CN105496483B - The drive device and surgical operating instrument of surgical operating instrument - Google Patents
The drive device and surgical operating instrument of surgical operating instrument Download PDFInfo
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- CN105496483B CN105496483B CN201410499108.XA CN201410499108A CN105496483B CN 105496483 B CN105496483 B CN 105496483B CN 201410499108 A CN201410499108 A CN 201410499108A CN 105496483 B CN105496483 B CN 105496483B
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Abstract
The present invention relates to technical field of medical instruments, a kind of drive device and surgical operating instrument are disclosed, drive device includes drive component；Drive component includes：Transmission component, drives end effector to be curved during action；Position-limit mechanism, is installed on fixed handle, circumferentially locks slender bodies when position-limit mechanism is in its spacing station；First rotary sleeve, is installed on fixed handle, and circumferentially locked between slender bodies；Second rotary sleeve, coaxial sleeve is located at the outside of the first rotary sleeve；Second rotary sleeve curved in it and coordinate with position-limit mechanism with transmission component drive connection and the second rotary sleeve when adjusting station, so that position-limit mechanism is maintained at spacing station；Drive connection when second rotary sleeve is located at its rotation regulation station and between transmission component disconnects, and position-limit mechanism resets.Above-mentioned drive device is controlling end effector to curve and is controlling slender bodies to rotate stability when two kinds of working conditions switch in can improving surgical operating instrument.
Description
Technical field
The present invention relates to technical field of medical instruments, the drive device and surgery hand of more particularly to a kind of surgical operating instrument
Art apparatus.
Background technology
Surgical operating instrument under hysteroscope is small to the operation wound of patient, good operation effect, can greatly reduce and give operation disease
The pain that people brings.
By taking stapler as an example, stapler includes operation handle, slender bodies and end effector；Operation handle
Including fixed handle and firing handle, wherein fixed handle is used to be gripped by user, and firing handle is used to be operable by a user
To provide control and driving, the distally of operation handle (near the side of user is nearside during operation, away from the side of user
It is distally) it is connected with end effector by slender bodies, end effector is used under the control of operation handle to human intracavity
Tissue perform cutting and suture.
At present, to meet operation needs, the end effector that slender bodies distally is installed in the stapler under hysteroscope can
Opposite elongate body is curved, also, the axial line that slender bodies also can be relative to operation handle around slender bodies rotates, and is held with changing end
The direction of dehiscing of row device；Such as, end effector can directly be articulated in the distally of slender bodies, then by being arranged on operation handle
Drive component drive and curve, while nearside one end of slender bodies is journaled into operation handle, then by being arranged on operation handle
The drive component at place drives rotation.
In the prior art, the rotation of slender bodies and curving for end effector typically use same group two kinds of drive component
Working condition is driven；Drive component be in a kind of working condition when, drive component can drive end effector relative to
Slender bodies is curved, and now drive component can not drive slender bodies to rotate；When drive component is in another working condition, driving group
Part can drive slender bodies to rotate, and now, drive device can not drive end effector to curve.
But, the drive component having in stapler of the prior art is curved and controlled in control end effector
Less stable when being changed between slender bodies two kinds of working conditions of rotation, drives end to hold simultaneously during causing drive component to drive
Row device is curved and causes the risk of malpractice with slender bodies rotation, increase.
The content of the invention
The invention provides the drive device and a kind of surgical operating instrument of a kind of surgical operating instrument, wherein, drive dress
Putting to improve in surgical operating instrument curved in control end effector and control slender bodies to rotate two kinds of working conditions switchings
When stability.
To reach above-mentioned purpose, the present invention provides following technical scheme：
A kind of drive device of surgical operating instrument, including for the surgical operating instrument end effector curve and
The drive component of slender bodies powered rotation；The drive component includes：
Transmission component, nearside one end with the end effector is connected, and the end effector is driven during action
Curved；
Position-limit mechanism, is installed on the fixed handle of the surgical operating instrument；The position-limit mechanism is in its spacing station
When by the slender bodies circumferentially lock, during reset release to the slender bodies circumference locking；
First rotary sleeve, around its axial line can be rotatably mounted to fixed handle and circumferentially be locked between the slender bodies
Fixed, axial limiting mechanism is provided between first rotary sleeve and the fixed handle carries out axle with to first rotary sleeve
To spacing；
Second rotary sleeve, can around the rotation of its axial line and can along its direction of axis line movably coaxial sleeve located at described the
The outside of one rotary sleeve；Second rotary sleeve in its curve regulation station when with the transmission component be connected and with
The position-limit mechanism coordinates, and the position-limit mechanism is moved under the driving of second rotary sleeve and is maintained at its spacing work
Position；When second rotary sleeve is located at its rotation regulation station, the transmission between second rotary sleeve and the transmission component
Connection disconnects, and the position-limit mechanism resets.
Above-mentioned drive device is connected when driving end effector to curve between the second rotary sleeve and transmission component,
Also, the second rotary sleeve coordinates with position-limit mechanism, and position-limit mechanism is maintained at spacing station, and now, position-limit mechanism is to thin
Body long carry out it is circumferential spacing, therefore, drive device slender bodies when driving end effector to curve can not be rotated in a circumferential direction；Together
When, when above-mentioned drive device is when driving slender bodies to be rotated in a circumferential direction, second rotary sleeve is located at rotation regulation station, this
When, the drive connection relation between the second rotary sleeve and transmission component disconnects, also, position-limit mechanism resets to release to slender bodies
Circumference it is spacing, now slender bodies can be controlled to be rotated in a circumferential direction by the first rotary sleeve, and end effector can not be carried out
Curve action.
Therefore, above-mentioned drive device is curved and controlled elongated in can improving surgical operating instrument in control end effector
Body rotates stability when two kinds of working conditions switch.
Preferably, the position-limit mechanism specifically includes limited block and is arranged at the annular rack on the slender bodies surface, institute
The inner surface for stating the second rotary sleeve forms drive surface；Wherein：
The limited block can be slidably mounted to the fixed handle along perpendicular to the slender bodies direction of axis line, described
Limited block is formed between engaging tooth, and the limited block and the fixed handle towards a side surface of the slender bodies axial line
It is provided with dynamic clamping head and quiet clamping head；Second rotary sleeve is in when curving regulation station, driving of the limited block in the drive surface
Under be moved to spacing station, the dynamic clamping head and quiet clamping head is in compression and stores power state, and the engaging tooth of the limited block is thin with described
The tooth engagement of the annular rack on body long, it is spacing to the circumference of the slender bodies to realize.
Preferably, the dynamic clamping head and quiet clamping head is spring.
Preferably, the position-limit mechanism is specifically included：
It is sheathed on the damped ring between the slender bodies and the fixed handle；
It is arranged at the block face of the fixed handle；
The compressive plane of the second rotary sleeve inner surface is arranged at, when second rotary sleeve curves regulation work in it
During position, the compressive plane and the block face coordinate the extruding damped ring, so that the damped ring is produced is plastically deformed and compresses
The slender bodies and fixed handle, with circumferentially spacing to the slender bodies.
Preferably, circumferentially locked between first rotary sleeve and the slender bodies, specifically included：
The outer surface of the slender bodies forms at least one spacing preiection, and the inner surface of first rotary sleeve is formed and institute
The one-to-one stopper slot of spacing preiection is stated, in spacing preiection and stopper slot described in every a pair, the spacing preiection insertion is described
Stopper slot, to realize the circumferential locking between first rotary sleeve and the slender bodies.
Preferably, second rotary sleeve in its curve regulation station when, second rotary sleeve and the actuating sleeve
It is connected between pipe, is specifically included：
It is arranged at the annular internal tooth ring of the second rotary sleeve madial wall, the axial line of the annular internal tooth ring and described
The axial line of two rotary sleeves overlaps, and the annular internal tooth ring forms engaging tooth towards the side of the drive sleeve；
It is arranged at the annular outer tooth ring of the outer peripheral face of the drive sleeve, axial line and the drive of the annular outer tooth ring
The axial line of dynamic sleeve pipe overlaps, and the annular outer tooth ring forms engaging tooth towards the side of the second rotary sleeve madial wall；
At least one travelling gear of fixed handle, each described travelling gear can be rotatably mounted to around its axial line
Axial line and the drive sleeve axis parallel, second rotary sleeve positioned at its curve regulation station when, each
The travelling gear is engaged with the annular internal tooth ring, while being engaged with the annular outer tooth ring.
Preferably, the annular internal tooth ring forms at least two fixture blocks, described the towards the side of second rotary sleeve
The side wall of two rotary sleeves is formed and the one-to-one draw-in groove of at least two fixture blocks, the fixture block and the draw-in groove clamping.
Preferably, switching mechanism also is kept including the second rotary sleeve station, when second rotary sleeve curves tune positioned at it
During section station, the axial direction that the second rotary sleeve station keeps switching mechanism and distal direction can be carried out to second rotary sleeve limits
Position.
Preferably, the second rotary sleeve station holding switching mechanism includes：
The fixed handle is located at the first confined planes that the outer surface at position in second rotary sleeve is formed, described first
The proximally facing direction of confined planes；
The fixed handle is located at the second confined planes that the outer surface at position in second rotary sleeve is formed, described second
Confined planes are towards distal direction, and second confined planes are located at the proximally facing side of first confined planes；
Between the fixed handle and second rotary sleeve and the first ring for being sheathed on the outside of the fixed handle
Shape tooth bar, the first annular tooth bar is located between first confined planes and the second confined planes, and the first annular tooth bar
Outer surface be provided with the first engaging tooth；
Between the fixed handle and second rotary sleeve and the second ring for being sheathed on the outside of the fixed handle
Shape tooth bar, second annular rack is located between the first annular tooth bar and second confined planes, and second ring
Shape tooth bar is provided with the second engaging tooth towards the end face of the first annular tooth bar, and the outer surface of second annular rack is provided with
Three engaging tooths；
The 3rd annular rack of the inwall of second rotary sleeve is fixed on, the 3rd annular rack is located at described first
The proximally facing direction side of confined planes, the inner surface of the 3rd annular rack forms multiple 4th engaging tooths, described in each
4th engaging tooth has between stopper slot of the opening towards distal direction, and two the 4th engaging tooths of arbitrary neighborhood and is formed along institute
State the groove of the 3rd annular rack direction of axis line extension；
Between the fixed handle and second rotary sleeve and the reset bullet that is sheathed on the outside of the fixed handle
Spring, the back-moving spring is located between the first annular tooth bar and first confined planes；
Second rotary sleeve is in when curving regulation station：Distally one end of the back-moving spring is spacing with described first
Face offsets, and nearside one end offsets with the first annular tooth bar, and the back-moving spring is in compression and stores power state；First ring
The flank of tooth of the second engaging tooth that the first engaging tooth that shape tooth bar is set is set with second annular rack offsets；Second ring
The stopper slot bottom land of the 4th engaging tooth that the 3rd engaging tooth that shape tooth bar is set is set with the 3rd annular rack offsets；
When second rotary sleeve is in Switch of working position station：Distally one end of the back-moving spring is spacing with described first
Face offsets, and nearside one end offsets with the first annular tooth bar, and the back-moving spring is in compression and stores power state；First ring
The flank of tooth of the second engaging tooth that the first engaging tooth that shape tooth bar is set is set with second annular rack offsets；Second ring
The proximal end face of shape tooth bar offsets with second confined planes, and the 3rd engaging tooth that second annular rack is set departs from institute
What the 4th engaging tooth and each described 3rd engaging tooth and the 3rd annular rack for stating the setting of the 3rd annular rack were provided with
One groove is axially aligned, with each described 3rd engaging tooth when the second rotary sleeve distal direction is moved from institute
State in groove and pass through.
Present invention also offers a kind of surgical operating instrument, including operation handle, slender bodies, end effector；The behaviour
Making handle includes fixed handle；Distally one end of the slender bodies is connected with nearside one end of the end effector；Also include
Any one drive device provided in above-mentioned technical proposal.
Preferably, the surgical operating instrument is hysteroscope stapler.
Brief description of the drawings
The structural representation of the surgical operating instrument that Fig. 1 is provided for the present invention；
The structural representation of the drive device that Fig. 2 is provided for an embodiment of the present invention；
A kind of cooperation knot in the drive device that Fig. 3 is provided for an embodiment of the present invention between position-limit mechanism and slender bodies
Structure schematic diagram；
Limit is engaged by tooth between position-limit mechanism and slender bodies in the drive device that Fig. 4 is provided for an embodiment of the present invention
A kind of structural representation of position；
In the drive device that Fig. 5 is provided for an embodiment of the present invention the second rotary sleeve be maintained at its curve regulation station when
Structural representation；
A kind of structural representation of transmission component in the drive device that Fig. 6 is provided for an embodiment of the present invention；
The profile of the drive sleeve of transmission component in the drive device that Fig. 7 is provided for an embodiment of the present invention；
Transmission component has a pair of drive rod nearside one end in the drive device that Fig. 8 is provided for an embodiment of the present invention
Structural representation；
In the drive device that Fig. 9 is provided for an embodiment of the present invention the drive sleeve of transmission component and a pair of drive rods it
Between mated condition schematic diagram；
A pair of drive rods of transmission component are performed with end in the drive device that Figure 10 is provided for an embodiment of the present invention
Fit structure schematic diagram between device；
The structural representation of first annular tooth bar in the drive device that Figure 11 is provided for an embodiment of the present invention；
The structural representation of the second annular rack in the drive device that Figure 12 is provided for an embodiment of the present invention；
The structural representation of the 3rd annular rack in the drive device that Figure 13 is provided for an embodiment of the present invention.
Reference：
1, fixed handle 2, the second rotary sleeve 3, slender bodies
4, end effector 11, position-limit mechanism 12, spacing preiection
13, the first rotary sleeve 14, spacing preiection 15, limited block
16, limited block 17, spacing preiection 21, annular internal tooth ring
22, travelling gear 23, drive sleeve 24, back-moving spring
25, first annular tooth bar 26, the second annular rack 27, the 3rd annular rack
31, annular rack 32, support member 33, support member
41, nail kit base 71, drive rod 72, drive rod
111, engaging tooth 112, lead column 113, dynamic clamping head and quiet clamping head
231, annular outer tooth ring 232, pull back face 233, drive surface
251, the first engaging tooth 252, the outer surface of first annular tooth bar
253, the inner surface 254 of first annular tooth bar, the proximal end face of first annular tooth bar
261, the 3rd engaging tooth 262, the outer surface of the second annular rack
263, the inner surface 264 of the second annular rack, the proximal end face of the second annular rack
265, the second engaging tooth 266, the flank of tooth of the second engaging tooth
271, the inner surface 272 of the 3rd annular rack, the 4th engaging tooth
273, groove 274, the proximal end face of the 3rd annular rack
411, bearing pin 412, bearing pin 711, draw-in groove
712, cell wall 713, cell wall 721, draw-in groove
722, cell wall 723, cell wall 2321, cascaded surface
2322, transition face 2331, cascaded surface 2332, transition face
2721, stopper slot
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
The invention provides the drive device and a kind of surgery hand with above-mentioned drive device of a kind of surgical operating instrument
Art apparatus, is described for ease of the course of work and operation principle to drive device, and drive device is retouched in the present embodiment
The related notion to surgical operating instrument is introduced during stating, therefore, no longer individually to above-mentioned drive device in text
The operation principle of surgical operating instrument be described.
In addition, in various embodiments of the present invention, away from the one of user when " distally " refers to that the surgical operating instrument is operated
Side, near the side of user when " nearside " then refers to that the surgical operating instrument is operated.
Fig. 1 and Fig. 2 is refer to, wherein, the structural representation of the surgical operating instrument that Fig. 1 is provided for the present invention；Fig. 2 is this
Invent a kind of structural representation of the drive device that embodiment is provided.
As shown in figure 1, in a kind of specific embodiment, surgical operating instrument provided in an embodiment of the present invention includes manipulator
Handle, slender bodies 3 and end effector 4, end effector 4 include nail-anvil assembly and nail kit component, and operation handle includes fixed hand
Trigger shaft is provided with handle 1 and firing handle, fixed handle 1；Nearside one end of slender bodies 3 is connected with fixed handle 1, distally one end
It is connected with nearside one end of end effector 4；Above-mentioned surgical operating instrument also includes a kind of driving end effector 4 relative to thin
Body long 3 curves and drives the drive device that slender bodies 3 rotates around its axial line, end effector 4 is curved with realizing and
The driving of rotation.
Preferably, above-mentioned surgical operating instrument is hysteroscope stapler.
Fig. 2, Fig. 3, Fig. 4 and Fig. 8, the driving of surgical operating instrument provided in an embodiment of the present invention are referred to incorporated by reference to Fig. 1
Device, including for surgical operating instrument end effector 4 curve and the powered rotation of slender bodies 3 drive component；Drive
Dynamic component includes：
Transmission component, nearside one end with end effector 4 is connected, and drives end effector 4 to carry out during action curved
Turn；
Position-limit mechanism 11, position-limit mechanism 11 is installed on fixed handle 1, will be thin when position-limit mechanism 11 is in its spacing station
The circumferential locking of body long 3, releases the circumference locking to slender bodies 3 when position-limit mechanism 11 resets；
First rotary sleeve 13, the first rotary sleeve 13 can be rotatably mounted to fixed handle 1, and the first rotation around its axial line
Circumferentially locked between set 13 and slender bodies 3, axial limiting mechanism is provided with to first between the first rotary sleeve 13 and fixed handle 1
Rotary sleeve 13 carries out axial limiting；Specifically, the circumferential locking between the first rotary sleeve 13 and slender bodies 3 can specifically be examined and set
At least one spacing preiection that is placed on slender bodies 3 and be arranged at the inner surface of the first rotary sleeve 13 with the first spacing preiection one
One corresponding stopper slot realizes that the axial limiting mechanism between the first rotary sleeve 13 and fixed handle 1 can be：First rotary sleeve
13 are provided with the annular protrusion that axial line overlaps with the axial line of slender bodies 3, while fixed handle 1 is provided with and annular protrusion clamping
Draw-in groove；
Second rotary sleeve 2, the second rotary sleeve 2 can rotate around its axial line and can be movably coaxial along its direction of axis line
It is sheathed on the outside of the first rotary sleeve 13；Second rotary sleeve 2 in its curve regulation station when with transmission component drive connection and
Coordinate with position-limit mechanism 11, position-limit mechanism 11 is moved to spacing station under the driving of the second rotary sleeve 2 and is maintained at spacing work
Position；When second rotary sleeve 2 is located at its rotation regulation station, the drive connection between the second rotary sleeve 2 and transmission component disconnects, and
Position-limit mechanism 11 resets.
When driving end effector 4 to curve, transmission connects above-mentioned drive device between the second rotary sleeve 2 and transmission component
Connect, also, the second rotary sleeve 2 coordinates with position-limit mechanism 11, and position-limit mechanism 11 is maintained at spacing station, it is now, spacing
Mechanism 11 slender bodies 3 is carried out it is circumferential spacing, therefore, drive device slender bodies 3 when driving end effector 4 to curve can not enter
Row rotates in a circumferential direction；Meanwhile, when above-mentioned drive device is when driving slender bodies 3 to be rotated in a circumferential direction, the second rotary sleeve 2 is located at rotation
Regulation station, now, the drive connection relation between the second rotary sleeve 2 and transmission component disconnects, also, position-limit mechanism 11 resets
It is spacing to the circumference of slender bodies 3 to release, now slender bodies 3 can be controlled to be rotated in a circumferential direction by the first rotary sleeve 13, and
End effector 4 can not carry out curving action.
Therefore, above-mentioned drive device is curved and controlled thin in can improving surgical operating instrument in control end effector 4
Body long 3 rotates stability when two kinds of working conditions switch.
Preferably, in the drive device that above-mentioned implementation method is provided, position-limit mechanism 11 can have various set-up modes, e.g.,
As shown in Figure 3 and Figure 4, position-limit mechanism can include limited block and be arranged at the annular rack 31 on the surface of slender bodies 3, and second rotates
The inner surface of set 2 forms drive surface, wherein：
Limited block can be slidably mounted to fixed handle 1 along perpendicular to the direction of axis line of slender bodies 3, and limited block is towards elongated
One side surface of the axial line of body 3 forms engaging tooth 111, and dynamic clamping head and quiet clamping head 113 is provided between limited block and fixed handle 1；Specifically
, can be provided with lead column 112 on limited block, and fixed handle 1 is provided with pilot hole, lead column 112 is arranged in pilot hole,
And be slidably matched with pilot hole；
In when curving regulation station, limited block is moved second rotary sleeve 2 under the driving of the drive surface of the second rotary sleeve 2
To spacing station and being maintained at spacing station, dynamic clamping head and quiet clamping head 113 is in compression and stores power state, and limited block engaging tooth 111
Tooth with the annular rack 31 on slender bodies 3 is engaged, spacing to the circumference of slender bodies 3 to realize.
Preferably, above-mentioned dynamic clamping head and quiet clamping head 113 is spring.
In specific work process, drive surface can be provided with the inner surface of the second rotary sleeve 2, the second rotary sleeve 2 is in rotation
During modulation section station, limited block offsets under the reset pressure of dynamic clamping head and quiet clamping head 113 with drive surface, when the second rotary sleeve 2 is near
Side to movement, be moved to its curve regulation station when, limited block drive surface pressure effect under overcome dynamic clamping head and quiet clamping head
113 reset pressure is on the engaging tooth 111 and slender bodies 3 for moving and forming it near the direction of the axial line of slender bodies 3
The tooth engagement of annular rack 31, and then slender bodies 3 is carried out circumferential spacing.
Certainly, when above-mentioned position-limit mechanism 11 is limited block, T-shaped chute is also provided with the inner surface of the second rotary sleeve 2,
And limited block forms I-shaped structure away from one end of the axial line of slender bodies 3, limited block is limited in second by I-shaped structure
In the T-shaped chute that rotary sleeve 2 is formed, and, the second rotary sleeve 2 is located at when curving regulation station, the second rotary sleeve 2 and limited block
The relative position of I-shaped structure is provided with the ring channel structures that axial line overlaps with the axial line of the second rotary sleeve 2, so that spacing
Block does not influence the rotation of the second rotary sleeve 2；Meanwhile, when the second rotary sleeve 2 is in rotation regulation station, the second rotary sleeve 2 is same
The ring channel structures that axial line overlaps with the axial line of the second rotary sleeve 2 are provided with, so that limited block does not influence the second rotary sleeve 2
Rotation.
Above-mentioned position-limit mechanism 11 can also be specifically included：
It is sheathed on the damped ring between slender bodies 3 and fixed handle 1；
It is arranged at the block face of fixed handle 1；
The compressive plane of the inner surface of the second rotary sleeve 2 is arranged at, when the second rotary sleeve 2 curves regulation station in it,
The block face of the compressive plane of the second rotary sleeve 2 and fixed handle 1 coordinates squeezed air-damping circle, so that damped ring is produced is plastically deformed and presses
Tight slender bodies 3 and fixed handle 1, with circumferential spacing to slender bodies 3.
Deformation when position-limit mechanism 11 has damped ring using damped ring improves rubbing between slender bodies 3 and fixed handle 1
Power is wiped, and then realizes the circumference locking to slender bodies 3.
In a kind of preferred embodiment, as shown in Fig. 6~Figure 10, the transmission component in above-mentioned drive device can specifically be wrapped
Include：
Two drive rods, drive rod 71 and drive rod 72 as shown in Figure 6, drive rod 71 and drive rod 72 can be along surgeries
The bearing of trend of slender bodies 3 is movably installed in the housing of slender bodies 3 in operating theater instruments；As shown in figure 8, drive rod 71 is near
Side one end is provided with draw-in groove 711, and distally one end is connected with nearside one end of end effector in surgical operating instrument 4；Drive rod 72
Nearside one end be provided with draw-in groove 721, distally one end is connected with nearside one end of end effector in surgical operating instrument 4；
Drive sleeve 23, as shown in fig. 6, drive sleeve 23 can be rotatably mounted to surgical operating instrument along its axial line
Fixed handle 1, the axial line of drive sleeve 23 and the axis parallel of slender bodies 3 in surgical operating instrument；As shown in fig. 7, driving
Dynamic sleeve pipe 23 has drive surface 233 and face 232 of pulling back, wherein：
Cell wall 712 proximally facing in the draw-in groove 711 that drive surface 233 is provided with drive rod 71 is slided and offseted, and with driving
Cell wall 722 proximally facing in the draw-in groove 721 that bar 72 is provided with is slided and offseted；
The cell wall 713 in the draw-in groove 711 that face 232 is provided with drive rod 71 towards distally of pulling back is slided and offseted, and with driving
Cell wall 723 in the draw-in groove 721 that bar 72 is provided with towards distally is slided and offseted；
When drive sleeve 23 rotates around its axial line, the movement of drive rod proximal direction is driven, while driving another
One drive rod distal direction movement, and the size of two translational speeds of drive rod is identical；Refer to Figure 10, two drivings
In bar, it is connected with bearing pin by pin-and-hole between distally one end of each drive rod and the nail kit base 41 of end effector 4；Such as
Shown in Figure 10, nail kit base 41 is provided with the bearing pin 411 being connected with drive rod 71 and the bearing pin 412 being connected with drive rod 72.
As shown in Figure 3 and Figure 6, in a kind of preferred embodiment, in two drive rods of transmission component, a drive rod position
In the side of the axial line of drive sleeve 23, another drive rod is located at the opposite side of the axial line of drive sleeve 23；As shown in Figure 3
The position relationship of drive rod 71 and drive rod 72；
In drive sleeve 23, drive surface 233 and pull back face 232 with the axial line of drive sleeve 23 a little as symmetric points in
The heart is symmetrical.
As shown in Figures 6 and 7, in drive sleeve 23, drive surface 233 is distal end portion of the drive sleeve 23 towards distal direction
Face, the proximal end face that face 232 is the proximally facing direction of drive sleeve 23 of pulling back.
Please continue to refer to Fig. 7, stability when in place is curved to improve end effector 4 in surgical operating instrument, it is a kind of
In implementation method, along the circumferencial direction of drive sleeve 23, drive surface 233 is provided with multiple vertical with the axial line of drive sleeve 23
Transition face 2332 is provided between cascaded surface 2331, and two cascaded surfaces 2331 of arbitrary neighborhood；Simultaneously as the He of drive surface 233
Pull back face 232 with the axial line of drive sleeve 23 a little for symmetric points Central Symmetry, therefore, also formed on face 232 of pulling back many
The individual cascaded surface 2321 vertical with the axial line of drive sleeve 23, and it is provided with transition face between two cascaded surfaces 2321 of arbitrary neighborhood
2322。
When the cell wall 712 of the draw-in groove 711 of drive rod 71 offsets and draw-in groove with a cascaded surface 2331 in drive surface 233
When a cascaded surface 2321 on 711 cell wall 713 and the face of pulling back 232 offsets, the cell wall 722 of the draw-in groove 721 of drive rod 72 with
A cascaded surface 2331 in drive surface 233 offsets and a cascaded surface on cell wall 723 and the face of pulling back 232 of draw-in groove 721
2321 are offseted, and end effector 4 is curved in place, and now, drive sleeve 23 is steady to the axial limiting of drive rod 71 and drive rod 72
It is fixed, and then raising end effector 4 curves stability when in place.
When needing from one elbow place to drive end effector 4 to another elbow place, drive sleeve 23
Around the rotation of its axial line, the cell wall 712 of draw-in groove 711 slides into the another of drive surface 233 by transition face 2332 in drive rod 71
Individual cascaded surface 2331, the cell wall 713 of draw-in groove 711 slides into another cascaded surface 2331 in the face of pulling back 232 by transition face 2322；
Meanwhile, the cell wall 722 of draw-in groove 721 slides into another cascaded surface of drive surface 233 by transition face 2332 in drive rod 72
2331, the cell wall 723 of draw-in groove 721 slides into another cascaded surface 2331 in the face of pulling back 232 by transition face 2322.
In a kind of preferred embodiment, in the drive surface 233 of drive sleeve 23 and face 232 of pulling back, two of arbitrary neighborhood
Line between the central point of cascaded surface and the axial line of drive sleeve 23 is in the plane perpendicular to the axial line of drive sleeve 23
Projection between angle it is equal；Can be multiple regions by the angular divisions that curve of end effector 4, and then perform end
Device 4 curves angle with multiple.
In a kind of embodiment, in the surgical operating instrument that the present invention is provided, it is provided with to drive device in the housing of slender bodies 3
Two drive rods of middle actuated lever assemblies are supported spacing support member, support member as shown in Figure 3 32 and support member 33,
And then two drive rods is moved along the direction of axis line of slender bodies 3.
In another embodiment, Fig. 6 is refer to, when the gear assembly in drive device includes being arranged at drive sleeve 23
During the annular outer tooth ring 231 of outer peripheral face, fixed handle 1 is provided with least one pair of limited block, in every a pair of limited blocks, as shown in fig. 6,
One limited block 16 is slided with the proximal side of annular outer tooth ring 231 and offseted, another limited block 15 and annular outer tooth ring 231
Distal side is slided and offseted, to realize the axial limiting to drive sleeve 23.
As shown in Fig. 2, Fig. 6 and Fig. 9, the second rotary sleeve 2 mentioned in above-mentioned implementation method curves regulation work in it
During position, it is connected between the second rotary sleeve 2 and transmission component, can be specifically included：
The madial wall of the second rotary sleeve 2 is provided with annular internal tooth ring 21, the axial line of annular internal tooth ring 21 and the second rotary sleeve 2
Axial line overlap, annular internal tooth ring 21 towards drive sleeve 23 side formed engaging tooth；
The annular outer tooth ring 231 of the outer peripheral face of drive sleeve 23, axial line and the drive sleeve 23 of annular outer tooth ring 231
Axial line overlaps, and annular outer tooth ring 231 forms engaging tooth towards the side of the madial wall of the second rotary sleeve 2；
At least one travelling gear 22 of fixed handle 1, each travelling gear can be rotatably mounted to around its axial line
22 axial line and the axis parallel of drive sleeve 23, the second rotary sleeve 2 are curved when adjusting station positioned at it, each transmission
Gear 22 is engaged with annular internal tooth ring 21, while being engaged with annular outer tooth ring 231.
Specifically, annular internal tooth ring 21 forms at least two fixture blocks, the second rotary sleeve 2 towards the side of the second rotary sleeve 2
Side wall formed and the one-to-one draw-in groove of at least two fixture blocks, fixture block and draw-in groove clamping.
In above-mentioned drive device, when the second rotary sleeve 2 curves regulation station positioned at it, the second rotary sleeve 2 and actuating sleeve
Between pipe 23 by gear assembly be connected, the second rotary sleeve 2 when being rotated around its axial line, the rotation of the second rotary sleeve 2
Angle is easily controlled；Therefore, in above-mentioned drive device, actuating sleeve can be controlled by controlling the anglec of rotation of the second rotary sleeve 2
Two amount of movements of drive rod in the anglec of rotation of pipe 23, and then control, finally control end effector 4 curves angle, makes
Control accuracy when end effector 4 is curved is higher；And, gear assembly is passed through between the second rotary sleeve 2 and drive sleeve 23
Drive connection, stability when gear assembly is driven is high, meanwhile, drive sleeve 23 can control two drive rods while at the same speed
Counteragent, makes a drive rod for the side of end effector 4 provides thrust, and another drive rod is end effector 4
Opposite side provides pulling force, and end effector 4 is curved under two active forces of drive rod, and two drive rods are to end effector 4
The driving stability for curving is high.
In a kind of implementation method, in order to improve stability of second rotary sleeve 2 when regulation station is curved, above-mentioned driving dress
Put and also include the second rotary sleeve station holding switching mechanism, when the second rotary sleeve 2 curves regulation station positioned at it, the second rotation
Set station holding switching mechanism can carry out the axial limiting of distal direction to the second rotary sleeve 2, to prevent the second rotary sleeve 2 from driving
Dynamic end effector 4 produces axial movement when curving.
Specifically, as shown in Fig. 2, Fig. 5 and Figure 11~Figure 13, above-mentioned second rotary sleeve station keeps switching mechanism bag
Include：
The outer surface that fixed handle 1 is located at position in the second rotary sleeve 2 forms two spacing preiections of annular, in such as Fig. 2
Shown spacing preiection 12 and spacing preiection 17, spacing preiection 17 is located at the proximally facing side of spacing preiection 12, spacing preiection
The surface in 12 proximally facing directions forms the first confined planes, and it is spacing that spacing preiection 17 forms second towards the surface of distal direction
Face；
Between the rotary sleeve 2 of fixed handle 1 and second and it is sheathed on the first annular tooth bar 25 in the outside of fixed handle 1,
First annular tooth bar 25 is located between the first confined planes and the second confined planes, and the outer surface 252 of first annular tooth bar 25 is provided with
First engaging tooth 251, as shown in figure 11, the inner surface 253 of the first engaging tooth 251 with diameter greater than fixed handle 1 be located at second
The diameter at position in rotary sleeve 2, therefore, first annular tooth bar 25 can relative to fixed handle 1 along the axial movement of slender bodies and
Axial line that can be relative to fixed handle 1 around slender bodies rotates；
Between the rotary sleeve 2 of fixed handle 1 and second and it is sheathed on second annular rack 26 in the outside of fixed handle 1,
Second annular rack 26 is located between the confined planes of first annular tooth bar 25 and second, and the second annular rack 26 is towards first annular
The end face (i.e. the proximal end face 264 of the second annular rack 26) of tooth bar 25 is provided with the second engaging tooth 265, the second annular rack 26
Outer surface 262 is provided with the 3rd engaging tooth 261 as shown in figure 12, the inner surface 263 of the second annular rack 26 with diameter greater than fixation
Handle 1 is located at the diameter at position in the second rotary sleeve 2, therefore, the second annular rack 26 can be relative to fixed handle 1 along slender bodies
Axial movement and can relative to fixed handle 1 around slender bodies axial line rotate；
The 3rd annular rack 27 of the inwall of the second rotary sleeve 2 is fixed on, the 3rd annular rack 27 is located at the first confined planes
Proximally facing direction side, the inner surface 271 of the 3rd annular rack 27 forms multiple 4th engaging tooths 272, and each the 4th is nibbled
Closing tooth 272 has stopper slot 2721 of the opening towards distal direction, and is formed between two the 4th engaging tooths 272 of arbitrary neighborhood
Along the groove 273 that the direction of axis line of the 3rd annular rack 27 extends；Preferably, each the 4th engaging tooth 272 can be from the 3rd
The proximal section end face 274 of annular rack 27 stretches out；
Between the rotary sleeve 2 of fixed handle 1 and second and the back-moving spring 24 in the outside of fixed handle 1 is sheathed on, resetted
Spring 24 is located between the confined planes of first annular tooth bar 25 and first, as shown in Figure 2；
Second rotary sleeve 2 is in when curving regulation station：Distally one end of back-moving spring 24 offsets with the first confined planes, closely
Side one end offsets with the proximal end face 254 of first annular tooth bar 25, and back-moving spring 24 is in compression and stores power state；First annular tooth
The flank of tooth 266 of the second engaging tooth 265 that the first engaging tooth 251 that bar 25 is set is set with the second annular rack 26 offsets；Second
The stopper slot 2721 of the 4th engaging tooth 272 that the 3rd engaging tooth 261 and the 3rd annular rack 27 that annular rack 26 is set are set
Bottom land offsets；Now, the 3rd annular rack 27 fixed with the second rotary sleeve 2 can not think that distal direction is moved, and then can make
Second rotary sleeve 2 is maintained at and curves on regulation station；
When the second rotary sleeve 2 is in and curves regulation station, continue the movement of the proximal direction of the second rotary sleeve 2, until
The thrust surface in the proximally facing direction of spacing preiection 14 that the proximal end face of the second rotary sleeve 2 is set with fixed handle 1 offsets, and second
Rotary sleeve is in Switch of working position station, and in the process, distally one end and first confined planes of back-moving spring 24 offset, nearside one
End offsets with first annular tooth bar 25, and back-moving spring 24 is in compression and stores power state；The first of the setting of first annular tooth bar 25 nibbles
The flank of tooth for closing the second engaging tooth 265 that tooth 251 is set with the second annular rack 26 offsets；The proximal end face of the second annular rack 26
Offseted with the second confined planes, and the 3rd engaging tooth 261 that the second annular rack 26 is set departs from what the 3rd annular rack 27 was set
4th engaging tooth 272 and the second annular rack 26 are under the driving of the first engaging tooth 251 of first annular tooth bar 25 around its axle center
Line rotates, until each the 3rd engaging tooth 261 is axially aligned with the groove 273 that the 3rd annular rack 27 is provided with, with
When the distal direction of the second rotary sleeve 2 is moved, each the 3rd engaging tooth 261 is passed through from groove 273.
Obviously, those skilled in the art can carry out various changes and modification without deviating from this hair to the embodiment of the present invention
Bright spirit and scope.So, if these modifications of the invention and modification belong to the claims in the present invention and its equivalent technologies
Within the scope of, then the present invention is also intended to comprising these changes and modification.
Claims (11)
1. a kind of drive device of surgical operating instrument, including for the end effector of the surgical operating instrument is curved and carefully
The drive component of body powered rotation long；Characterized in that, the drive component includes：
Transmission component, nearside one end with the end effector is connected, and drives the end effector to carry out during action
Curve；
Position-limit mechanism, is installed on the fixed handle of the surgical operating instrument；Will when the position-limit mechanism is in its spacing station
The slender bodies is circumferentially locked, and the circumference locking to the slender bodies is released during reset；
First rotary sleeve, around its axial line can be rotatably mounted to fixed handle and circumferentially be locked between the slender bodies, institute
State and axial limiting mechanism is provided between the first rotary sleeve and the fixed handle carries out axial limit with to first rotary sleeve
Position；
Second rotary sleeve, can around its axial line rotation and can along its direction of axis line movably coaxial sleeve located at described first rotation
The outside of pivoted housing；Second rotary sleeve in its curve regulation station when with the transmission component be connected and with it is described
Position-limit mechanism coordinates, and the position-limit mechanism is moved under the driving of second rotary sleeve and is maintained at its spacing station；Institute
When stating the second rotary sleeve positioned at its rotation regulation station, the drive connection between second rotary sleeve and the transmission component is broken
Open, and the position-limit mechanism resets.
2. drive device according to claim 1, it is characterised in that the position-limit mechanism specifically includes limited block and setting
In the annular rack on the slender bodies surface, the inner surface of second rotary sleeve forms drive surface；Wherein：
The limited block can be slidably mounted to the fixed handle along perpendicular to the slender bodies direction of axis line, described spacing
Block is formed towards a side surface of the slender bodies axial line and is provided between engaging tooth, and the limited block and the fixed handle
Dynamic clamping head and quiet clamping head；Second rotary sleeve is in when curving regulation station, and the limited block is moved down in the driving of the drive surface
Move to spacing station, the dynamic clamping head and quiet clamping head is in compression and stores power state, and the engaging tooth of the limited block and the slender bodies
On annular rack tooth engagement, it is spacing to the circumference of the slender bodies to realize.
3. drive device according to claim 2, it is characterised in that the dynamic clamping head and quiet clamping head is spring.
4. drive device according to claim 1, it is characterised in that the position-limit mechanism is specifically included：
It is sheathed on the damped ring between the slender bodies and the fixed handle；
It is arranged at the block face of the fixed handle；
The compressive plane of the second rotary sleeve inner surface is arranged at, when second rotary sleeve curves regulation station in it
When, the compressive plane and the block face coordinate the extruding damped ring, so that the damped ring is produced is plastically deformed and compresses institute
Slender bodies and fixed handle are stated, with circumferentially spacing to the slender bodies.
5. drive device according to claim 1, it is characterised in that week between first rotary sleeve and the slender bodies
To locking, specifically include：
The outer surface of the slender bodies forms at least one spacing preiection, and the inner surface of first rotary sleeve is formed and the limit
The raised one-to-one stopper slot in position, in spacing preiection and stopper slot described in every a pair, the spacing preiection insertion is described spacing
Groove, to realize the circumferential locking between first rotary sleeve and the slender bodies.
6. drive device according to claim 1, it is characterised in that second rotary sleeve curves regulation station in it
When, it is connected between second rotary sleeve and the transmission component, specifically include：
The madial wall of second rotary sleeve is provided with annular internal tooth ring, the axial line of the annular internal tooth ring and the described second rotation
The axial line of set overlaps, and the annular internal tooth ring forms engaging tooth towards the side of the drive sleeve；
The transmission component includes drive sleeve, the annular outer tooth ring of the outer peripheral face of the drive sleeve, the annular outer tooth ring
Axial line overlapped with the axial line of the drive sleeve, and the annular outer tooth ring is towards the second rotary sleeve madial wall
Side forms engaging tooth；
At least one travelling gear of fixed handle, the axle of each travelling gear can be rotatably mounted to around its axial line
The axis parallel of heart line and the drive sleeve, second rotary sleeve positioned at its curve regulation station when, described in each
Travelling gear is engaged with the annular internal tooth ring, while being engaged with the annular outer tooth ring.
7. drive device according to claim 6, it is characterised in that the annular internal tooth ring is towards second rotary sleeve
Side form at least two fixture blocks, the side wall of second rotary sleeve is formed and blocked correspondingly with least two fixture block
Groove, the fixture block and the draw-in groove clamping.
8. the drive device according to any one of claim 1~7, it is characterised in that also protected including the second rotary sleeve station
Switching mechanism is held, when second rotary sleeve curves regulation station positioned at it, the second rotary sleeve station keeps switching machine
Structure can carry out the axial limiting of distal direction to second rotary sleeve.
9. drive device according to claim 8, it is characterised in that the second rotary sleeve station keeps switching mechanism bag
Include：
The fixed handle is located at the first confined planes that the outer surface at position in second rotary sleeve is formed, and described first is spacing
Face proximal direction；
The fixed handle is located at the second confined planes that the outer surface at position in second rotary sleeve is formed, and described second is spacing
Distal direction is faced, and second confined planes are located at the proximally facing side of first confined planes；
Between the fixed handle and second rotary sleeve and it is sheathed on the first annular tooth on the outside of the fixed handle
Bar, the first annular tooth bar is located between first confined planes and the second confined planes, and the first annular tooth bar is outer
Surface is provided with the first engaging tooth；
Between the fixed handle and second rotary sleeve and the second annular tooth for being sheathed on the outside of the fixed handle
Bar, second annular rack is located between the first annular tooth bar and second confined planes, and second annular tooth
Bar is provided with the second engaging tooth towards the end face of the first annular tooth bar, and the outer surface of second annular rack is provided with the 3rd and nibbles
Close tooth；
The 3rd annular rack of the inwall of second rotary sleeve is fixed on, it is spacing that the 3rd annular rack is located at described first
Proximal direction side is faced, the inner surface of the 3rd annular rack forms multiple 4th engaging tooths, and each the described 4th
Engaging tooth has between stopper slot of the opening towards distal direction, and two the 4th engaging tooths of arbitrary neighborhood and is formed along described
The groove that three annular rack direction of axis line extend；
Between the fixed handle and second rotary sleeve and the back-moving spring that is sheathed on the outside of the fixed handle,
The back-moving spring is located between the first annular tooth bar and first confined planes；
Second rotary sleeve is in when curving regulation station：Distally one end of the back-moving spring and the first confined planes phase
Support, nearside one end offsets with the first annular tooth bar, the back-moving spring is in compression and stores power state；The first annular tooth
The flank of tooth of the second engaging tooth that the first engaging tooth that bar is set is set with second annular rack offsets；Second annular tooth
The stopper slot bottom land of the 4th engaging tooth that article the 3rd engaging tooth for setting is set with the 3rd annular rack offsets；
When second rotary sleeve is in Switch of working position station：Distally one end of the back-moving spring and the first confined planes phase
Support, nearside one end offsets with the first annular tooth bar, the back-moving spring is in compression and stores power state；The first annular tooth
The flank of tooth of the second engaging tooth that the first engaging tooth that bar is set is set with second annular rack offsets；Second annular tooth
The proximal end face of bar offsets with second confined planes, and the 3rd engaging tooth that second annular rack is set departs from described the
The 4th engaging tooth that three annular racks are set and be provided with the 3rd annular rack one of each described 3rd engaging tooth
Groove is axially aligned, is led to from described with each described 3rd engaging tooth when the second rotary sleeve distal direction is moved
Passed through in groove.
10. a kind of surgical operating instrument, including operation handle, slender bodies, end effector；The operation handle includes fixed hand
Handle；Distally one end of the slender bodies is connected with nearside one end of the end effector；Characterized in that, also including such as right
It is required that the drive device described in 1~9 any one.
11. surgical operating instruments according to claim 10, it is characterised in that the surgical operating instrument cuts for hysteroscope
Stitching unstrument.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410499108.XA CN105496483B (en) | 2014-09-25 | 2014-09-25 | The drive device and surgical operating instrument of surgical operating instrument |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410499108.XA CN105496483B (en) | 2014-09-25 | 2014-09-25 | The drive device and surgical operating instrument of surgical operating instrument |
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| CN105496483A CN105496483A (en) | 2016-04-20 |
| CN105496483B true CN105496483B (en) | 2017-06-23 |
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| CN201410499108.XA Active CN105496483B (en) | 2014-09-25 | 2014-09-25 | The drive device and surgical operating instrument of surgical operating instrument |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3530197B1 (en) * | 2016-11-10 | 2024-04-03 | Reach Surgical, Inc. | Surgical instrument with interlocking function |
| CN108065978B (en) * | 2016-11-10 | 2024-05-14 | 天津瑞奇外科器械股份有限公司 | Surgical operation instrument |
| CN109259807A (en) * | 2018-10-19 | 2019-01-25 | 上海导向医疗系统有限公司 | For adjusting the dial device and peeling knife of knife bar rotation |
| CN111904506B (en) * | 2019-05-10 | 2022-03-11 | 上海逸思医疗科技股份有限公司 | Medical instrument, stapler, and rotation locking mechanism |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070027468A1 (en) * | 2005-08-01 | 2007-02-01 | Wales Kenneth S | Surgical instrument with an articulating shaft locking mechanism |
| CN203379164U (en) * | 2013-07-05 | 2014-01-08 | 常州市微凯医疗科技有限公司 | Anorectal linear cutting anastomat |
| CN203468671U (en) * | 2013-08-09 | 2014-03-12 | 瑞奇外科器械(中国)有限公司 | Bi-direction stroke control switch, bending stroke control device and surgical operation instrument |
| CN203468670U (en) * | 2013-08-09 | 2014-03-12 | 瑞奇外科器械(中国)有限公司 | Electric bending device of surgical operation instrument and surgical operation instrument |
| CN203468669U (en) * | 2013-08-09 | 2014-03-12 | 瑞奇外科器械(中国)有限公司 | Bending control device and surgical operation instrument |
| CN204106087U (en) * | 2014-09-25 | 2015-01-21 | 瑞奇外科器械(中国)有限公司 | The driving device of surgical operating instrument and surgical operating instrument |
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Address after: 300457 Tianjin Binhai New Area Economic and Technological Development Zone, Fourth Street, No. 5, block B, floor 4 Patentee after: Tianjin Ricky surgical instruments Limited by Share Ltd Address before: 300457 Tianjin Binhai New Area Economic and Technological Development Zone, Fourth Street, No. 5, block B, floor 4 Patentee before: Reach Surgical Instrument (China) Co.,Ltd. |
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