CN114010327B - Surgical handle mechanism, surgical device and surgical robot - Google Patents
Surgical handle mechanism, surgical device and surgical robot Download PDFInfo
- Publication number
- CN114010327B CN114010327B CN202210000588.5A CN202210000588A CN114010327B CN 114010327 B CN114010327 B CN 114010327B CN 202210000588 A CN202210000588 A CN 202210000588A CN 114010327 B CN114010327 B CN 114010327B
- Authority
- CN
- China
- Prior art keywords
- base
- clamping
- finger
- surgical
- pressing plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
Abstract
The embodiment of the invention provides a surgical handle mechanism, a surgical device and a surgical robot, and relates to the technical field of medical equipment. The finger follow-up ring can be dismantled with the commutator through the connecting piece and be connected, can set up in aseptic cover list inboard earlier with brake valve lever, sets up the finger follow-up ring in aseptic cover list's outside through the mode of dismantling the connection again, because the finger follow-up ring is arranged aseptic cover list outward, and finger direct contact, the antiskid nature is good, has further reduced the possibility of brake valve lever slippage, has promoted the operation security.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to an operation handle mechanism, an operation device and an operation robot.
Background
In the field of abdominal cavity minimally invasive surgery, an operator can control a surgical instrument through an operating handle so as to realize multidirectional swinging and rotation of the surgical instrument and opening and closing actions of an executing piece positioned at the tail end of the surgical instrument.
The existing operating handle is generally a gun-type handle, an operator mainly depends on fingers and an operating handle holding part to hold the operating handle, due to the aseptic requirement of medical equipment, an aseptic cover sheet needs to be wrapped outside the operating handle, and the operator holds the operating handle with the aseptic cover sheet to operate.
When an operator uses the existing operating handle for operation, the sterile cover has a smooth single surface, so that the problem of slippage of the operating handle is easily caused during holding, misoperation is easily caused, and operation accidents can be seriously caused.
Disclosure of Invention
The embodiment of the invention provides a surgical handle mechanism, a surgical device and a surgical robot, which aim to solve the problem that when an operator uses the conventional operating handle for operation, the operating handle is easy to slip off when holding due to the fact that the single surface of a sterile cover is smooth.
In order to solve the above problems, the present invention is realized by:
in a first aspect, embodiments of the present invention provide a surgical handle mechanism including a control handle, an adjustable grip, and a finger assembly. The adjustable handle and the finger buckle component are respectively connected to the control handle, and the finger buckle component is used for controlling the rotation and/or opening and closing of the tail end executive part of the surgical instrument. The finger buckle assembly comprises a commutator and a finger follow-up ring, and the finger follow-up ring comprises a buckling part, a base and a connecting piece. The buckling part is connected to the base and forms a buckling space with the first bottom surface of the base. The connecting piece is connected to the second bottom surface of base, and the finger is followed the ring and is passed through the connecting piece and can dismantle with the commutator and be connected, and wherein, first bottom surface and second bottom surface are two faces that deviate from each other.
In a second aspect, the embodiment of the present invention further provides a surgical device, including the surgical handle mechanism described above.
In a third aspect, the embodiment of the present invention further provides a surgical robot, including the surgical device described above.
In the embodiment of the invention, the surgical handle mechanism comprises a control handle, an adjustable handle and a finger fastener assembly, wherein the adjustable handle and the finger fastener assembly are respectively connected to the control handle, the adjustable handle and the control handle can provide a holding space for an operator, the adjustable handle can be abutted against the jaw of the finger of the operator to form a support, the weight of the control handle is distributed to the jaw, and the holding burden of the finger is greatly reduced. The operator rotates or opens and closes the control handle and the finger buckle assembly to control the rotation and/or opening and closing of the end effector of the surgical instrument. The finger-joint component comprises a commutator and a finger follow-up ring, the finger follow-up ring comprises a buckling part, a base and a connecting piece, the buckling part can provide a buckling space for the fingers of an operator, the stability of the operator when holding the control handle is improved, and the slippage is prevented. The finger follow-up ring can be dismantled with the commutator through the connecting piece and be connected, can set up in aseptic cover list inboard earlier with brake valve lever, sets up the finger follow-up ring in aseptic cover list's outside through the mode of dismantling the connection again, because the finger follow-up ring is arranged aseptic cover list outward, and finger direct contact, the antiskid nature is good, has further reduced the possibility of brake valve lever slippage, has promoted the operation security.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
FIG. 1 is a schematic structural diagram of a surgical handle mechanism according to an embodiment of the present invention;
fig. 2 is a second structural schematic view of a surgical handle mechanism according to an embodiment of the present invention;
fig. 3 is a third schematic structural diagram of a surgical handle mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a finger follower ring according to an embodiment of the present invention;
FIG. 5 is a second schematic diagram of a finger follower ring according to an embodiment of the present invention;
FIG. 6 is a schematic cross-sectional view taken along a-a direction in FIG. 5 according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of another finger follower ring configuration in accordance with an embodiment of the present invention;
FIG. 8 is a second schematic diagram of another finger follower ring structure according to an embodiment of the present invention;
FIG. 9 is a fourth illustration of a surgical handle mechanism according to an embodiment of the present invention;
FIG. 10 is a schematic view of a surgical handle mechanism according to an embodiment of the present invention;
fig. 11 is a second schematic view illustrating an operation mode of a surgical handle mechanism according to an embodiment of the present invention.
Description of the reference numerals
26-a surgical handle mechanism; 261-an adjustable handle; 262-finger follower ring; 263-finger snap assembly; 265-control handle; 2631-a commutator; 2633-commutator body; 2634-a first platen; 2635-a second platen; 2621-a retaining portion; 2622-a base; 2623-connectors; 2624-a first snap-in portion; 2625-a second snap-in portion; 2626-snap tab; 2627-first slide; 2628-a second slide; 2641-third snap-fit; 2642-fourth snap-in part; 2643-third hemisphere configuration; 2644-fourth hemisphere configuration.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
Referring to fig. 1-11, an embodiment of the present invention provides a surgical handle mechanism 26, surgical handle mechanism 26 including a control handle 265, an adjustable grip 261, and a finger tab assembly 263; adjustable handle 261 and finger grip assembly 263 are each coupled to control handle 265. finger grip assembly 263 is used to control the rotation and/or opening and closing of the distal effector of the surgical instrument. Finger tab assembly 263 includes a diverter 2631 and a finger follower ring 262, finger follower ring 262 including a tab 2621, a base 2622 and a connector 2623. The latching portion 2621 is connected to the base 2622 and forms a latching space with a first bottom surface of the base 2622. The connector 2623 is connected to a second bottom surface of the base 2622, and the finger follower ring 262 is detachably connected to the commutator 2631 via the connector 2623, wherein the first bottom surface and the second bottom surface are two surfaces facing away from each other.
Specifically, surgical handle mechanism 26 includes a control handle 265, an adjustable grip 261, and a finger assembly 263, wherein an operator can control the bending, rotation, and opening and closing of an end effector of the surgical instrument via control handle 265 and finger assembly 263. Be provided with adjustable handle 261 on brake valve lever 265, adjustable handle 261 is certain angle with brake valve lever 265, forms the space of gripping with one side of brake valve lever 265, and the operator is when using brake valve lever 265, and the palm is laminated with brake valve lever 265, and the overlap joint has adjustable handle 261 on the tiger's mouth, and adjustable handle 261 need not to last the power of holding to brake valve lever 265 to share to the tiger's mouth with a part weight of brake valve lever 265, and the operator has reduced the burden of gripping of finger greatly.
The finger-buckle assembly 263 is connected to a side of the control handle 265 near the power main unit, the connection mode of the finger-buckle assembly 263 and the control handle 265 may be a bolt connection, a snap connection, or the like, the finger-buckle assembly 263 includes a commutator 2631 and a finger follower ring 262, and an operator can control the rotation and/or the opening and closing of the end effector of the surgical instrument by the rotation or the opening and closing of the commutator 2631.
The finger follow-up ring 262 includes a clasping portion 2621, a base 2622 and a connecting member 2623, the shape of the base 2622 can be rectangular, circular, oval, etc., the base 2622 includes a first bottom surface and a second bottom surface that deviate from each other, the clasping portion 2621 is connected to the first bottom surface of the base 2622, the clasping portion 2621 can be semicircular or polygonal, and forms a clasping space with the first bottom surface of the base 2622, and the clasping space can accommodate the fingers of the operator. In practical use, an operator can insert a finger into the fastening space of the finger follower ring 262 to conveniently control the commutator 2631 to perform corresponding rotation or opening and closing actions. Meanwhile, the finger follow-up ring 262 can be overlapped with the fingers of the operator, so that the holding burden of the fingers is reduced.
The second bottom surface of the finger follower ring 262 is provided with a connecting piece 2623, and is detachably connected to the commutator 2631 through the connecting piece 2623, and the specific detachable connection mode may be a snap connection, a pin connection, a threaded connection, or the like. The detachable connection mode is adopted, so that the finger follow-up ring 262 can be conveniently detached and installed. Due to the aseptic requirement of medical equipment, an aseptic cover sheet needs to be wrapped outside the control handle 265, an operator holds the control handle 265 with the aseptic cover sheet to operate, the surface of the aseptic cover sheet is smooth, and the operator is easy to slip when holding the aseptic cover sheet. For avoiding brake valve lever 265 slippage, when in actual use, can use aseptic cover list earlier to wrap up brake valve lever 265, then place finger follow-up ring 262 in aseptic cover list outside to be connected with brake valve lever 265 through the mode of joint, be favorable to avoiding aseptic cover list to wrap up and lead to the contact surface too smooth behind the whole brake valve lever 265, the pine that leads to, the maloperation problem.
In the embodiment of the present invention, the surgical handle mechanism 26 includes a control handle 265, an adjustable handle 261 and a finger-clasping component 263, the adjustable handle 261 and the finger-clasping component 263 are respectively connected to the control handle 265, the adjustable handle 261 and the control handle 265 can provide a holding space for an operator, the adjustable handle 261 can abut against the jaw of the finger of the operator to form a support, the weight of the control handle 265 is distributed to the jaw, and the holding burden of the finger is greatly reduced. The operator performs a pivoting or opening and closing motion on control handle 265 and finger grip assembly 263 to control the rotation and/or opening and closing of the distal effector of the surgical instrument. The finger-snap assembly 263 includes a commutator 2631 and a finger-following ring 262, the finger-following ring 262 includes a snap-holding portion 2621, a base 2622 and a connector 2623, the snap-holding portion 2621 can provide a snap-holding space for the fingers of the operator, so as to improve the stability of the operator holding the control handle 265 and prevent slipping. The finger follow-up ring 262 passes through the connecting piece 2623 and can dismantle with the commutator 2631 and be connected, can set up in aseptic cover list's inboard earlier with control handle 265, sets up finger follow-up ring 262 in aseptic cover list's outside through the mode of dismantling the connection again, because finger follow-up ring 262 is external to be arranged in aseptic cover list, and finger direct contact, the antiskid nature is good, has further reduced the possibility of control handle 265 slippage, has promoted the operation security.
Alternatively, as shown with reference to fig. 1 to 3, the commutator 2631 includes a commutator body 2633, a first pressing plate 2634, and a second pressing plate 2635. The diverter body 2633 is connected to the control handle 265, and the diverter body 2633 itself rotates about an axis relative to the control handle 265 to control the rotation of the end effector of the surgical instrument. The first pressing plate 2634 and the second pressing plate 2635 are disposed opposite to each other and respectively connected to two sides of the main body 2633, and the first pressing plate 2634 and the second pressing plate 2635 are opened and closed relatively to control opening and closing of the end effector of the surgical instrument.
Specifically, the specific structure for controlling the rotation and/or opening and closing of the end effector of the surgical instrument through the commutator 2631 includes: a main body 2633, a first pressing plate 2634 and a second pressing plate 2635, wherein the main body 2633 is connected to one side of the control handle 265 close to the power main, and the main body 2633 rotates around the axis thereof relative to the control handle 265 to control the rotation of the end effector of the surgical instrument. The first pressing plate 2634 and the second pressing plate 2635 are disposed oppositely, the first pressing plate 2634 and the second pressing plate 2635 are connected to the commutator 2631 and located at two sides of the commutator 2631, and the first pressing plate 2634, the second pressing plate 2635 and the commutator main body 2633 are provided with displacement sensors, so that relative movement of the first pressing plate 2634, the second pressing plate 2635 and the commutator main body 2633 can be obtained, and position change information is transmitted to the power main machine, so that an operator can control rotation of the commutator main body 2633 and relative opening and closing of the first pressing plate 2634 and the second pressing plate 2635 to control rotation or opening and closing of the end effector of the surgical instrument.
Alternatively, referring to fig. 1 to 3, the finger follower ring 262 is connected to the first pressing plate 2634 and/or the second pressing plate 2635, and the finger follower ring 262 rotates around its axis relative to the first pressing plate 2634 or the second pressing plate 2635.
Specifically, the number of the finger-follower rings 262 may be one or two, and when there is only one finger-follower ring 262, the finger-follower ring 262 may be disposed on the first pressing plate 2634 or the second pressing plate 2635. When the number of the finger follower rings 262 is two, the finger follower rings 262 may be simultaneously provided on the first and second pressing plates 2634 and 2635. The finger follower ring 262 can be attached to the first and second pressure plates 2634 and 2635 by snap-fit, pin-fit, or threaded connections.
The finger follower ring 262 is connected to the first pressing plate 2634 or the second pressing plate 2635 via a connector 2623, an axis of the finger follower ring 262 is sequentially divided into the holding portion 2621, the base 2622 and the connector 2623, and the finger follower ring 262 rotates around its axis relative to the first pressing plate 2634 or the second pressing plate 2635. When the fingers of the operator penetrate into the latching space of the finger follower ring 262 and rotate or open and close the first pressing plate 2634 or the second pressing plate 2635 and the commutator body 2633, the finger follower ring 262 can match the gesture of the fingers in real time through rotation, so that the fingers are not obstructed in the operation process, the fingers of the operator are in a comfortable operation position at any time, the fatigue degree of the fingers is reduced, and the operation precision of the control handle 265 is further improved.
Alternatively, referring to FIG. 9, the first and second pressing plates 2634 and 2635 are provided with mounting holes, and the finger follower ring 262 is snap-fitted to the first and second pressing plates 2634 and 2635 via a connector 2623.
Specifically, the finger follower ring 262 is provided with a connector 2623, the first pressing plate 2634 or the second pressing plate 2635 is provided with a mounting hole for engaging with the connector 2623, and the finger follower ring 262 is connected to the first pressing plate 2634 or the second pressing plate 2635 via the connector 2623. The connector 2623 may be a snap joint, a hook, and the like, and the size of the mounting hole matches with the size of the connector 2623. Adopt the mode of joint, the dismantlement installation of the finger follow-up ring 262 of being convenient for to, when the parcel has aseptic cover list on control handle 265, the finger follow-up ring 262 joint is in aseptic cover list outside, can not puncture aseptic cover list yet, avoids causing the influence to the operation process.
Alternatively, as shown in fig. 4 to 6, the connector 2623 includes a first clamping portion 2624, a second clamping portion 2625 and a resilient clip. First joint portion 2624 and the relative formation draw-in groove that sets up of second joint portion 2625, elasticity card along first direction slidable inlay locate in the draw-in groove. When the elastic card slides in the slot along the first direction, the size of the slot along the first direction is gradually increased, wherein the first direction is a direction perpendicular to the second bottom surface and extending from being close to the base 2622 to being far away from the base 2622.
Specifically, connecting piece 2623 includes first joint portion 2624, second joint portion 2625 and elasticity card, first joint portion 2624 and second joint portion 2625 all set up in the second bottom surface of base 2622, first joint portion 2624 and second joint portion 2625 set up relatively and form the draw-in groove, the draw-in groove has been seted up near one side of base 2622, the size of elasticity card is not more than the draw-in groove, the elasticity card is inserted by the notch department of draw-in groove, and slide in the draw-in groove along first direction, first direction is perpendicular to second bottom surface and by being close to base 2622 to the direction of keeping away from base 2622 extension, the manual mode drive elasticity card of operator accessible slides in the draw-in groove, also can set up actuating mechanism, it slides in the draw-in groove to drive the elasticity card through actuating mechanism.
When the elasticity card was in the initial position, the elasticity card was not inlayed completely in locating the draw-in groove, and at this moment, first joint portion 2624 and the partial laminating of second joint portion 2625, the draw-in groove is the toper, and the size is less, and the size that base 2622 one end was kept away from to corresponding connecting piece 2623 is also less, can imbed in the mounting hole smoothly. After connecting piece 2623 imbeds the mounting hole, drive elasticity card and slide in the draw-in groove along first direction, relative separation under the supporting role of elasticity card of first joint portion 2624 and second joint portion 2625, the draw-in groove size expansion, the size that base 2622 one end was kept away from to corresponding connecting piece 2623 also expands, mounting hole and connecting piece 2623 chucking, it is fixed that the joint is realized with first clamp plate 2634 or second clamp plate 2635 to point follow-up ring 262.
Similarly, when the finger follower ring 262 is detached, the elastic clip can be pulled out in the opposite direction of the first direction, the first clip portion 2624 and the second clip portion 2625 lose the supporting function of the elastic clip, and approach relatively, the size of the clip groove is reduced, the size of the end of the corresponding connecting member 2623 away from the base 2622 is also reduced, and the finger follower ring 262 can be smoothly taken out from the mounting hole.
Optionally, as shown in fig. 4 to 6, a first boss is disposed at an end of the first clamping portion 2624 away from the base 2622, a second boss is disposed at an end of the second clamping portion 2625 away from the base 2622, and the first boss and the second boss are disposed oppositely to form a clamping space. The end of the elastic clamping piece is provided with a limiting part. When the spacing portion passes through the clamping space, the first boss and the second boss are clamped with the spacing portion.
Specifically, first joint portion 2624 and second joint portion 2625 set up relatively, are provided with first boss and second boss respectively on relative face, and first boss and second boss set up respectively in the one end that base 2622 was kept away from to first joint portion 2624 and second joint portion 2625. The cross-sectional shape of first boss and second boss along first direction can be for semicircle pillar-shaped, triangular prism shape etc. and first boss and second boss set up relatively and form the centre gripping space, and the tip of elasticity card is provided with spacing portion, and the size in centre gripping space will be less than the size of spacing portion, and the shape of spacing portion along first direction cross-section can be for circular, polygon etc..
When the elasticity card slides in the draw-in groove along first direction, through exerting certain thrust, spacing portion can pass the centre gripping space that first boss and second boss formed, first boss and second boss promptly with spacing portion joint, realize the joint fixed to the elasticity card, avoid appearing the elasticity card by slippage in the draw-in groove, lead to pointing the problem that follow-up ring 262 drops. When the finger follow-up ring 262 is disassembled, a pulling force can be applied to pull the limiting part out of the clamping space, and the elastic card can smoothly slide out of the clamping groove.
Alternatively, as shown in fig. 4 to 6, guide surfaces are provided on both sides of the first boss or the second boss in the first direction. The guide surface is a cambered surface.
Specifically, along first direction, the both sides of first boss or second boss all are provided with the spigot surface, and the spigot surface is the cambered surface, and when the centre gripping space that first boss and second boss formed was passed in spacing portion, the arc spigot surface can play the guide effect, avoids appearing the lock phenomenon of dying between spacing portion and first boss or the second boss, leads to the unable normal installation of elasticity card or takes out. Simultaneously, the effect of stress between spacing portion and first boss or the second boss can also be reduced to the arc spigot surface, promotes and uses durability.
Optionally, as shown in fig. 4 to 6, the first bottom surface of the base 2622 is provided with a first sliding groove, the elastic clip includes a clip 2626 and a first sliding piece 2627, and the clip 2626 is elastically connected with the first sliding piece 2627. The first sliding plate 2627 is slidably connected to the base 2622 through a first sliding groove. When first slider 2627 slides along first spout from keeping away from base 2622 to being close to the direction of base 2622, card piece 2626 slides in the draw-in groove along first direction.
Specifically, the elastic clamping piece includes clamping piece 2626 and first slider 2627, clamping piece 2626 and first slider 2627 elastic connection, and first slider 2627's shape can be for circular, oval or rectangle, and clamping piece 2626 adopts the elastic material, for example polyvinyl chloride material or metal material, and clamping piece 2626 elastic connection specifically can adopt bonding or welded mode on first slider 2627. The first bottom surface of base 2622 is provided with first spout, and first spout and first slide 2627's shape phase-match, first slide 2627 pass through first spout and base 2622 sliding connection.
Alternatively, as shown in fig. 4 to 6, a pressing area is provided on a side of the first sliding piece 2627 close to the clasping portion 2621.
Specifically, first slide 2627 is through first spout and base 2622 sliding connection, and then drives draw-in piece 2626 and slide in the draw-in groove along first direction, is provided with the region of pressing on the surface of first slide 2627 near the one side of detaining holding section 2621, presses the structure that the region can be after recess, boss or the rough treatment, and the operator of being convenient for uses the finger to push away and to first slide 2627, avoids skidding.
Optionally, as shown in fig. 4 to 6, a second sliding groove and a second sliding plate 2628 are disposed on a second bottom surface of the base 2622. The second catching portion 2625 is connected to a second slider 2628. When the second sliding piece 2628 slides along the second sliding groove from a position away from the base 2622 to a position close to the base 2622, the second clamping portion 2625 and the first clamping portion 2624 are butted to form a clamping groove.
Specifically, the first clamping portion 2624, the second clamping portion 2625 and the base 2622 can be manufactured in an integrated structure, or manufactured in a split manner and then assembled. The mode of adopting the equipment, the second bottom surface of base 2622 is provided with second spout and second slide 2628, and the shape phase-match of second spout and second slide 2628, second slide 2628 pass through second spout and base 2622 sliding connection. The second sliding piece 2628 is provided with a second clamping portion 2625, and the second clamping portion 2625 and the second sliding piece 2628 can be fixed by bonding, welding or the like, and can also be manufactured by adopting an integrated mold opening mode. When the second sliding piece 2628 slides along the second sliding groove from a position away from the base 2622 to a position close to the base 2622, the second clamping portion 2625 is driven to move simultaneously, and is in butt joint with the first clamping portion 2624 to form a clamping groove.
First joint portion 2624, second joint portion 2625 and base 2622 adopt split type structure, during the assembly, can place the preset position on the base 2622 with first slide 2627 and joint piece 2626 earlier, then detain second slide 2628 and second joint portion 2625 on the base 2622, carry out the centre gripping to the elasticity card, the assembly of the elasticity card of being convenient for.
Optionally, as shown in fig. 4 to 6, an end of the first clamping portion 2624 away from the base 2622 is provided with a first hemispherical structure. One end of the second clamping portion 2625, which is far away from the base 2622, is provided with a second hemispherical structure. The first hemispherical structure and the second hemispherical structure are arranged oppositely on one side of the plane.
Specifically, the end of first joint 2624 that keeps away from base 2622 is provided with first hemisphere structure, and the end of second joint 2625 that keeps away from base 2622 is provided with the second hemisphere structure, and the plane one side of first hemisphere structure and second hemisphere structure sets up relatively. When the sterile cover sheet is wrapped on the control handle 265 and the mounting hole, and the first hemispherical structure and the second hemispherical structure are clamped through the mounting hole, the first hemispherical structure and the second hemispherical structure are butted to form a complete ball head structure, the surface of the ball head structure is smooth, the sterile cover sheet cannot be punctured, and the operation process is prevented from being affected.
Alternatively, as shown in fig. 7 to 8, the connector 2623 includes a third catching portion 2641 and a fourth catching portion 2642. The third and fourth clamping portions 2641 and 2642 are spaced apart from each other. The third engaging portion 2641 extends from the second bottom surface of the base 2622 to a direction away from the base 2622, and forms a third hemispherical structure 2643 at an end portion. The fourth clamping portion 2642 extends from the second bottom surface of the base 2622 to a direction away from the base 2622, and forms a fourth hemispherical structure 2644 at an end portion. When the third catching portion 2641 and the fourth catching portion 2642 are relatively close to each other, the size of the connector 2623 is narrowed along the extending direction of the third catching portion 2641 or the fourth catching portion 2642. When the finger follower ring 262 is inserted into the mounting hole, the third and fourth hemispherical structures 2643 and 2644 engage with the mounting hole.
Specifically, another structure of the finger follower ring 262 is provided in the embodiments of the present invention, the finger follower ring 262 includes a connector 2623, the connector 2623 includes a third catching portion 2641 and a fourth catching portion 2642, the third catching portion 2641 and the fourth catching portion 2642 are oppositely disposed at intervals, the third catching portion 2641 extends from the second bottom surface of the base 2622 in a direction away from the base 2622 and forms a third hemispherical structure 2643 at an end portion, and the fourth catching portion 2642 extends from the second bottom surface of the base 2622 in a direction away from the base 2622 and forms a fourth hemispherical structure 2644 at an end portion. Third joint portion 2641 and fourth joint portion 2642 can adopt the integral type structure with base 2622, and third joint portion 2641 and fourth joint portion 2642 adopt elastic material, possess certain flexible volume.
When installing above-mentioned finger follow-up ring 262, can place third joint portion 2641, fourth joint portion 2642 in mounting hole department, and exert certain thrust, under the extrusion of mounting hole, third joint portion 2641 and fourth joint portion 2642 are close to relatively, along the extending direction of third joint portion 2641 or fourth joint portion 2642, the size of connecting piece 2623 is narrowed, thereby the third hemisphere structure 2643 and the fourth hemisphere structure 2644 of connecting piece 2623 tip can pass the mounting hole smoothly. After the third hemispherical structure 2643 and the fourth hemispherical structure 2644 smoothly pass through the mounting hole, the third engaging portion 2641 and the fourth engaging portion 2642 generate a restoring force due to the elastic action of themselves, and the size of the connecting member 2623 is expanded, so that the third hemispherical structure 2643 and the fourth hemispherical structure 2644 are clamped with the mounting hole, and the engagement between the finger follower ring 262 and the control handle 265 is realized. The finger follower ring 262 is detached, pulling force is applied along the opposite direction, and under the extrusion action of the mounting hole, the third clamping portion 2641 and the fourth clamping portion 2642 are relatively close to each other, and along the extending direction of the third clamping portion 2641 or the fourth clamping portion 2642, the size of the connecting piece 2623 is narrowed, so that the third hemispherical structure 2643 and the fourth hemispherical structure 2644 at the end part of the connecting piece 2623 can be smoothly penetrated out from the mounting hole. The finger follow-up ring 262 with the structure has the advantages of simple structure, convenience in use and greatly reduced production cost.
The embodiment of the invention also provides a surgical device which comprises the surgical handle mechanism 26.
Specifically, adopt above-mentioned surgical handle mechanism 26, surgical handle mechanism 26 includes control handle 265, adjustable handle 261 and finger joint subassembly 263, and adjustable handle 261 and finger joint subassembly 263 connect respectively in control handle 265, and adjustable handle 261 and control handle 265 can provide the space of gripping for the operator, and adjustable handle 261 can form the support with operator's finger web of a thumb butt, with the weight share of control handle 265 to the web of a thumb, has reduced the burden of gripping of finger greatly. The operator performs a pivoting or opening and closing motion on control handle 265 and finger grip assembly 263 to control the rotation and/or opening and closing of the distal effector of the surgical instrument. The finger-snap assembly 263 includes a commutator 2631 and a finger-following ring 262, the finger-following ring 262 includes a snap-holding portion 2621, a base 2622 and a connector 2623, the snap-holding portion 2621 can provide a snap-holding space for the fingers of the operator, so as to improve the stability of the operator holding the control handle 265 and prevent slipping. The finger follow-up ring 262 passes through the connecting piece 2623 and can dismantle with the commutator 2631 and be connected, can set up in aseptic cover list's inboard earlier with control handle 265, sets up finger follow-up ring 262 in aseptic cover list's outside through the mode of dismantling the connection again, because finger follow-up ring 262 is external to be arranged in aseptic cover list, and finger direct contact, the antiskid nature is good, has further reduced the possibility of control handle 265 slippage, has promoted the operation security.
Optionally, the surgical device further comprises a power main unit and a surgical instrument. The surgical handle mechanism 26 is coupled to a first end of the power main unit and the surgical instrument is coupled to a second end of the power main unit, wherein the first and second ends are opposite ends of the power main unit.
Specifically, the surgical handle mechanism 26 is fixed at a first end of the power main unit by means of clamping or bolting, the surgical instrument is connected at a second end of the power main unit, the surgical handle mechanism 26 drives the corresponding position sensor and the corresponding magnet to move relatively through rotation of the control handle 265, rotation of the commutator 2631 and relative opening and closing of the first pressing plate 2634 and the second pressing plate 2635, a position change signal is generated and transmitted to the power main unit through a communication cable, and the driving mechanism of the power main unit controls the end effector of the surgical instrument to perform corresponding operations. The finger follower ring 262 is connected to the first pressing plate 2634 and/or the second pressing plate 2635, and the clasping portion 2621 of the finger follower ring 262 can provide clasping space for the fingers of the operator, thereby improving the stability of the operator when gripping the control handle 265 and preventing slipping. The finger follow-up ring 262 is detachably connected with the first pressing plate 2634 and/or the second pressing plate 2635 through the connecting piece 2623, the control handle 265 can be arranged at the inner side of the sterile cover sheet firstly, and then the finger follow-up ring 262 is arranged at the outer side of the sterile cover sheet in a detachable connection mode.
An embodiment of the present invention further provides a surgical robot, including: supporting seat, support arm component and foretell surgical device. The support arm assembly is connected between the power main unit and the support base and is used for supporting the power main unit in a three-dimensional space.
Specifically, the surgical robot has a support base that supports and suspends a surgical device in three-dimensional space, the surgical device being connected between a power main unit and the support base by a support arm assembly. For example, the surgical device may be supported by a support arm assembly comprising upper and lower support arms and a floating rod assembly. When the operator holds the operation handle mechanism 26 for operation, the support arm assembly can be freely placed in a three-dimensional space, and the fatigue of the operator is eliminated. Moreover, the supporting seat can also provide a running mechanism such as a roller, so that the surgical robot can be conveniently carried and moved.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (12)
1. A surgical handle mechanism, comprising a control handle, an adjustable grip, and a finger assembly;
the adjustable handle and the finger buckle component are respectively connected to the control handle, and the finger buckle component is used for controlling the rotation and/or opening and closing of the tail end executive part of the surgical instrument;
the finger buckle assembly comprises a commutator and a finger follow-up ring, and the finger follow-up ring comprises a buckling part, a base and a connecting piece;
the buckling part is connected to the base and forms a buckling space with the first bottom surface of the base;
the connecting piece is connected to the second bottom surface of the base, the finger follow-up ring is detachably connected with the commutator through the connecting piece, and the first bottom surface and the second bottom surface are two surfaces deviating from each other;
the commutator comprises a commutator body, a first pressing plate and a second pressing plate;
the commutator body is connected with the control handle, and the commutator body rotates around the axis relative to the control handle so as to control the rotation of a tail end executive part of a surgical instrument;
the first pressing plate and the second pressing plate are oppositely arranged and are respectively connected to two sides of the commutator main body, and the first pressing plate and the second pressing plate are oppositely opened and closed so as to control the opening and closing of the tail end executive part of the surgical instrument;
the first pressing plate or the second pressing plate is provided with a mounting hole, and the finger follow-up ring is clamped with the first pressing plate or the second pressing plate through the connecting piece;
the connecting piece comprises a first clamping part, a second clamping part and an elastic clamping piece;
the first clamping portion and the second clamping portion are oppositely arranged to form a clamping groove, and the elastic card is slidably embedded in the clamping groove along a first direction;
when the elastic card slides in the clamping groove along the first direction, the size of the clamping groove along the first direction is gradually increased, wherein the first direction is perpendicular to the second bottom surface and is in a direction from being close to the base to being far away from the base in an extending manner.
2. A surgical handle mechanism according to claim 1 wherein the finger follower ring is connected to the first and/or second footplate, the finger follower being rotatable about its own axis relative to the first or second footplate.
3. The surgical handle mechanism according to claim 1, wherein a first boss is disposed at an end of the first clamping portion away from the base, a second boss is disposed at an end of the second clamping portion away from the base, and the first boss and the second boss are oppositely disposed to form a clamping space;
the end part of the elastic clamping piece is provided with a limiting part;
when the limiting part penetrates through the clamping space, the first boss and the second boss are clamped with the limiting part.
4. A surgical handle mechanism according to claim 3 wherein, in the first direction, guide surfaces are provided on either side of the first boss or the second boss;
the guide surface is an arc surface.
5. The surgical handle mechanism according to claim 1, wherein the first bottom surface of the base is provided with a first sliding groove, and the elastic clip comprises a clip piece and a first sliding piece, and the clip piece is elastically connected with the first sliding piece;
the first sliding sheet is in sliding connection with the base through the first sliding groove;
when the first sliding sheet slides along the first sliding groove from a direction far away from the base to a direction close to the base, the clamping sheet slides in the clamping groove along the first direction.
6. The surgical handle mechanism according to claim 5, wherein a side of the first slider adjacent to the clasping portion is provided with a pressing area.
7. The surgical handle mechanism according to claim 1, wherein the second bottom surface of the base is provided with a second sliding groove and a second sliding piece;
the second clamping part is connected with the second sliding sheet;
when the second sliding sheet slides along the second sliding groove from a position far away from the base to a position close to the base, the second clamping portion is in butt joint with the first clamping portion to form the clamping groove.
8. The surgical handle mechanism according to claim 1, wherein a first hemispherical structure is arranged at an end of the first clamping portion away from the base;
a second hemispherical structure is arranged at one end, far away from the base, of the second clamping part;
the first hemispherical structure and the second hemispherical structure are arranged oppositely on one side of the plane.
9. The surgical handle mechanism according to claim 1, wherein the connector comprises a third snap-fit portion, a fourth snap-fit portion;
the third clamping part and the fourth clamping part are arranged at intervals relatively;
the third clamping part extends from the second bottom surface of the base to the direction far away from the base, and a third hemispherical structure is formed at the end part of the third clamping part;
the fourth clamping part extends from the second bottom surface of the base to the direction far away from the base, and a fourth hemispherical structure is formed at the end part of the fourth clamping part;
when the third clamping part and the fourth clamping part are relatively close to each other, the size of the connecting piece is narrowed along the extending direction of the third clamping part or the fourth clamping part;
when the finger follow-up ring is embedded in the mounting hole, the third hemispherical structure and the fourth hemispherical structure are clamped with the mounting hole.
10. A surgical device comprising a surgical handle mechanism according to any one of claims 1 to 9.
11. The surgical device of claim 10, further comprising a power master and a surgical instrument;
the operation handle mechanism is connected with the first end of the power main machine, the operation instrument is connected with the second end of the power main machine, wherein the first end and the second end are two opposite ends of the power main machine.
12. A surgical robot, characterized in that the surgical robot comprises: a support base, a support arm assembly, and the surgical device of claim 11;
the support arm assembly is connected between the power main machine and the support seat and used for supporting the power main machine in a three-dimensional space.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210000588.5A CN114010327B (en) | 2022-01-04 | 2022-01-04 | Surgical handle mechanism, surgical device and surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210000588.5A CN114010327B (en) | 2022-01-04 | 2022-01-04 | Surgical handle mechanism, surgical device and surgical robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114010327A CN114010327A (en) | 2022-02-08 |
| CN114010327B true CN114010327B (en) | 2022-04-12 |
Family
ID=80069542
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210000588.5A Active CN114010327B (en) | 2022-01-04 | 2022-01-04 | Surgical handle mechanism, surgical device and surgical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114010327B (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN215079019U (en) * | 2020-12-30 | 2021-12-10 | 深圳迈瑞生物医疗电子股份有限公司 | Surgical instrument and quick-release structure |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019099504A1 (en) * | 2017-11-15 | 2019-05-23 | Intuitive Surgical Operations, Inc. | Master control device with multi-finger grip and methods therefor |
| CN107928795B (en) * | 2017-12-25 | 2023-03-24 | 哈尔滨思哲睿智能医疗设备股份有限公司 | Main hand control clamp for medical operation robot |
| WO2020041513A1 (en) * | 2018-08-22 | 2020-02-27 | Intuitive Surgical Operations, Inc. | Control switch position sensing across a rotational joint |
| CN109171987A (en) * | 2018-09-30 | 2019-01-11 | 泗洪县正心医疗技术有限公司 | A kind of double gimbal suspension control devices of operating robot |
| CN209474723U (en) * | 2018-11-30 | 2019-10-11 | 李成利 | Bone drill is used in a kind of magnetic resonance operation |
| CN210301212U (en) * | 2019-02-21 | 2020-04-14 | 深圳市精锋医疗科技有限公司 | Handle and main operating platform |
| CN211534786U (en) * | 2019-12-31 | 2020-09-22 | 北京术锐技术有限公司 | Operating handle |
| CN214979776U (en) * | 2021-07-02 | 2021-12-03 | 常州市天和电动工具有限公司 | Adjustable holding type self-dust-suction sand polishing machine |
| CN113413217A (en) * | 2021-07-23 | 2021-09-21 | 常州唯精医疗机器人有限公司 | Power-assisted type master hand opening and closing clamp and minimally invasive surgery robot with same |
-
2022
- 2022-01-04 CN CN202210000588.5A patent/CN114010327B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN215079019U (en) * | 2020-12-30 | 2021-12-10 | 深圳迈瑞生物医疗电子股份有限公司 | Surgical instrument and quick-release structure |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114010327A (en) | 2022-02-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9603614B2 (en) | Medical gripping device | |
| JP5148335B2 (en) | Operating jig | |
| JP6069207B2 (en) | Surgical clamping device and instrument for use therewith | |
| EP2943133A1 (en) | Low profile medical device and related methods of use | |
| JP2014159071A (en) | Medical manipulator | |
| JP2009201607A (en) | Manipulator | |
| US20120253318A1 (en) | Device for the medical treatment | |
| CN114010327B (en) | Surgical handle mechanism, surgical device and surgical robot | |
| CN103845135A (en) | Aid grabbing tool with hand operated gripper that can be pushed aside | |
| US5919161A (en) | Guidewire migration controller | |
| CN103845136A (en) | Aid grabbing tool with force activated gripping function | |
| JP3780008B2 (en) | Surgical instruments | |
| CN102670280B (en) | There is the operating theater instruments of the operating characteristics of improvement | |
| CN114052925A (en) | Handle mechanism, split type operation device and operation robot | |
| CN216455279U (en) | Sleeve pipe adapter and surgical robot | |
| CN216495630U (en) | Sleeve pipe adapter and surgical robot | |
| CN113243950B (en) | Five-axis minimally invasive instrument integrated system | |
| WO2002085222A1 (en) | Paired surgical forceps | |
| US20230293200A1 (en) | Attachment assembly, control handle, series motion mechanism, and minimally invasive surgical instrument | |
| CN113456237A (en) | Sleeve pipe adapter and surgical robot | |
| JP2005237397A (en) | Surgical treatment implement | |
| JP2004528147A5 (en) | ||
| CN220158344U (en) | Clamp head assembly and double-arm clamp applying same | |
| CN211633431U (en) | Stabilizing structure of head swinging device for anastomat | |
| CN215384300U (en) | Universal closer for cavity mirror |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |