CN106419972B - Bendable minimally invasive instrument capable of adjusting clamping force - Google Patents
Bendable minimally invasive instrument capable of adjusting clamping force Download PDFInfo
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- CN106419972B CN106419972B CN201610864512.1A CN201610864512A CN106419972B CN 106419972 B CN106419972 B CN 106419972B CN 201610864512 A CN201610864512 A CN 201610864512A CN 106419972 B CN106419972 B CN 106419972B
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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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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
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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
- A61B17/32—Surgical cutting instruments
- A61B17/3201—Scissors
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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
- A61B2017/00238—Type of minimally invasive operation
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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
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
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- Biomedical Technology (AREA)
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Abstract
The invention discloses a bendable minimally invasive instrument capable of adjusting clamping force, which comprises an operating part, a flexible extending part and a control part which are sequentially connected, wherein the operating part comprises an operating head and a transmission device, the operating head comprises a first operating part and a second operating part, the transmission device comprises a base, a guide groove, a rack, an elastic reset part, a first gear, a second gear, a first rotating rod, a first guide rod, a first connecting rod, a second rotating rod, a second guide rod and a second connecting rod, the flexible extending part comprises a through channel formed in the center and a transmission cable penetrating through the through channel, the front end of the transmission cable is fixed on the rear end wall of the rack, and the rear end of the transmission cable is connected with the control part, so that when the rack reciprocates in the guide groove under the action of the transmission cable, the first operating part and the second operating part perform opening and closing motions relative to each other.
Description
Technical Field
The invention relates to a medical instrument, in particular to a minimally invasive instrument.
Background
The minimally invasive surgery is to make a plurality of perforations on the body surface of a human body, make an endoscope and an operation instrument enter the body cavity, such as an abdominal cavity, a thoracic cavity, a joint cavity and the like, under the monitoring of the endoscope, an operator operates the instrument outside the body of the patient through hands, so that the instrument extends into the working end in the body cavity of the patient to cut off a focus in the cavity, or perform operations such as repairing, suturing and the like on organs, and after the operation, the endoscope and the instrument are taken out, and the whole operation can be completed by suturing the small holes on the body surface.
The development of the minimally invasive surgery depends on the development of minimally invasive instruments, but the flexibility of the existing minimally invasive surgical instruments is far less than that of hands of surgeons, different clamping force or cutting force can not be selected when a focal region is clamped or cut, and in addition, because the distribution of organs in a human body cavity is complex, when the minimally invasive instruments are required to be bent with large curvature to avoid some important organs, the existing minimally invasive surgical instruments are difficult to complete.
The bendable minimally invasive instrument disclosed in the Chinese patent application No. 200910155072.2 comprises a head, an extension rod, a handle, a joint and two adjusting rotors, wherein the head is fixedly connected with the front end of the extension rod through the joint, and the handle is movably connected with the rear end of the extension rod through a handle base; the joint is formed by connecting a plurality of joint pieces in series through transmission wires, the transmission wires are distributed on the peripheral edges of the joint pieces, the ends of the four transmission wires are respectively and fixedly connected with the joint base, the rear end of the joint is formed by connecting an upper transmission wire and a lower transmission wire into a loop and is sleeved on one fixed pulley, and a left transmission wire and a right transmission wire are connected into another loop and are sleeved on the other fixed pulley; two adjacent joint sheets are arranged in a vertical crossing way; a handle transmission rod is arranged between the head and the handle, and a forceps head transmission rod and a push rod can realize the action transmission between the head and the handle. However, the bendable minimally invasive instrument designed in the patent application can only be bent at a joint, the rigid extension rod cannot achieve any bending effect, and when encountering an organ needing to be avoided, an operator has to adopt a mode of changing the direction of inserting the minimally invasive instrument; and the head of the bendable minimally invasive instrument designed by the patent application can not control the clamping force.
As another example, chinese patent application No. 200910155073.7 discloses a wrist-turning minimally invasive instrument, which includes a head, an extension rod, a handle, and two joints, wherein the head is fixedly connected to the front end of the extension rod through the head joint, and the handle is fixedly connected to the rear end of the extension rod through the handle joint; the head joint and the handle joint are respectively formed by connecting a plurality of joint pieces in series through transmission wires, the transmission wires are distributed on the edges of the peripheries of the joint pieces, the front ends of the transmission wires are fixedly connected with the head joint base, the rear ends of the transmission wires are fixedly connected with the handle joint base, and two adjacent joint pieces are arranged in a vertical crossing manner, so that the action transmission between the two joints can be realized; a transmission rod is arranged between the head part and the handle, so that the action transmission between the head part and the handle can be realized. However, the wrist-turning minimally invasive instrument designed in the patent application is only provided with one joint compared with the Chinese patent No. 200910155072.2, and still can only be bent at the joint, and the rigid extension rod cannot achieve any bending effect.
Therefore, the problem to be solved in the industry is to provide a bendable minimally invasive instrument with adjustable clamping force.
Disclosure of Invention
The invention aims to provide a bendable minimally invasive instrument with adjustable clamping force, which can realize different clamping force according to the size and the property of an organ to be operated and can adapt to the complex structure of a human body inner cavity to realize large-curvature bending.
In order to achieve the purpose, the invention provides a bendable minimally invasive instrument capable of adjusting clamping force, which comprises an operating part, a flexible extending part and a control part, wherein the operating part is connected with one end of the flexible extending part, and the control part is connected with the other end of the flexible extending part; the operating head comprises a first operating piece and a second operating piece; the transmission device comprises a base, a guide groove formed on the upper surface of the base along the longitudinal central line of the base, a rack accommodated in the guide groove and capable of reciprocating along the guide groove, an elastic reset piece clamped between one end wall of the rack and one end wall of the guide groove, a first gear and a second gear which are arranged on the upper surface of the base on two sides of the rack and respectively meshed with tooth parts of two side walls of the rack, a first rotating rod with one end fixed on the upper surface of the first gear, a first guide rod with one end pivoted between the first gear and the front end of the base and connected on the upper surface of the base, a first connecting rod with the rear end pivoted on the other end of the first rotating rod and the middle pivoted on the other end of the first guide rod, a second rotating rod with one end fixed on the upper surface of the second gear, a second guide rod with one end pivoted between the second gear and the front end of the base and a second rotating rod with the rear end pivoted on the other end of the second rotating rod and the middle pivoted on the other The first operating piece is connected to the front end of the first connecting rod, and the second operating piece is connected to the front end of the second connecting rod; and the flexible extension part comprises a through channel formed in the center and a transmission cable penetrating through the through channel, the front end of the transmission cable is fixed on the rear end wall of the rack, and the rear end of the transmission cable is connected with the control part, so that when the rack reciprocates in the guide groove under the action of the transmission cable, the first operating part and the second operating part perform opening and closing movement relative to each other.
Alternatively, the elastic return member is an extension spring or an extension rubber member, a front end of the extension spring or the extension rubber member is fixed to a front end wall of the guide groove, and a rear end of the extension spring or the extension rubber member is fixed to a front end wall of the rack.
Optionally, the elastic return element is a compression spring or a compression rubber element with a through hole in the center, the front end of the compression spring or the compression rubber element is fixed to the rear end wall of the rack, the rear end of the compression spring or the compression rubber element is fixed to the rear end wall of the guide groove, and the front end of the transmission cable passes through the central through hole of the compression spring or the through hole of the compression rubber element and is fixed to the rear end wall of the rack.
Preferably, the first gear, the first rotating rod, the first guide rod and the first connecting rod are respectively and symmetrically arranged with the corresponding second gear, the corresponding second rotating rod, the corresponding second guide rod and the corresponding second connecting rod relative to the longitudinal central line of the base.
Preferably, the flexible extension part comprises at least two metal spiral coil layers which are stacked and sleeved, the inner part of the innermost metal spiral coil layer forms a through channel, and the winding directions of any two adjacent metal spiral coil layers are opposite.
Alternatively, the at least two metal spiral coil layers may be three or more.
Alternatively, the drive cable in the through passage may be made of steel wire or nylon wire.
Preferably, the control part comprises a control seat, a through hole which is arranged in the center of the front end wall of the control seat and is terminated in the first longitudinal direction of the control seat and is used for penetrating the transmission cable, a sliding chute which extends from the first longitudinal direction to the second longitudinal direction of the control seat along the longitudinal central line of the control seat and is formed on the upper surface of the control seat, a plurality of pairs of limiting grooves which are arranged on the upper surface of the control seat at two sides of the sliding chute, a sliding block of which the front end is connected with the rear end of the transmission cable and is contained in the sliding chute to reciprocate along the sliding chute, and a clamping hook which is arranged on the sliding block and can be clamped in any pair of.
Preferably, the slider comprises a slider base which is arranged in the sliding groove and provided with a groove on the upper surface, an inverted T-shaped clamping seat which is accommodated in the groove, and a slider cover which is fixedly covered on the slider base and has an opening formed in the center, wherein the clamping seat comprises a limiting plate which is arranged on the bottom wall of the groove and has a surface area larger than the opening on the slider cover, and a connecting column which extends upwards from the upper surface of the limiting plate and extends through the opening.
Alternatively, the sliding block cover can be fixedly covered on the sliding block base in a screw, rivet or welding mode.
Preferably, the hook comprises a hook connecting rod, a fixing hole formed in the middle of the hook connecting rod, and hook heads which extend downwards from two ends of the hook connecting rod and can be hooked in any pair of limiting grooves, wherein the sliding block further comprises screws which penetrate through the fixing hole of the hook connecting rod and are screwed into threaded holes formed in the connecting column so as to fix the hook connecting rod on the clamping seat. Alternatively, the catch link may be fixed to the cartridge by rivets or welding.
Preferably, a first gasket ring is arranged on the rear end wall of the base, a first central hole is formed in the center of the first gasket ring, a second gasket ring is arranged on the front end wall of the control seat, a second central hole is formed in the center of the second gasket ring, the front end of the transmission cable penetrates through the first central hole and is fixed to the rear end wall of the rack, the rear end of the transmission cable penetrates through the second central hole and the through hole of the control seat and is fixed to the front end wall of the slider base, the front ends of at least two layers of metal spiral coil layers are respectively fixed to the rear end wall of the first gasket ring, and the rear ends of at least two layers of metal spiral coil layers are respectively fixed to the front.
Preferably, the bottom of the hook head forms a ball head part, and the limiting groove corresponds to a C-shaped clamping groove matched with the ball head part.
Optionally, the ball head portion and the C-shaped slot have different magnetic properties, respectively.
Optionally, the operating head is a clamp or a scissors.
Optionally, the first operating member is fixedly connected or hinged to the front end of the first link, and the second operating member is fixedly connected or hinged to the front end of the second link.
Optionally, a protective shell is provided outside the operating portion and a flexible protective cover is provided outside the flexible extension to avoid injury to the patient by the apparatus itself.
The invention has the beneficial effects that: (1) because the whole extension part has flexibility, the minimally invasive instrument can realize the bending effect of large curvature and is more suitable for the complex environment of an inner cavity; (2) because the extension part adopts a structure of a plurality of coil layers with different winding directions (clockwise or anticlockwise), when the operation part needs to rotate clockwise or anticlockwise after clamping the target object, the coil layer with the same winding direction and the same rotating direction is tightened to smoothly transmit the torque from the control part to the operation part; (3) the opening and closing actions of the operating head can be controlled by the transmission device by pulling the sliding block of the control part, so that the complexity of the operation is greatly reduced; (4) the setting of many pairs of spacing grooves can control first operating parts and second operating parts and carry out the motion that opens and shuts for each other, and then the centre gripping dynamics of control operating head to the size and the nature that are fit for different organs.
Drawings
Fig. 1 is a schematic structural diagram of a bendable minimally invasive instrument with adjustable clamping force according to the invention.
FIG. 2 is a schematic view of the first operating member and the second operating member of the present invention in a closed configuration.
FIG. 3 is a schematic view of the configuration of the first operating member and the second operating member of the present invention in the open state.
Fig. 4 is a schematic configuration diagram of another embodiment of the operation portion of the present invention.
Fig. 5 is a schematic view of the configuration of the control section of the present invention.
Fig. 6 is a schematic sectional view taken along line a-a of fig. 5.
Fig. 7 is a schematic sectional view B-B of fig. 5.
FIG. 8 is a schematic view of the slider configuration of the present invention.
Fig. 9 is a schematic view of the hook of the present invention.
Detailed Description
Referring to fig. 1, according to a non-limiting embodiment of the present invention, the bendable minimally invasive instrument with adjustable clamping force of the present invention comprises an operation part 100, a flexible extension part 200 and a control part 300 connected to each other.
The operation unit 100 includes an operation head 110 and an actuator 120 capable of controlling the operation of the operation head 110. The operating head 110 includes a first operating member 111 and a second operating member 112. In this non-limiting embodiment, the transmission 120 includes a base 121, a rack 122, a tension spring 123, a first gear 124, a second gear 125, a first rotating rod 1241, a first guide rod 1242, a first link 1243, a second rotating rod 1251, a second guide rod 1252, and a second link 1253. As shown in fig. 2 and 3, a guide groove (not shown) is formed on an upper surface of the base 121 along a longitudinal center line (not shown) of the base 121, the rack 122 is received in the guide groove and can reciprocate along the guide groove, a front end of the tension spring 123 is fixed to a front end wall of the guide groove, a rear end of the tension spring is fixed to a front end wall of the rack 122, the first gear 124 and the second gear 125 are disposed on the upper surface of the base 121 and distributed on both sides of the rack 122 and respectively engaged with teeth portions of both side walls of the rack 122, and one end of the first rotating rod 1241 is fixed to an upper surface of the first gear 124. One end of the first guide rod 1242 is pivotally connected to the upper surface of the base 121 between the first gear 124 and the front end of the base 121. The first link 1243 has a rear end pivotally connected to the other end of the first rotating rod 1241 and a middle portion pivotally connected to the other end of the first guide rod 1242. One end of the second rotating lever 1251 is fixed to the upper surface of the second gear 125 symmetrically with respect to the longitudinal center line of the base. One end of the second guide bar 1252 is pivotally connected to the upper surface of the base 121 between the second gear 125 and the front end of the base 121. The second link 1253 has a rear end pivotally connected to the other end of the second rotating lever 1251 and a middle portion pivotally connected to the other end of the second guide lever 1252.
In this non-limiting embodiment, as shown in fig. 1, the flexible extension portion 200 includes three metal spiral coil layers 221, 222, 223 stacked and sleeved from outside to inside, a through channel (not numbered) located at the center is formed inside the innermost metal spiral coil layer 223, a driving cable 210 is threaded into the through channel, and the winding directions of the adjacent metal spiral coil layers 221, 222, 223 are opposite to each other to enhance the supporting rigidity. The front end of the transmission cable 210 is fixed to the rear end wall of the rack 122, and the other end of the transmission cable 210 is connected to the control unit 130. Thus, when the rack 122 reciprocates in the guide groove by the driving cable 210, the first operating member 111 and the second operating member 112 can perform opening and closing movements with respect to each other.
As an alternative embodiment, as shown in fig. 4, the extension spring 123 may be replaced by a compression spring 126 or a compression rubber (not shown) with a through hole at the center, the front end of the compression spring 126 or the compression rubber is fixed to the rear end wall of the rack 122, the rear end of the compression spring 126 or the compression rubber is fixed to the rear end wall of the guide groove, and the transmission cable 210 is fixed to the rear end wall of the rack 122 through a central through hole of the compression spring 126 or through a through hole of the compression rubber.
As shown in fig. 1, the control portion 300 includes a control base 310, a sliding slot 320, a limiting slot 330, a sliding block 340 and a hook 350, as shown in fig. 5 and 6, a through hole H is formed in the center of the front end wall of the control base 310 and terminates at a first longitudinal direction P1 of the control base 310, and the transmission cable 210 can penetrate into the through hole H. The sliding groove 320 is formed on the upper surface of the control seat 310 along the longitudinal center line of the control seat 310 from the first longitudinal direction P1 to the second longitudinal direction P2 of the control seat 310, and the four pairs of limiting grooves 330 are disposed on two sides of the sliding groove 320. The sliding block 340 is accommodated in the sliding slot 320 and can reciprocate along the sliding slot 320, and the hook 350 is arranged on the sliding block 340 and can be clamped in any pair of limiting slots 330.
In this non-limiting embodiment, as shown in fig. 8, the slider 340 includes a slider base 341 disposed in the sliding groove 320 and having a groove G formed on an upper surface thereof, an inverted T-shaped card holder 342 received in the groove G, and a slider cover 343 fixedly covering the slider base 341 and having an opening (not numbered) formed in a center thereof, wherein the card holder 342 includes a position-limiting plate 3421 disposed on a bottom wall of the groove G and having a surface area larger than that of the opening of the slider cover 343, and a connecting post 3422 extending upward from an upper surface of the position-limiting plate 3421 through the opening, so that the slider cover 343 can limit the card holder 342 from moving up and down in the groove G. In order to be engaged with the limiting grooves 330, as shown in fig. 9, the hook 350 includes a hook link 351, a fixing hole 352 formed at the middle of the hook link 351, and hook heads 353 extending downward from both ends of the hook link 351 and capable of being hooked in any one pair of the limiting grooves 330. When the fastening device is installed and used, the hook connecting rod 351 is placed on the top of the connecting column 3422, and the fastening hook 350 can be fixed on the fastening seat 342 by passing a screw through the fixing hole 352 of the hook connecting rod 351 and screwing the screw into a threaded hole (not shown) provided on the connecting column 3422.
As still another alternative embodiment of the connection between the flexible extension portion 200 and the control portion 300, as shown in fig. 1, a first washer W1 is disposed on the rear end wall of the base 121, a first central hole (not shown) is opened at the center of the first washer W1, a second washer W2 is disposed on the front end wall of the control seat 310, a second central hole (not shown) is opened at the center of the second washer W2, the front end of the driving cable 210 passes through the first central hole and is fixed to the rear end wall of the rack 122, the rear end of the driving cable 210 passes through the second central hole and the through hole H of the control seat 310 and is fixed to the front end wall of the slider base 341, the front end of each of the metal spiral coil layers 221, 222, 223 is fixed to the rear end wall of the base 121, and the rear end is fixed to the front end.
As another alternative, as shown in fig. 7 and 9, a ball head portion is formed at the bottom of the hook 353, and the limiting groove 330 is a C-shaped groove capable of being in interference fit with the ball head portion, so that when the hook 353 is hooked to the limiting groove 330, a firm hook can be ensured between the hook 353 and the limiting groove 330.
Thus, when the sliding block 340 is pulled backward, the transmission cable 210 drives the rack 122 to move backward, the first gear 124 and the second gear 125 engaged with the rack 122 perform counterclockwise and clockwise rotations respectively, thereby respectively driving the first rotating rod 1241 and the second rotating rod 1251 to move in opposite directions, the first rotating rod 1241 and the second rotating rod 1251 in turn respectively driving the first connecting rod 1243 and the second connecting rod 1253 to move, the first guiding rod 1242 and the second guiding rod 1252 respectively pivotally connected with the first connecting rod 1243 and the second connecting rod 1253 are pivotally connected, the guiding of the first link 1243 and the second link 1253 is performed in conjunction with the first rotation lever 1241 and the second rotation lever 1251, so that the first operating member 111 and the second operating member 112 are gradually approached, when the distance between the first operating member 111 and the second operating member 112 is a desired distance, the hook 353 is hooked in the corresponding pair of the retaining grooves 330. When the first operating member 111 and the second operating member 112 need to be separated, the hook head 353 is taken out of the limiting groove 330, the rack 122 is pulled or pushed to move forward by the resilience force of the extension spring 123 or the compression spring 126, the first gear 124 and the second gear 125 engaged with the rack 122 rotate clockwise and counterclockwise respectively, and further drive the first rotating rod 1241 and the second rotating rod 1251 to move in opposite directions respectively, the first rotating rod 1241 and the second rotating rod 1251 then drive the first link 1243 and the second link 1253 to move respectively, the first guide rod 1242 and the second guide rod 1252 pivotally connected with the first link 1243 and the second link 1253 respectively pivot, and the first rotating rod 1241 and the second rotating rod 1251 together complete the guiding of the first link 1243 and the second link 1253, so that the first operating member 111 and the second operating member 112 are separated gradually.
Although preferred embodiments of the present invention have been described in detail herein, it is to be understood that this invention is not limited to the precise construction herein shown and described in detail, and that other modifications and variations may be effected by one skilled in the art without departing from the spirit and scope of the invention.
Claims (10)
1. A bendable minimally invasive instrument capable of adjusting clamping force comprises an operating part, a flexible extending part and a control part, wherein the operating part is connected with one end of the flexible extending part, and the control part is connected with the other end of the flexible extending part, and the bendable minimally invasive instrument is characterized in that:
the operating part comprises an operating head and a transmission device for controlling the action of the operating head; the operating head comprises a first operating piece and a second operating piece; the transmission device comprises a base, a guide groove formed on the upper surface of the base along the longitudinal central line of the base, a rack accommodated in the guide groove and capable of reciprocating along the guide groove, an elastic reset piece clamped between one end wall of the rack and one end wall of the guide groove, a first gear and a second gear which are arranged on the upper surface of the base on two sides of the rack and respectively meshed with tooth parts on two side walls of the rack, a first rotating rod with one end fixed on the upper surface of the first gear, a first guide rod with one end pivoted between the first gear and the front end of the base and connected on the upper surface of the base, a first connecting rod with the rear end pivoted on the other end of the first rotating rod and the middle pivoted on the other end of the first guide rod, a second rotating rod with one end fixed on the upper surface of the second gear, a first gear and a second gear, A second guide rod having one end pivotally connected to the upper surface of the base between the second gear and the front end of the base, and a second link having a rear end pivotally connected to the other end of the second rotating rod and a middle portion pivotally connected to the other end of the second guide rod, wherein the first operating member is connected to the front end of the first link, and the second operating member is connected to the front end of the second link; and
the flexible extension part comprises a through channel formed in the center and a transmission cable penetrating through the through channel, the front end of the transmission cable is fixed on the rear end wall of the rack, and the rear end of the transmission cable is connected with the control part, so that when the rack reciprocates in the guide groove under the action of the transmission cable, the first operating part and the second operating part perform opening and closing movement relative to each other.
2. The minimally invasive instrument with adjustable clamping force according to claim 1, wherein the elastic restoring member is an extension spring or an extension rubber member, the front end of the extension spring or the extension rubber member is fixed to the front end wall of the guide groove, and the rear end of the extension spring or the extension rubber member is fixed to the front end wall of the rack.
3. The minimally invasive instrument with adjustable clamping force according to claim 1, wherein the elastic restoring member is a compression spring or a compression rubber member with a through hole in the center, the front end of the compression spring or the compression rubber member is fixed to the rear end wall of the rack, the rear end of the compression spring or the compression rubber member is fixed to the rear end wall of the guide groove, and the front end of the transmission cable passes through the central through hole of the compression spring or the through hole of the compression rubber member and is fixed to the rear end wall of the rack.
4. The minimally invasive, force-clamping-adjustable bendable instrument according to claim 2 or 3, wherein the first gear, the first rotating rod, the first guide rod and the first link are symmetrically arranged with respect to the longitudinal center line of the base, respectively, corresponding to the second gear, the second rotating rod, the second guide rod and the second link.
5. The minimally invasive instrument capable of adjusting clamping force according to claim 4, wherein the flexible extension portion comprises at least two metal spiral coil layers which are stacked and sleeved, the through channel is formed inside the innermost metal spiral coil layer, and the winding directions of any two adjacent metal spiral coil layers are opposite.
6. The minimally invasive instrument with adjustable clamping force according to claim 5, wherein the control part comprises a control base, a through hole for passing through the transmission cable, the through hole being arranged in the center of the front end wall of the control base and ending in a first longitudinal direction of the control base, a sliding groove extending from the first longitudinal direction to a second longitudinal direction of the control base along the longitudinal center line of the control base and formed on the upper surface of the control base, a plurality of pairs of limiting grooves arranged on the upper surface of the control base at two sides of the sliding groove, a sliding block with a front end connected with the rear end of the transmission cable and contained in the sliding groove to reciprocate along the sliding groove, and a clamping hook arranged on the sliding block and capable of being clamped in any pair of the limiting grooves.
7. The minimally invasive, force-clamping-adjustable bendable instrument according to claim 6, wherein the slider comprises a slider base which is disposed in the sliding groove and has a groove on an upper surface, an inverted T-shaped clamping seat which is accommodated in the groove, and a slider cover which is fixedly covered on the slider base and has an opening formed in the center, wherein the clamping seat comprises a limiting plate which is disposed on a bottom wall of the groove and has a larger surface area than the opening of the slider cover, and a connecting column which extends upward from the upper surface of the limiting plate and extends through the opening.
8. The minimally invasive, force-clamping-adjustable bendable instrument according to claim 7, wherein the hook comprises a hook link, a fixing hole formed in the middle of the hook link, and a hook head extending downward from both ends of the hook link and capable of being fastened in any pair of the limiting grooves, wherein the slider further comprises a screw passing through the fixing hole of the hook link and screwed into a threaded hole provided in the connecting column to fix the hook link to the card holder.
9. The minimally invasive instrument with adjustable clamping force according to claim 7, wherein a first washer is disposed on a rear end wall of the base, a first central hole is formed in the center of the first washer, a second washer is disposed on a front end wall of the control seat, and a second central hole is formed in the center of the second washer, wherein a front end of the transmission cable passes through the first central hole and is fixed to a rear end wall of the rack, a rear end of the transmission cable passes through the second central hole and the through hole of the control seat and is fixed to a front end wall of the slider base, front ends of the at least two metal spiral coil layers are respectively fixed to a rear end wall of the first washer, and rear ends of the at least two metal spiral coil layers are respectively fixed to a front end wall of the second washer.
10. The minimally invasive, force-clamping-adjustable bendable instrument according to claim 8, wherein the hook head ends form a ball head portion, and the limiting groove is correspondingly configured as a C-shaped clamping groove matched with the ball head portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610864512.1A CN106419972B (en) | 2016-09-29 | 2016-09-29 | Bendable minimally invasive instrument capable of adjusting clamping force |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610864512.1A CN106419972B (en) | 2016-09-29 | 2016-09-29 | Bendable minimally invasive instrument capable of adjusting clamping force |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106419972A CN106419972A (en) | 2017-02-22 |
| CN106419972B true CN106419972B (en) | 2020-01-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610864512.1A Active CN106419972B (en) | 2016-09-29 | 2016-09-29 | Bendable minimally invasive instrument capable of adjusting clamping force |
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| CN106491186A (en) * | 2016-10-14 | 2017-03-15 | 龙口市人民医院 | Have the Minimally Invasive Surgery shears of flexible and anti-rotation concurrently |
| CN107157529A (en) * | 2017-07-20 | 2017-09-15 | 韩宇 | The conveying device and its application method of simple ultrasound guidance atrial septal defect plugging device |
| WO2021047531A1 (en) * | 2019-09-10 | 2021-03-18 | 深圳市槃云科技有限公司 | Grip exerciser |
| CN111150453B (en) * | 2020-02-25 | 2020-10-13 | 时建 | Minimally invasive surgery clamp |
| CN112156342A (en) * | 2020-10-15 | 2021-01-01 | 李园媛 | Gynaecology who reduces extravagant and evenly dose uses private parts device of dosing |
| CN112472166B (en) * | 2020-11-23 | 2022-05-20 | 中国人民解放军陆军军医大学第二附属医院 | Single-hole adjustable noninvasive tractor |
| CN114166544B (en) * | 2021-12-02 | 2023-10-27 | 中南大学湘雅医院 | Multifunctional sampling clamp with tool bit mode conversion function for pathology |
| CN115517720B (en) * | 2022-10-25 | 2023-05-26 | 湖南省人民医院(湖南师范大学附属第一医院) | Myocardial biopsy device for reducing myocardial injury |
| CN117296692A (en) * | 2023-11-29 | 2023-12-29 | 山东青山绿水农林科技有限公司 | Annular fertilizer injection unit is used in fruit tree planting |
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| CN103610488A (en) * | 2013-10-24 | 2014-03-05 | 上海交通大学 | Minimally-invasive endoscope operating forcep head |
| CN204321646U (en) * | 2014-12-18 | 2015-05-13 | 重庆秋田齿轮有限责任公司 | The clamping device of cylindrical parts |
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