CN113100857A - Pivoting structure of traction wire and surgical instrument - Google Patents
Pivoting structure of traction wire and surgical instrument Download PDFInfo
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- CN113100857A CN113100857A CN202110389448.7A CN202110389448A CN113100857A CN 113100857 A CN113100857 A CN 113100857A CN 202110389448 A CN202110389448 A CN 202110389448A CN 113100857 A CN113100857 A CN 113100857A
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
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Abstract
The invention provides a pivoting structure of a traction wire and a surgical instrument. The pivoting structure of the traction silk thread comprises an inner toothed ring outside a pivoting shaft, and a button which moves to the radial outer side without being pressed is arranged on the pivoting shaft. The inner gear ring is fixed on the upper base, the upper base and the lower base are assembled into a cavity, one end of the pivoting shaft extending into the cavity is wound with two silk threads in opposite directions, the silk threads pass through silk thread holes of the cavity and pass through the left side and the right side of the joint steering assembly to pull the end effector, and the pivoting structure can be applied to surgical instruments. The large-angle steering of the joint assembly can be easily realized by using silk threads and a multi-joint design, and only the nail bin needs to be replaced in the operation process, so that the cost is saved.
Description
Technical Field
The present invention relates to the field of medical instruments, and more particularly to a wide angle articulation structure for use between and interconnecting a handle assembly and an end effector for clamping, cutting, stapling and/or sealing tissue to provide an articulation function.
Background
The left and right extreme angles of articulation for current commercially available staplers are 45 degrees, as in patents 103393443B and CN103445818A, the tool and anvil assemblies of which are mounted on upper and lower mounting portions 236 and 238, as in fig. 1, upper and lower mounting portions 236 and 238 are hingedly connected to link 256, link 256 being sized to be slidably disposed within slot 402 formed between upper and lower housing halves 250 and 252, link 256 sliding to pivot upper and lower mounting portions 236 and 238 about engagement members 246 and 247, a pair of H-block assemblies 255 disposed adjacent the distal end of axial drive assembly 212 to prevent drive assembly 212 from bending and bulging outwardly during articulation and firing (firing) of the surgical stapling device. Each H-block assembly 255 includes a flexible body 255 a. Since the link 256 can only move linearly, the hinge portion of the upper and lower mounting portions 236 and 238 cannot be disengaged from the path of movement of the link 256 when pivoting, resulting in a 45 degree left and right limiting angle of articulation of the device.
For some operation sites with deep positions, such as rectal cancer anus protection operation, the pelvic cavity limits the entering angle of the instrument, so that the anastomat cannot be used for excising the disease. Therefore, a structural design with a larger joint turning angle is needed, so that the larger joint turning angle of the instrument can meet different surgical requirements.
Also, as disclosed in patents 103393443B and CN103445818A, when drive assembly 212 is extended distally during articulation and firing (fastening) of the surgical stapling device, such that the end effector has been pivoted laterally relative to upper and lower mounting portions 236 and 238, the proximal end of link 256 is subjected to a relatively large locking force as drive assembly 212 is extended distally, preventing drive assembly 212 from rotating the end effector back to a direction parallel to link 256.
Disclosure of Invention
The invention aims to provide a large-angle joint steering structure which is used between a handle assembly and an end effector for clamping, cutting, inosculating and/or sealing tissues and is connected with the handle assembly and the end effector to provide a joint steering function, joint steering is realized by using a silk thread, the included angle between the handle assembly and the end effector can be locked at a required angle, the structure has self-locking capability, and the design of multi-joint steering can easily realize 60-angle large-angle steering.
The technical scheme provided by the invention is as follows: a pivoting structure for pulling silk yarns is accommodated in a cavity formed by enclosing a lower base and an upper base and comprises a pivoting shaft, one end of the pivoting shaft extends into the cavity and is rotatably connected with the lower base or the upper base, the other end of the pivoting shaft extends through a corresponding through hole formed in the upper base, a button capable of sliding along the radial direction of the pivoting shaft is installed on the side surface of the pivoting shaft, one side of the button facing the pivoting shaft is mutually coupled with the pivoting shaft, so that the button is prevented from sliding along the circumference and the axial direction of the pivoting shaft, a wedge block matched with an inner toothed ring formed on the inner circumference of the through hole is arranged on one side of the button facing away from the pivoting shaft, the inner toothed ring is provided with tooth grooves uniformly arranged along the inner circumference and facing the pivoting shaft, a spring is arranged between the button and the pivoting shaft and is used for wedging the wedge block into the tooth grooves, and, one end of the silk thread is wound at one end of the pivot shaft in the cavity, and the other end of the silk thread extends through a silk thread hole which is formed in one side of the cavity and is enclosed by the lower base and the upper base.
Advantageously, the wire can move for a long distance by rotation of the pivot shaft, the pivot shaft can rotate when the button compresses the spring, the wedge-shaped block is wedged into the tooth groove when the button is loosened, and the button cannot slide along the circumference and the axial direction of the pivot shaft, so that the annular tooth groove can lock the pivot shaft through the wedge-shaped block, the pivot shaft has a self-locking function and a function of adjusting the retraction and extension lengths of the wire, the wedge-shaped block leaves the tooth groove when the spring is compressed, and the button can rotate along with the pivot shaft on the inner circumference of the through hole.
Preferably, the pivot shaft located in the cavity is provided with two winding tracks, and the silk threads are divided into two strands and wound in the two winding tracks in opposite directions respectively.
Advantageously, the two threads are wound around the pivot shaft in opposite directions, respectively, so that when the pivot shaft is rotated in more than one direction, one of the two threads is extended and one is retracted, so that the two threads can cooperate to drive other components.
Furthermore, the pivot shaft positioned in the cavity is provided with a protruding part or an annular groove, the protruding part or the annular groove rotates around the axis along with the pivot shaft, a limiting structure which is positioned on a rotating path of the protruding part or extends into the annular groove is fixed in the cavity, the limiting structure cuts the rotating path of the protruding part into an arc path with radian as a rated value, or the radian of the annular groove is smaller than the rated value of 360 degrees, so that the protruding part or the annular groove can prevent the pivot shaft from continuously rotating towards one direction after the pivot shaft rotates the rated radian.
Preferably, the protruding part is a pin perpendicular to the pivot axis, and the limiting structure is two protruding platforms formed on the inner circumferential surface of the through hole and extending to the rotation path of the pin.
Furthermore, the pivoting structure further comprises a joint steering assembly and an end effector, one end of each of the two threads passing through the thread hole extends through the left side and the right side of the joint steering assembly in a tightening manner to be connected with the left side and the right side of the end effector, so that the longitudinal movement of the threads relative to the axial direction of the thread hole realizes the pivoting of the end effector relative to the joint steering assembly on the plane where the two threads are located.
Advantageously, the pivot shaft is limited by the limiting structure and the protruding part to rotate, so that the two wires can only extend out and retract to the same length when being driven by the pivot structure, the joint steering assembly can rotate towards the left side and the right side, the two wires are flexible and can bend along with the rotation of the joint steering assembly, therefore, the joint steering assembly can rotate in a large range, the joint steering assembly is mainly driven by the retracted wires, the joint steering assembly is driven by only a rod-shaped connecting piece in the prior art, the rod-shaped connecting piece cannot be made of flexible materials, otherwise, if the joint steering assembly is subjected to resistance when the joint steering assembly is pushed to rotate, the rod-shaped connecting piece is easy to deflect and bend, and the steering of the joint steering assembly cannot be realized.
Preferably, a rotating disc is fixed on one side of the through hole facing the cavity, a pivot hole concentric with the through hole is formed in the middle of the rotating disc, the pivot shaft is matched with the contour of the pivot hole, and one end, located outside the cavity, of the pivot shaft is hung on the surface of the rotating disc through being assembled with the button.
Specifically, the protruding part or the annular groove and the limiting structure are not in the same plane.
Advantageously, since the rotatable plate is rotatably connected to the pivot shaft, the pivot shaft does not have to be rotatably connected to the lower base, and therefore, a portion of the wire hole can also extend between the lower base and the pivot shaft.
The other technical scheme of the invention is as follows: a surgical instrument based on the pivoting structure of the traction wire comprises the pivoting structure, and further comprises a shaft tube, a driving rod, a flexible driving rod and a handle assembly, wherein the upper base and the lower base are encircled to form a cavity, one end of the cavity is opposite to a wire hole to form a driving hole for mounting the handle assembly, the proximal end of the shaft tube is mounted on the wire hole, the distal end of the shaft tube is connected with the proximal end of a joint steering assembly, the distal end of the joint steering assembly is hinged with an end effector, the distal ends of a plurality of flexible driving rods extend through the joint steering assembly and the proximal end of the end effector along the direction parallel to the longitudinal direction of the shaft tube, so that the distal ends of a plurality of winding driving rods move longitudinally relative to the end effector to clamp, cut, inosculate and/or seal tissues of the end effector, and the distal ends of the plurality of, the proximal end of the driving rod extends into the handle assembly through a gap formed between the lower base and the end face of the pivot shaft, the axis of the through hole is perpendicular to the longitudinal direction of the shaft tube, one end, far away from the cavity, of the pivot shaft is connected with the knob, so that the pivot shaft can extend and retract in the cavity along with the rotation of the knob in equal length respectively, and the end effector is driven to pivot relative to the joint steering assembly on the plane where the two threads are located.
Further, the knuckle steering assembly has at least two knuckles, the two knuckles are hinged to each other to pivot on the plane of the two threads, and the knuckles include slotted holes longitudinally penetrating the two knuckles and perpendicular to the plane of the two threads.
Specifically, the end effector and the bypass driving rod refer to the 0104 paragraph of the published patent CN103445818A and the corresponding drawings.
Furthermore, the inner circumference of the inner toothed ring is uniformly and alternately provided with V-shaped tooth grooves and protruding teeth, two side faces of the protruding teeth facing to the adjacent protruding teeth are parallel to a connecting line from the middle point of the protruding teeth to the axis of the pivot shaft, the profile of the front end of the wedge block far away from the pivot shaft is matched with the shape of the V-shaped tooth grooves, and the side faces formed from the front part to the rear end of the wedge block are parallel to the two side faces of the protruding teeth.
Advantageously, when the wedge block is inserted into the tooth socket, if the pivot shaft is subjected to torsion, the wedge block is subjected to a shearing force which is perpendicular to the side face of the wedge block and is applied to the side face of the wedge block by the protruding teeth, and the inner toothed ring does not compress the wedge block to move towards the axis of the pivot shaft.
Preferably, one side of the protruding tooth facing the axis of the pivot shaft is an arc surface.
Advantageously, the cambered surface of the projecting teeth facilitates the wedge to be inserted between the V-shaped gullet and the projecting teeth on both sides when the wedge is ejected by the spring.
The invention has the advantages that the joint steering is realized by the silk thread, the control is more flexible, and the design of multi-joint steering can easily realize 60-degree large-angle steering. When the wedge blocks on the button are wedged into the tooth socket, the steering locking torque M provided by the structure is N.S.sigma.R, N is the number of the wedge blocks, S is the single-side contact area between the wedge blocks and the tooth socket, sigma is the shearing strength of the wedge blocks, and R is the radius of the inner tooth ring. Since the shear strength of the wedge-shaped block is 5 multiplied by 10 even if common plastics are selected7Pa, even if the unilateral contact area of the wedge block and the tooth socket is millimeter level, and the radius of the inner gear ring is centimeter level, M at least exceeds 500 N.mm. A lockout feature, much superior to the alternative pivot structure provided by the comparative example, is desirable to prevent the knuckle steering assembly from being forcibly rotated by the multi-piece orbiting drive rod to a position parallel to the shaft during articulation and firing (deployment) of the end effector. In the locking structure of the comparative example, when the joint steering assembly is bent by 45 degrees, the joint steering assembly is forcibly rotated to a position parallel to the shaft rod by a plurality of round driving rods during the hinging and launching (screwing) of the end effector.
Drawings
FIG. 1 is an exploded view of a prior art knuckle steering arrangement;
FIG. 2 is an exploded view of the pivot structure of the present invention;
FIG. 3 is an assembled view of the pivoting structure of the present invention with the wires, upper base, and lower base removed;
FIG. 4 is a schematic top view of FIG. 3;
FIG. 5 is a schematic structural view of the chuck of the pivot structure of the present invention;
FIG. 6 is an assembled view of the pivoting structure of the present invention with the upper and lower bases removed;
FIG. 7 is a schematic view of the assembled joint steering assembly and end effector of the present invention;
FIG. 8 is a schematic structural view of the surgical instrument of the present invention;
FIG. 9 is an assembly view of the end effector and bypass drive links of the present invention;
FIG. 10 is a schematic plan view of the pivot structure of the present invention at the inner gear ring;
fig. 11 is a schematic view of a pivot structure of a comparative example;
fig. 12 is a force analysis diagram of the spherical crown surface of the plunger body and the chuck;
figure 13 is a diagram of an alternative range for a small spring in the plunger body.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. It should be noted that throughout the specification, the term "distal" refers to a portion further from the user and "proximal" refers to a portion closer to the user. The term "upper rotary head" refers to an upper base, "a lower rotary head" refers to an upper base, and the term "chuck" refers to a limiting structure, and a detailed description of the electric endoscopic cutting stapler of the present invention is provided below with reference to fig. 1 to 8.
As shown in fig. 2, it is a schematic diagram of the internal explosion structure of the pivoting structure 100 of the traction wire of the present invention, which includes a knob 101, an upper rotary head 102, a right button 103, a left button 104, a dial 105, a chuck 106, a pivoting shaft 107, and a lower rotary head 108. The upper rotary head 102, the upper base, enclose to form a cavity, the turntable 105 and the chuck 106 are fitted into corresponding through holes 110 in the upper rotary head 102, the cavity forms a wire hole 112 and a driving hole 113 at both longitudinal ends perpendicular to the axis of the through hole 110. as an embodiment but not limited thereto, the chuck 106 and the through hole 110 have teeth or grooves which are fitted to each other, and the side of the chuck 106 opposite to the turntable 105 has pins or holes which are fitted to each other, so that the turntable 105 and the chuck 106 are relatively fixed in the through hole 110. The chuck 106 is located on one side of the turntable 105 facing the downward rotating head 108, the lr buttons 103 and 104 are located on one side of the chuck 106 facing away from the downward rotating head 108 and are assembled on two sides of the pivot shaft 107, as an embodiment but not limited thereto, the pivot shaft 107 is provided with receiving pins 1071 protruding only in two radial directions, the lr buttons 103 and 104 are respectively provided with pin holes coupled with the receiving pins 1071 on one side facing the pivot shaft 107, and the lr buttons 103 and 104 are respectively coupled with the prism surface of the pivot shaft 107 on one side facing the pivot shaft 107, so that the lr buttons 103 and 104 are engaged with the pivot shaft 107 and prevented from sliding along the circumference and the axial direction of the pivot shaft 107, and the buttons are also prevented from rotating around the receiving pins 1071; a pivot hole 111 concentric with the through hole 110 is formed in the middle of the rotary table 105, the pivot shaft 107 fits the contour of the pivot hole 111, a special-shaped channel concentric with the through hole 110 is formed in the middle of the chuck 106, the pivot shaft 107 sequentially penetrates through the rotary table 105 and the chuck 106 and extends into the cavity, and one end, located outside the cavity, of the pivot shaft 107 is hung on the surface of the rotary table 105 through being assembled with the buttons 103 and 104.
As shown in fig. 5, the pivot shaft 107 is provided with a protruding part 1075 (for example, a pin may be provided) at a position coplanar with the chuck 106, the special-shaped channel includes a large semicircular hole 1061 defining a rotation path of the protruding part 1075 along with the pivot shaft 107 as an arc of 180 degrees, and a small semicircular hole 1062 attached to a surface of the pivot shaft 107, the diameter of the small semicircular hole 1062 is smaller than that of the large semicircular hole 1061, so that two protruding platforms are formed at two ends of the large semicircular hole 1061 on the rotation path of the protruding part 1075; fig. 5 is only an embodiment, the pivot shaft 107 may also be provided with a half-circle annular groove at a position coplanar with the chuck 106, and a limit structure extending into the annular groove is arranged in the special-shaped channel, so that the pivot shaft can be prevented from rotating in one direction after rotating by a rated radian. The chuck 106 in this fig. 5 can limit the rotation of the pivot shaft 107 to no more than 90 degrees in each of the clockwise and counterclockwise directions.
As shown in fig. 3 and 4, the upper surface of the rotary plate 105 is provided with a ring of inner teeth rings, which are uniformly distributed along the inner circumference with a plurality of teeth 1051 facing the pivot shaft 107. The side of the button 103, 104 opposite to the pivot shaft 107 is provided with a wedge block 1031 matched with the tooth socket 1051, a spring 1072 is arranged between the button 103, 104 and the pivot shaft 107 and used for wedging the wedge block 1031 into the tooth socket 1051, the button 103, 104 can rotate along with the pivot shaft 107 on the inner periphery of the through hole 110 when the spring 1072 is compressed, and the spring 1072 pushes the wedge block 1031 to wedge into the tooth socket 1051 when the button 103, 104 is released, so that the pivot shaft 107 and the rotary disc 105 are locked with each other.
As shown in fig. 6 and 7, the proximal ends of the two wires 201 and 202 pass through two winding tracks 1073 and 1074 formed at the lower end of the pivot shaft 107 in opposite directions, respectively, and are fixed to the pivot shaft 107 by ferrules 2011 and 2021. Two wires 201 and 202 extend distally through the wire hole 112, through the left and right sides of the knuckle steer assembly 300, through holes in the H-wire retainer plate 203, respectively, that fit within the lumen, and into engagement with the end effector 400. The two wires are secured in respective bores 401 in the end effector 400 (staple cartridge) by ferrules 2012. Allowing the knuckle steering assembly 300 to steer the knuckle as the wires 201 and 202 are stretched and scaled. The wires are always in a stretched state, so that the wires 201 and 202 are stretched and contracted in the stretched state under the rotating action of the pivot shaft 107.
Further, as shown in fig. 2 and 8, when the above pivoting structure is applied to a surgical instrument, the surgical instrument includes a pivoting structure 100, a shaft tube 200, a driving rod 204, a joint steering assembly 300, an end effector 400, and a flexible driving rod 205, wherein a proximal end of the shaft tube 200 is mounted on the wire hole 112, a distal end of the shaft tube 200 is connected to a proximal end of the joint steering assembly 300, a distal end of the joint steering assembly 300 is hinged to the end effector 400, distal ends of a plurality of pieces of flexible driving rods 205 extend through proximal ends of the joint steering assembly 300 and the end effector 400 in a direction parallel to the longitudinal direction of the shaft tube 200, the distal ends of the plurality of orbiting drive rods 205 are caused to move longitudinally relative to the end effector 400 for clamping, cutting, stapling and/or sealing tissue movement of the end effector, and the orbiting drive rods are referred to in the published patent application CN103445818A, paragraph 0104 and corresponding figures. The distal ends of the plurality of circuitous drive rods 205 engage the distal end of the drive rod 204 disposed within the shaft tube 200, the proximal end of the drive rod 204 extends out of the drive aperture 113 through a gap formed between the lower swivel head 108 and the end face of the pivot shaft 107 into the handle assembly, and the end of the pivot shaft 107 distal from the cavity is engaged with the knob 101, such that rotation of the knob 101 causes extension and retraction of the two wires 201, 202, respectively, of equal length within the cavity, which causes the end effector 400 to pivot relative to the knuckle steer assembly 300 in the plane in which the two wires 201, 202 lie. The knuckle steering assembly 300 has at least two knuckles 310, 320, the two knuckles 310, 320 being articulated with respect to each other to pivot in the plane of the two wires, the knuckles 310, 320 including a slotted hole 303 running longitudinally through the two knuckles and perpendicular to the plane of the two wires 201, 202,
with reference to the published patent CN103445818A in which two chamfered surfaces are formed at the end of the finger section 310 facing the finger section 320, perpendicular to the plane of the two wires 201, 202 and forming an acute included angle between the longitudinal directions of the slit 303, and a tapered head is formed at the end of the finger section 310 facing the finger section 320, as shown in fig. 9, a pair of H-block assemblies are disposed at the left and right sides of the flexible driving rod 205, each H-block assembly including a flexible body 255, and a pair of flexible bodies including a proximal end fixedly secured to the finger section 310 and a distal end fixedly secured to the distal end of the flexible driving rod 205, thereby preventing the flexible driving rod 205 from bending and bulging outward during articulation and firing of the end effector 400.
As shown in fig. 10, V-shaped tooth grooves 1051 and protruding teeth 1052 are uniformly and alternately arranged on the inner periphery of the internal gear ring, two side faces 1053 of the protruding teeth 1052 are parallel to a connecting line of a midpoint 1054 of the protruding teeth 1052 to the axis of the pivot shaft 107, the profile of the front end of the wedge 1031 away from the pivot shaft is matched with the V-shaped tooth grooves 1051 in shape, two side faces of the wedge 1031 are parallel to two side faces 1053 of the protruding teeth 1052, and one side of the protruding teeth 1052 facing the axis of the pivot shaft 107 is an arc surface, so when the wedge 1031 is inserted into the tooth groove 1051, if the pivot shaft 107 is subjected to a torsion force, the wedge 1031 is subjected to a shearing force which is applied by the protruding teeth 1052 to the side faces of the wedge 1031 and is perpendicular to the side faces of the wedge 1031, the internal gear ring does not compress the wedge 1031 to move towards the axis of the pivot shaft 107, and the arc surface of the protruding teeth 1052 facilitates.
The two knuckles realize large-angle steering of the joint steering assembly, the locking structure of the turntable and the pivot shaft realizes locking posture of the joint steering assembly after large-angle steering, the extension and retraction of the two silk threads realize the difficulty that the end effector 400 is difficult to push in the same straight line with the driving piece after being bent, the suspension mode of the pivot shaft solves the problem of space for installing other concentric driving rod pieces in the shaft tube, and the chuck limits the rotating angle of the pivot shaft and avoids the rotating angle exceeding the limit of the joint steering assembly.
And (3) torque verification: as shown in fig. 10, when the wedge 1031 on the button is wedged into the gullet 1051, the wedge 1031 is subjected to a shear force perpendicular to the thrust direction of the spring 1072 when the pivot shaft 107 is applied with a torsion force. The steering locking torque M provided by the structure is N.S.sigma.R, N is the number of the wedge blocks, N is 2, S is the single-side contact area of the wedge blocks and the tooth socket, and S is 2mm2And sigma is the shear strength of the wedge-shaped block, wherein sigma is 50MPa, R is the radius of the inner gear ring, and R is 13.4 mm. M2680 n.mm.
Comparative example
When the locking mode of the pivoting structure is changed into the following mode by the mode that the wedge block pops out and locks the inner gear ring along the radial direction of the inner gear ring as shown in figure 11: set up the spring in the pivot axle upper end, exert the power towards chuck 106 by the spring to carousel 105, the carousel is fixed and is rotated along with the pivot axle on pivot axle 107, the carousel is equipped with the outstanding plunger 109 towards the chuck, and the chuck is equipped with the round hole of cooperation plunger, the plunger can block into the round hole at any time when pushing down for making things convenient for the spring to promote the carousel, the plunger must be designed into spherical crown face or conical surface towards the one end of round hole, plunger and round hole as much as possible and evenly distributed, if have 6 plungers, 12 round holes, the resistance moment M of plunger to the chuck in this locking structure1＝6×f2×r，f2The resistance of a single plunger to the chuck is that r is the distance between the center of the circular hole and the center of the chuck, r is 8.5mm, and f is2＝f1*sinθ*cosθ，f1Theta is the angle between the reaction force and the chuck plane when the edge of the circular hole in fig. 12 applies the reaction force to the plunger, which is the spring force of the spring to the single plunger. In this construction, the diameter of the spring is limited and in order toThe rotating disc can be conveniently pulled out manually, the pivot shaft can rotate, the elasticity of the spring is limited to be less than 10N, and in order to solve the problem of insufficient elasticity of the spring, a small spring can be arranged in the plunger body to push the spherical crown head to pop up downwards, so that f is increased1But the plunger body has smaller diameter, the elasticity of the selected small spring is limited, f2The maximum value of (2.04N), the maximum resisting moment M1 of the chuck of the structure is M1-6 × 2.04 × 8.5-104.04 N.mm, and even if the plunger body is increased, the effect on increasing the resisting moment is not great. The structure is applied to a surgical instrument, and when the joint steering assembly is driven to return after steering by the flexible driving rod, the bending angle of the joint steering assembly relative to the shaft tube is even 45 degrees, and the joint steering assembly can be forcibly rotated to a position parallel to the shaft rod by a plurality of pieces of rounding driving rods during the process that the end effector is hinged and launched (firing).
And (3) calculating: setting the elastic force of the elastic plunger to be f1The plunger compression amount is y, and f is obtained from FIG. 131Formula (II)
f1＝2.8+3.5y
Resistance of a single plunger to the chuck is f2，
f2＝f1*sinθ*cosθ
Let AD length be x, then
OB length 1.2mm, x 1.6mm when chuck and plunger are just contacted
To sum up
The maximum value of f2 was calculated to be about 2.04N, and the maximum resistance M1 of the structure to the chuck was M1-352.04 × 8.5-104.04N.
Therefore, when the pivoting structure is applied to a surgical instrument, the mode that the wedge block pops out and locks the inner gear ring along the radial direction of the inner gear ring is selected as the pivoting structure, and the joint steering assembly can be prevented from being forcibly rotated to the position parallel to the shaft rod by the multiple pieces of the bypassing driving rod during the hinging and launching (fastening) of the end effector, so that the surgical accident caused by the sudden traction of the surgical part when the joint steering assembly is not locked well is avoided.
Claims (10)
1. A pivoting structure for drawing silk yarns is characterized in that the pivoting structure is accommodated in a cavity formed by enclosing a lower base and an upper base and comprises a pivoting shaft, one end of the pivoting shaft extends into the cavity and is rotatably connected with the lower base or the upper base, the other end of the pivoting shaft extends through a corresponding through hole formed in the upper base, a button capable of sliding along the radial direction of the pivoting shaft is installed on the side surface of the pivoting shaft, one side of the button facing the pivoting shaft is mutually coupled with the pivoting shaft, so that the button is prevented from sliding along the circumference and the axial direction of the pivoting shaft, a wedge block matched with an inner toothed ring formed on the inner circumference of the through hole is arranged on one side of the button facing away from the pivoting shaft, the inner toothed ring is provided with tooth grooves uniformly arranged along the inner circumference and facing the pivoting shaft, a spring is arranged between the button and the pivoting shaft and is used for wedging the wedge block into the tooth, one end of the silk thread is wound at one end of the pivot shaft in the cavity, and the other end of the silk thread extends through a silk thread hole which is formed in one side of the cavity and is enclosed by the lower base and the upper base.
2. The pivot structure of claim 1, wherein the pivot shaft located in the cavity is provided with two winding tracks, and the two strands of wire are wound in opposite directions in the two winding tracks.
3. The pivot structure of claim 2, wherein the pivot shaft in the cavity is provided with a protrusion or an annular groove, the protrusion or the annular groove rotates with the pivot shaft around the axis, and a limiting structure located on a rotation path of the protrusion or extending into the annular groove is fixed in the cavity, and the limiting structure cuts the rotation path of the protrusion into an arc path with an arc degree as a rated value, or the arc degree of the annular groove is less than a rated value of 360 degrees, so that the protrusion or the annular groove can prevent the pivot shaft from continuing to rotate in one direction after rotating the rated arc degree.
4. The pivot structure according to claim 3, wherein the protrusion is a pin perpendicular to the pivot shaft, and the stopper is two bosses formed on an inner circumferential surface of the through hole and extending to a rotation path of the pin.
5. A pivot structure according to any one of claims 3 to 4 wherein the pivot structure further comprises a knuckle steering assembly and an end effector, one end of each of the two strands of wire extending through the wire hole is connected to the left and right sides of the end effector by extending through the left and right sides of the knuckle steering assembly in a tensioned state, so that longitudinal movement of the wire relative to the axial direction of the wire hole effects pivoting of the end effector relative to the knuckle steering assembly in the plane of the two strands of wire.
6. The pivot structure of claim 5, wherein a rotary plate is fixed to a side of the through hole facing the cavity, a pivot hole concentric with the through hole is formed in the middle of the rotary plate, the pivot shaft is matched with the contour of the pivot hole, and one end of the pivot shaft, which is located outside the cavity, is hung on the surface of the rotary plate through being assembled with a button.
7. A surgical instrument incorporating a pivot structure for a pull wire of claim 6 including said pivot structure and further including a shaft tube, a drive rod, a flexible drive rod, a handle assembly, said upper base and said lower base enclosing a lumen formed opposite said wire aperture, said lumen defining a drive aperture for mounting said handle assembly, said shaft tube having a proximal end mounted in said wire aperture, a distal end connected to a proximal end of a joint steering assembly, said distal end of said joint steering assembly being pivotally connected to said end effector, a plurality of flexible drive rods having distal ends extending in a direction parallel to the longitudinal direction of said shaft tube through said joint steering assembly and said proximal end of said end effector such that longitudinal movement of said distal ends of said plurality of circuitous drive rods relative to said end effector effects clamping, cutting, stapling and/or sealing tissue movement of said end effector, said distal ends of said plurality of circuitous drive rods engaging said distal ends of said drive rods disposed within said shaft tube, the proximal end of the driving rod extends into the handle assembly through a gap formed between the lower base and the end face of the pivot shaft, the axis of the through hole is perpendicular to the longitudinal direction of the shaft tube, one end, far away from the cavity, of the pivot shaft is connected with the knob, so that the pivot shaft can extend and retract in the cavity along with the rotation of the knob in equal length respectively, and the end effector is driven to pivot relative to the joint steering assembly on the plane where the two threads are located.
8. The surgical instrument of claim 7 wherein the knuckle steering assembly has at least two knuckles that are articulated to each other to pivot in the plane of the two wires, the knuckles including slotted holes that extend longitudinally through the two knuckles and are perpendicular to the plane of the two wires.
9. The surgical instrument as claimed in claim 7, wherein the inner circumference of the inner gear ring is uniformly and alternately provided with V-shaped gullets and protruding teeth, two side faces of the protruding teeth facing the adjacent protruding teeth are parallel to a connecting line of a midpoint of the protruding teeth and an axis of the pivot shaft, a front end profile of the wedge block away from the pivot shaft is matched with the shape of the V-shaped gullet, and the side faces from the front to the rear end of the wedge block are parallel to the two side faces of the protruding teeth.
10. The surgical instrument of claim 9, wherein a side of the protruding tooth facing the axial center of the pivot shaft is curved.
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| CN202110389448.7A CN113100857B (en) | 2021-04-12 | 2021-04-12 | Pivoting structure of traction wire and surgical instrument |
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| CN202110389448.7A CN113100857B (en) | 2021-04-12 | 2021-04-12 | Pivoting structure of traction wire and surgical instrument |
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| CN113100857B (en) | 2022-02-25 |
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