CN112773463A - Surgical instrument with multi-degree-of-freedom steering control - Google Patents
Surgical instrument with multi-degree-of-freedom steering control Download PDFInfo
- Publication number
- CN112773463A CN112773463A CN202110136125.7A CN202110136125A CN112773463A CN 112773463 A CN112773463 A CN 112773463A CN 202110136125 A CN202110136125 A CN 202110136125A CN 112773463 A CN112773463 A CN 112773463A
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- China
- Prior art keywords
- force transmission
- handle
- surgical instrument
- steering control
- transmission piece
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
-
- 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
- A61B2017/2808—Clamp, e.g. towel clamp
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Engineering & Computer Science (AREA)
- Ophthalmology & Optometry (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
Abstract
The invention discloses a surgical instrument with multi-degree-of-freedom steering control, which comprises an operating clamp assembly, a steering section, a guide rod and a handle which are sequentially connected in series from front to back, wherein the steering section comprises a plurality of steering knuckles hinged and connected in series, the front and back hinge directions of the steering knuckles are all vertical to each other, the steering knuckles are all provided with four through holes, the through holes are pairwise and in a group, the through holes are vertical to each other, four pull ropes respectively penetrating through the corresponding through holes are arranged inside the guide rod, the rear part of the guide rod is rotatably provided with two winding wheels which are arranged at intervals of ninety degrees around the guide rod, the front ends of the pull ropes are connected, two stay cords that correspond with same group's through-hole are reverse each other around on same reel, and the handle is connected with two reels respectively through two chain belts along the guide arm direction, and the chain belt all includes the articulated chain link of establishing ties of a plurality of, and the articulated direction is the same around the chain link. According to the invention, the clamp assembly can synchronously swing along with the up-down and left-right directions of the handle only by operating the handle, so that the risk is reduced.
Description
Technical Field
The invention belongs to the field of surgical instruments, and particularly relates to a surgical instrument with multi-degree-of-freedom steering control.
Background
When the front joint of the current surgical manipulator needs to swing, reverse acting force needs to be applied to the guide rod at the rear part, so that the guide rod can be stressed to shake, the operation at the front end is influenced, and certain risks are caused.
Disclosure of Invention
The invention aims to provide a surgical instrument with multi-degree-of-freedom steering control, which can synchronously swing along with the vertical and horizontal directions of a handle only by operating a handle to operate a clamp assembly, thereby reducing the risk, being simple to operate and occupying less space on the whole equipment.
The technical scheme adopted by the invention is as follows:
the utility model provides a surgical instrument who possesses multi freedom steering control, include the operation pincers subassembly of establishing ties in proper order backward from the past, turn to the section, guide arm and handle, turn to the section and include the knuckle of the articulated series connection of a plurality of, knuckle all mutually perpendicular around the articulated direction, all be equipped with four through-holes and two liang of a set of mutually perpendicular of through-hole on the knuckle, the inside of guide arm is equipped with four stay cords that pass corresponding through-hole respectively, the rear portion is rotatable to be equipped with two reels of winding ninety degrees in guide arm interval, the front end of stay cord all is connected to operation pincers subassembly rear portion, the rear end is all around on the reel, two mutual reversals of stay cord that correspond with same group of through-hole wind on same reel, the handle is connected with two reels respectively through two chain belts along the guide arm direction, the chain belt all includes the articulated chain link.
Furthermore, a nickel-titanium alloy pipe is sleeved on the pull rope.
Furthermore, the pull rope is a steel wire rope.
Furthermore, the reel is provided with two winding grooves, the reel is provided with connecting parts extending outwards, and the connecting parts are used for being hinged with the chain links at the end parts.
Furthermore, the operating clamp assembly comprises a shell, the front end of the shell is provided with a clamp, the rear end of the shell is connected with the steering section, a sliding block and a spring are arranged in the shell, the front end of the sliding block is connected with a hinge point of the clamp, and the rear end of the sliding block is pressed on the spring; a flexible force transmission piece is arranged in the guide rod, a trigger is arranged on the handle, the front end of the flexible force transmission piece sequentially penetrates through a flexible force transmission piece through hole in the steering knuckle and then extends into the shell to be connected with the rear end of the sliding block, and the rear end of the flexible force transmission piece is connected with the trigger through a crank sliding block component; when the trigger is pressed down, the crank block assembly, the flexible force transmission piece, the sliding block and the clamp are sequentially driven to move, the rear portion of the clamp retreats into the shell to be closed, when the trigger is released, the spring resets, and the sliding block pushes the clamp to move forwards to be opened.
Furthermore, a self-rotating wheel is rotatably arranged on the handle, a force transmission block is fixed on the handle part on the flexible force transmission piece, the force transmission block can slide back and forth to penetrate through the center of the self-rotating wheel, the self-rotating wheel can drive the force transmission block to rotate, and the flexible force transmission piece adopts a flexible shaft.
Furthermore, a limiting block is fixed on the handle part of the flexible force transmission piece, and limiting points are arranged on the front side and the rear side of the limiting block.
The invention has the beneficial effects that:
in the invention, when the operating clamp assembly at the front end needs to be swung, reverse acting force does not need to be applied to the guide rod, the operating clamp assembly can synchronously swing along with the vertical and horizontal directions of the handle only by operating the handle through wrist movement, the risk is reduced, the operation is simple, and the whole occupied space of the equipment is small.
Drawings
Fig. 1 is a schematic structural diagram of a surgical instrument with multiple degrees of freedom steering control according to an embodiment of the present invention.
FIG. 2 is a side view of a surgical instrument with multiple degrees of freedom steering control in an embodiment of the present invention.
Fig. 3 is a schematic view of the front portion of a surgical instrument with multi-degree-of-freedom steering control according to an embodiment of the present invention, wherein the pull cord and the flexible force-transmitting member are omitted for ease of viewing.
FIG. 4 is a schematic view of the rear portion of a surgical instrument having multiple degrees of freedom steering control in an embodiment of the present invention.
Fig. 5 is a schematic structural view of a knuckle in an embodiment of the present invention.
Fig. 6 is a schematic view of a steering knuckle according to an embodiment of the present invention through a pull cord and a flexible force transmitting member.
Fig. 7 is a schematic view of a reel in an embodiment of the present invention.
Fig. 8 is a schematic structural view of a handle in an embodiment of the present invention.
FIG. 9 is a schematic structural view of an operating jaw assembly according to an embodiment of the present invention.
In the figure: 1-operating the jaw assembly; 11-a housing; 12-a clamp; 13-a slide block; 14-a spring; 2-a turning section; 21-a knuckle; 211-a through hole; 212-a flexible force-transmitting member passing through the aperture; 3-a guide rod; 4-a handle; 41-trigger; 42-a slider-crank assembly; 43-self-rotating wheel; 44-a force transfer block; 45-a limiting block; 5-pulling a rope; 6-a reel; 61-a connecting portion; 62-a winding slot; 7-a flexible force transfer member; 8-a strand; 81-chain link.
Detailed Description
The invention is further described below with reference to the figures and examples.
As shown in fig. 1 to 9, a surgical instrument with multi-degree-of-freedom steering control comprises an operating clamp assembly 1, a steering section 2, a guide rod 3 and a handle 4 which are sequentially connected in series from front to back, wherein the steering section 2 comprises a plurality of steering knuckles 21 which are hinged and connected in series, the front and back hinge directions of the steering knuckles 21 are all perpendicular to each other, four through holes 211 are arranged on the steering knuckles 21, two groups of the through holes 211 are perpendicular to each other, four pull ropes 5 which respectively penetrate through the corresponding through holes 211 are arranged in the guide rod 3, two reels 6 which are arranged at intervals of ninety degrees around the guide rod 3 are rotatably arranged at the rear part of the guide rod, the front ends of the pull ropes 5 are connected to the rear part of the operating clamp assembly 1, the rear ends of the pull ropes are wound on the reels 6, two pull ropes 5 corresponding to the same group of through holes 211 are wound on the same reel 6 in, the chain belts 8 each include a plurality of chain links 81 connected in series in an articulated manner, and the front and rear articulation directions of the chain links 81 are the same.
In the invention, when the front end of the operating clamp assembly 1 needs to swing, reverse acting force is not required to be applied to the guide rod 3, the operating clamp assembly 1 can synchronously swing along with the vertical and horizontal directions of the handle 4 only by the wrist action of the operating handle 4, the risk is reduced, the operation is simple, the whole occupied space of the equipment is small, for the steering section 2, two steering knuckles 21 can swing in two opposite directions, and the plurality of steering knuckles 21 can realize bending swing in two opposite directions; for the pull ropes 5 and the reel 6, when the reel 6 rotates, the two pull ropes 5 corresponding to the same group of through holes 211 are loosened and tightened, the steering section 2 swings to the tightened side, and when the reel 6 rotates reversely, the steering section 2 swings to the other side, so that the four pull ropes 5 swing in four directions; with regard to the link belt 8 and the handle 4, the link belt 8 is free in the direction perpendicular to the guide bar 3 and in the other directionsThe rotation of the two reels 6 will not interfere with each other because the two reels 6 are spaced ninety degrees apart around the guide rod 3, and the swinging of the handle 4 will drive the reels 6 to move, e.g., the handle 4 moves in 45 degrees, one reel 6 rotates, the other reel 6 does not move, the pull rope 5 drives the turning section 2 to move in 45 degrees, similarly, the handle 4 moves in-45 degrees, the two reels 6 exhibit the opposite movement state, the pull rope 5 drives the turning section 2 to move in-45 degrees, e.g., the handle 4 moves in 0 degrees X, the two reels 6 move simultaneously, the movement component of one reel 6 is,
the other reel 6 having a component of motion of
The moving direction of the turning section 2 is synthesized by the two, the two are synthesized into 0, the turning section 2 does not rotate, and in the same way, the control direction of the handle 4 and the moving direction of the turning section 2 are synchronous at any angle.
The pull rope 5 can be a steel wire rope, and a nickel-titanium alloy pipe can be sleeved on the pull rope 5, so that the surface friction between the pull rope 5 and external parts is reduced, and the joint rotation is smoother.
In the present embodiment, as shown in fig. 4 and 7, two winding grooves 62 are provided on each reel 6, and the reels 6 are provided with outwardly protruding connecting portions 61, and the connecting portions 61 are used for being hinged to end links 81.
As shown in fig. 8 and 9, in the present embodiment, the operating clamp assembly 1 includes a housing 11, a clamp 12 is provided at a front end of the housing 11, a rear end is connected to the steering section 2, a slider 13 and a spring 14 are provided inside the housing, a front end of the slider 13 is connected to a hinge point of the clamp 12, and a rear end is pressed against the spring 14; a flexible force transmission piece 7 is arranged in the guide rod 3 (when the rotation function of the clamp 12 is not considered, the flexible force transmission piece 7 can be a rope or a flexible shaft), a trigger 41 is arranged on the handle 4, the front end of the flexible force transmission piece 7 sequentially penetrates through a flexible force transmission piece through hole 212 on the steering knuckle 21 and then extends into the shell 11 to be connected with the rear end of the sliding block 13, and the rear end of the flexible force transmission piece is connected with the trigger 41 through a crank sliding block component 42; when the trigger 41 is pressed down, the slider-crank assembly 42, the flexible force transmission piece 7, the slider 13 and the clamp 12 are driven to move in sequence, the rear part of the clamp 13 retreats into the shell 11 to be closed, when the trigger 41 is released, the spring 14 is reset, and the slider 13 pushes the clamp 13 to move forwards to be opened. The closing and opening of the clamp 12 can be controlled by operating the trigger 41 through finger action, and the clamp has a simple structure and is convenient to operate.
As shown in fig. 8, in this embodiment, a self-rotating wheel 43 is rotatably disposed on the handle 4, a force transmission block 44 is fixed to the handle 4 of the flexible force transmission member 7, the force transmission block 44 can slide back and forth through the center of the self-rotating wheel 43, the self-rotating wheel 43 can drive the force transmission block 44 to rotate, and the flexible force transmission member 7 is a flexible shaft (the flexible shaft can transmit torque). When the self-rotating wheel 43 rotates, the force transmission block 44 is driven to rotate, the force transmission block 44 drives the flexible force transmission piece 7 to rotate, the flexible force transmission piece 7 drives the sliding block 13 to rotate, and the sliding block 13 drives the clamp 12 to rotate.
As shown in fig. 8, in this embodiment, a limiting block 45 is fixed to the upper handle 4 of the flexible force transmission member 7, and limiting points are disposed on the front and rear sides of the limiting block 45 to prevent the flexible force transmission member 7 from moving too much and driving the clamp 12 to move too much.
In this embodiment, the wrist portion operates the handle 4, the forceps assembly 1 can swing synchronously with the handle 4, and the trigger 41 can be operated by finger movement to control the opening and closing of the forceps 12, and the rotation wheel 43 can be rotated to drive the forceps 12 to rotate.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (7)
1. A surgical instrument with multi-degree-of-freedom steering control, characterized in that: including the operation pincers subassembly of establishing ties backward in proper order in the past, turn to the section, guide arm and handle, turn to the section and include the knuckle of the articulated series connection of a plurality of, the equal mutually perpendicular of articulated direction around the knuckle, all be equipped with two liang of a set of mutually perpendicular of four through-holes and through-hole on the knuckle, the inside of guide arm is equipped with four stay cords of passing respectively corresponding through-hole, the rotatable reel that is equipped with two around the ninety degrees in guide arm interval in rear portion, the front end of stay cord all is connected to operation pincers subassembly rear portion, the rear end is all around on the reel, two stay cords that correspond with same group of through-hole are reciprocal around on same reel, the handle is connected with two reels respectively through two chain belts along the guide arm direction, the chain belt all includes the articulated chain link of establishing ties of.
2. The surgical instrument with multiple degrees of freedom steering control of claim 1, wherein: the pull rope is sleeved with a nickel-titanium alloy pipe.
3. The surgical instrument with multiple degrees of freedom steering control of claim 1, wherein: the pull rope is a steel wire rope.
4. The surgical instrument with multiple degrees of freedom steering control of claim 1, wherein: all be equipped with two wire winding grooves on the reel, be equipped with the connecting portion that outwards stretches out on the reel, connecting portion are used for articulating with the chain link of tip.
5. The surgical instrument with multiple degrees of freedom steering control of any of claims 1 to 4, wherein: the operating clamp assembly comprises a shell, the front end of the shell is provided with a clamp, the rear end of the shell is connected with the steering section, a sliding block and a spring are arranged in the shell, the front end of the sliding block is connected with a hinge point of the clamp, and the rear end of the sliding block is pressed on the spring; a flexible force transmission piece is arranged in the guide rod, a trigger is arranged on the handle, the front end of the flexible force transmission piece sequentially penetrates through a flexible force transmission piece through hole in the steering knuckle and then extends into the shell to be connected with the rear end of the sliding block, and the rear end of the flexible force transmission piece is connected with the trigger through a crank sliding block component; when the trigger is pressed down, the crank block assembly, the flexible force transmission piece, the sliding block and the clamp are sequentially driven to move, the rear portion of the clamp retreats into the shell to be closed, when the trigger is released, the spring resets, and the sliding block pushes the clamp to move forwards to be opened.
6. The surgical instrument with multiple degrees of freedom steering control of claim 5, wherein: the handle is rotatably provided with a self-rotating wheel, a force transmission block is fixed on the handle part of the flexible force transmission piece, the force transmission block can slide back and forth to penetrate through the center of the self-rotating wheel, the self-rotating wheel can drive the force transmission block to rotate, and the flexible force transmission piece adopts a flexible shaft.
7. The surgical instrument with multiple degrees of freedom steering control of claim 5, wherein: a limiting block is fixed on the handle part of the flexible force transmission piece, and limiting points are arranged on the front side and the rear side of the limiting block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110136125.7A CN112773463A (en) | 2021-02-01 | 2021-02-01 | Surgical instrument with multi-degree-of-freedom steering control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110136125.7A CN112773463A (en) | 2021-02-01 | 2021-02-01 | Surgical instrument with multi-degree-of-freedom steering control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112773463A true CN112773463A (en) | 2021-05-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110136125.7A Pending CN112773463A (en) | 2021-02-01 | 2021-02-01 | Surgical instrument with multi-degree-of-freedom steering control |
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| Country | Link |
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| CN (1) | CN112773463A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113476144A (en) * | 2021-08-23 | 2021-10-08 | 上海生知医疗科技有限公司 | Multi-degree-of-freedom portable minimally invasive surgery mechanical arm |
-
2021
- 2021-02-01 CN CN202110136125.7A patent/CN112773463A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113476144A (en) * | 2021-08-23 | 2021-10-08 | 上海生知医疗科技有限公司 | Multi-degree-of-freedom portable minimally invasive surgery mechanical arm |
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Address after: 430000, 169 Donghu Road, Wuhan, Hubei Province Applicant after: ZHONGNAN HOSPITAL OF WUHAN University Applicant after: Wuhan topology transformation Medical Research Center Co., Ltd Address before: 430000, 169 Donghu Road, Wuhan, Hubei Province Applicant before: ZHONGNAN HOSPITAL OF WUHAN University Applicant before: Aolvxin (Wuhan) Technology Co., Ltd |