CN112155719A - Multifunctional grasping forceps for minimally invasive surgery - Google Patents
Multifunctional grasping forceps for minimally invasive surgery Download PDFInfo
- Publication number
- CN112155719A CN112155719A CN202011163959.9A CN202011163959A CN112155719A CN 112155719 A CN112155719 A CN 112155719A CN 202011163959 A CN202011163959 A CN 202011163959A CN 112155719 A CN112155719 A CN 112155719A
- Authority
- CN
- China
- Prior art keywords
- clamping part
- control mechanism
- motion control
- multifunctional
- clamping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
-
- 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
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1442—Probes having pivoting end effectors, e.g. forceps
- A61B18/1445—Probes having pivoting end effectors, e.g. forceps at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
-
- 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
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/14—Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
- A61B90/17—Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins for soft tissue, e.g. breast-holding devices
-
- 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
- A61B2017/2926—Details of heads or jaws
-
- 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
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
- A61B2017/2943—Toothed members, e.g. rack and pinion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00589—Coagulation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/1206—Generators therefor
- A61B2018/1246—Generators therefor characterised by the output polarity
- A61B2018/126—Generators therefor characterised by the output polarity bipolar
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B2018/1467—Probes or electrodes therefor using more than two electrodes on a single probe
-
- 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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Public Health (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Otolaryngology (AREA)
- Pathology (AREA)
- Neurosurgery (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Ophthalmology & Optometry (AREA)
- Robotics (AREA)
- Surgical Instruments (AREA)
Abstract
The invention relates to a multifunctional grasping forceps for minimally invasive surgery, which comprises a clamping part, an installation part and a motion control mechanism; the motion control mechanism is used for controlling the motion of the mounting part, and the mounting part is used for driving the clamping part to move; the clamping part comprises a first clamping part and a second clamping part; the first clamping part is movably connected with the second clamping part; the mounting part comprises a first mounting part and a second mounting part; the first mounting part is used for controlling the opening and closing of the first clamping part; the second mounting part is connected with the first clamping part and the second clamping part and used for controlling the relative movement of the first clamping part and the second clamping part to enable the first clamping part and the second clamping part to form an angle; the motion control mechanism comprises a first motion control mechanism and a second motion control mechanism; the first motion control mechanism controls the motion of the first mounting part, and the second motion control mechanism is used for controlling the motion of the second mounting part, so that the device has the advantages that: can realize firmly snatching with not having the two kinds of modes of creating and snatching, and simple structure, convenient operation, subsidiary bipolar coagulation function.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a multifunctional grasping forceps for minimally invasive surgery.
Background
Various endoscopic or robotic surgeries have become the most popular form of minimally invasive surgery, and da vinci surgical robots have been updated to the fourth generation, with this latest model being used around the world to bring better, faster, and more precise surgical treatments to patients. The prior grasper for the robot operation is a toothed electric straight grasper, because the current mechanical feedback system of the robot operation is not perfect, the main knife cannot sense the force of the forceps when clamping the tubular soft tissue (such as ureter and blood vessel) needing to be reserved, and the pulling force is too large, the time is too long and the grasping is not known, and the traditional endoscopic operation has similar problems.
Chinese patent document CN208511134U discloses a superfine endoscope operation forceps, which comprises a forceps core assembly, a forceps rod assembly, a connecting nut, a front handle, a pull rod rear joint, a rear handle and a handle screw, wherein the forceps core assembly is sleeved on the forceps rod assembly, the forceps core assembly and the forceps rod assembly are fixedly connected, a pull rod of the forceps core assembly penetrates through the forceps rod assembly and is fixedly connected with the pull rod rear joint, the pull rod rear joint penetrates through the front handle and is connected with the rear handle, the front handle and the rear handle are hinged through the handle screw, the connecting nut is sleeved on the forceps rod assembly and is fixedly connected with the front handle, the forceps core assembly is respectively connected with an upper forceps head auxiliary pin hole and a lower forceps head auxiliary pin hole through auxiliary pin shafts of two connecting pieces, the front end of the pull rod front joint penetrates through the pull rod pin holes of the two connecting pieces and is hinged with the two connecting pieces through pull rod pins, and the rear end of the pull rod front joint; the problem that it solved is: the problem that the binding clip at the front end of the forceps cup is staggered when closed cannot be solved, the clamping function is single, and the problem that noninvasive grabbing of corresponding soft tissues is difficult to achieve is solved.
In summary, there is a need for a multifunctional grasping forceps for minimally invasive surgery, which can realize two modes of firm grasping and non-invasive grasping, has a simple structure and convenient operation, and has a bipolar electrocoagulation function.
Disclosure of Invention
The invention aims to provide the multifunctional grasping forceps for the minimally invasive surgery, which can realize two modes of firm grasping and noninvasive grasping, has a simple structure and convenient operation and is attached with a bipolar electrocoagulation function.
In order to achieve the purpose, the invention adopts the technical scheme that:
a multifunctional grasping forceps for minimally invasive surgery comprises a clamping part, an installation part and a motion control mechanism; the motion control mechanism is used for controlling the motion of the mounting part, and the mounting part is used for driving the clamping part to move; the clamping part comprises a first clamping part and a second clamping part; the first clamping part is movably connected with the second clamping part; the mounting part comprises a first mounting part and a second mounting part; the first mounting part is used for controlling the opening and closing of the first clamping part; the second mounting part is connected with the first clamping part and the second clamping part and used for controlling the relative movement of the first clamping part and the second clamping part to enable the first clamping part and the second clamping part to form an angle; the motion control mechanism comprises a first motion control mechanism and a second motion control mechanism; the first motion control mechanism controls the motion of the first mounting portion, and the second motion control mechanism is used for controlling the motion of the second mounting portion.
As a preferable technical solution, the movable angle between the first clamping portion and the second clamping portion is 150 ° and 180 °.
As a preferred technical solution, the first mounting portion includes a guide groove and a first rotating hinge, wherein the guide groove is two guide rails crossing in parallel in an X shape, and the first rotating hinge is a rotation center of the first clamping portion in opening and closing movements.
As a preferable technical solution, the first motion control mechanism is a T-shaped pull rod, and two T-shaped end portions of the T-shaped pull rod are respectively disposed in the guide grooves and slidably connected with the guide grooves.
As a preferred technical solution, the second mounting portion includes a second rotating hinge, wherein the second rotating hinge is provided with a gear structure thereon, the gear structure is fixed on the second rotating hinge or is independently sleeved on an outer wall of the first rotating hinge, and correspondingly, the first rotating hinge is also provided with a gear structure thereon.
As a preferred technical solution, the second motion control mechanism is a gear transmission mechanism, and the first rotation pivot and the second rotation pivot are in transmission connection through a plurality of gears.
As a preferred technical solution, the first rotating hinge is further provided with a driving groove thereon, and correspondingly, the second motion control mechanism further comprises a driving wire, and the driving wire is adapted to the driving groove to drive the first rotating hinge to rotate.
As a preferable technical scheme, the second clamping portion is provided with metal electrode plates on the clamping surface, and correspondingly, each metal electrode plate is connected with a lead.
Another object of the present invention is to provide a surgical instrument which can realize two modes of firm grasping and non-invasive grasping, and has a simple structure, convenient operation and bipolar coagulation function.
A surgical instrument comprises the minimally invasive surgery multifunctional grasping forceps.
As a preferable technical solution, the surgical instrument further includes a tip driving portion, and the tip driving portion may drive the motion control mechanism to control the motion of the gripping portion.
The invention has the advantages that:
1. the multifunctional grasping forceps for minimally invasive surgery comprise a first clamping part and a second clamping part which are movably connected through a second rotating hinge, and a certain angle can be formed between the clamping parts, so that a certain gap is reserved between the clamping surfaces, the multifunctional grasping forceps are suitable for clamping tubular soft tissues needing to be reserved, and important tissues can be protected in minimally invasive surgery.
2. The invention comprises two modes of straight forceps and bent forceps, can be freely switched, adapts to a momentarily changeable operation environment, is adaptive to a robot operation system, and has flexible use and convenient operation.
3. The clamping part of the electric coagulation hemostatic clamp is provided with the metal electrode plate, the bipolar electric coagulation function can be realized through the conducting wire, and the electric coagulation hemostatic effect can be effectively realized.
Drawings
FIG. 1 is a schematic view of a multifunctional grasper for minimally invasive surgery according to the present invention.
FIG. 2 is another state diagram of the multifunctional grasper for minimally invasive surgery of the present invention.
FIG. 3 is a partial perspective view of a multi-functional grasper for minimally invasive surgery of the present invention.
FIG. 4 is a schematic diagram of the first rotating hinge of the multifunctional grasper for minimally invasive surgery according to the present invention.
FIG. 5 is a schematic view of the first rotary hinge part of another multi-functional grasper for minimally invasive surgery of the present invention.
FIG. 6 is a schematic view of the first rotary hinge of another multi-functional grasper for minimally invasive surgery according to the present invention.
FIG. 7 is a schematic view of a surgical instrument according to the present invention.
Detailed Description
The invention will be further illustrated with reference to specific embodiments. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Furthermore, it should be understood that various changes and modifications can be made by those skilled in the art after reading the disclosure of the present invention, and equivalents fall within the scope of the appended claims.
The reference numerals and components referred to in the drawings are as follows:
1. clamping part 2, mounting part 3, motion control mechanism
4. End driving part 11, first clamping part 12, second clamping part
21. First mounting portion 22, second mounting portion 23, gear tooth structure
31. First motion control mechanism 32, second motion control mechanism 41, connecting pipe
121. Metal electrode sheet 211, guide groove 212, first rotary hinge
221. Second rotary hinge 311. T-shaped pull rod 321. drive wire
2121 drive slot
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments. As used herein, the terms "distal" and "proximal" are used as terms of orientation that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the device that is distal from the operator during a procedure, and "proximal" refers to the end of the device that is proximal to the operator during a procedure.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Example 1
Referring to fig. 1 and fig. 2, fig. 1 is a schematic view of a multifunctional grasping forceps for minimally invasive surgery according to the present invention, and fig. 2 is a schematic view of another state of the multifunctional grasping forceps for minimally invasive surgery according to the present invention; a multifunctional grasping forceps for minimally invasive surgery comprises a clamping part 1, a mounting part 2 and a motion control mechanism 3; the motion control mechanism 3 controls the motion of the mounting part 2, and the mounting part 2 drives the clamping part 1 to open and close; the clamping part 1 comprises a first clamping part 11 and a second clamping part 12, the mounting part 2 comprises a first mounting part 21 and a second mounting part 22, and the motion control mechanism 3 comprises a first motion control mechanism 31 and a second motion control mechanism 32 (not shown in the figure);
the first mounting portion 21 includes a guide slot 211 and a first rotating hinge 212, wherein the guide slot 211 is two X-shaped parallel crossed guide rails, the first rotating hinge 212 has a gear tooth structure 23 thereon, which is a rotation center of the first clamping portion 11 for opening and closing movement, and the first clamping portion 11 can perform opening and closing movement around the first rotating hinge 212;
the second mounting portion 22 includes a second rotating hinge 221 with a gear structure 23, the first clamping portion 11 is movably connected to the second clamping portion 12 through the second rotating hinge 221, the second clamping portion 12 can rotate around the second rotating hinge 221 relative to the first clamping portion 11, and the angular rotation range is 150-;
the first motion control mechanism 31 is a T-shaped pull rod 311, and two end portions of the T-shaped pull rod 311 are respectively arranged in the two guide grooves 211 of the first mounting portion 21, which are distributed in an X-shaped parallel cross manner, and are connected with the two guide grooves in a sliding manner;
referring to fig. 3, fig. 3 is a partial perspective view of a multifunctional grasper for minimally invasive surgery according to the present invention; the second motion control mechanism 32 is a gear transmission mechanism, which realizes the transmission connection between the first rotating hinge 212 and the second rotating hinge 221 through a plurality of gears, the plurality of gears are arranged in the first clamping part 11, in order to make the first rotating hinge 212 control the left and right second clamping parts 12 to move oppositely, the number of the transmission gears in the left and right first clamping parts 11 should be one side odd number and one side even number;
referring to fig. 4, fig. 4 is a schematic view of the first rotating hinge of the multifunctional grasper for minimally invasive surgery according to the present invention; the first rotating hinge 212 is further provided with a driving groove 2121 thereon, and correspondingly, the second motion control mechanism 32 further comprises a driving wire 321, the driving wire 321 is adapted to the driving groove 2121 to drive the first rotating hinge 212 to rotate, so as to drive the first clamping portion 11 to rotate relative to the second clamping portion 12 through gear transmission;
the clamping surface of the second clamping part 12 is further provided with metal electrode plates 121, each metal electrode plate 121 is connected with a lead, the lead can be arranged in the clamping part 1 in a penetrating manner, the bipolar coagulation function can be realized, and it should be understood that the clamping surface of the second clamping part 12 can also be provided with the metal electrode plates 121, so that the whole set of forceps heads has the bipolar coagulation function.
The use method of the invention comprises the following steps: the T-shaped pull rod 311 of the first motion control mechanism 31 of the invention makes a vertical linear motion, and in the motion process, the first clamping part 11 rotates around the first rotating hinge 212 through the guide groove 211 to realize the opening and closing of the first clamping part 11, at this time, when the first clamping part 11 and the second clamping part 12 form an angle of 180 degrees, the multifunctional grasping forceps for minimally invasive surgery of the invention is equivalent to a straight forceps mode, can firmly grasp corresponding soft tissues, and when tubular soft tissues (such as ureters and blood vessels) need to be grasped non-invasively, the sliding driving wire 321 can drive the first rotating hinge 212 to rotate, and further the transmission of the gear drives the second rotating hinge 221 to rotate, so that the second clamping part 12 and the first clamping part 11 form a certain angle, and a certain gap is formed during the clamping to realize the non-invasive grasping of the tubular soft tissues; when bipolar electrocoagulation is needed, a lead connected with external power supply equipment is connected, and the metal electrode plates 121 on the clamping surfaces are utilized to realize the function of bipolar electrocoagulation.
It should be noted that: the multifunctional grasping forceps for minimally invasive surgery comprise a clamping part 1, and can realize the grasping of soft tissues, wherein the clamping part 1 comprises a first clamping part 11 and a second clamping part 12, and the first clamping part 11 and the second clamping part 12 are movably connected to form a certain angle, so that a certain gap is reserved between clamping surfaces of the multifunctional grasping forceps for minimally invasive surgery in the clamping process, and the non-invasive grasping of tubular soft tissues can be realized; the movable angle between the first clamping part 11 and the second clamping part 12 is 150-180 degrees, and the size of the gap can be flexibly adjusted according to actual needs; the mounting part 2 comprises a first mounting part 21 and a second mounting part 22, the first mounting part 21 comprises a guide groove 211 and a first rotating hinge 212, wherein the guide groove 211 is two X-shaped parallel crossed guide rails, the first rotating hinge 212 is a rotating center of the opening and closing movement of the first clamping part 11, and the guide groove 211 can realize the opening and closing movement of the clamping part 1 by matching with the first rotating hinge 212; the first motion control mechanism 31 is a T-shaped pull rod 311, two T-shaped end portions of the first motion control mechanism are respectively arranged in the guide grooves 211 and are in sliding connection with the guide grooves 211, and the far-end control of the opening and closing of the clamping part 1 is realized through the motion of the T-shaped pull rod 311 in the guide grooves 211; the second mounting portion 22 includes a second rotating hinge 221, wherein the second rotating hinge 221 has a gear tooth structure 23 thereon, correspondingly, the first rotating hinge 212 also has a gear tooth structure 23 thereon, and the second motion control mechanism 32 is a gear transmission mechanism, so that the second rotating hinge 221 and the first rotating hinge 212 can be linked through gear transmission; the first rotating hinge 212 is further provided with a driving groove 2121, and correspondingly, the second motion control mechanism 32 further comprises a driving wire 321, the driving wire 321 is adapted to the driving groove 2121 to drive the first rotating hinge 212 to rotate, so that the distal end operation of the relative motion between the second clamping portion 12 and the first clamping portion 11 can be realized; the second clamping part 12 is provided with metal electrode plates 121 on the clamping surface, and correspondingly, each metal electrode plate 121 is connected with a lead wire, so that the bipolar coagulation function can be realized.
Example 2
Referring to fig. 5 and fig. 6, fig. 5 is a schematic view of the first rotating hinge part of another multifunctional grasper for minimally invasive surgery according to the present invention, and fig. 6 is a schematic view of the first rotating hinge part of another multifunctional grasper for minimally invasive surgery according to the present invention. The embodiment is substantially the same as embodiment 1, and the difference is that two sets of gear tooth structures 23 on the first rotating hinge 212 are respectively and independently sleeved on the outer wall of the first rotating hinge 212 and can rotate independently relative to the first rotating hinge 212, and correspondingly, the two sets of gear tooth structures 23 have independent motion control mechanisms 3, i.e., two sets of driving grooves 2121 and corresponding driving wires 321, it should be noted that the two sets of gear tooth structures can respectively and independently control the relative rotation of the left and right second clamping portions 12 through the driving wires 321, so the numbers of the transmission gears in the left and right first clamping portions 11 can be the same, and the change of the control structure does not affect the use performance of the present invention.
Example 3
Referring to fig. 7, fig. 7 is a schematic view of a surgical instrument according to the present invention; a surgical instrument comprises the minimally invasive surgery multifunctional grasper and a tail end driving part 4, and a connection pipe 41 connected to the end driving part 4, the first motion control means 31 and the second motion control means 32 being connected to the end driving part 4, the distal control of the driving wire 321 and the T-shaped pull rod 311 is realized by the terminal driving part 4, further realizing the corresponding movement of the clamping part 1, and also realizing the control of the bipolar coagulation function through a lead, and it should be noted that, the end driving part 4 may be a manual driving part (such as a knob, a rocker, a lever grip, a pull rod, etc.) for mechanically driving the driving wire 321 and the T-shaped pull rod 311, or an automatic driving part (such as a motor, a piston drive, etc.) for electrically driving, etc., and is suitable for endoscopic surgeries such as a traditional laparoscope, etc., as well as for an operation end of an assembly and operation robot.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and additions can be made without departing from the principle of the present invention, and these should also be considered as the protection scope of the present invention.
Claims (10)
1. A multifunctional grasping forceps for minimally invasive surgery is characterized by comprising a clamping part, an installation part and a motion control mechanism; the motion control mechanism is used for controlling the motion of the mounting part, and the mounting part is used for driving the clamping part to move;
the clamping part comprises a first clamping part and a second clamping part; the first clamping part is movably connected with the second clamping part;
the mounting part comprises a first mounting part and a second mounting part; the first mounting part is used for controlling the opening and closing of the first clamping part; the second mounting part is connected with the first clamping part and the second clamping part and used for controlling the relative movement of the first clamping part and the second clamping part to enable the first clamping part and the second clamping part to form an angle;
the motion control mechanism comprises a first motion control mechanism and a second motion control mechanism; the first motion control mechanism controls the motion of the first mounting portion, and the second motion control mechanism is used for controlling the motion of the second mounting portion.
2. The multifunctional minimally invasive surgery grasper as claimed in claim 1, wherein the movable angle of the first clamping portion and the second clamping portion is 150-180 °.
3. The multifunctional minimally invasive surgery grasper according to claim 1, wherein the first mounting portion comprises a guide slot and a first rotating hinge, wherein the guide slot is two guide rails crossing in parallel in an X shape, and the first rotating hinge is a rotating center of the first clamping portion in opening and closing movement.
4. The multifunctional grasper for minimally invasive surgery according to claim 3, wherein the first motion control mechanism is a T-shaped pull rod, and two T-shaped ends of the T-shaped pull rod are respectively disposed in the guide slots and slidably connected with the guide slots.
5. The multifunctional grasper for minimally invasive surgery according to claim 3, wherein the second mounting portion comprises a second rotating hinge, wherein the second rotating hinge is provided thereon with a gear tooth structure, the gear tooth structure is fixed on the second rotating hinge or independently sleeved on an outer wall of the first rotating hinge, and correspondingly, the first rotating hinge is also provided thereon with a gear tooth structure.
6. The multifunctional minimally invasive surgery grasper according to claim 5, wherein the second motion control mechanism is a gear transmission mechanism, and the transmission connection of the first rotation hinge and the second rotation hinge is realized through a plurality of gears.
7. The multifunctional grasper for minimally invasive surgery according to claim 6, wherein the first rotation hinge further has a driving slot thereon, and correspondingly, the second motion control mechanism further includes a driving wire, and the driving wire is adapted to the driving slot to drive the first rotation hinge to rotate.
8. The multifunctional grasper for minimally invasive surgery according to claim 1, wherein the second grasping portion has a metal electrode plate on a grasping surface thereof, and correspondingly, each metal electrode plate is connected with a lead.
9. A surgical instrument comprising the minimally invasive surgical multifunctional grasper of any one of claims 1-8.
10. A surgical instrument as recited in claim 9, further comprising a tip drive portion that can drive the motion control mechanism to control the motion of the gripping portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011163959.9A CN112155719A (en) | 2020-10-27 | 2020-10-27 | Multifunctional grasping forceps for minimally invasive surgery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011163959.9A CN112155719A (en) | 2020-10-27 | 2020-10-27 | Multifunctional grasping forceps for minimally invasive surgery |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112155719A true CN112155719A (en) | 2021-01-01 |
Family
ID=73864793
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011163959.9A Pending CN112155719A (en) | 2020-10-27 | 2020-10-27 | Multifunctional grasping forceps for minimally invasive surgery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112155719A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112971920A (en) * | 2021-02-21 | 2021-06-18 | 中日友好医院(中日友好临床医学研究所) | Two-way grasping forceps for digestive endoscopy |
-
2020
- 2020-10-27 CN CN202011163959.9A patent/CN112155719A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112971920A (en) * | 2021-02-21 | 2021-06-18 | 中日友好医院(中日友好临床医学研究所) | Two-way grasping forceps for digestive endoscopy |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4654165B2 (en) | Working mechanism and manipulator | |
| EP2524660B1 (en) | Medical ultrasound instrument with articulated jaws | |
| JP3163107B2 (en) | Endoscope instrument having detachable end effector | |
| KR102110472B1 (en) | Bipolar cautery instrument | |
| CN102143719B (en) | Backend mechanism for four-cable wrist | |
| EP3508164B1 (en) | Flexible surgical instrument with multiple degrees of freedom | |
| US11007024B2 (en) | Geared grip actuation for medical instruments | |
| JP2018520762A (en) | Robotic surgical assembly | |
| JP2003135473A (en) | Active forceps for endoscopic surgery | |
| JP2013103137A (en) | Surgical device with powered articulation wrist rotation | |
| EP2153782A1 (en) | Surgical instrument where the jaws are actuated via a rotating shaft | |
| EP3695800A1 (en) | Articulation mechanisms for surgical instruments such as for use in robotic surgical systems | |
| JP2011200586A (en) | Surgical treatment instrument | |
| CN113679449A (en) | Articulating ultrasonic surgical instrument and system | |
| CN115590598B (en) | Minimally invasive surgical instrument | |
| CN112155719A (en) | Multifunctional grasping forceps for minimally invasive surgery | |
| EP3854323A1 (en) | Cam driver for surgical instruments | |
| CN212996709U (en) | Multifunctional grasping forceps for minimally invasive surgery | |
| CN111407401A (en) | Multifunctional minimally invasive surgical forceps and operation method thereof | |
| CN113974715A (en) | Execution assembly, instrument and laparoscopic surgery system | |
| CN211433102U (en) | Joint assembly of endoscopic surgical instrument | |
| CN217390845U (en) | Bipolar coagulation forceps, surgical instrument and surgical robot | |
| CN216090759U (en) | Surgical execution device and surgical robot | |
| US11896333B2 (en) | Robotic surgical instrument | |
| WO2022056222A1 (en) | Surgical instruments having an articulating section such as for use in robotic surgical systems |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |