109893211B (en) * | 2019-01-31 | 2024-03-12 | 汕头大学 | Clamping device of minimally invasive abdominal cavity surgical equipment |
| CN110680431B (en) * | 2019-10-24 | 2024-05-10 | 天琴特普新医疗科技(苏州)有限公司 | Minimally invasive stitching device |
| CN113116411B (en) * | 2019-12-30 | 2024-07-05 | 北京术锐机器人股份有限公司 | Surgical tool head |
| CN113040916B (en) * | 2021-03-13 | 2022-09-30 | 极限人工智能有限公司 | Universal operation device and medical instrument |
| CN113616278B (en) * | 2021-07-30 | 2022-08-30 | 中南大学湘雅三医院 | Endoscope clamp capable of being bent |
| CN114129200B (en) * | 2021-12-07 | 2024-03-26 | 山东威瑞外科医用制品有限公司 | Clamp head handle |
| CN117017428B (en) * | 2023-10-09 | 2023-12-15 | 天津大学医疗机器人与智能系统研究院 | Surgical clamp |
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| CN106137272B (en) * | 2016-08-06 | 2023-11-03 | 上海市同济医院 | Biopsy forceps with rotatable head |
| CN106955129A (en) * | 2017-05-09 | 2017-07-18 | 佛山衡生医疗自动化有限公司 | A kind of Minimally Invasive Surgery apparatus with force feedback |
| CN113116505A (en) * | 2019-12-30 | 2021-07-16 | 北京术锐技术有限公司 | Monopole seals operation tool head |
| CN113116505B (en) * | 2019-12-30 | 2024-03-29 | 北京术锐机器人股份有限公司 | Monopole sealing operation tool head |
| CN112971873A (en) * | 2021-01-26 | 2021-06-18 | 生一科技(北京)有限公司 | Surgical instrument |
| CN112971873B (en) * | 2021-01-26 | 2023-08-25 | 生一科技(北京)有限公司 | Surgical instrument |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2016041465A1 (en) | 2016-03-24 |
| CN105411664B (en) | 2018-04-06 |
| CN205041453U (en) | 2016-02-24 |
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