CN110200678B - Auxiliary driving mechanism and surgical instrument - Google Patents

Auxiliary driving mechanism and surgical instrument Download PDF

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Publication number
CN110200678B
CN110200678B CN201910616610.7A CN201910616610A CN110200678B CN 110200678 B CN110200678 B CN 110200678B CN 201910616610 A CN201910616610 A CN 201910616610A CN 110200678 B CN110200678 B CN 110200678B
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CN
China
Prior art keywords
hinge
rotating shaft
opening
piece
swinging
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Active
Application number
CN201910616610.7A
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Chinese (zh)
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CN110200678A (en
Inventor
王了
胡江
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Chongqing Jinshan Medical Robot Co ltd
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Chongqing Jinshan Medical Robot Co ltd
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Priority to CN201910616610.7A priority Critical patent/CN110200678B/en
Publication of CN110200678A publication Critical patent/CN110200678A/en
Application granted granted Critical
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Classifications

    • 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
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00137—Details of operation mode
    • 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
    • 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
    • A61B2017/2946—Locking means
    • 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
    • A61B2017/2947—Pivots

Abstract

The invention provides an auxiliary driving mechanism and a surgical instrument, and belongs to the technical field of medical instruments. The open-close assembly solves the problem that an open-close assembly of the existing surgical instrument cannot be opened when power is off. The auxiliary driving mechanism of the surgical instrument is arranged on an instrument seat of the surgical instrument, a rotating shaft for controlling the opening and closing assembly on the instrument seat to open and close is positioned on the instrument seat through a bearing, the auxiliary driving mechanism comprises a swinging member which is sleeved on the rotating shaft and can rotate around the rotating shaft, and a locking structure which enables the swinging member to be relatively fixed with the rotating shaft when the rotating direction of the swinging member is the same as the opening rotating direction of the opening and closing assembly driven by the rotating shaft is arranged between the swinging member and the rotating shaft. The invention can loosen the opening and closing assembly when the power is off without special tools, thereby effectively improving the safety of the operation.

Description

Auxiliary driving mechanism and surgical instrument
Technical Field
The invention belongs to the technical field of medical instruments, and relates to an auxiliary driving mechanism and a surgical instrument.
Background
The surgical instrument is arranged at the front end of the surgical robot and comprises an instrument seat and an opening and closing component arranged on the instrument seat, wherein the opening and closing component comprises a grasping forceps, a clamping piece, a grasping device, scissors, a stitching device, a burning tool, a linear cutter, a needle holder and the like. When the opening and closing component is a clamp, the clamp is used for clamping blood vessels or soft tissues, so that the purpose of hemostasis in the operation process is achieved. The clamp comprises a left finger and a right finger, and the clamping and the loosening of the clamp are realized through the swing of the left finger and the swing of the right finger. For example, chinese patent discloses a clamp type surgical instrument for a minimally invasive abdominal surgical robot [ grant bulletin number CN102028548B ], which enables movement of left and right fingers on an end effector by a left front drive wire, a left rear drive wire, a right front drive wire, and a right rear drive wire. When the left finger is required to rotate clockwise, a motor on the left finger driving mechanism is started, the left finger mandrel is driven to rotate clockwise through the transmission piece, the left finger rear rotating wheel and the left finger front wire wheel are driven to rotate clockwise, the left finger front driving wire in the front left finger wire groove on the left finger front wire wheel is tensioned, the left finger rear driving wire in the rear left finger wire groove on the left finger rear rotating wheel is loosened, and accordingly the left finger front driving wire drives the left finger to rotate clockwise around the finger mounting shaft. The counterclockwise rotation of the left finger and the clockwise/counterclockwise rotation of the right finger operate on the same principle as the clockwise rotation of the left finger.
Because the rotation of the left finger and the right finger are driven by the motor, if the power is off in the operation process, the clamp for clamping the blood vessel or the soft tissue cannot be loosened by itself, and the clamp is pulled strongly to damage the blood vessel or the soft tissue, so that the life safety of a patient is endangered. For this reason, some medical equipment manufacturers often attach special clamps for manually driving the rotation of the spindle when selling the surgical robot, and when power is off, the spindle is driven to rotate by the special clamps, so that the clamps are released. It still has the following problems: 1. the special clamp is an independent workpiece, is easy to lose, and can influence the operation of the surgical robot after power failure after being lost; 2. the rotation direction of the special clamp is not limited, if the operation error causes the clamp to clamp more tightly, even the blood vessel or soft tissue is clamped off, and the life safety of a patient is endangered; 3. after rotation with the special clamp, the surgical instrument cannot be used continuously.
Disclosure of Invention
The invention aims at solving the problems in the prior art and provides an auxiliary driving mechanism and a surgical instrument which are beneficial to improving the safety of surgery.
The aim of the invention can be achieved by the following technical scheme:
the auxiliary driving mechanism is arranged on an instrument seat of the surgical instrument, a rotating shaft for controlling the opening and closing assembly on the instrument seat to open and close is positioned on the instrument seat through a bearing, the auxiliary driving mechanism comprises a swinging piece which is sleeved on the rotating shaft and can rotate around the rotating shaft, and a locking structure which enables the swinging piece to be relatively fixed with the rotating shaft when the rotating direction of the swinging piece is the same as the rotating direction of the opening and closing assembly driven by the rotating shaft is arranged between the swinging piece and the rotating shaft.
Only when the swinging piece swings clockwise around the rotating shaft, the locking structure enables the swinging piece and the rotating shaft to be relatively fixed, and at the moment, the swinging of the swinging piece drives the rotating shaft to rotate clockwise together, so that the purpose of manually opening the opening and closing assembly when power is off is achieved. When the swinging piece rotates anticlockwise around the rotating shaft, the locking structure fails in function, the rotating shaft is not driven to rotate anticlockwise, the opening and closing assembly is not clamped more tightly, and the safety of an operation is improved.
In the auxiliary driving mechanism, the free end of the swinging piece is provided with a hinge shaft parallel to the rotating shaft, the hinge shaft is sleeved with a hinge piece capable of rotating around the hinge shaft, and the instrument seat is provided with a limiting structure for limiting the initial position of the hinge piece.
In the above auxiliary driving mechanism, the locking structure is disposed between the hinge and the rotating shaft, when the hinge is at the initial position, the locking structure fails, and when the hinge swings from the initial position to the working position, the locking structure enables the hinge, the swinging member and the rotating shaft to be relatively fixed.
In the auxiliary driving mechanism, the side wall of the instrument seat is provided with an opening for installing the hinge part, the limiting structure comprises a clamping groove arranged at one end of the opening and used for clamping one end of the hinge part and an elastic driving part used for enabling one end of the hinge part to be kept in the clamping groove, and a disengaging assembly used for enabling one end of the hinge part to be disengaged from the clamping groove is further arranged between the hinge part and the clamping groove.
When the disengaging assembly is used for disengaging one end of the hinge part from the clamping groove, the swinging part is driven to swing anticlockwise around the rotating shaft under the action of the elastic driving part, the locking structure is invalid at the moment, and then the hinge part is manually pulled, so that the locking structure enables the hinge part, the swinging part and the rotating shaft to be relatively fixed when the swinging part rotates clockwise around the rotating shaft.
In the auxiliary driving mechanism, the clamping groove is formed by a first abutting surface arranged at one end of the opening and a side surface of the limiting block arranged on the side wall of the instrument seat, the second abutting surface is arranged at one end of the hinge piece, when one end of the hinge piece is inserted into the clamping groove, the second abutting surface is abutted against the first abutting surface, the disengaging assembly is an acting part positioned at the other end of the hinge piece, and the hinge shaft is positioned between the acting part and the second abutting surface. When the power is off, the action part is pressed inwards, the hinge part is driven to rotate clockwise around the hinge shaft, one end of the hinge part is separated from the clamping groove, the inner side surface of the hinge part is propped against one end of the opening under the action of the elastic driving part, one end of the hinge part is positioned at the outer side of the opening, the hinge part, the swinging part and the rotating shaft are locked by the locking structure, and the rotating shaft is driven to rotate clockwise when one end of the hinge part is pulled by hand, so that the opening and closing assembly is loosened.
When one end of the hinge piece is inserted into the clamping groove, in order to prevent the hinge piece from automatically falling out of the clamping groove, the abutting surface III is arranged at the other end of the opening, the abutting surface IV is arranged on the acting part, when one end of the hinge piece is inserted into the clamping groove, the abutting surface III is abutted against the abutting surface IV, the abutting surface III is obliquely arranged, and when the acting part is pressed inwards, the abutting surface IV is separated from the abutting surface III. When the force is applied to the acting part, the abutting surface I is obliquely arranged, and during the swinging process of the hinge piece around the hinge shaft, the abutting surface II and the abutting surface I slide relatively, and finally one end of the hinge piece is separated from the clamping groove.
In the auxiliary driving mechanism, the elastic driving member is a torsion spring sleeved on the rotating shaft, the torsion spring acts on the swinging member, and the swinging member has a tendency of swinging anticlockwise around the rotating shaft under the action of the torsion spring.
When one end of the hinge member is inserted into the clamping groove, the extending direction of the swinging member is approximately perpendicular to the extending direction of the hinge member, the elastic force of the torsion spring acts on the swinging member, so that the swinging member has a tendency to rotate anticlockwise around the rotating shaft, namely, the direction of the elastic force applied to the swinging member is approximately the same as the direction of the hinge member inserted into the clamping groove, and one end of the hinge member is not easy to be separated from the clamping groove when no external force acts. The elastic force of the torsion spring is smaller, when the acting part is pressed by external force, the hinge piece is driven to swing clockwise around the hinge shaft, and as the abutting surface I and the abutting surface II are inclined planes, one end of the hinge piece is separated from the clamping groove, then the swing piece is driven to rotate anticlockwise around the rotating shaft under the combined action of the external force and the torsion spring, the inner side surface of the hinge piece abuts against one end of the opening, and the tightening structure is in a working state, so that the hinge piece, the swing piece and the rotating shaft are relatively fixed, and the hinge piece can be driven to swing clockwise only by pulling the hinge piece clockwise, and the rotating shaft is driven to swing clockwise together, so that the opening and closing assembly is loosened.
In the auxiliary driving mechanism, the locking structure comprises a wheel body coaxially fixed on the rotating shaft, a plurality of limiting grooves uniformly formed in the outer ring surface of the wheel body, and limiting parts which are arranged on the inner side of the hinge and close to the acting part and used for being clamped into the limiting grooves, wherein the limiting parts are clamped into the limiting grooves when the hinge is in the working position. The wheel body can be a common gear, and the limiting part is a gear tooth matched with a tooth socket of the gear.
In the auxiliary driving mechanism, the locking structure comprises a ratchet wheel coaxially fixed on the rotating shaft and a ratchet wheel arranged on the inner side of the hinge piece and close to the action part, and the ratchet wheel is clamped into a tooth socket of the ratchet wheel when the hinge piece is in the working position. When the acting part is pressed by external force, the hinge part is driven to swing clockwise around the hinge shaft, one end of the hinge part is separated from the clamping groove, then the swing part is driven to rotate anticlockwise around the rotating shaft under the combined action of the external force and the torsion spring, the inner side surface of the hinge part is propped against one end of the opening, meanwhile, the ratchet teeth are clamped into tooth grooves of the ratchet wheel, when one end of the hinge part is pulled, the ratchet teeth are not easy to separate from the ratchet wheel, and in the pulling process, the swing part is driven to swing clockwise around the rotating shaft, so that the opening and closing assembly is loosened.
In the auxiliary driving mechanism, the device seat is provided with a cylindrical mounting part, the bearing for positioning the rotating shaft is arranged in the mounting part, the swinging piece is arranged above the mounting part, and the torsion spring is sleeved on the mounting part.
In the auxiliary driving mechanism, the locking structure is positioned above the swinging piece.
The surgical instrument comprises an instrument seat, an opening and closing assembly arranged on the instrument seat and a rotating shaft positioned on the instrument seat through a bearing and used for controlling the opening and closing assembly to open and close.
In the surgical instrument, the opening and closing assembly is a clamp, the rotating shaft is used for controlling one clamping jaw of the clamp to swing, the first traction rope and the second traction rope are fixed on the rotating shaft, and the leading-out ends of the first traction rope and the second traction rope are respectively connected with the clamping jaw.
Compared with the prior art, the auxiliary driving mechanism and the surgical instrument have the following advantages: the swinging piece and the locking structure are arranged on the rotating shaft, so that the opening and closing assembly can be opened when power is off, and the safety is effectively improved; the operation is simple, and the locking structure only acts when the rotating piece swings clockwise, so that misoperation is effectively prevented; no special fixture is needed, so that the repeated use of the surgical instrument is ensured; the auxiliary driving mechanism does not influence the normal operation of the opening and closing assembly.
Drawings
Fig. 1 is a schematic view of the structure of the swing member provided by the present invention in an initial position.
Fig. 2 is a schematic view of the structure of the swing member in the working position.
Fig. 3 is a schematic structural view of a part of the structure provided by the present invention.
Fig. 4 is a cross-sectional view of a first embodiment provided by the present invention.
In the figure, 1, an instrument seat; 2. a clamp; 3. a rotating shaft; 4. a first traction rope; 5. a traction rope II; 6. a swinging member; 7. a hinge shaft; 8. a hinge; 9. an opening; 10. a clamping groove; 11. a limiting block; 12. an abutting surface II; 13. an action part; 14. a torsion spring; 15. a ratchet wheel; 16. a ratchet; 17. and a mounting part.
Detailed Description
The following are specific embodiments of the present invention and the technical solutions of the present invention will be further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments.
Example 1
The surgical instrument arranged on the surgical robot as shown in fig. 1 comprises an instrument seat 1, an opening and closing component arranged on the instrument seat 1 and a rotating shaft 3 positioned on the instrument seat 1 through a bearing and used for controlling the opening and closing of the opening and closing component, wherein an auxiliary driving mechanism is arranged between the instrument seat 1 and the rotating shaft. In this embodiment, an instrument hand is mounted on the instrument seat 1, and an opening and closing assembly is mounted at the front end of the instrument hand, wherein the opening and closing assembly is a clamp 2, the clamp 2 is composed of two oppositely arranged clamping jaws, and the clamping jaws are hinged at the front end of the instrument hand and can swing within a certain range.
The rotating shaft 3 is fixedly provided with a first traction rope 4 and a second traction rope 5, and the leading-out ends of the first traction rope 4 and the second traction rope 5 are respectively connected with the clamping jaw. As shown in fig. 1, the number of the rotating shafts 3 on the instrument seat 1 is two, and the swinging of the two clamping jaws is controlled by different rotating shafts 3. The leading-out ends of the first traction rope 4 and the second traction rope 5 are led out from the tangential direction of the rotating shaft 3 after being fixed on the rotating shaft 3, and are connected with the same clamping jaw after respectively bypassing different wire wheels fixed on the instrument seat 1. When the rotating shaft 3 rotates clockwise, the first traction rope 4 is tensioned, the second traction rope 5 is loosened, one clamping jaw of the clamp 2 swings in a direction away from the other clamping jaw, and the clamp 2 is loosened; when the rotating shaft 3 rotates anticlockwise, the first traction rope 4 is loosened, the second traction rope 5 is tensioned, one clamping jaw of the clamp 2 swings to a direction approaching to the other clamping jaw, and the clamp 2 is clamped.
As shown in fig. 1, an auxiliary driving mechanism is arranged between an instrument seat 1 and a rotating shaft 3 of a surgical instrument, the auxiliary driving mechanism comprises a swinging member 6 sleeved on the rotating shaft 3 and capable of rotating around the rotating shaft 3, a locking structure which enables the swinging member 6 to be relatively fixed with the rotating shaft 3 when the rotating direction of the swinging member 6 is the same as the rotating direction of the opening and closing assembly driven by the rotating shaft 3 is arranged between the swinging member 6 and the rotating shaft 3, and the locking structure is positioned above the swinging member 6.
Only when the swinging member 6 swings clockwise around the rotating shaft 3, the locking structure enables the swinging member 6 and the rotating shaft 3 to be relatively fixed, and at the moment, the swinging of the swinging member 6 drives the rotating shaft 3 to rotate clockwise together, so that the aim of manually opening the clamp 2 when power is off is achieved. When the swinging piece 6 rotates anticlockwise around the rotating shaft 3, the locking structure fails in function, the rotating shaft 3 is not driven to rotate anticlockwise, the clamp 2 is not clamped more tightly, and the safety of an operation is improved.
As shown in fig. 3, the free end of the swinging member 6 is provided with a hinge shaft 7 parallel to the rotating shaft 3, the hinge shaft 7 is sleeved with a hinge member 8 capable of rotating around the hinge shaft 7, the instrument seat 1 is provided with a limiting structure for limiting the initial position of the hinge member 8, the locking structure is arranged between the hinge member 8 and the rotating shaft 3, the locking structure fails when the hinge member 8 is at the initial position, and the locking structure enables the hinge member 8, the swinging member 6 and the rotating shaft 3 to be relatively fixed when the hinge member 8 swings from the initial position to the working position.
As shown in fig. 2, an opening 9 for installing the hinge member 8 is formed on the side wall of the instrument seat 1, and the limiting structure comprises a clamping groove 10 formed at one end of the opening 9 and used for clamping one end of the hinge member 8, and an elastic driving member used for keeping one end of the hinge member 8 in the clamping groove 10, and a disengaging assembly used for disengaging one end of the hinge member 8 from the clamping groove 10 is further arranged between the hinge member 8 and the clamping groove 10. When the disengaging assembly makes one end of the hinge member 8 disengage from the clamping groove 10, the elastic driving member drives the swinging member 6 to swing anticlockwise around the rotating shaft 3, at the moment, the locking structure is disabled, and then the hinge member 8 is manually pulled, so that the locking structure enables the hinge member 8, the swinging member 6 and the rotating shaft 3 to be relatively fixed when the swinging member 6 rotates clockwise around the rotating shaft 3.
As shown in fig. 2, the clamping groove 10 is formed by a first abutting surface arranged at one end of the opening 9 and a side surface of a limiting block 11 arranged on the side wall of the instrument seat 1, one end of the hinge member 8 is provided with a second abutting surface 12, when one end of the hinge member 8 is inserted into the clamping groove 10, the second abutting surface 12 abuts against the first abutting surface, the disengaging assembly is an acting part 13 positioned at the other end of the hinge member 8, and the hinge shaft 7 is positioned between the acting part 13 and the second abutting surface 12. When the power is off, the action part 13 is pressed inwards to drive the hinge 8 to rotate clockwise around the hinge shaft 7, one end of the hinge 8 is separated from the clamping groove 10, the inner side surface of the hinge 8 is abutted against one end of the opening 9 under the action of the elastic driving part, one end of the hinge 8 is positioned at the outer side of the opening 9, at the moment, the locking structure locks the hinge 8, the swinging part 6 and the rotating shaft 3, and when one end of the hinge 8 is pulled, the rotating shaft 3 is driven to rotate clockwise, so that the clamp 2 is loosened.
When one end of the hinge 8 is inserted into the clamping groove 10, in order to prevent the hinge from automatically falling out of the clamping groove 10, an abutting surface III is arranged at the other end of the opening 9, an abutting surface IV is arranged on the acting part 13, when one end of the hinge 8 is inserted into the clamping groove 10, the abutting surface III is abutted against the abutting surface IV, the abutting surface III is obliquely arranged, and when the acting part 13 is pressed inwards, the abutting surface IV is separated from the abutting surface III. When the external force is not applied to the acting part 13, the elastic force of the elastic driving piece enables the abutting surface two 12 to abut against the abutting surface one, and when the force is applied to the acting part 13, the abutting surface two 12 and the abutting surface one slide relatively in the process of swinging the hinge piece 8 around the hinge shaft 7 due to the inclined arrangement of the abutting surface one, and finally one end of the hinge piece 8 is separated from the clamping groove 10.
As shown in fig. 1 and 3, the elastic driving member is a torsion spring 14 sleeved on the rotating shaft 3, the torsion spring 14 acts on the swinging member 6, and the swinging member 6 has a tendency to swing anticlockwise around the rotating shaft 3 under the action of the torsion spring 14.
When one end of the hinge member 8 is inserted into the slot 10, the extending direction of the swinging member 6 is substantially perpendicular to the extending direction of the hinge member 8, and the elastic force of the torsion spring 14 acts on the swinging member 6 to make the swinging member 6 rotate counterclockwise around the rotation shaft 3, that is, the direction of the elastic force applied to the swinging member 6 is substantially the same as the direction of the hinge member 8 inserted into the slot 10, and when no external force acts, one end of the hinge member 8 is not easy to be removed from the slot 10. The elasticity of the torsion spring 14 is smaller, when the external force presses the acting part 13, the hinge 8 is driven to swing clockwise around the hinge shaft 7, and as the abutting surface I and the abutting surface II are inclined surfaces, one end of the hinge 8 is separated from the clamping groove 10, then the swinging member 6 is driven to rotate anticlockwise around the rotating shaft 3 under the combined action of the external force and the torsion spring 14, the inner side surface of the hinge 8 abuts against one end of the opening 9, and the tightening structure is in a working state, so that the hinge 8, the swinging member 6 and the rotating shaft 3 are relatively fixed, and the swinging member 6 can be driven to swing clockwise only by pulling the hinge 8 clockwise, and the rotating shaft 3 is driven to swing clockwise together, so that the clamp 2 is loosened.
Specifically, as shown in fig. 4, the instrument seat 1 is provided with a cylindrical mounting portion 17, a bearing for positioning the rotating shaft 3 is disposed in the mounting portion 17, the swinging member 6 is disposed above the mounting portion 17, and the torsion spring 14 is sleeved on the mounting portion 17.
As shown in fig. 1 and 2, the locking structure comprises a ratchet wheel 15 coaxially fixed on the rotating shaft 3 and a ratchet 16 provided inside the hinge 8 and near the action portion 13, the ratchet 16 being caught in a tooth slot of the ratchet wheel 15 when the hinge 8 is in the working position. When the external force presses the acting part 13, the hinge 8 is driven to swing clockwise around the hinge shaft 7, one end of the hinge 8 is separated from the clamping groove 10, then the swing member 6 is driven to rotate anticlockwise around the rotating shaft 3 under the combined action of the external force and the torsion spring 14, the inner side surface of the hinge 8 is abutted against one end of the opening 9, meanwhile, the ratchet 16 is clamped into the tooth groove of the ratchet 15, when one end of the hinge 8 is pulled, the ratchet 16 is not easy to separate from the ratchet 15, and in the pulling process, the swing member 6 is driven to swing clockwise around the rotating shaft 3, so that the clamp 2 is released.
Example two
The structural principle of this embodiment is basically the same as that of the first embodiment, except that the locking structure includes a wheel body coaxially fixed on the rotating shaft 3, a plurality of limiting grooves uniformly formed on the outer circumferential surface of the wheel body, and a limiting portion which is formed inside the hinge 8 and is close to the acting portion 13 and is used for being clamped into the limiting grooves, and when the hinge 8 is in the working position, the limiting portion is clamped into the limiting grooves. In this embodiment, the wheel body is a common gear, and the limiting portion is a gear tooth matched with a tooth slot of the gear.
The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.

Claims (6)

1. The auxiliary driving mechanism is arranged on an instrument seat (1) of a surgical instrument, a rotating shaft (3) for controlling an opening and closing component on the instrument seat (1) to open and close is positioned on the instrument seat (1) through a bearing, and the auxiliary driving mechanism is characterized by comprising a swinging piece (6) which is sleeved on the rotating shaft (3) and can rotate around the rotating shaft (3), and a locking structure which enables the swinging piece (6) to be relatively fixed with the rotating shaft (3) when the rotating direction of the swinging piece (6) is the same as the rotating direction of the opening and closing component driven by the rotating shaft (3) is arranged between the swinging piece (6) and the rotating shaft (3); the opening and closing component is a clamp (2), the clamp (2) is composed of two clamping jaws which are oppositely arranged,
the swinging of the two clamping jaws is controlled by different rotating shafts (3);
the free end of the swinging piece (6) is provided with a hinge shaft (7) parallel to the rotating shaft (3), the hinge shaft (7) is sleeved with a hinge piece (8) capable of rotating around the hinge shaft (7), and the instrument seat (1) is provided with a limiting structure for limiting the initial position of the hinge piece (8);
the locking structure is arranged between the hinge piece (8) and the rotating shaft (3), the locking structure is invalid when the hinge piece (8) is at an initial position, and the locking structure enables the hinge piece (8), the swinging piece (6) and the rotating shaft (3) to be relatively fixed when the hinge piece (8) swings from the initial position to a working position;
an opening (9) for installing the hinge piece (8) is formed in the side wall of the instrument seat (1), and the limiting structure comprises a clamping groove (10) which is arranged at one end of the opening (9) and used for clamping one end of the hinge piece (8); a disengaging assembly for disengaging one end of the hinge (8) from the clamping groove (10) is further arranged between the hinge (8) and the clamping groove (10), and the disengaging assembly is an acting part (13) positioned at the other end of the hinge (8);
the locking structure comprises a wheel body coaxially fixed on the rotating shaft (3), a plurality of limiting grooves uniformly arranged on the outer ring surface of the wheel body and a limiting part which is arranged on the inner side of the hinge (8) and is close to the acting part (13) and used for being clamped into the limiting grooves, and when the hinge (8) is in a working position, the limiting part is clamped into the limiting grooves;
or the locking structure comprises a ratchet wheel (15) coaxially fixed on the rotating shaft (3) and a ratchet wheel (16) arranged on the inner side of the hinge piece (8) and close to the acting part (13), and when the hinge piece (8) is in a working position, the ratchet wheel (16) is clamped into a tooth socket of the ratchet wheel (15).
2. Auxiliary drive mechanism according to claim 1, characterized in that the limit structure further comprises a resilient drive for holding one end of the hinge element (8) in the catch (10).
3. The auxiliary driving mechanism according to claim 2, wherein the clamping groove (10) is formed by a first abutting surface arranged at one end of the opening (9) and a side surface of a limiting block (11) arranged on the side wall of the instrument seat (1), one end of the hinge member (8) is provided with a second abutting surface (12), the second abutting surface (12) abuts against the first abutting surface when one end of the hinge member (8) is inserted into the clamping groove (10), and the hinge shaft (7) is arranged between the acting part (13) and the second abutting surface (12).
4. The auxiliary driving mechanism according to claim 2, wherein the elastic driving member is a torsion spring (14) sleeved on the rotating shaft (3), the torsion spring (14) acts on the swinging member (6), and the swinging member (6) has a tendency to swing anticlockwise around the rotating shaft (3) under the action of the torsion spring (14).
5. The auxiliary driving mechanism according to claim 4, wherein the instrument seat (1) is provided with a cylindrical mounting portion (17), a bearing for positioning the rotating shaft (3) is arranged in the mounting portion (17), the swinging member (6) is arranged above the mounting portion (17), and the torsion spring (14) is sleeved on the mounting portion (17).
6. A surgical instrument comprising an instrument seat (1), an opening and closing component arranged on the instrument seat (1) and a rotating shaft (3) positioned on the instrument seat (1) through a bearing and used for controlling the opening and closing of the opening and closing component, characterized in that an auxiliary driving mechanism as set forth in any one of claims 1-5 is arranged between the instrument seat (1) and the rotating shaft (3).
CN201910616610.7A 2019-07-09 2019-07-09 Auxiliary driving mechanism and surgical instrument Active CN110200678B (en)

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