CN108420493A - A kind of flexible Clip Applier of operating robot - Google Patents
A kind of flexible Clip Applier of operating robot Download PDFInfo
- Publication number
- CN108420493A CN108420493A CN201810219950.1A CN201810219950A CN108420493A CN 108420493 A CN108420493 A CN 108420493A CN 201810219950 A CN201810219950 A CN 201810219950A CN 108420493 A CN108420493 A CN 108420493A
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- CN
- China
- Prior art keywords
- motion bar
- stay column
- occlusion portion
- occlusion
- elongated portion
- Prior art date
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
- A61B17/128—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord for applying or removing clamps or clips
- A61B17/1285—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord for applying or removing clamps or clips for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
- A61B2017/12004—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord for haemostasis, for prevention of bleeding
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The invention discloses a kind of flexible Clip Appliers of operating robot,Belong to area of medical devices,Include elongated portion and the occlusion portion positioned at elongated portion both ends and driving end,The binding clip includes the first occlusion portion,Second occlusion portion hinged with the first occlusion portion,The end of first occlusion portion and the second occlusion portion is respectively equipped with snap-in connection,It is respectively equipped with kerve on two snap-in connections,Elongated portion is internally provided with motion bar,Motion bar end sets that there are one the stay column channels that are axially distributed along motion bar,Motion bar end can be connected with stay column component,Stay column component includes the stay column and movable block for being located at stay column channel both sides,Stay column is caught in two kerves of snap-in connection,By can be connected along the interconnecting piece that stay column channel is moved between stay column and movable block,The buffer spring connected with interconnecting piece is equipped in stay column channel,Buffer spring is in squeezed state.
Description
Technical field
The present invention relates to field of medical products.
Background technology
Hemostatic clamp is the equipment for being used clinically for clamping blood vessel, and present hemostatic clamp Clip Applier is typically single-shot, one
It is secondary to clamp a hemostatic clamp, it needs to reinstall hemostatic clamp after hemostatic clamp clamps blood vessel.
Publication No. is CN106037866A, discloses a kind of hemostatic clamp Clip Applier, can be multiple, with operating robot
Development needs medical equipment being mounted on the enterprising enforcement use of operating robot, such as electric knife, operating scissors.Clip Applier is minimally invasive hand
Be commonly used surgical instrument is needed in art, but there are all in the middle on being installed to operating robot for Clip Applier now
More problems to be solved：
First, the reflection hemostatic clamp of Clip Applier is for clamping blood vessel, and operating robot is much to Clip Applier pulling force, occlusion portion mistake
Tight to influence whether blood vessel and injury tissue, snap-in force is insufficient can not to clamp blood vessel again；
Second, the Clip Applier of multiple formula is internally provided with multiple hemostatic clamps, and neighbor distance is equal so that solves the above problems in difficulty
Add difficulty.
Invention content
A kind of flexible Clip Applier of operating robot, when the snap-in force of Clip Applier occlusion portion is more than certain value, occlusion
A kind of state flexible is presented in portion, and the damage to blood vessel can be effectively relieved；
It is disclosed by the invention flexibility Clip Applier include elongated portion and positioned at elongated portion both ends occlusion portion and driving end, it is described
Binding clip include the first occlusion portion and hinged the second occlusion portion of the first occlusion portion, the first occlusion portion and the second occlusion portion
End is respectively equipped with snap-in connection, and kerve is respectively equipped on two snap-in connections, and elongated portion is internally provided with motion bar, activity
Bar end is set there are one the stay column channel being axially distributed along motion bar, and motion bar end can be connected with stay column component, stay column group
Part includes the stay column and movable block for being located at stay column channel both sides, and stay column is caught in two kerves of snap-in connection, is drawn
It is equipped with by can be connected along the interconnecting piece that stay column channel is moved between column and movable block, in stay column channel and is connected with interconnecting piece
Buffer spring, buffer spring is in squeezed state.
As an improvement, the movable block be equipped with card rib, motion bar be equipped with and card rib cooperation card rib slot, card rib and
The cooperation limitation movable plate of card rib slot is only capable of the axial movement towards elongated portion.
As an improvement, the motion bar is equipped with the limited post that several promote hemostatic clamp, the equal position of limited post
In the rear end of rod assembly.
Clip Applier disclosed by the invention has the state in rigidity when normal operating, when doctor grasps in distal end
Make, when the snap-in force of Clip Applier occlusion portion is more than certain value, occlusion portion is in flexible state, can reduce and avoid to blood vessel
Damage so that Clip Applier, which is especially multiple Clip Applier, to be applied and is possibly realized on operating robot.
Description of the drawings
Fig. 1 is the connection diagram at present invention driving end and substrate；
Fig. 2 is the structural schematic diagram of screens component；
Fig. 3 is the schematic diagram of the first card division；
Fig. 4 is the structural schematic diagram of screens component；
Fig. 5 is the structural schematic diagram of main drive block；
Fig. 6 is the overall structure diagram of Clip Applier；
Fig. 7 is the structural schematic diagram driven inside end；
Fig. 8 is the structural schematic diagram from drive block；
Fig. 9 is the sectional view of elongated portion；
Figure 10 is the structural schematic diagram inside elongated portion；
Figure 11 is the structural schematic diagram inside elongated portion；
Figure 12 is the hangnail inside the elongated portion that distal side is observed；
Figure 13 is the hangnail that proximal end is observed；
Figure 14 is the schematic diagram of occlusion portion；
Figure 15 is occlusion portion and the separated schematic diagram of elongated portion；
Figure 16 is the schematic diagram of motion bar and occlusion portion junction；
Figure 17 is motion bar stay column component and the junction schematic diagram of occlusion portion；
Figure 18 is the schematic diagram of stay column；
Figure 19 is the schematic diagram of movable block；
Figure 20 is the schematic diagram of stay column component；
Figure 21 is the annexation figure of the first motion bar and the first motion bar；
Figure 22 is the schematic diagram of the first motion bar；
Figure 23 is the movable mouth schematic diagram of the second motion bar；
Figure 24 is the front-end view of the first motion bar and the second motion bar；
Figure 25 is the rear end schematic diagram of the first motion bar and the second motion bar；
Figure 26 is the sectional view of the first motion bar and the second motion bar junction；
It is marked in figure：1- substrates, 101- mounting grooves, 102- loose slots, the main drive blocks of 104-, 103- drive blocks channel, 105- slots
Portion, 2- drivings end, 201- screens slots, 202- driving cavitys, 203- driving tooths, 204- passive tooths, 205- screw rods, 206- sliding blocks,
207- locating rods, 208- second springs, 209- is from drive block, 3- screens components, the first card divisions 301-, the card divisions 3011-, 3012-
End, the articulated sections 3013-, the second card divisions 302-, 303- connection straps, the first operating levers of 304-, the second operating levers of 305-, 306-
One fixed column, the first springs of 307-, the second fixed columns of 308-, 4- elongated portions, the first elongated portions of 41-, the second elongated portions of 42-,
401- motion bar cavitys, 402- hemostatic clamp cavitys, 403- motion bars, 4031- limited posts, 4032- link slots, 4033- connecting poles,
4034- strips, 4035- stay columns, 4036- buffer springs, 4037- movable blocks, 4038- card rib slots, the first card slots of 4011-, 4021-
Second card slot, 404- hemostatic clamps, 405- hangnails, 5- occlusion portions, the first occlusion portions of 501-, the second occlusion portions of 502-, 503- occlusions
Interconnecting piece, 504- kerves, the first motion bars of 601-, 6011- movable parts, the ends 6012- impeller, the second motion bars of 602-,
6021- movable chambers, 6022- third springs, 6023- activity mouths.
Specific implementation mode
The present embodiment be operating robot Clip Applier entirety, Clip Applier include occlusion portion, elongated portion, driving end with
And the connection relation of driving portion and robot, driving end drive occlusion portion opening and closing by elongated portion, wherein each section can detach
Operation, but movement has preferable effect as a whole.
Embodiment 1：A kind of embodiment of elongated portion flexible connection：
Present embodiment discloses a kind of flexible Clip Applier of operating robot, includes elongated portion 4 and be located at elongated portion both ends
Occlusion portion and driving end 2, the driving end opened by pulling force conduction device inside elongated portion control occlusion portion
Close, the binding clip includes the first occlusion portion 501 and hinged the second occlusion portion 502 of the first occlusion portion, the first occlusion portion and
The end of second occlusion portion is respectively equipped with snap-in connection 503, as shown in figure 17, kerve is respectively equipped on two snap-in connections
504, pulling force conduction device can be motion bar 403, and under normal circumstances, operating robot gives driving end passing power, driving
End driving occlusion portion opening and closing, but since robot manipulation is doctor in remote control, can not sense the snap-in force of occlusion portion,
Therefore when operation, the occlusion of Clip Applier can damage vascular tissue, therefore in order to solve the problem above-mentioned, such as Figure 17 institutes
Show, the present embodiment is set in 403 end of motion bar there are one the stay column channel being axially distributed along motion bar, and motion bar end can connect
It is connected to stay column component, stay column component includes the stay column 4035 and movable block 4037 for being located at stay column channel both sides（Figure 18 and
Shown in 19 and 20）, stay column is caught in two kerves of snap-in connection, by can lead to along stay column between stay column and movable block
The interconnecting piece of road movement connects, and the buffer spring 4036 connected with interconnecting piece is equipped in stay column channel, in occlusion portion opening
It waits, stay column is located at the top in stay column channel, and spring is located at maximum height state, but in the case, buffer spring is still located
In squeezed state, this extruding force is F.
When operating robot is in far-end operation, motion bar can pull occlusion portion, occlusion portion to begin to shut off, and bite blood
Pipe, motion bar and occlusion portion receive pulling force, change pulling force and undertaken by stay column component, when snap-in force is normal, stay column component
Suffered pulling force is smaller, and pulling force is less than F, and rod assembly does not move, and entire occlusion portion is in a kind of rigid state.And works as and sting
When excessive with joint efforts, the pulling force that stay column component is subject to becomes larger, and when being more than F, stay column component is along the direction of spring into one
Step squeezes buffer spring, and the snap-in force of occlusion portion is increased speed slack-off, and snap-in force is unlikely to excessive, reduces and is injured to blood vessel, is made
Obtaining Clip Applier can apply on operating robot.
When in use, rod assembly may swing, and influence the stability of occlusion portion, in preferred embodiment party
In formula, the movable block 4037 is equipped with card rib, and motion bar is equipped with and the card rib slot 4038 of card rib cooperation, card rib and card rib
The cooperation limitation movable plate of slot is only capable of the axial movement towards elongated portion.
When in use, it is ensured that the distance between motion bar upper limit column is all equal in any pulling force,
If motion bar also has the power of certain elasticity, can lead to that when motion bar resets, limited post can not be moved to suitable position
It sets, so, the motion bar is equipped with several limited posts 4031 promoted to hemostatic clamp, and limited post is respectively positioned on pull rod
The rear end of component.
Embodiment 2：Second of embodiment of elongated portion flexible connection；
The invention discloses a kind of operating robot Clip Appliers, as shown in fig. 6, include elongated portion 4 and be located at elongated portion
The occlusion portion 5 at both ends and driving end 2, elongated portion 4 are internally provided with motion bar, and driving end 2 drives occlusion portion to carry out by motion bar
Opening and closing instruction, in the prior art, motion bar shows as rigid state, and when in use, motion bar is moved through senior general and leads
Occlusion portion overclosure is caused, blood vessel is damaged.
Therefore, the present invention is improved for it, such as Figure 21, and motion bar includes the first motion bar 601, the second motion bar
602, the first motion bar 601 and the second motion bar 602 clamping the first motion bar of limitation and the second activity only being capable of specific elongation portions
Axial direction movement, the first motion bar and driving end be fixedly connected and by driving end motion, the first motion bar side is equipped with
The limited post that several driving hemostatic clamps advance, to drive the hemostatic clamp in elongated portion to advance, distance phase wherein between limited post
Deng, due to the first motion bar with driving end be fixedly connected, be retained up rigid state in elongated portion side, it is ensured that adjacent
The operation for being further able to successfully complete to be advanced and resetted equal always of the distance between limited post.
Such as Figure 24, the end of the second motion bar of the invention is equipped with the stay column of driving occlusion portion opening and closing, wherein the first activity
Bar drives the second motion bar to move back and forth, and further drives the opening and closing of stay column control occlusion portion.
The length direction of first motion bar and the first motion bar is essentially identical, wherein the first motion bar and the second motion bar
It is connected as having both the connection type of rigidity and elasticity, specifically, such as Figure 26, the first motion bar side is equipped with movable part 6011,
Second motion bar is equipped with movable chamber 6021, and connection movable chamber and external movable mouth 60223, and movable part passes through work
It opens one's mouth and is deep into movable chamber, and can move reciprocatingly along movable mouth, the bottom of movable part and movable chamber is equipped with the
Three springs, when movable part is located at the left end of movable mouth（The position relationship of refer to the attached drawing 26）, third spring is located at diastole shape
The elastic force of state, this spring is F, and when the tension of first the second motion bar of motion bar pair backward is less than F, entire movable part is protected
It holds as the state of rigidity, when the snap-in force that occlusion portion control hemostatic clamp bites blood vessel is excessive, first the second activity of motion bar pair
The power of bar increases, until when more than F, this when, the first motion bar and the second motion bar do detaching direction movement, can be with
The snap-in force control that occlusion portion is received to a certain extent, prevents the damage to vascular tissue.In practice, in order to ensure to stop
Blood folder can normally advance and the reset of motion bar, and rigid state must be shown as on the equal length direction of movable part
（Ensure that the distance between adjacent limited post is equal always）, therefore, the first motion bar of the present invention design and motion bar equal length,
Meanwhile in order to ensure to play cushioning effect under snap-in force is excessive, the present invention devises second connected with the first motion bar
Motion bar, and connected by spring, give spring clamp tension.In the present invention, the first motion bar and the second motion bar must be
Side connects, and be unable to be connected axially along length direction.Therefore in the case of low-force, movable part is still shown as
Rigid state is capable of providing enough snap-in forces, and when snap-in force is larger, movable part shows as rigid state, into one
Step limitation snap-in force.
When in use, when the first motion bar moves backward, it is closed occlusion portion, hemostatic clamp is clamped into blood vessel,
And when the first motion bar moves forward, occlusion portion is opened, and needs hemostatic clamp being transported in occlusion portion, therefore, excellent
In the scheme of choosing, the front end of the first motion bar is equipped with for pushing hemostatic clamp to enter the end impeller 6012 of occlusion portion, can
To use existing technology, in improvement project, set that there are one the slots for placing hemostatic clamp engaging portion on the impeller of end.
In general, being provided with cavity in elongated portion places the first motion bar and the second motion bar, and first can be limited
Other direction relative motions other than motion bar and the second motion bar length direction, but the activity of movable part 6011 is inevitable
So that the first motion bar and the second motion bar are relatively swung, therefore, in preferred embodiments, movable part is stuck in
In movable chamber, it is made to be merely capable of moving forward and backward in cavity and cannot be detached from cavity, movable part is located at movable chamber
Partial cross section be more than the part for being located at movable mouth, detached from movable chamber with limiting movable part.
Embodiment 3：Elongated portion hemostatic clamp improves the embodiment advanced：
Specific embodiment 1：A kind of Minimally Invasive Surgery hemostatic clamp Clip Applier includes elongated portion 4, the occlusion portion positioned at elongated portion both ends
5 are controlled the opening and closing of occlusion portion by elongated portion, placed inside elongated portion multiple along elongated portion axis with driving end 2, driving end
To the hemostatic clamp 404 of directional spreding, hemostatic clamp includes between the first clamp arm and the second clamp arm and the first clamp arm and the second clamp arm
Engaging portion, the top of the first clamp arm and the second clamp arm is equipped with stopper protrusion（Such as the hemostatic clamp of Figure 10）, wherein the present invention first
The stopper protrusion of clamp arm and the second clamp arm and it is existing have certain difference, position will be set in the first clamp arm and the second clamp arm
Least significant end, can be limited by the hangnail of hemostatic clamp cavity inner wall；
As shown in figure 9, elongated portion bosom is equipped with the hemostatic clamp cavity 402 to advance for hemostatic clamp, hemostatic clamp cavity is cut
Face is rectangle, and the side of hemostatic clamp cavity is equipped with the motion bar cavity 401 being connected to hemostatic clamp cavity, and motion bar cavity is located at
The centre position of hemostatic clamp cavity.As shown in Figure 10, motion bar 403 is placed in motion bar cavity 401, motion bar is equipped with limit
Position column 4031, limited post limit the engaging portion of hemostatic clamp, and the upper and lower of motion bar is respectively equipped with strip 4034, activity rod cavity
The top and bottom of body are respectively equipped with the first card slot 411 and the second card slot 421 coordinated with strip.
As shown in Figures 12 and 13, shown, the top and bottom of hemostatic clamp cavity are equipped with respectively to hemostatic clamp first
The hangnail 405 that the limit protrusion of clamp arm and the second clamp arm is limited, hangnail divide successively along the axial direction of hemostatic clamp cavity
Cloth, when hemostatic clamp advances, hangnail remains stationary as.
Elongated portion can form hemostatic clamp cavity and motion bar cavity, but for convenience with integrated molding in the present invention
Processing, can also be divided into two parts, and if Figure 10 is divided into the first elongated portion 41 and the second elongated portion 42, the two fastens.
Hangnail cooperation on the two fiber protrusions and hemostatic clamp cavity inner wall of the hemostatic clamp of the present invention, to limit hemostatic clamp
It moves backward, and controls hemostatic clamp by the limited post of motion bar promotes the engaging portion of hemostatic clamp and advance, and pass
The mode of system is compared, and there is hemostatic clamp can advance in the case where opening larger angle, prevents hemostatic clamp from clamping for a long time, and then cause
Fastening performance reduces, and the structure design of hangnail up and down, preferably places hemostatic clamp and retreats.When in use, hangnail is not
Movement is will produce, and then the stability of hemostatic clamp also can be more preferable, while promoting hemostatic clamp to advance by promoting engaging portion,
When applying propulsive force to engaging portion, propulsive force can disperse towards two clamp arm of hemostatic clamp, and then there are one open for clamp arm
Orientation larger opening angle can be kept to advance with clamp arm.
Limited post needs to limit the engaging portion of hemostatic clamp, it is necessary to which limited post has larger stabilization to engaging portion
Performance, its combination stability in order to better improve, in a preferred embodiment, limited post 4031 is equipped with and stops blooding
Recessed of the engaging portion cooperation of folder.
Hemostatic clamp can be promoted to advance to reach limited post, and it is avoided to be retreated with hemostatic clamp when retracting,
Therefore, limited post just needs to be elastic, and when specific, limited post can be one and motion bar integrated molding, but
Be this integrated molding propulsive force it is not strong.And if using thicker limited post, and its resilience can be caused to owe
Good, in order to solve this problem, in some preferred embodiments, motion bar side is equipped with for placing limited post 4031
Side chamber is equipped with axle portion in side chamber, and limited post is hinged in axle portion, and axle portion is equipped with spring, and spring is to limited post towards outside side chamber
The power of portion's rotation.Wherein the combination of limited post and motion bar and the design of spring can be the prior art, not repeat herein.
In order to control the stability that motion bar drives end side, in embodiment still more preferably, such as Fig. 7 institutes
Show, the bottom that motion bar is located at driving end one end is set there are one the limiting slot being axially distributed, and driving end is equipped with positioning
Bar 207, locating rod one end and driving end connect firmly, and the other end gos deep into limiting slot.
As shown in figure 16, the end of motion bar is set there are one link slot 4032, the first occlusion portion and the second occlusion portion end
The connecting pole 4033 by the first occlusion portion and the second occlusion portion is equipped in link slot, in link slot.
Embodiment 4：Drive end part：
The driving mechanism connects the elongated portion of hemostatic clamp Clip Applier, and elongated portion end is connected with occlusion portion, contains inside elongated portion
Hemostatic clamp 404, hemostatic clamp is multiple, and along the axial aspect distribution of elongated portion, adjacent hemostatic clamp is apart from identical, inside elongated portion
The motion bar 403 that is opened and closed and hemostatic clamp can be advanced along elongated portion axial direction equipped with control occlusion portion；On motion bar edge
When elongated portion advance, controls multiple hemostatic clamps and advance, and the hemostatic clamp of foremost is pushed in occlusion portion, in activity
When bar retreats, the hemostatic clamp in occlusion portion is further clamped into blood vessel by the occlusion portion closure of opening.
The driving mechanism includes the driving end 2 connected with elongated portion, which connects with operating robot, is
Driving end can connect with operating robot so that driving mechanism can work normally, as shown in fig. 7, driving the end need to be
Cylinder, and be equipped in side and carry out the fixed screens slot 201 of screens with robot, it drives and is equipped with driving cavity 202 in end,
The end of motion bar can move reciprocatingly in driving cavity, and driving cavity 202 is connected to the inside of elongated portion, drives cavity
Be equipped in 202 the driving tooth 203 connect with operating robot power plant and with driving tooth tooth with and change driving tooth and rotate
The passive tooth 204 in direction, passive tooth are fixedly connected with screw rod 205, and sliding block 206, sliding block 206 and activity are connected on screw rod 205
The end of bar connects, and controls motion bar and moved back and forth along the axial direction of elongated portion；The end of motion bar is set there are one edge
The limiting slot of axial directional distribution, the side of driving cavity 202 is equipped with the locating rod that part protrudes into motion bar limiting slot
207.When needing the driving end of driving mechanism being mounted on operating robot, need to consider operating robot and driving
Power between structure is transmitted, and the driving end of the present invention is designed to have the characteristics that stablize and facilitates installation, but power is just needed to pass
The binding site passed is mounted on special position, and therefore, as described in Figure 8, driving tooth 203 of the invention is fixedly connected with from drive block
209, the bottom outside face at driving end is located at from drive block.
In order to coordinate the reset of motion bar of the present invention, in preferred embodiments, locating rod 207 is equipped with spring 208.
Embodiment 3：Drive the junction part at end and robot：
Present embodiment discloses a kind of knots of the junction of hemostatic clamp Clip Applier and the hemostatic clamp Clip Applier and operating robot
Structure, the Clip Applier include elongated portion 4 and are connected to the occlusion portion 5 at 4 both ends of elongated portion and driving end 2, and driving end 2 is by stretching
The opening and closing of long portion's control occlusion portion, and the hemostatic clamp inside elongated portion is transported to occlusion portion 5 and further clamps blood
Pipe.As shown in Figure 1, the driving end is the execution end for being connected to operating robot, which is a substrate 1, operation
Operating personnel pass through long-range（Such as the place of the operating room or another city beside operating room）Operation robot,
And then operating robot makes corresponding instruction by driving end 2 to control Clip Applier in Minimally Invasive Surgery, further completes auxiliary
Complete operation.
The connection structure for executing end to the Clip Applier and robot below is described in detail：
One fixing device can be understood as to the connection structure, as shown in Fig. 2, the fixing device includes：
Substrate 1, substrate 1 are connect with operating robot, are the execution end of operating robot, as shown in figure 5, the substrate 1
If there are one mounting groove 101 and loose slot 102, mounting groove is circle, and installation trench bottom is equipped with drive block channel 103, drive block
It is equipped in channel and main drive block 104, the 104 some or all of exposing drive block of main drive block is by 103, and in external force
Under the action of can be restored in drive block channel 103, as that can be set on drive block there are one elastic component such as spring, loose slot is used
In placing screens component 3, loose slot is connected to installation slot part the related device of screens component can be inserted into mounting groove
（It can hereafter be described in detail）；Inductive component can be arranged in main drive block 104, when 104 sense certain pressure, main drive
Motion block fine rotation, until and being bonded to each other from drive block.
End 2, the driving end 2 is driven to be connected with the elongated portion 4 of hemostatic clamp Clip Applier, the end of elongated portion is connected with occlusion
Portion 5, occlusion portion are mounting groove 101 that is cylindrical and being mounted slot substrate 1 for being closed hemostatic clamp, the driving end
It is interior；The side at driving end sets there are two screens slot 201, drive the bottom at end set there are one and main drive block 104 be connected
From drive block 209, the rotation of main drive block can be transmitted to from drive block 209；
Screens component 3, the screens component 3 include the first card division that can be respectively protruding into two screens slots at driving end
301 and second card division 302, first card division and the first card division connected by connection strap 303, the second card division 302 is hinged with
Operating assembly, operating assembly by the power of reciprocating motion controls the first card division and the first card division sticks into screens slot and from screens slot
Interior stretching, the first card division and the second card division can surround and itself rotate with can be by the portion of the first card division and the second card division
Divide in the screens slot 201 snapped onto in driving end, since the first card division and the first card division can only be controlled by an operating assembly,
And for the requirement of mounting stability, must be requested that driving end is cylindrical structure, and the first card division and the second card division are in one
A opposed position is snapped onto from the both ends at cylindrical drive end center in screens slot 201.
In the absence of external forces, the first card division and the second card division are inserted into mounting groove, first when installation
First, extrusion operation component, operating assembly control produce the first card division and the second card division from mounting groove；Secondly, end 2 will be driven
It is placed into mounting groove 101, is connected from drive block with main drive block, and main drive block is expressed in main drive block channel, into
The connection of the firm even drive block of one step；Last loosening operation component, operating assembly reset, the first card division and the second card division difference
Two screens slots at driving end are inserted into, driving end is firmly lockked, and the driving force of robot can be transmitted to driving end,
And since main drive block is to certain extruding force from drive block, the contact friction force of two card divisions and screens slot can be increased,
Further driving end and substrate stability maintenance, above-mentioned design so that in the case where not having external force are consolidated, so that it may to block
End driving, installation especially aspect need not be by external force tool, it is only necessary to completion can be operated by squeezing an external force, and
Set-up time section, meets the requirement of operation；And this specific mounting structure can only to need a local operation, two
Card division can drive end in the direction screens of opposition simultaneously, meet operating robot connector assembly and robot mounting stability
It is required that.
And the first card division and the second card division are inserted into mounting groove by operating assembly in the absence of external forces, at one
Again the first card division and the second card division are produced from mounting groove in the case of external force.Meet operation for operating easily,
The requirement of robot fast assembling-disassembling medical instrument, in a preferred embodiment, operating assembly include the first operating lever
304, the second operating lever 305, one end of the first operating lever are connected with the second card division, the other end and the connection of the second operating lever.First
Operating lever 304 can carry out certain rotational motion with disclosure satisfy that the second card division rotation demand, the second operating lever be along
Its axial direction moves reciprocatingly disclosure satisfy that the demand of extrusion operation, the first operating lever and the second operating lever are articulated connection, squeezes
The second operating lever is pressed, the second operating lever will control the rotation of the first operating lever, and then control the second card division and the first card division, in order to
Facilitate revocation external force, the second operating lever can reset and then control the first card division and the second card division and reset, in implementation more preferably
It in example, sets that there are one the second fixed columns 308 for being fixedly connected with the first operating lever in the second operating lever, and is fixed with substrate
First fixed column 306 of connection, the second operating lever are equipped with the first spring 307, and the both ends of the first spring pass through the first fixed column
306 and second fixed column limited, squeeze the second operating lever, will make spring crimp, revocation squeezes external force, and spring will
The reset of the second operating lever is controlled, above-mentioned design can to operate enhanced convenience.
First card division and the second card division are designed as essentially identical shape, and the card on driving end is inserted into different positions
Position slot 201, in order to enable being inserted into screens slot of stability and high efficiency is capable of in the first card division and the second card division, and facilitates the first card
The transmission in portion and the second card division power, as, times of first card division and second card division further preferred to above-mentioned preferred embodiment
Meaning one is equipped with and can stick into the card division 3011 of screens slot and play the end 3012 of connection function, is between card division and end
Articulated section, the first card division or the second card division can around articulated section rotate so that card division 3011 can stick into screens slot 201 and from
It is stretched out in screens slot 201, card division is tip design, is conveniently inserted into screens slot.
The elongated portion of the present invention and driving end can also can in one plane be staggered, and be driven when elongated portion is located at
When the center of moved end side, this can make operation more stablize, and also more save control, in this case, stretch
How position relationship becomes to solve the problems, such as long portion and substrate, therefore, as, substrate further preferred to said program
It is equipped with the groove portion 105 for placement part elongated portion 4, groove portion and mounting groove 101 connect, when driving end 2 is mounted on mounting groove
When 101, elongated portion 4 is located in groove portion 105, and groove portion limits the shaking of elongated portion so that the occlusion portion of elongated portion distal end
Position is also more controllable and stablizes.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
In the description of the present invention, it should be noted that term "center", "lower", "left", "right", " is erected at "upper"
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, or
Person be the invention product using when the orientation or positional relationship usually put, be merely for convenience of the description present invention and simplification retouched
It states, does not indicate or imply the indicated device or element must have a particular orientation, with specific azimuth configuration and operation,
Therefore it is not considered as limiting the invention.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or
It is integrally connected；It can be mechanical connection, can also be electrical connection；It can be directly connected, it can also be by between intermediary
It connects connected, can be the connection inside two elements.For the ordinary skill in the art, can be understood with concrete condition
The concrete meaning of above-mentioned term in the present invention.
Claims (3)
1. a kind of flexible Clip Applier of operating robot, which is characterized in that include elongated portion（4）And it is located at elongated portion both ends
Occlusion portion and driving end（2）, the binding clip includes the first occlusion portion（501）And first occlusion portion hinged second sting
Conjunction portion（502）, the end of the first occlusion portion and the second occlusion portion is respectively equipped with snap-in connection（503）, two snap-in connections
On be respectively equipped with kerve（504）, elongated portion is internally provided with motion bar（403）, motion bar（403）End is set there are one along activity
The stay column channel that bar is axially distributed, motion bar end can be connected with stay column component, and stay column component includes to be located at stay column to lead to
The stay column of road both sides（4035）And movable block（4037）, stay column is caught in two kerves of snap-in connection, stay column and movable block
Between by can be connected along interconnecting piece that stay column channel is moved, equipped with the buffer spring connected with interconnecting piece in stay column channel
（4036）, buffer spring is in squeezed state.
2. the flexible Clip Applier of operating robot according to claim 1, which is characterized in that the movable block（4037）
It is equipped with card rib, motion bar is equipped with and the card rib slot of card rib cooperation（4038）, the cooperation limitation movable plate of card rib and card rib slot
It is only capable of the axial movement towards elongated portion.
3. the flexible Clip Applier of operating robot according to claim 2, which is characterized in that the motion bar is equipped with
Several limited posts that hemostatic clamp is promoted（4031）, limited post is respectively positioned on the rear end of rod assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810219950.1A CN108420493B (en) | 2018-03-16 | 2018-03-16 | Flexible clip applier for surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810219950.1A CN108420493B (en) | 2018-03-16 | 2018-03-16 | Flexible clip applier for surgical robot |
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| Publication Number | Publication Date |
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| CN108420493A true CN108420493A (en) | 2018-08-21 |
| CN108420493B CN108420493B (en) | 2023-07-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810219950.1A Active CN108420493B (en) | 2018-03-16 | 2018-03-16 | Flexible clip applier for surgical robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113456162A (en) * | 2020-03-15 | 2021-10-01 | 李美英 | Hemostatic clamp applicator |
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| Publication number | Publication date |
|---|---|
| CN108420493B (en) | 2023-07-28 |
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Effective date of registration: 20230629 Address after: 2012-2, Building C, No. 288, Qinhuai Avenue, Yongyang Street, Lishui District, Nanjing, Jiangsu Province, 210000 Applicant after: Aimer (Nanjing) Robot Technology Co.,Ltd. Address before: 710000 No. 2, Dongfang Milan international city, Yantu Road, Yanta District, Xi'an, Shaanxi 2 Applicant before: Liu Chenbang |
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