CN113017775B - Clamping device for narrow cavity - Google Patents
Clamping device for narrow cavity Download PDFInfo
- Publication number
- CN113017775B CN113017775B CN202110255498.6A CN202110255498A CN113017775B CN 113017775 B CN113017775 B CN 113017775B CN 202110255498 A CN202110255498 A CN 202110255498A CN 113017775 B CN113017775 B CN 113017775B
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- Prior art keywords
- clamp
- damping mechanism
- cavity
- clamping
- feedback
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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
- A61B17/29—Forceps for use in minimally invasive surgery
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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
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/2909—Handles
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- 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
- A61B90/03—Automatic limiting or abutting means, e.g. for safety
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- 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
- A61B90/06—Measuring instruments not otherwise provided for
-
- 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
- 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
- A61B90/03—Automatic limiting or abutting means, e.g. for safety
- A61B2090/032—Automatic limiting or abutting means, e.g. for safety pressure limiting, e.g. hydrostatic
-
- 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
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
- A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
Abstract
The utility model provides a narrow chamber is centre gripping utensil for way, includes power portion, the tip of power portion is equipped with a fixture, fixture includes the binding clip that a plurality of cooperations set up, the binding clip is equipped with pressure sensor including establishing the clamp clamping face in the inboard and establishing the clamp holding surface in the outside between clamp clamping face and clamp holding surface, is equipped with a feedback damping mechanism in one side that the binding clip is close to power portion, feedback damping mechanism sets up with each binding clip cooperation, feedback damping mechanism is used for receiving pressure sensor's signal, then changes the removal damping of binding clip. This application can be when playing the impression pressure sensor signal through setting up feedback damping mechanism, the motion trend of timely change binding clip to when its rate of motion, especially need in time stop motion need be changed in the needs, have good negative feedback effect, thereby better avoid because the adverse effect that non-timely feedback brought in the operation process.
Description
Technical Field
The application relates to a clamping device for a narrow cavity.
Background
The minimally invasive surgical instrument overcomes the defects of the traditional minimally invasive surgery in various aspects of observation, delightful operation, flexibility and the like, and is widely applied to assisting doctors in performing surgical operations. However, the existing minimally invasive surgical instruments still lack force feedback function, and cannot feed back the contact force between the instruments and the tissues of the patient to a doctor. The physician is thus unable to identify tissue properties or lesions by tissue touch, and it becomes very difficult for the physician to apply precise forces while performing some delicate procedures. Therefore, the force detection technology in the minimally invasive surgery environment becomes a hot spot and a frontier for the research of minimally invasive surgical instruments. At present, the research on the mechanical force detection of the minimally invasive surgery has the problems of low range and precision, poor compatibility with instruments and the like, and further improvement of the quality and efficiency of the minimally invasive surgery assisted by the minimally invasive surgery instruments is limited. There is a need for a surgical instrument with force perception to replace the general surgical instrument and improve the quality and efficiency of minimally invasive surgery assisted by the minimally invasive surgical instrument.
Disclosure of Invention
In order to solve the problem, the application discloses a narrow chamber is said and is used centre gripping utensil, including power portion, the tip of power portion is equipped with a fixture, fixture includes the binding clip that a plurality of cooperations set up, the binding clip is equipped with pressure sensor including establishing the clamp clamping-face in the inboard and establishing the clamp holding surface in the outside between clamp clamping-face and clamp holding surface, is equipped with a feedback damping mechanism in one side that the binding clip is close to power portion, feedback damping mechanism sets up with each binding clip cooperation, feedback damping mechanism is used for receiving pressure sensor's signal, then changes the removal damping of binding clip. This application can be when playing the impression pressure sensor signal through setting up feedback damping mechanism, the motion trend of timely change binding clip to when its rate of motion, especially need in time stop motion need be changed in the needs, have good negative feedback effect, thereby better avoid because the adverse effect that non-timely feedback brought in the operation process.
Preferably, the power part comprises a stretching power rod, a hinge transmission mechanism is arranged at the end part of the stretching power rod, and the binding clip is arranged on the hinge transmission mechanism.
Preferably, articulated drive mechanism is equipped with the L hinge bar respectively at the both ends of vertical pole including establishing the vertical pole at tensile power rod tip, the L hinge bar includes the free pole that is close to tensile power rod and the dead lever of keeping away from tensile power rod, and the dead lever of two L hinge bars is articulated to be set up, and the fixed one side of keeping away from vertical pole at the dead lever that sets up of binding clip.
Preferably, the clamp clamping surface comprises a fixed clamping surface, a clamping cavity is arranged at the back of the fixed clamping surface, a plurality of touch media are arranged in the clamping cavity, the clamping cavity is communicated with the feedback damping mechanism, a conducting valve for conducting at a two-way constant pressure is arranged between the feedback damping mechanism and the binding clip, the conducting pressure of the conducting valve between the feedback damping mechanism and the binding clip is a first threshold pressure, the conducting pressure between the binding clip and the feedback damping mechanism is a second threshold pressure, and the first threshold pressure is greater than 1.5 times of the second threshold pressure. The change of the mobile damping does not completely depend on the transmission control of electric signals or other signals needing to be processed, but directly transmits the signals through the touch medium, and the delayed signals are substantially processed absolutely, so that the timeliness of the control is greatly improved.
Preferably, the clamping cavity comprises a plurality of separation cavities, and the touch medium is placed in the separation cavities.
Preferably, the separation cavity comprises a plurality of rectangular cavities to form a first sub-cavity, and the first sub-cavities are arranged at intervals to form a second sub-cavity; first minute chamber is formed by a plurality of vertical baffle concatenation settings, vertical baffle includes a plurality of book to the folded plate that sets up, and sealing connection sets up between the adjacent folded plate, is equipped with in first minute intracavity and feels the medium, is equipped with normal heptane in the second minute intracavity.
Preferably, the folded plate includes the folded plate body, is provided with the soft strip of connection on the folded plate body, be equipped with on the folded plate body with connect the holding tank that the cooperation of soft strip set up.
Preferably, the fixed clamping surface is a flexible surface provided with a pressure sensor on the back surface, a plurality of reciprocating push rods are arranged on the fixed clamping surface, the end parts of the reciprocating push rods are provided with reciprocating connecting blocks, and the reciprocating connecting blocks are matched with the first sub-cavities.
Preferably, an annular pressure plate is arranged on the reciprocating push rod and fixedly connected with the vertical baffle of the first sub-cavity.
Preferably, the feedback damping mechanism comprises an elastic bolt arranged between the fixing rods, the feedback damping mechanism is arranged in the elastic bolt, the feedback damping mechanism comprises a touch medium storage bin which is arranged in the elastic bolt and provided with a flexible shell, and the touch medium storage bin is communicated with the clamping cavity; an elastic cavity used for placing a touch medium storage bin is arranged in the elastic bolt, a plurality of elastic notches are formed in the elastic cavity, and elastic friction rubber is arranged on the elastic notches; the sensing medium is hydraulic oil. The utility model provides a feedback damping mechanism itself forms the linkage with the centre gripping cavity in the clamp clamping face, feels the medium and then distributes in the clamp clamping face earlier stage, enters into feedback damping mechanism after receiving pressure, after feedback damping mechanism realizes the function, then stores the storehouse through pressing the medium, will feel again that the medium returns to in the clamp clamping face.
This application can bring following beneficial effect:
1. by arranging the feedback damping mechanism, the movement trend of the forceps head can be changed in time while the signals of the pressure sensor are sensed, so that the forceps head has a good negative feedback effect when the movement speed of the forceps head needs to be changed, particularly when the forceps head needs to stop moving in time, and adverse effects caused by non-timely feedback in the operation process are better avoided;
2. the change of the mobile damping does not completely depend on the transmission control of electric signals or other signals needing to be processed, but directly transmits the signals through the touch medium, and the delayed signals are substantially processed in an absolute mode, so that the timeliness of the control is greatly improved;
3. the utility model provides a feedback damping mechanism itself forms the linkage with the centre gripping cavity in the clamp clamping face, feels the medium and then distributes in the clamp clamping face earlier stage, enters into feedback damping mechanism after receiving pressure, after feedback damping mechanism realizes the function, then stores the storehouse through pressing the medium, will feel again that the medium returns to in the clamp clamping face.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic structural diagram of the present application;
FIG. 2 is a schematic diagram of the principles of the present application;
FIG. 3 is a schematic view of a feedback damping mechanism of the present application;
FIG. 4 is a schematic view of the structure of a vertical baffle;
fig. 5 is a schematic structural view of the elastic bolt.
Detailed Description
In order to clearly explain the technical features of the present invention, the present application will be explained in detail by the following embodiments in combination with the accompanying drawings.
In a first embodiment, as shown in fig. 1 to 5, a clamping device for a narrow lumen comprises a power portion, a clamping mechanism is arranged at an end of the power portion, the clamping mechanism comprises a plurality of cooperatively arranged binding clip 1, the binding clip 1 comprises a clamp clamping surface 2 arranged on an inner side and a clamp supporting surface 3 arranged on an outer side, a pressure sensor 4 is arranged between the clamp clamping surface 2 and the clamp supporting surface 3, a feedback damping mechanism 5 is arranged on one side of the binding clip 1 close to the power portion, the feedback damping mechanism 5 is cooperatively arranged with each binding clip 1, and the feedback damping mechanism 5 is used for receiving a signal of the pressure sensor 4 and then changing the movement damping of the binding clip 1. The power part comprises a stretching power rod 6, a hinge transmission mechanism 7 is arranged at the end part of the stretching power rod 6, and the binding clip 1 is arranged on the hinge transmission mechanism 7. Articulated drive mechanism 7 is equipped with the L hinge bar respectively at the both ends of vertical pole 8 including establishing the vertical pole 8 at tensile power bar 6 tip, the L hinge bar includes the free pole 9 that is close to tensile power bar 6 and keeps away from the dead lever 10 of tensile power bar 6, and the dead lever 10 of two L hinge bars is articulated to be set up, and binding clip 1 is fixed to be set up in the dead lever 10 one side of keeping away from vertical pole 8. The clamp clamping face 2 comprises a fixed clamping face, a clamping cavity 12 is arranged at the back of the fixed clamping face, a plurality of touch media are arranged in the clamping cavity 12, the clamping cavity 12 is communicated with the feedback damping mechanism 5, a conduction valve 13 for conducting in a two-way constant pressure mode is arranged between the feedback damping mechanism 5 and the clamp head 1, the conduction pressure of the conduction valve 13 between the feedback damping mechanism 5 and the clamp head 1 is a first threshold pressure, the conduction pressure between the clamp head 1 and the feedback damping mechanism 5 is a second threshold pressure, and the first threshold pressure is larger than 1.5 times of the second threshold pressure. The clamping cavity 12 comprises a plurality of separation cavities, and the touch medium is arranged in the separation cavities. The separating cavity comprises a plurality of rectangular cavities to form a first separating cavity 15, and the first separating cavity 15 is arranged at intervals to form a second separating cavity 16; first chamber 15 is formed by a plurality of vertical baffle 17 concatenation settings, vertical baffle 17 includes a plurality of folds to the folded plate that sets up, and sealing connection sets up between the adjacent folded plate, is equipped with in first chamber and feels the medium, is equipped with normal heptane in the second chamber. The folded plate comprises a folded plate body 18, a connecting soft strip 19 is arranged on the folded plate body 18, and a containing groove matched with the connecting soft strip 19 is formed in the folded plate body 18. The fixed clamping surface is a flexible surface with a pressure sensor 4 arranged on the back surface, a plurality of reciprocating push rods 20 are arranged on the fixed clamping surface, the end parts of the reciprocating push rods 20 are provided with reciprocating connecting blocks 21, and the reciprocating connecting blocks 21 are matched with the first sub-cavities 15. An annular pressing plate 22 is arranged on the reciprocating push rod 20, and the annular pressing plate 22 is fixedly connected with the vertical baffle 17 of the first sub-cavity 15. The feedback damping mechanism 5 comprises an elastic bolt 23 arranged between the fixing rods, the feedback damping mechanism 5 is arranged in the elastic bolt 23, the feedback damping mechanism 5 comprises a sensing medium storage bin 24 which is arranged in the elastic bolt 23 and provided with a flexible shell, and the sensing medium storage bin 24 is communicated with the clamping cavity 12; an elastic cavity 25 for placing a touch medium storage bin 24 is arranged in the elastic bolt 23, a plurality of elastic notches 26 are formed in the elastic cavity 25, and elastic friction rubber 27 is arranged on the elastic notches 26; the sensing medium is hydraulic oil.
During the use, arrange the operation position in binding clip 1 of this application, then drive binding clip 1 through power portion and carry out the clamping operation, in the clamping operation in-process, if exceed first threshold pressure, make the sense medium that feels flow into feedback damping device's sense medium storage storehouse, then physically slow down power portion and provide power, slow down binding clip 1's operation, also have the pressure that pressure sensor 4 felt this moment, the condition through observation or other parameters decides to continue to operate, still stop the operation, but objective speed of binding clip 1 slows down or even stops objectively and timely, avoid the maloperation under the unexpected condition as far as possible.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (8)
1. A holder for a narrow lumen, comprising: the clamp comprises a power part, a clamping mechanism is arranged at the end part of the power part, the clamping mechanism comprises a plurality of clamp heads which are arranged in a matched manner, each clamp head comprises a clamp clamping surface arranged on the inner side and a clamp supporting surface arranged on the outer side, a pressure sensor is arranged between the clamp clamping surface and the clamp supporting surface, a feedback damping mechanism is arranged on one side of each clamp head close to the power part, the feedback damping mechanisms are arranged in a matched manner with the clamp heads, and are used for receiving signals of the pressure sensors and then changing the movement damping of the clamp heads;
the clamp clamping surface comprises a fixed clamping surface, a clamping cavity is arranged at the back of the fixed clamping surface, a plurality of touch media are arranged in the clamping cavity, the clamping cavity is communicated with the feedback damping mechanism, a conduction valve for conducting at two-way constant pressure is arranged between the feedback damping mechanism and the clamp head, the conduction pressure of the conduction valve between the feedback damping mechanism and the clamp head is a first threshold pressure, the conduction pressure of the conduction valve between the clamp head and the feedback damping mechanism is a second threshold pressure, and the first threshold pressure is more than 1.5 times of the second threshold pressure;
the feedback damping mechanism comprises an elastic bolt arranged between the fixed rods, the feedback damping mechanism is arranged in the elastic bolt, the feedback damping mechanism comprises a touch medium storage bin which is arranged in the elastic bolt and provided with a flexible shell, and the touch medium storage bin is communicated with the clamping cavity; an elastic cavity used for placing a touch medium storage bin is arranged in the elastic bolt, a plurality of elastic notches are formed in the elastic cavity, and elastic friction rubber is arranged on the elastic notches; the sensing medium is hydraulic oil.
2. The narrow lumen holding instrument as set forth in claim 1, wherein: the power part comprises a stretching power rod, a hinged transmission mechanism is arranged at the end part of the stretching power rod, and the binding clip is arranged on the hinged transmission mechanism.
3. The narrow lumen holding instrument as set forth in claim 2, wherein: articulated drive mechanism is equipped with L articulated arm respectively at the both ends of vertical pole including establishing the vertical pole at tensile power rod tip, L articulated arm includes the free pole that is close to tensile power rod and the dead lever of keeping away from tensile power rod, and the dead lever of two L articulated arms is articulated to be set up, and the fixed one side of keeping away from vertical pole at the dead lever that sets up of binding clip.
4. The narrow lumen holding instrument as set forth in claim 1, wherein: the clamping cavity comprises a plurality of separation cavities, and the touch medium is arranged in the separation cavities.
5. The narrow lumen holding instrument as set forth in claim 4, wherein: the separation cavity comprises a plurality of rectangular cavities to form a first sub-cavity, and the first sub-cavities are arranged at intervals to form a second sub-cavity; first minute chamber is formed by a plurality of vertical baffle concatenation settings, vertical baffle includes a plurality of book to the folded plate that sets up, and sealing connection sets up between the adjacent folded plate, is equipped with in first minute intracavity and feels the medium, is equipped with normal heptane in the second minute intracavity.
6. The narrow lumen holding instrument as set forth in claim 5, wherein: the folded plate comprises a folded plate body, a connecting soft strip is arranged on the folded plate body, and a containing groove matched with the connecting soft strip is formed in the folded plate body.
7. The narrow lumen holding instrument as set forth in claim 5, wherein: the fixed clamping face is a flexible face with a pressure sensor arranged on the back face, a plurality of reciprocating push rods are arranged on the fixed clamping face, reciprocating connecting blocks are arranged at the end portions of the reciprocating push rods, and the reciprocating connecting blocks are matched with the first sub-cavities.
8. The narrow lumen holding instrument as set forth in claim 7, wherein: and an annular pressing plate is arranged on the reciprocating push rod and fixedly connected with the vertical baffle plate of the first sub-cavity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110255498.6A CN113017775B (en) | 2021-03-09 | 2021-03-09 | Clamping device for narrow cavity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110255498.6A CN113017775B (en) | 2021-03-09 | 2021-03-09 | Clamping device for narrow cavity |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113017775A CN113017775A (en) | 2021-06-25 |
| CN113017775B true CN113017775B (en) | 2022-06-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110255498.6A Active CN113017775B (en) | 2021-03-09 | 2021-03-09 | Clamping device for narrow cavity |
Country Status (1)
| Country | Link |
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| CN (1) | CN113017775B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104095670A (en) * | 2014-07-14 | 2014-10-15 | 华侨大学 | Surgical operating clamp forceps with strain type force measurement and tissue clamp injury alarm functions |
| CN104095669A (en) * | 2014-07-14 | 2014-10-15 | 华侨大学 | Surgical operating clamp forceps with piezoelectric force measurement and tissue clamp injury alarm functions |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101220845B (en) * | 2008-01-23 | 2010-11-24 | 重庆大学 | Engine vibration isolation system based on combined suspension and its control method |
| US8267300B2 (en) * | 2009-12-30 | 2012-09-18 | Ethicon Endo-Surgery, Inc. | Dampening device for endoscopic surgical stapler |
| CN204831004U (en) * | 2015-07-28 | 2015-12-02 | 安徽机电职业技术学院 | Motion of firearms back -lash receives force measuring device |
| US11284957B2 (en) * | 2019-03-15 | 2022-03-29 | Cilag Gmbh International | Robotic surgical controls with force feedback |
| CN110477999B (en) * | 2019-08-29 | 2021-07-02 | 湖南瀚德微创医疗科技有限公司 | Surgical clamp capable of outputting constant clamping force |
-
2021
- 2021-03-09 CN CN202110255498.6A patent/CN113017775B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104095670A (en) * | 2014-07-14 | 2014-10-15 | 华侨大学 | Surgical operating clamp forceps with strain type force measurement and tissue clamp injury alarm functions |
| CN104095669A (en) * | 2014-07-14 | 2014-10-15 | 华侨大学 | Surgical operating clamp forceps with piezoelectric force measurement and tissue clamp injury alarm functions |
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| CN113017775A (en) | 2021-06-25 |
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