CN108403209A

CN108403209A - A kind of intelligent surgical surgical clamp

Info

Publication number: CN108403209A
Application number: CN201810243213.5A
Authority: CN
Inventors: 成英
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-03-23
Filing date: 2018-03-23
Publication date: 2018-08-17

Abstract

The invention discloses a kind of intelligent surgical surgical clamps, it includes shell and surgical clamp, the surgical clamp includes end effector assembly, the end effector assembly includes the first jaw member and the second jaw member, further include four driving motors in the shell, deformation quantity perceptron, gear mesh gear and cpu controller, four driving motor is connected with deformation quantity perceptron, the deformation quantity perceptron is connected with gear mesh gear, the gear mesh gear is connected with cpu controller, wherein, four driving motor provides driving force by four motors, four driving motor is conducted by deformation quantity perceptron to gear mesh gear after generating torque, and the handle that gear mesh gear passes to heart pass securing device is controlled by cpu controller, complete operation；The present invention operates accuracy height, safe ready.

Description

A kind of intelligent surgical surgical clamp

Technical field

The present invention relates to medical surgical operating instrument fields, and in particular to intelligent surgical surgical clamp.

Background technology

Surgical operation refers to using operational artificial and technique with the apparatus to the tissue of patient with the medicine for the treatment of of pathological conditions Profession.Having been proposed using operating robot, (resection operation needs to cut tissue to treat or remove as resection operation is carried out Organ in body) alternative means, to reduce blood loss, pain and to improve precision.When reducing the instrument size This limitation, micromation for operating robot and becomes for replacing the technology of disposable instrument automatically and applying Obstacle.

Existing surgical clamp cannot meet easy to operate and safe requirement, especially existing surgical clamp training equipment letter It is plain, it is unable to intellectualized operation, manual operation deviation is big, therefore provides a kind of high accuracy, cost reduction, safe and reliable operation Pincers just seem especially important and urgent.

Invention content

In view of the drawbacks described above of the prior art, technical problem to be solved by the invention is to provide a kind of the degree of automation High, safe ready surgical clamp.

Technical solution of the present invention is as follows：

A kind of intelligent surgical surgical clamp comprising shell and surgical clamp, the surgical clamp include end effector assembly, institute It states end effector assembly and includes the first jaw member and the second jaw member, first jaw member and the second jaw member Be configured to grasping tissue between the first jaw member and the second jaw member and conduct energy by grasping in the first pincers Tissue between mouth component and the second jaw member, to treat tissue；Insulative tubular member, the insulative tubular member being capable of phases The end effector assembly is moved between the retracted and extended positions, in the retracted position, insulative tubular Component is located in end effector assembly nearside, and in the extended position, insulative tubular member is arranged in end effector group Around part；And monopole component, the monopole component can be relative to end effector assemblies from first position selectively portion It affixes one's name to the second position, wherein in the second position, the part of monopole component is from end effector assembly and insulative tubular member It is distally extending, to apply energy to tissue, to treat tissue；Further include four driving motors, deformation quantity sense in the shell Know that device, gear mesh gear and cpu controller, four driving motor are connected with deformation quantity perceptron, the deformation Amount perceptron is connected with gear mesh gear, and the gear mesh gear is connected with cpu controller, wherein Four driving motor provides driving force by four motors, and four driving motor is passed after generating torque by deformation quantity perceptron It is directed at gear mesh gear, and the monopole structure that gear mesh gear passes to surgical clamp is controlled by cpu controller Part completes operation；The deformation quantity perceptron is for perceiving deflection and surgical clamp monopole member end Moment, the shape Variable perceptron includes rotary-type turntable, foil gauge and the strain resistor measure of the change circuit sensitive to horizontal plane torsional deflection, The rotary-type turntable and four driving motors have same axle center, the output axis connection of the rotary-type turntable and double drive motor It is fixed, 2 pairs of symmetrical foil gauges are provided with outside each rotary-type turntable, are respectively symmetrically attached to a front and back left side for rotary-type turntable Right four direction is tested when rotary-type turntable is twisted by external force and strains marking area；Strain resistor measure of the change circuit is using straight Stream double bridge mode, which measures, becomes piece power resistance variations, and the torque that foil gauge resistance variations are subject to rotary-type turntable is at positive It closes；The transmission device, is used for and rotary-type turntable cooperates and realizes surgical clamp movement driving and the power sense of surgical clamp end Know, and the power of the perception is transferred to cpu controller and is analyzed, and controls surgery mechanical and carry out accurate moving operation；It is described For transmission device using the gear engagement mechanism for being provided with totally-enclosed protective device, the gear engagement mechanism is Electronic control pattern And manual mode, the electronic work of gear engagement mechanism is controlled by PLC controller.

Further, the cpu controller includes analog input module, D/A conversion modules, processing module, power module And output module, the processing module are connected with analog input module, D/A conversion modules, output module and power module respectively, The torque data of analog input module input acquisition, and by D/A conversion modules by physics torque data conversion at number Data, and it is transferred to the threshold decision that processing module carries out data, then stop acting if more than threshold value, electricity is then transmitted less than threshold value Signal gives gear mesh gear, carries out Electronic control.

The monopole component includes elongated bar member, and the bar member has conductive distal end, conductive distal end Be configured to when monopole component layout in the second position when it is distally extending from end effector assembly and insulative tubular member； In first position, conductive distal end is arranged in longitudinal direction tube chamber, and the longitudinal direction tube chamber extends through the first jaw member and One distal jaw shell in two jaw members；In first position, conductive distal end is arranged in recessed portion, described Recessed portion is limited in one in the first jaw member and the second jaw member distal jaw shell；In first position, Conductive distal end is arranged in recessed portion, and the recessed portion is limited to one in the first jaw member and the second jaw member Proximal flange portion in；In first position, conductive distal end is arranged in insulating sleeve, and the insulating sleeve is located in End effector assembly nearside；One in first jaw member and the second jaw member defines trepanning, the open-pore construction At when monopole component layout in the second position when receive monopole component a part.

Advantageous effect：The present invention is by being arranged four motors so that job stability is high, and by spare each other, reduces Working strength, and it is concentric by motor and rotary-type turntable, reduce the loss of driving force, directly just by torque transmitting to biography Dynamic device, and surgical instrument is controlled by transmission device, realize operating efficiency raising；And for the control of conventional mechanical means It is not sufficiently stable accuracy, is controlled using CPU, given threshold is carried out by accurately analyzing, and to torque numerical value, it is accurate to realize Torque Control in surgical procedure, realizes precise and stable control, will not cause secondary injury；Further through rotary-type variable Perceptron accurately perceives torque, using 2 pairs of symmetrical foil gauges, is respectively symmetrically attached to a front and back left side for rotary-type turntable Right four direction can perceive 360 degree of direction, general to perceive the torque of all directions only with a pair, also Marking area is strained when being twisted by external force by rotary-type turntable；Strain resistor measure of the change circuit uses direct-flow double bridge side Formula, which measures, becomes piece power resistance variations, measurement can be made more accurate using this direct-flow double bridge, and general way is to use Wheatstone bridge, the torque that foil gauge resistance variations are subject to rotary-type turntable are positively correlated, this physical principle is exactly utilized, Realize the accurate measurement to torque；By being arranged deformation quantity perceptron in instrument driving device, since deformation quantity perceives Device is detached with surgical instrument, is avoided the setting deformation quantity perceptron in the small space of deformation quantity perceptron head, is significantly reduced The processing and fabricating complexity of surgical instrument.Surgical instrument end coupled room torque is broken down into multiple planes by the device The torque of the single-degree-of-freedom of decoupling, the device measure the power of apparatus work freedom degree direction very sensitive.Existing surgical instrument is not It needs to be transformed, can be directly assembled on the device, power/torque of surgical instrument end can be perceived.Transmission device uses It is provided with the gear engagement mechanism of totally-enclosed protective device, safe class is high, and gear engagement mechanism is Electronic control pattern and hand Dynamic model formula controls the electronic work of gear engagement mechanism by PLC controller, can accurately control.

Description of the drawings

Fig. 1 is the intelligent surgical surgical clamp schematic diagram that the present invention provides preferred embodiment；

Fig. 2 is surgical clamp schematic diagram of the present invention.

Specific implementation mode

The invention will be further described with reference to the accompanying drawings and examples：

As shown in Figure 1, a kind of intelligent surgical surgical clamp comprising shell and surgical clamp, the surgical clamp include that end is held Row device assembly, the end effector assembly include the first jaw member and the second jaw member, first jaw member and Second jaw member is configured to grasping tissue between the first jaw member and the second jaw member and conduct energy passes through The tissue between the first jaw member and the second jaw member is grasped, to treat tissue；Insulative tubular member, the insulation tube Shape component can between the retracted and extended positions be moved relative to the end effector assembly, in the retracted position In, insulative tubular member is located in end effector assembly nearside, and in the extended position, insulative tubular member is arranged in end Around portion's actuator assembly；And monopole component, the monopole component can be relative to end effector assemblies from first position It is selectively deployed to the second position, wherein in the second position, the part of monopole component is from end effector assembly and absolutely Edge tubular element is distally extending, to apply energy to tissue, to treat tissue；It further include four drivings electricity in the shell Machine, deformation quantity perceptron, gear mesh gear and cpu controller, four driving motor are connected with deformation quantity perceptron It connects, the deformation quantity perceptron is connected with gear mesh gear, the gear mesh gear and cpu controller phase Connection, wherein four driving motor provides driving force by four motors, and four driving motor passes through deformation after generating torque Amount perceptron is conducted to gear mesh gear, and is controlled gear mesh gear by cpu controller and passed to operation The monopole component of pincers completes operation；The deformation quantity perceptron is for perceiving suffered by deflection and surgical clamp monopole member end Torque, the deformation quantity perceptron include rotary-type turntable, foil gauge and the electrostrictive strain resistive sensitive to horizontal plane torsional deflection Change measuring circuit, the rotary-type turntable and four driving motors have same axle center, the rotary-type turntable and double drive motor Output shaft be connected and fixed, be provided with 2 pairs of symmetrical foil gauges outside each rotary-type turntable, be respectively symmetrically attached to rotary-type turn The four direction all around of disk is tested when rotary-type turntable is twisted by external force and strains marking area；Strain resistor measure of the change Circuit is measured using direct-flow double bridge mode becomes piece power resistance variations, the torsion that foil gauge resistance variations are subject to rotary-type turntable Square is positively correlated；The transmission device, is used for and rotary-type turntable cooperates and realizes surgical clamp movement driving and surgical clamp end The power at end perceives, and the power of the perception is transferred to cpu controller and is analyzed, and controls surgery mechanical and carry out accurate mobile behaviour Make；For the transmission device using the gear engagement mechanism for being provided with totally-enclosed protective device, the gear engagement mechanism is electronic Control model and manual mode control the electronic work of gear engagement mechanism by PLC controller；The cpu controller includes mould Quasi- input module, D/A conversion modules, processing module, power module and output module, the processing module respectively with simulation input Module, D/A conversion modules, output module are connected with power module, the torque data of the analog input module input acquisition, and By D/A conversion modules by physics torque data conversion at numerical data, and the threshold value for being transferred to processing module progress data is sentenced It is disconnected, then stop acting if more than threshold value, being less than threshold value, then transmission telecommunications number gives gear mesh gear, carries out Electronic control.

Preferably, the monopole component includes elongated bar member, and the bar member has conductive distal end, conductive distal Side end structure at when monopole component layout in the second position when from end effector assembly and insulative tubular member distad Extend；In first position, conductive distal end is arranged in longitudinal direction tube chamber, and the longitudinal direction tube chamber extends through the first jaw structure One distal jaw shell in part and the second jaw member；In first position, conductive distal end is arranged in recessed portion Interior, the recessed portion is limited in one in the first jaw member and the second jaw member distal jaw shell；First In position, conductive distal end is arranged in recessed portion, and the recessed portion is limited to the first jaw member and the second jaw member In one proximal flange portion in；In first position, conductive distal end is arranged in insulating sleeve, the insulation sleeve Cylinder is located in end effector assembly nearside；One in first jaw member and the second jaw member defines trepanning, described Open-pore construction at when monopole component layout in the second position when receive monopole component a part.

In Fig. 2, pliers 10 define longitudinal axis " X-X " and include shell 20, Handleset 30, slide assemblies 60, Rotary components 70, trigger assembly 80, end effector assembly 100 and monopole element 200.Pliers 10 further includes axis 2, described Axis 12 has：Distally 14, the distal end 14 is configured to mechanical engagement end effector assembly 100；With proximal end 16, the proximal end 16 Mechanically engage shell 20.Pliers 10 further includes electrosurgical cable 2, and pliers 10 is connected to generator by the electrosurgical cable 2 (not shown) or other power supplys appropriate, but pliers 10 can be alternatively configured to as battery powered instrument.Cable 2 include extending through electric wire 2a therein, and the length of the electric wire 2a is long enough to extend through axis 12, to for example swash When the first activation switch 90 living, electric energy is respectively supplied to the tissue of the jaw member 110,120 of end effector assembly 100 Closed plate 112, at least one of 122.On the other hand, the electric wire 2b of cable 2 extends through shell 20, to for example activate Electric energy is supplied to monopole element 200 when the second activation switch 95, as will be described in greater detail below.

With continued reference to Fig. 2, Handleset 30 includes fixed handle 50 and movable handle 40.Fixed handle 50 and shell It is coupled integral, movable handle 40 can be moved relative to fixed handle 50.Rotary components 70 can surround longitudinal axis " X-X " is rotated along either direction, so that end effector 100 is rotated around longitudinal axis " X-X ".The accommodating pincers of shell 20 The internal working components of son 10.

Referring still to Fig. 1-2, the end effector assembly 100 shown is attached at the distal end 14 of axis 12 and includes a pair Opposite jaw member 110 and 120.Each in jaw member 110 and 120 include be electrically insulated outer jaw shell 111, 121 and the conductive tissue confining surface that is limited by conductive plate 112,122, the conductive plate 112,122 be arranged in corresponding jaw On the top of shell 111,121, it is contemplated that other constructions, for example, jaw member 110,120 can be completely by conduction material Material is formed.The tissue closed plate 112,122 of jaw member 110,120 for example is respectively adapted to be connected to power supply via electric wire 2a (not to be had Show), between the tissue closed plate 112,122 and by grasping the group between jaw member 110,120 Conduct energy is knitted, to treat tissue (for example, closing tissue).More specifically, end effector assembly 100 defines bipolar structure It makes, wherein tissue closed plate 112 is charged to the first potential, and tissue closed plate 122 is charged to the second different potentials, To generate potential gradient, between organizing closed plate 112,122 and by grasping tissue conduct energy therebetween, with For treating tissue (such as closing tissue).First activation switch 90 is connected to electric wire 2a, to allow user to select energy Selecting property it is applied to the closed plate 112,122 of end effector assembly 100.The preferable specific reality of the present invention described in detail above Apply example.It should be appreciated that those skilled in the art without creative work can it is according to the present invention design make it is all More modifications and variations.Therefore, all technician in the art pass through on the basis of existing technology under this invention's idea The available technical solution of logical analysis, reasoning, or a limited experiment, all should be in the protection being defined in the patent claims In range.

Claims

1. a kind of intelligent surgical surgical clamp, which is characterized in that including shell and surgical clamp, the surgical clamp includes end effector Component, the end effector assembly include the first jaw member and the second jaw member, first jaw member and second Jaw member is configured to grasping tissue between the first jaw member and the second jaw member and conduct energy passes through grasping Tissue between the first jaw member and the second jaw member, to treat tissue；Insulative tubular member, the insulative tubular structure Part can between the retracted and extended positions be moved relative to the end effector assembly, in the retracted position, Insulative tubular member is located in end effector assembly nearside, and in the extended position, insulative tubular member is arranged in end Around actuator assembly；And monopole component, the monopole component can be selected relative to end effector assembly from first position It is deployed to the second position to selecting property, wherein in the second position, the part of monopole component is from end effector assembly and insulation Tubular element is distally extending, to apply energy to tissue, to treat tissue；

Further include four driving motors, deformation quantity perceptron, gear mesh gear and cpu controller in the shell, it is described Four driving motors are connected with deformation quantity perceptron, and the deformation quantity perceptron is connected with gear mesh gear, described Gear mesh gear is connected with cpu controller, wherein four driving motor provides driving force, institute by four motors It states after four driving motors generate torque and is conducted to gear mesh gear by deformation quantity perceptron, and pass through cpu controller Control gear mesh gear passes to the monopole component of surgical clamp, completes operation；The deformation quantity perceptron is for perceiving Deflection and surgical clamp monopole member end Moment, the deformation quantity perceptron include sensitive to horizontal plane torsional deflection Rotary-type turntable, foil gauge and strain resistor measure of the change circuit, the rotary-type turntable and four driving motors have same axis The output shaft of the heart, the rotary-type turntable and double drive motor is connected and fixed, and 2 pairs are provided with outside each rotary-type turntable symmetrically Foil gauge, the four direction all around of rotary-type turntable is respectively symmetrically attached to, when testing rotary-type turntable and being twisted by external force Strain marking area；Strain resistor measure of the change circuit is measured using direct-flow double bridge mode becomes piece power resistance variations, strain The torque that sheet resistance variation is subject to rotary-type turntable is positively correlated；The transmission device is used for and rotary-type turntable phase interworking The power perception for realizing surgical clamp movement driving and surgical clamp end is closed, and the power of the perception is transferred to cpu controller and is divided Analysis, and control surgery mechanical and carry out accurate moving operation；The transmission device is using the gear for being provided with totally-enclosed protective device Engaging mechanism, the gear engagement mechanism are Electronic control pattern and manual mode, and controlling gear by PLC controller engages machine The electronic work of structure；The cpu controller includes analog input module, D/A conversion modules, processing module, power module and output Module, the processing module are connected with analog input module, D/A conversion modules, output module and power module respectively, the mould The torque data of quasi- input module input acquisition, and by D/A conversion modules by physics torque data conversion at numerical data, and It is transferred to the threshold decision that processing module carries out data, then stops acting if more than threshold value, then transmission telecommunications number is given less than threshold value Gear mesh gear carries out Electronic control.

2. intelligent surgical surgical clamp according to claim 1, which is characterized in that the monopole component includes elongated stick structure Part, the bar member have a conductive distal end, conductive distal side end structure at when monopole component layout in the second position when It is distally extending from end effector assembly and insulative tubular member；In first position, conductive distal end is arranged in longitudinal direction In tube chamber, the longitudinal direction tube chamber extends through one distal jaw shell in the first jaw member and the second jaw member； In first position, conductive distal end is arranged in recessed portion, and the recessed portion is limited to the first jaw member and the second pincers In one distal jaw shell in mouth component；In first position, conductive distal end is arranged in recessed portion, described recessed Concave portion is limited in the proximal flange portion of one in the first jaw member and the second jaw member；In first position, lead Electric distal end is arranged in insulating sleeve, and the insulating sleeve is located in end effector assembly nearside；First jaw member Define trepanning with one in the second jaw member, the open-pore construction at when monopole component layout in the second position when connect Receive a part for monopole component.