CN111973336B

CN111973336B - Negative pressure adsorption type capsulorhexis forceps with force sensing capability

Info

Publication number: CN111973336B
Application number: CN202010846450.8A
Authority: CN
Inventors: 杨洋; 郑昱; 贺昌岩; 广晨汉
Original assignee: Beihang University
Current assignee: Beihang University
Priority date: 2020-09-23
Filing date: 2020-09-23
Publication date: 2021-10-29
Anticipated expiration: 2040-09-23
Also published as: CN111973336A

Abstract

The invention discloses negative pressure adsorption type capsulorhexis forceps with force sensing capability, which comprise a hollow needle, a JT52 joint, a handle, a BPM4 joint and a trachea; the outer wall of the hollow needle is grooved and used for mounting the FBG sensor, and the tail end of the hollow needle is connected with a mounting seat and is connected with a JT52 joint through the mounting seat; the other end of the JT52 joint is connected with a handle, the tail end of the handle is provided with a BPM4 joint, and the outer wall of the BPM4 joint is provided with threads and is connected with the handle through the threads; the two ends of the BPM4 joint can be connected with an air pipe, one end of the air pipe is connected with the BPM4 joint, and the other end of the air pipe is connected with a negative pressure pump. According to the invention, the anterior capsule of the crystalline lens can be directly lacerated through the tip design to complete the flap opening, and then the capsule can be directly torn, so that the whole capsule tearing operation can be completed by using one instrument, the size of the capsule tearing force can be sensed, the clamping force can be directly controlled by controlling the size of the negative pressure, and the controllability of the operation is improved.

Description

Negative pressure adsorption type capsulorhexis forceps with force sensing capability

Technical Field

The invention relates to the technical field of surgical instruments, in particular to negative pressure adsorption type capsulorhexis forceps with force sensing capability.

Background

In cataract surgery, a continuous annular capsulorhexis is an important surgical operation. Generally, a continuous circumferential capsulorhexis involves two steps, flap-lifting and capsulorhexis. In the process of opening the valve, a doctor uses an incision needle to cut the anterior capsule of the crystalline lens and makes a bulge. Then, the doctor uses the capsulorhexis forceps to clamp the bulge made in the previous step, and the annular capsulorhexis is completed. In the operation process, two surgical instruments are needed, and after the capsulorhexis forceps are switched, the clamping position needs to be determined again; meanwhile, the traditional tweezers adopt a mechanical opening and closing scheme, so that the operation force cannot be sensed, and the size of the clamping force cannot be controlled.

The existing continuous annular capsulorhexis operation in cataract operation has extremely limited operation space, the relocation of the capsulorhexis position is a very time-consuming operation, and if one instrument can be used for completing the operation of flap opening and capsulorhexis, the reduction of operation time is facilitated; meanwhile, the use of the conventional capsulorhexis forceps to clamp the capsule membrane and complete capsulorhexis also greatly emphasizes the operation skill, requires long-term training, and therefore requires a new clamping scheme to simplify the operation. Patients of different ages have different biomechanical characteristics of the capsule membrane, and the capsule tearing force required for tearing the capsule and the clamping force required for clamping the capsule membrane are different. Therefore, the capsulorhexis forceps needs to have the capability of sensing the operation force and controlling the clamping force.

In the current surgical operation, the tip of the capsulorhexis forceps is used for directly carrying out the valve opening operation, but the tip of the capsulorhexis forceps is not designed for the valve opening operation and is not sharp enough, so the method has higher requirements on the operation skill.

Disclosure of Invention

The invention aims to provide negative pressure adsorption type capsulorhexis forceps with force sensing capability, which have sharp pointed ends, can directly cut the anterior capsule membrane of a crystalline lens to complete flap opening and then directly capsulorhexis, namely the whole capsulorhexis operation can be completed by using one instrument, other mechanical structures are not needed, the clamping force can be directly controlled by controlling the magnitude of negative pressure, meanwhile, the capsulorhexis forceps are integrated with a Fiber Bragg Grating (FBG) sensor to sense the magnitude of capsulorhexis force, and the problem that the clamping force cannot be controlled in the background technology is solved.

In order to achieve the purpose, the invention provides the following technical scheme:

a negative pressure adsorption type capsulorhexis forceps with force sensing capability comprises a hollow needle, a JT52 joint, a handle, a BPM4 joint and a trachea; the outer wall of the hollow needle is grooved and used for mounting the FBG sensor, and the tail end of the hollow needle is connected with a mounting seat and is connected with a JT52 joint through the mounting seat; the other end of the JT52 joint is connected with a handle, the tail end of the handle is provided with a BPM4 joint, and the outer wall of the BPM4 joint is provided with threads and is connected with the handle through the threads; the two ends of the BPM4 joint can be connected with an air pipe, one end of the air pipe is connected with the BPM4 joint, and the other end of the air pipe is connected with a negative pressure pump.

Furthermore, the top of the hollow needle is provided with a tip for puncturing the sac membrane, the middle of the hollow needle is provided with a cavity for air circulation, and three FBG sensors distributed at 120 degrees are installed on the outer wall of the hollow needle.

Furthermore, the JT52 joint comprises a joint, a metal hexagon and an air pipe joint A, the JT52 joint is connected with the mounting seat of the hollow needle through the joint, the handle is provided with a threaded hole corresponding to the metal hexagon, and the jackscrew is propped against the metal hexagon after passing through the threaded hole; the trachea interface A is a 4mm interface and is used for being connected with a 4mm standard trachea.

Further, the handle comprises a handle cavity, a square groove, an optical fiber wire passing groove, a jackscrew groove and a jackscrew threaded hole; the handle cavity is used for routing the air pipe, and the square groove is matched with the metal hexagon for limiting; six optical fiber wire passing grooves are uniformly distributed at intervals of 60 degrees; the jackscrew groove provides a plane for tightly fixing the jackscrew, and the jackscrew props against the metal hexagon through the jackscrew threaded hole; the tail end of the handle is also provided with an M12X1 internal threaded hole for mounting a BPM4 joint.

Furthermore, the two ends of the BPM4 joint are provided with 4mm air pipe joints B, the middle of the BPM4 joint is provided with M12X1 external threads, and the M12X1 external threads are connected with the M12X1 internal thread holes through bolts.

Furthermore, an air-tight connecting structure is further arranged at the connecting position of the BPM4 joint and the handle, the air-tight connecting structure comprises a nut and an air-tight gasket, and the nut is used for compacting the air-tight gasket after the BPM4 joint and the handle are connected through threads.

Compared with the prior art, the invention has the beneficial effects that:

1. the negative pressure adsorption type capsulorhexis forceps with force sensing capability provided by the invention adopts a negative pressure adsorption mode to realize the grabbing of the capsular membrane, and compared with the existing mechanical open-close type structure, the negative pressure adsorption type capsulorhexis forceps is simple in structure, avoids the shielding of a mechanical structure on a clamping position, is convenient for operation, can change the clamping force by changing the negative pressure, and has the advantage of large clamping force adjusting range.

2. The negative pressure adsorption type capsulorhexis forceps with force sensing capability provided by the invention can perform sharp processing on the top of the traditional forceps, can be used for puncturing a capsular membrane to complete valve opening, can align tissues and realize clamping only by rotating the instrument handle 3 after the valve opening is completed, and can complete continuous annular capsulorhexis operation by one instrument without first using a capsulorhexis needle to open the valve.

3. Compared with the existing negative pressure adsorption type forceps, the negative pressure adsorption type capsulorhexis forceps with the force sensing capability provided by the invention have the advantages that the three FBG sensors are integrated on the hollow needle, the force sensing capability is realized, and the capsulorhexis force in the operation process can be sensed, so that the negative pressure adsorption type capsulorhexis forceps with the force sensing capability has the prospect of being applied to robot-assisted capsulorhexis.

4. According to the negative pressure adsorption type capsulorhexis forceps with force sensing capability, the scale of capsulorhexis force can sense the magnitude of microscale force, experiments show that the capsulorhexis force is dozens of mN, doctors cannot sense the force, the negative pressure adsorption type capsulorhexis forceps can sense the force, the capsulorhexis force is influenced by the scale of negative pressure, and meanwhile damage of traditional rigid instruments to a capsular membrane is reduced.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is an isometric view of the overall construction of the present invention;

FIG. 3 is a schematic view of the structure of the hollow needle of the present invention;

FIG. 4 is a schematic view of a hollow needle tip end according to the present invention;

FIG. 5 is a schematic view of an FBG arrangement of the present invention;

FIG. 6 is a schematic view of a JT52 joint structure according to the invention;

FIG. 7 is a schematic view of the handle structure of the present invention;

FIG. 8 is an isometric view of the handle structure of the present invention;

FIG. 9 is a cross-sectional view of the handle of the present invention;

FIG. 10 is a schematic view of a BPM4 joint according to the present invention;

FIG. 11 is a schematic view of the air tight design of the BPM4 fitting of the present invention at the connection to the handle.

In the figure: 1. a hollow needle; 2. a JT52 linker; 3. a handle; 4. BPM4 connector; 5. an air tube; 6. a mounting seat; 7. a tip; 8. a cavity; 9. an FBG sensor; 12. an interface; 13. a metal hexagon; 14. a trachea interface A; 15. a handle cavity; 16. a square groove; 17. an optical fiber wire passing groove; 18. a wire jacking groove; 19. a jackscrew threaded hole; 20. M12X1 female threaded bore; 21. a trachea interface B; 22. M12X1 external threads; 23. a nut; 24. a gas-tight gasket.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-11, in the embodiment of the present invention: a negative pressure adsorption type capsulorhexis forceps with force sensing capability comprises a hollow needle 1, a JT52 joint 2, a handle 3, a BPM4 joint 4 and an air pipe 5; the outer wall of the hollow needle 1 is grooved and used for mounting the FBG sensor 9, the tail end of the hollow needle 1 is connected with a mounting seat 6, and the mounting seat 6 is connected with the JT52 joint 2; the other end of the JT52 joint 2 is connected with a handle 3, the tail end of the handle 3 is provided with a BPM4 joint 4, and the outer wall of the BPM4 joint 4 is provided with threads and is connected with the handle 3 through the threads; the BPM4 joint 4 has both ends connected with the air pipe 5, one end of the air pipe 5 is connected with the BPM4 joint 4, and the other end is connected with a negative pressure pump (not shown).

In the above embodiment, the top of the hollow needle 1 is provided with a tip 7 for puncturing the capsular sac, the middle thereof is provided with a cavity 8 for air circulation, and three FBG sensors 9 distributed at 120 ° are mounted on the outer wall of the hollow needle 1.

In the above embodiment, the JT52 joint 2 includes a joint 12, a metal hexagon 13, and a gas pipe joint a14, the JT52 joint 2 is connected with the mounting seat 6 of the hollow needle 1 through the joint 12, the handle 3 is provided with a threaded hole corresponding to the metal hexagon 13, and the jackscrew is pressed against the metal hexagon 13 after passing through the threaded hole; the trachea interface A14 is a 4mm interface and is used for connecting with a 4mm standard trachea.

In the above embodiment, the handle 3 includes a handle cavity 15, a square groove 16, an optical fiber passing groove 17, a jackscrew groove 18 and a jackscrew threaded hole 19; the handle cavity 15 is used for routing the air pipe 5, and the square groove 16 is matched with the metal hexagon 13 for limiting; six optical fiber wire passing grooves 17 are uniformly distributed at intervals of 60 degrees; the jackscrew groove 18 provides a plane for jackscrew tightening, and the jackscrew is propped against the metal hexagon 13 through the jackscrew threaded hole 19; the tail end of the handle 3 is also provided with an M12X1 internal threaded hole 20 for installing the BPM4 joint 4.

In the above embodiment, the two ends of the BPM4 joint 4 are provided with 4mm trachea interfaces B21, the middle of the BPM4 joint 4 is provided with M12X1 external threads 22, and the M12X1 external threads 22 are connected with the M12X1 internal thread hole 20 through bolts.

In the above embodiment, the connection position of the BPM4 joint 4 and the handle 3 is further provided with an airtight connection structure comprising the nut 23 and the airtight gasket 24, and after the BPM4 joint 4 and the handle 3 are connected by screw threads, the airtight gasket 24 is compacted by the nut 23.

The working principle is as follows: when the negative pressure adsorption type capsulorhexis forceps with force sensing capability is used, a doctor holds the handle 3; firstly, piercing a capsular membrane by using a tip 7 at the top of a hollow needle 1, and manufacturing a bulge to finish valve opening; then, the doctor directly rotates the handle 3 without changing the instrument, the cavity 8 is aligned to the bulge manufactured in the previous step, the negative pressure pump is started, negative pressure is formed at the cavity 8, and the capsular tissue is adsorbed; then the doctor operates the instrument to complete capsulorhexis; in the capsulorhexis process, the clamping force is controlled by controlling the magnitude of the negative pressure, and the operating force vertical to the tip 7 of the hollow needle 1 can be detected in real time by the three FBG sensors 9 distributed at 120 degrees; meanwhile, the capsulorhexis forceps provided by the invention can sense the operating force and control the clamping force by controlling the negative pressure, so that the capsulorhexis forceps also has the prospect of being applied to robot-assisted capsulorhexis.

In summary, the following steps: the negative pressure adsorption type capsulorhexis forceps with force sensing capability provided by the invention adopts a negative pressure adsorption mode to realize the grabbing of a capsular, and compared with the existing mechanical opening and closing type structure, the negative pressure adsorption type capsulorhexis forceps is simple in structure, avoids the shielding of a mechanical structure on a clamping position, is convenient for operation, can change the clamping force by changing the negative pressure, and has the advantage of large clamping force adjusting range; secondly, the top of the traditional forceps is subjected to sharp treatment, so that the traditional forceps can be used for piercing a cyst membrane to complete valve opening, after the valve opening is completed, the tissue can be aligned and clamped only by rotating the handle 3 of the instrument, and continuous annular capsulorhexis operation can be completed by one instrument without using a capsulotomy needle to open the valve first; in addition, compared with the existing negative pressure adsorption type forceps, the hollow needle 1 is integrated with the three FBG sensors 9, the force sensing capability is realized, the capsulorhexis force in the operation process can be sensed, experiments show that the capsulorhexis force is dozens of mN, doctors cannot sense the capsulorhexis force, the appliance can influence the capsulorhexis force through the size of the negative pressure, and meanwhile, the damage of the traditional rigid appliance to a capsular membrane is reduced, so that the appliance has the prospect of being applied to robot assisted capsulorhexis.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.

Claims

1. A negative pressure adsorption type capsulorhexis forceps with force sensing capability is characterized by comprising a hollow needle (1), a JT52 joint (2), a handle (3), a BPM4 joint (4) and a trachea (5); the outer wall of the hollow needle (1) is grooved and used for mounting the FBG sensor (9), the tail end of the hollow needle (1) is connected with a mounting seat (6) and is connected with a JT52 joint (2) through the mounting seat (6); the other end of the JT52 joint (2) is connected with a handle (3), the tail end of the handle (3) is provided with a BPM4 joint (4), and the outer wall of the BPM4 joint (4) is provided with threads and is connected with the handle (3) through the threads; both ends of the BPM4 joint (4) can be connected with an air pipe (5), one end of the air pipe (5) is connected with the BPM4 joint (4), the other end of the air pipe is connected with a negative pressure pump, the top of the hollow needle (1) is provided with a tip (7) for puncturing a sac membrane, the middle of the hollow needle is provided with a cavity (8) for air circulation, and three FBG sensors (9) distributed at 120 degrees are installed on the outer wall of the hollow needle (1); the JT52 joint (2) comprises a connector (12), a metal hexagon (13) and an air pipe connector A (14), the JT52 joint (2) is connected with the mounting seat (6) of the hollow needle (1) through the connector (12), a threaded hole corresponding to the metal hexagon (13) is formed in the handle (3), and a jackscrew is jacked on the metal hexagon (13) after passing through the threaded hole; the air pipe connector A (14) is a 4mm connector and is used for being connected with a 4mm standard air pipe, and the handle (3) comprises a handle cavity (15), a square groove (16), an optical fiber wire passing groove (17), a jackscrew groove (18) and a jackscrew threaded hole (19); the handle cavity (15) is used for routing the air pipe (5), and the square groove (16) is matched with the metal hexagon (13) for limiting; six optical fiber threading grooves (17) are uniformly distributed at intervals of 60 degrees; the jackscrew groove (18) provides a plane for jackscrew tightening, and the jackscrew is propped against the metal hexagon (13) through a jackscrew threaded hole (19); the tail end of the handle (3) is also provided with an M12X1 internal thread hole (20) for installing a BPM4 joint (4).

2. The negative pressure adsorption type capsulorhexis forceps with force sensing capability of claim 1, wherein the BPM4 joint (4) is provided with 4mm trachea interfaces B (21) at two ends, the BPM4 joint (4) is provided with an M12X1 external thread (22) at the middle part, and the M12X1 external thread (22) is connected with the M12X1 internal thread hole (20) through a bolt.

3. The negative pressure suction type capsulorhexis forceps with force sensing capability of claim 1, wherein the connection position of the BPM4 joint (4) and the handle (3) is further provided with an air-tight connection structure, the air-tight connection structure comprises a nut (23) and an air-tight gasket (24), and after the BPM4 joint (4) and the handle (3) are connected through threads, the nut (23) is used for compacting the air-tight gasket (24).