CN113425352A - Wound anastomat capable of adjusting posture remotely - Google Patents
Wound anastomat capable of adjusting posture remotely Download PDFInfo
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- CN113425352A CN113425352A CN202110699569.1A CN202110699569A CN113425352A CN 113425352 A CN113425352 A CN 113425352A CN 202110699569 A CN202110699569 A CN 202110699569A CN 113425352 A CN113425352 A CN 113425352A
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- anastomosis
- posture adjusting
- guide rod
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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
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/0682—Surgical staplers, e.g. containing multiple staples or clamps for applying U-shaped staples or clamps, e.g. without a forming anvil
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Abstract
The invention discloses a wound anastomat capable of adjusting postures remotely, which comprises a posture adjusting execution part, a guide rod and an anastomosis module. Wherein the posture adjusting executing part is arranged at the end part of the guide rod, a rotating pair is arranged between the posture adjusting joint A and the posture adjusting joint B, and the rotation control of the posture adjusting joint A and the posture adjusting joint B is realized by the control of a transmission wire driven by a motor. The inosculating module is arranged at the end part of the posture adjusting joint B, a rotating pair is formed between the two, and the inosculating module is controlled by a transmission wire driven by a motor to rotate around the axis of the rotating pair. Meanwhile, the guide rod is also designed to be installed through a revolute pair, and the rotary motion of the guide rod is further controlled through the traction of a conveying wire driven by a motor. The invention has space multiple degrees of freedom and can realize the adjustment of the anastomotic attitude in the working space range.
Description
Technical Field
The invention belongs to medical robot equipment, and designs a wound anastomat, in particular to a wound anastomat with a remote posture adjusting function.
Background
The stapler has a principle similar to that of a stapler, and the working principle is that anastomosis nails are fired into human tissues and penetrate into two sides of a tissue wound and are closed in a joint mode, so that the wound is restored.
The anastomat is mainly divided into a linear anastomat, an annular anastomat, a linear cutting anastomat, a skin anastomat and the like, and the anastomat is specially applied in different operation occasions. At present, the traditional Chinese medicine composition is widely applied to gastrointestinal surgery, liver surgery, urinary surgery and the like, and is often used for intestinal resection, gastrointestinal closure, anal operation and the like.
Staplers are currently marketed that are capable of performing anastomosis on different types of wounds. The specific functions and the using method are as follows: the surface of the wound is gathered manually, the nail outlet is tightly attached, and one anastomotic nail can be stimulated to be nailed into the two sides of the wound by manually pressing the stimulating rod, so that the wound is anastomosed. Different types of staplers are suitable for different types of operations and for different wounds, but their methods of use are similar, and the main principle and function are similar, only changing the shape to suit different types of wounds.
The current anastomat product is mainly single degree of freedom and does not have the function of multi-degree of freedom adjustment. The operation method is not suitable for wounds in narrow and complex spaces, and is difficult to operate in complicated operation scenes of the wounds, so that the flexibility of the operation is greatly limited.
Disclosure of Invention
Aiming at the problems, the invention provides a wound anastomat capable of adjusting the posture remotely, which has space multiple degrees of freedom and can realize the adjustment of the anastomotic posture in the working space range.
The invention relates to a wound anastomat capable of adjusting postures remotely, which comprises a posture adjusting execution part, a guide rod and an anastomosis module.
The posture adjusting joint A and the posture adjusting joint B are of U-shaped structures, and the tail end of the posture adjusting joint A is fixed at the front end of the guide rod. Two ends of the posture adjusting joint B are respectively hinged with two sides of the posture adjusting joint A; the driving mechanism drives the transmission wire to draw the adjusting joint B to realize the swing of the posture adjusting joint B along the hinged shaft of the posture adjusting joint A, and simultaneously controls the rotation of an inosculating module arranged at the end part of the posture adjusting joint B.
The swing control mode of the posture adjusting joint B is as follows: the same sides of the posture adjusting joint A and the posture adjusting joint B are respectively connected with each other through a deflection wheel shaft and a rotation guide wheel shaft. The swing control is controlled by a deflection transmission wire wound on two wire winding wheels which are controlled to rotate by a driving mechanism; the deflection transmission wire is wound on one wire winding wheel by a section, penetrates into the guide rod along the axial direction of the guide rod, penetrates out of a wire outlet hole on the posture adjusting joint A, then is wound on a deflection balance wheel designed at the end part of a hinge shaft at one side of the posture adjusting joint A and the posture adjusting joint B, and then is wound on the other wire winding wheel along the original path; the two wire winding wheels are controlled by the driving mechanism to rotate to drive the deflection wheel to rotate, and further the posture adjusting joint B is driven to rotate around the axis of the deflection wheel shaft.
The rotation control mode of the anastomosis module is as follows: the bottom of the posture adjusting joint B is provided with a self-rotating wheel which is connected with the inosculating module; the rotation control is controlled by a self-rotation transmission wire wound on two wire winding wheels which are controlled to rotate by a driving mechanism; one end of the autorotation transmission wire is wound on one wire winding wheel, the other end of the autorotation transmission wire penetrates into the guide rod along the axial direction of the guide rod and penetrates out of a wire outlet hole on the posture adjusting joint A, the autorotation transmission wire passes through one side of the autorotation guide wheel designed at the end part of the hinge shaft at one side of the posture adjusting joint A and the posture adjusting joint B, then the autorotation transmission wire is wound on the autorotation wheel, passes through the other side of the autorotation guide wheel and is arranged in a crossed mode with the autorotation transmission wire at the opposite side, and finally, the autorotation transmission wire returns along the original path, is guided by the guide wheel and is wound on the other wire winding wheel. The two wire winding shafts are controlled by the driving mechanism to rotate to drive the self-rotating wheel to rotate so as to further drive the anastomosis module to rotate.
Meanwhile, the guide rod is arranged on the shell through a bearing, and the tail end of the guide rod is provided with a wire winding groove. The wire winding groove is wound with a guide rod autorotation transmission wire, and the guide rod autorotation transmission wire is simultaneously wound on a wire winding shaft controlled by the driving mechanism to rotate. The driving mechanism is used for controlling the wire winding shaft to rotate, and the guide rod can be driven by the guide rod autorotation transmission wire to rotate along the self axial direction, so that the rotation control of the anastomosis module around the axis of the guide rod is realized.
The invention has the advantages that:
1. the wound anastomat capable of adjusting the posture remotely has spatial multiple degrees of freedom, and can realize the adjustment of the anastomotic posture in the working space range.
2. The wound anastomat capable of remotely adjusting the posture is driven by the transmission wire, so that the wound anastomosis can be realized by remotely adjusting the posture.
3. The wound anastomat capable of adjusting the posture remotely has the advantages of compact configuration and small integrated size, and is suitable for narrow and small wound positions.
Drawings
FIG. 1 is a structural diagram of a wound anastomat capable of adjusting posture remotely according to the invention;
FIG. 2 is a schematic structural diagram of an attitude adjustment executing part of the wound stapler capable of adjusting the attitude remotely according to the invention;
FIG. 3 is a schematic structural development view of an attitude adjustment executing part of the wound stapler capable of adjusting the attitude remotely according to the invention;
FIG. 4 is a schematic structural diagram of an anastomosis module of the wound stapler with remote attitude adjustment according to the present invention;
fig. 5 is a schematic diagram of the internal structure of the anastomosis module of the wound anastomat capable of adjusting the posture at a long distance.
In the figure:
1-posture adjusting executing part 2-guide rod 3-anastomosis module
101-pose adjusting joint A102-deflection balance wheel 103-pose adjusting joint B
104-autorotation guide wheel 105-autorotation fixing frame 106-deflection wheel shaft
107-self-rotating wheel locking sleeve 108-self-rotating wheel 109-self-rotating guide wheel shaft
110-deflection transmission wire 111-rotation transmission wire 112-guide rod rotation transmission wire
113-guide rod self-rotating shaft bearing 301-anastomosis self-rotating seat 302-anastomosis head shell
303-anastomosis transmission wire 304-anastomosis baffle 305-torsion spring
306-anastomosis baffle plate shaft 307-nail pushing plate 308-nail pushing plate spring
309-anastomosis transmission wire reversing shaft 310-spring support rod 311-anastomosis nail
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The invention provides a wound anastomat capable of adjusting postures from a long distance, which comprises a posture adjusting execution part 1, a guide rod 2 and an anastomosis module 3 as shown in figure 1.
As shown in fig. 2 and 3, the posture adjustment executing part 1 includes a posture adjustment joint a101, a balance wheel 102, a posture adjustment joint B103, a rotation guide wheel 104, a rotation fixing frame 105, a rotation wheel shaft 106, a rotation wheel locking sleeve 107, a rotation wheel 108, a rotation guide wheel shaft 109, a rotation transmission wire 110, and a rotation transmission wire 111.
The posture adjusting joint A101 is of a U-shaped structure, the tail end of the posture adjusting joint A101 is sleeved at the front end of the guide rod 2, and the posture adjusting joint A101 is tightly pushed and fixed after a bolt penetrates through a side wall screw hole at the tail end of the posture adjusting joint A101. The center of the tail end of the posture adjusting joint A101 is provided with a screw outlet hole, and the periphery of the posture adjusting joint A101 is provided with 4 screw outlet holes for a transmission screw to pass through. The posture adjusting joint B103 is also in a U-shaped structure, and two ends of the posture adjusting joint B103 are respectively hinged with two sides of the posture adjusting joint A101 through a deflection wheel shaft 106 and a rotation guide wheel shaft 109.
The deflection wheel shaft 106 passes through an opening on one side of the posture adjusting joint B103 and is hinged with one side of the posture adjusting joint A110, and meanwhile, the deflection wheel 102 and the side part of the posture adjusting joint B103 are fixed and are coaxially hinged at the end part of the deflection wheel shaft 106; similarly, the rotation guide wheel shaft 109 passes through the other side hole of the posture adjusting joint B103 and is hinged with the other side of the posture adjusting joint B103, and the rotation guide wheel 104 and the side part of the posture adjusting joint B103 are fixed and coaxially hinged at the end part of the rotation guide wheel shaft 109; the yawing wheel 102 and the self-rotation guide wheel 104 are positioned at opposite positions inside the posture adjusting joint B103 and are coaxial. The bottom of the posture adjusting joint B103 is provided with a self-rotating wheel 108 which is coaxial with the guide rod 112, and the self-rotating wheel 108 is connected with the inosculating module 3.
The deflection transmission wire 110 and the rotation transmission wire 111 are respectively provided with two sets of driving mechanisms for traction control, and the two sets of driving mechanisms are respectively a driving mechanism A and a driving mechanism B which can be designed into wire winding wheels driven by a motor to rotate; the deflection transmission wire 110 is wound on one wire winding wheel of the driving mechanism a, then can be guided by the guide wheel and axially penetrates into the guide rod 2 along the guide rod 2, and then penetrates out of a wire outlet hole on the posture adjusting joint a101, then is wound on the deflection balance wheel 102, finally returns along the original path, is guided by the guide wheel and then is wound on the other wire winding shaft of the driving mechanism a. Therefore, the driving mechanism a drives the winding wheel to rotate, so as to drive the offset balance wheel 102 to rotate, and further drive the posture adjusting joint B103 to rotate around the axis of the offset wheel shaft 106.
One end of the rotation transmission wire 111 is wound on one wire winding wheel of the driving mechanism B, then the rotation transmission wire can be guided by the guide wheel and axially penetrates into the guide rod 2 along the guide rod 2, and penetrates out of a wire outlet hole on the posture adjusting joint A101 and passes through one side of the rotation guide wheel 104, then the rotation transmission wire penetrates through a hole at the side part of a cylindrical structure rotation fixing frame 105 arranged in the posture adjusting joint B103, is further wound on the rotation wheel 108, passes through the other side of the rotation guide wheel 104 and is crossed with the rotation transmission wire 111 at the opposite side, and finally returns along the original path, is guided by the guide wheel and is wound on the other wire winding wheel of the driving mechanism B. Therefore, the driving mechanism B drives the wire winding wheel to rotate, so that the rotation wheel 108 can be driven to rotate, and the anastomosis module can be further driven to rotate around the axis of the rotation wheel 108. The rotation fixing frame 105 is fixed on the bottom surface of the posture adjusting joint B103, the lateral opening and the whole edge position are smoothly transited, the rotation fixing frame 105 guides the rotation transmission wire 111, and the rotation transmission wire 111 is prevented from being broken.
As shown in fig. 4 and 5, the anastomosis module 3 includes an anastomosis self-rotating base 301, an anastomosis head housing 302, an anastomosis transmission wire 303, an anastomosis baffle 304, a torsion spring 305, an anastomosis baffle shaft 306, a nail pushing plate 307, a nail pushing plate spring 308, an anastomosis transmission wire reversing shaft 309, a spring support rod 310 and an anastomosis nail 311.
Wherein, a hollow shaft along the axial direction of the guide rod 2 is designed at the central position of the anastomosis autorotation seat 301 and is communicated with the interior of the posture adjusting joint B103 to pass through an anastomosis transmission wire 303; the hollow shaft is provided with a D-shaped section and is matched and spliced with a D-shaped hole formed in the center of the self-rotating wheel 108, so that the circumferential positioning of the hollow shaft and the self-rotating wheel is realized; the axial positioning between the hollow shaft and the self-rotating wheel 108 is realized by sleeving a self-rotating wheel locking sleeve 107 on the tail end of the hollow shaft. The top of the front end of the self-rotating seat 301 is provided with a mounting position of a staple 311.
The front end and the rear end of the anastomosis head shell 302 are respectively inserted and jointed on the anastomosis self-rotation base 301, the anastomosis head shell 302 protects internal structural components and realizes the positioning of the internal structural components during installation; meanwhile, the front end of the anastomosis head shell 301 is matched with the mounting position of the anastomosis nail 311 to position the anastomosis nail 311. In the inner structure of the stapling head housing 302, two spring support rods 310 are arranged along the guide rod in the axial direction. The rear ends of the two spring supporting rods 310 are fixed at the rear end of the self-rotating base 301. The bottom of the ejector pin plate 307 is provided with a sliding block which is sleeved on the two spring supporting rods 310, so that the ejector pin plate can slide along the spring supporting rods 310; and the two spring supporting rods 310 are also sleeved with a nail pushing plate spring 308 which is positioned between the sliding block and the front end of the inosculating rotation seat 301. A notch is designed in the middle of the nail pushing plate 307, and the rear side edge of the notch is designed to be a slope surface for matching with the anastomosis baffle plate 304. The front side of the nail pushing plate 307 is designed to be concave, and two ends of the front side are designed to be of a stepped structure and used for matching with the tops of the anastomosis nails 311.
The anastomosis baffle plate 304 is positioned in a channel which is designed at the top of the anastomosis head shell 302 and runs through the top, the bottom and the front of the anastomosis head shell 302, and two sides of the anastomosis baffle plate are arranged at two sides of the anastomosis head shell 302 through the anastomosis baffle plate shaft 306 to form a revolute pair; the anastomosis baffle shaft 306 is sleeved with a torsion spring 305, one end of the torsion spring 305 is connected with the anastomosis head shell 302, and the other end is connected with the anastomosis baffle 304. The rear end of the anastomotic baffle 304 is designed with an inclined surface matching with the rear slope of the notch on the nail pushing plate 307, and when the torsion spring 305 is in a free state, the rear end of the anastomotic baffle 304 is located in the opening, and the rear slope of the notch is attached to the inclined surface of the rear end of the anastomotic baffle 304. The front end of staple retainer 304 is designed with a retainer for limiting the forward displacement of staples 311.
The movement of the staple pushing plate 307 is realized by the matching of the anastomosis transmission wire 303 and the anastomosis transmission wire reversing shaft 309. Wherein, two ends of the anastomosis transmission wire reversing shaft 309 are installed at two sides of the anastomosis head shell 302 to form a revolute pair. One end of the anastomosis transmission wire 303 is controlled by a driving mechanism C, and the driving mechanism C can be designed as a wire winding wheel driven by a motor to rotate. One end of the inosculating transmission wire 303 is wound on a wire winding wheel of the driving mechanism C, the other end of the inosculating transmission wire 303 is guided by a guide wheel and then penetrates into the guide rod 2 along the axial direction of the guide rod 2, penetrates out of a central opening of an attitude adjusting joint A101 arranged at the front end of the guide rod 2, then penetrates into the inosculating self-rotation seat 301 through a hollow shaft at the tail end of the inosculating self-rotation seat 301, further bypasses an inosculating transmission wire reversing shaft 309 through an opening on a nail pushing plate 307 slider from the lower part, and then is connected with the slider. Thus, the wire winding wheel is driven by the driving mechanism C to rotate and pull the anastomosis transmission wire 303, and forward force is applied to the nail pushing plate 307, so that the nail pushing plate 307 is pushed to move forwards.
During operation, the nail pushing plate 307 moves forward, the nail pushing plate 307 drives the rear end of the anastomosis baffle plate 304 to lift upwards in the process, and the front end of the anastomosis baffle plate descends; meanwhile, the staple 311 at the front end of the staple pushing plate 307 moves forwards; until staple baffles 304 contact staples 311, limiting further advancement of staples 311. At the moment, the nail pushing plate 307 continues to move forwards, and force is applied to two sides of the anastomosis nail 311 through the stepped structure at the two ends recessed in the front side of the nail pushing plate 307, so that nail feet at two sides of the anastomosis nail 311 deform; in the process, since the middle of the front side of the nail pushing plate 307 is designed with a recess, the front end of the fitting baffle 304 can enter the recess of the nail pushing plate 307 in the nail pushing process, and the nail pushing of the nail pushing plate 307 can not be affected.
In the wound anastomat capable of adjusting the posture remotely, the guide rod 2 can be installed on the shell, the installation positions of the driving mechanisms are reasonably arranged in the shell, the posture of the anastomosis module 3 can be adjusted by driving the driving wires, and the remote posture adjustment of the anastomosis module 3 can be realized by the length design of the guide rod 2.
The invention also designs that the guide rod 2 is connected with the shell through a guide rod self-rotating shaft bearing which is axially arranged along the guide rod 2 to form a rotating pair; meanwhile, the tail end of the guide rod 2 is provided with a wire winding groove. A driving mechanism D is further designed and arranged in the shell; the driving mechanism D adopts the same structure as the driving mechanism, and a guide rod autorotation transmission wire is wound on one wire winding wheel. The guide rod self-transmission wire can be wound on the wire winding groove at the tail end of the guide rod 2 in a direction vertical to the guide rod 2 after being guided by the guide wheel, and then returns to be wound on the other wire winding wheel. Therefore, the wire winding wheel is driven to rotate by the driving mechanism D, the guide rod can be driven to rotate along the axial direction of the guide rod by the guide rod autorotation transmission wire, and the rotation control of the inosculating module 3 around the axis of the guide rod 2 is further realized.
Claims (5)
1. The utility model provides a wound anastomat that can remote accent appearance which characterized in that: comprises a posture adjusting executing part, a guide rod and an inosculating module;
the posture adjusting joint A and the posture adjusting joint B are of U-shaped structures, and the tail end of the posture adjusting joint A is fixed at the front end of the guide rod; two ends of the posture adjusting joint B are respectively hinged with two sides of the posture adjusting joint A to form a revolute pair; the joint B is adjusted to realize the swing of the posture adjusting joint B along the articulated shaft of the posture adjusting joint A in a mode that the driving mechanism controls the traction of the driving wire;
the anastomosis module is arranged at the end part of the posture adjusting joint B through a revolute pair, and is controlled to rotate around the axis of the revolute pair in a mode that the driving mechanism controls the traction of the driving wire.
2. The wound stapler with remote adjustable posture of claim 1, wherein: the swing control mode of the posture adjusting joint B is designed as follows:
the same sides of the posture adjusting joint A and the posture adjusting joint B are respectively connected with each other through a deflection wheel shaft and a self-rotation guide wheel shaft;
the swing control is controlled by a deflection transmission wire wound on two wire winding wheels which are controlled to rotate by a driving mechanism; the deflection transmission wire is wound on one wire winding wheel by a section, penetrates into the guide rod along the axial direction of the guide rod, penetrates out of a wire outlet hole on the posture adjusting joint A, then is wound on a deflection balance wheel designed at the end part of a hinge shaft at one side of the posture adjusting joint A and the posture adjusting joint B, and then is wound on the other wire winding wheel along the original path; the two wire winding wheels are controlled by the driving mechanism to rotate to drive the deflection wheel to rotate, and further the posture adjusting joint B is driven to rotate around the axis of the deflection wheel shaft.
3. The wound stapler with remote adjustable posture of claim 1, wherein: the rotation control mode of the anastomosis module is as follows:
the bottom of the posture adjusting joint B is provided with a self-rotating wheel which is connected with the inosculating module; the rotation control is controlled by a self-rotation transmission wire wound on two wire winding wheels which are controlled to rotate by a driving mechanism; one end of the autorotation transmission wire is wound on one wire winding wheel, the other end of the autorotation transmission wire penetrates into the guide rod along the axial direction of the guide rod and penetrates out of a wire outlet hole on the posture adjusting joint A, passes through one side of the autorotation guide wheel designed at the end part of a hinge shaft at one side of the posture adjusting joint A and one side of the posture adjusting joint B, then is wound on the autorotation wheel, passes through the other side of the autorotation guide wheel and is arranged in a crossed manner with the autorotation transmission wire at the opposite side, and finally returns along the original path, is guided by the guide wheel and is wound on the other wire winding wheel; the two wire winding shafts are controlled by the driving mechanism to rotate to drive the self-rotating wheel to rotate, so that the anastomosis module is further driven to rotate around the axis of the self-rotating wheel.
4. The wound stapler with remote adjustable posture of claim 1, wherein: the guide rod is arranged on the shell through a bearing; meanwhile, a wire winding groove is designed at the tail end of the guide rod; the guide rod self-rotation transmission wire is wound on the wire winding groove, and the guide rod self-rotation transmission wire is also wound on a wire winding shaft controlled by the driving mechanism to rotate; the driving mechanism is used for controlling the wire winding shaft to rotate, and the guide rod can be driven by the guide rod autorotation transmission wire to rotate along the self axial direction, so that the rotation control of the anastomosis module around the axis of the guide rod is realized.
5. The wound stapler with remote adjustable posture of claim 1, wherein: the front end of the anastomosis module is provided with an installation position of the anastomosis nail; a spring supporting rod is arranged in the inner part along the axial direction of the guide rod and is connected with the sliding block at the bottom of the nail pushing plate in a sliding way; meanwhile, the spring supporting rod is also sleeved with a nail pushing plate spring and is positioned between the sliding block and the front end of the anastomosis module; a notch is arranged in the middle of the nail pushing plate, and the rear side edge of the notch is designed into a slope surface for matching with the anastomosis baffle plate; the front of the nail pushing plate is provided with a nail outlet; in order to realize nail pushing, the front side of the nail pushing plate is designed to be concave, and two ends of the front side are designed to be of a stepped structure and used for matching with the tops of the anastomosis nails;
the anastomosis baffle is provided with a revolute pair and limits the initial position through a torsion spring; the rear end of the anastomosis baffle is provided with an inclined plane matched with the slope surface at the rear side of the notch on the nail pushing plate, and when the torsion spring is in a free state, the rear end of the anastomosis baffle is positioned in the opening, and meanwhile, the slope surface is attached to the inclined plane; the front end of the anastomosis baffle is provided with a baffle for limiting the forward displacement of the anastomosis nail;
the movement of the nail pushing plate is realized by matching the anastomosis transmission wire with a reversing shaft of the anastomosis transmission wire; wherein, two ends of the reversing shaft of the anastomosis transmission wire are arranged at two sides of the anastomosis module to form a revolute pair; one end of the anastomosis transmission wire is subjected to traction control by a driving mechanism, one end of the anastomosis transmission wire is wound on a wire winding wheel driven by the driving mechanism to rotate, the other end of the anastomosis transmission wire penetrates into the guide rod, penetrates out of a central opening of an attitude adjusting joint A installed at the front end of the guide rod and enters the anastomosis die block, and is further connected with the slide block after bypassing a reversing shaft of the anastomosis transmission wire from the lower part through an opening on the nail pushing plate slide block; therefore, the driving mechanism drives the wire coiling wheel to rotate, draw, inosculate and deliver wires, forward force is applied to the nail pushing plate, and the nail pushing plate is pushed to move forwards; the nail pushing plate drives the rear end of the inosculation baffle to lift upwards and the front end to descend in the process of advancing the nail pushing plate; meanwhile, the front end of the nail pushing plate pushes the anastomotic nails to move forwards; until the anastomosis baffle is contacted with the anastomosis nail, the anastomosis nail is limited to move forwards continuously; at the moment, the nail pushing plate continues to move forwards, and force is applied to the two sides of the anastomosis nail through the stepped structure at the front side and the two ends of the nail pushing plate, so that the nail feet at the two sides of the anastomosis nail are deformed.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110699569.1A CN113425352B (en) | 2021-06-23 | 2021-06-23 | Wound anastomat capable of adjusting posture remotely |
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| CN202110699569.1A CN113425352B (en) | 2021-06-23 | 2021-06-23 | Wound anastomat capable of adjusting posture remotely |
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| CN113425352B CN113425352B (en) | 2022-06-07 |
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| CN1457747A (en) * | 2003-05-28 | 2003-11-26 | 天津大学 | Mechanical arm used in microsurgery operation robot |
| CN103251458A (en) * | 2013-05-09 | 2013-08-21 | 天津工业大学 | Wire transmission four-freedom-degree surgical instrument for minimally invasive surgery robot |
| CN103315789A (en) * | 2013-06-27 | 2013-09-25 | 常州市康迪医用吻合器有限公司 | Executing assembly of cutting anastomat applicable to minimally invasive surgery |
| CN205758641U (en) * | 2016-03-14 | 2016-12-07 | 常州智康机械有限公司 | A kind of tubular anastomat |
| WO2017063472A1 (en) * | 2015-10-15 | 2017-04-20 | 天津大学 | Minimally invasive surgery instrument having self-rotating terminal and instrument terminal thereof |
| CN108175452A (en) * | 2018-01-29 | 2018-06-19 | 吉林大学 | A kind of manual mode flexibility Minimally Invasive Surgery instrument with self-locking and quick-replaceable |
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2021
- 2021-06-23 CN CN202110699569.1A patent/CN113425352B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1457747A (en) * | 2003-05-28 | 2003-11-26 | 天津大学 | Mechanical arm used in microsurgery operation robot |
| CN103251458A (en) * | 2013-05-09 | 2013-08-21 | 天津工业大学 | Wire transmission four-freedom-degree surgical instrument for minimally invasive surgery robot |
| CN103315789A (en) * | 2013-06-27 | 2013-09-25 | 常州市康迪医用吻合器有限公司 | Executing assembly of cutting anastomat applicable to minimally invasive surgery |
| WO2017063472A1 (en) * | 2015-10-15 | 2017-04-20 | 天津大学 | Minimally invasive surgery instrument having self-rotating terminal and instrument terminal thereof |
| CN205758641U (en) * | 2016-03-14 | 2016-12-07 | 常州智康机械有限公司 | A kind of tubular anastomat |
| CN108175452A (en) * | 2018-01-29 | 2018-06-19 | 吉林大学 | A kind of manual mode flexibility Minimally Invasive Surgery instrument with self-locking and quick-replaceable |
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| CN113425352B (en) | 2022-06-07 |
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