CN114224476B

CN114224476B - Electrosurgical instrument wire fixing device, surgical instrument and minimally invasive surgical robot

Info

Publication number: CN114224476B
Application number: CN202111554981.0A
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Changzhou Weijing Medical Robot Co ltd
Current assignee: Changzhou Weijing Medical Robot Co ltd
Priority date: 2021-12-17
Filing date: 2021-12-17
Publication date: 2023-08-29
Anticipated expiration: 2041-12-17
Also published as: CN114224476A

Abstract

Electrosurgical instrument wire fixing device, surgical instrument and minimally invasive surgery robot, it relates to a wire fixing device. The invention solves the problems of complex process steps and high requirement of the conventional electrocoagulation hook fixing structure, and also needs to prevent the damage to the wire insulation layer, thereby improving the production cost; and the problems of high assembly difficulty and doubtful connection reliability. According to the invention, the lower part of the electrode hook (3) is hollow to form a guide hole (6), a first fixing pin hole (7) penetrating through the electrode hook (3) is arranged above the wire hole (6) along the radial direction of the electrode hook (3), a wire (4) enters the mounting hole (1-4) on the wire hole around the electrode seat (1), and is inserted into the guide hole (6) at the lower part of the electrode hook (3) in an extending way to be pressed and connected, a fixing pin (5) penetrates through the first fixing pin hole (7) and a second fixing pin hole (1-5) on the electrode seat (1), and the electrode sleeve (2) is sleeved on the outer side wall of the joint of the electrode seat (1) and the electrode hook (3). The invention is used for minimally invasive surgery.

Description

Electrosurgical instrument wire fixing device, surgical instrument and minimally invasive surgical robot

Technical Field

The invention relates to an electrosurgical instrument lead fixing device, a surgical instrument and a minimally invasive surgical robot, and belongs to the technical field of medical instruments.

Background

Minimally invasive surgery refers to a surgical mode for performing surgery in a human cavity by using modern medical instruments such as laparoscopes, thoracoscopes and related devices. Compared with the traditional operation mode, the minimally invasive operation has the advantages of small wound, light pain, quick recovery and the like. However, the minimally invasive instrument in the minimally invasive surgery is limited by the size of the incision, so that the operation difficulty is greatly increased, and actions such as fatigue, tremble and the like of a doctor in the long-time operation process can be amplified, which becomes a key factor for restricting the development of the minimally invasive surgery technology. With the development of robot technology, a new minimally invasive medical field technology, namely minimally invasive surgery robot technology, capable of overcoming the defects and inheriting the advantages, has been developed.

In robotic-assisted minimally invasive surgical procedures, a dedicated channel is typically created through a cannula into which a surgeon accesses by means of an elongated minimally invasive surgical instrument to perform surgical tasks within the abdominal cavity of the human body. Among minimally invasive surgical instruments, an electrosurgical instrument, such as an electrocoagulation hook, is an essential and frequently used type of surgical instrument. The need for an electrocoagulation hook to have a wire to provide electrical energy to it, how to effectively secure the wire has been a problem of constant research in the industry.

In chinese patent application publication No. CN112043394a, there is disclosed a most common structure of an electrocoagulation hook for a minimally invasive surgical robot, which is the first to be found in da vinci surgical robots of intuitive surgical operation company, in which an electric hook is fixed on an executing part, and electric energy required for electrocoagulation is supplied to the electric hook through a cable connected thereto, "a distal end of the cable is received in a third insulating member and extends into the first insulating member to be connected to a proximal end of the electric hook". But this patent application does not describe how the cable is connected to the proximal end of the electrical hook. The da vinci operation robot has the connection mode that after the lead (cable) is connected with the electric hook, the electrode seat (the first insulating piece) is integrally injection molded on the lead (cable), so that the lead and the electrode seat as well as the electric hook and the electrode seat are fixed, and the reliability meets the requirement.

Therefore, the existing electrocoagulation hook fixing structure has the following technical defects:

1. the injection molding method of the electric coagulation hook fixing structure has complex process steps and high requirements, and the damage to the wire insulation layer is prevented, so that the production cost is increased;

2. if the electric coagulation hook fixing structure mode is adopted, the assembly difficulty is high and the connection reliability is doubtful.

Disclosure of Invention

The invention aims to solve the problems in the prior art and further provides an electrosurgical instrument wire fixing device, a surgical instrument and a minimally invasive surgical robot.

The technical scheme of the invention is as follows:

the utility model provides an electrosurgical instrument wire fixing device, includes electrode holder, electrode cover, electrode hook, wire and fixed pin, and electrode hook lower part cavity forms the guiding hole, and the top of wire hole is equipped with the first fixed pinhole that pierces through the electrode hook along the radial of electrode hook, and the wire is gone into in the mounting hole on it round the electrode holder to extend and insert the guiding hole of electrode hook lower part and be pressed in the crimping, the fixed pin passes the second fixed pinhole on first fixed pinhole and the electrode holder, and the electrode cover suit is on the lateral wall of electrode holder and electrode hook junction.

A surgical instrument comprises an instrument box, an elongated shaft and instrument tail ends, wherein the instrument box and the instrument tail ends are respectively arranged at two ends of the elongated shaft, and the instrument tail ends comprise the electrosurgical instrument wire fixing device.

The minimally invasive surgical robot comprises a master control platform and a slave operation device, wherein the master control platform is electrically connected with the slave operation device, and the slave operation device comprises the surgical instrument.

Compared with the prior art, the invention has at least the following effects:

1. the wire and the electrode hook are connected in a crimping manner, so that the operation is simple, the connection between the wire and the electrode hook is reliable through the tightness of the screwing of the fixing pin, and the problems of high assembly difficulty and doubtful connection reliability existing in the assembly connection manner are effectively solved.

2. The auxiliary holes are formed in the electrode base, so that the assembly of the lead is facilitated, the production efficiency is improved, the auxiliary holes form an open structure, and the sterilization and disinfection of the instrument are facilitated. The invention can effectively solve the problems of complex process steps, high requirements and high production cost caused by preventing the damage to the wire insulation layer by arranging the auxiliary hole in the fixed structure mode of the injection-molded electrocoagulation hook in the prior art.

Drawings

FIG. 1 is a schematic view of the overall structure of a surgical instrument;

FIG. 2 is a schematic view of the overall structure of the end of the electrocoagulation hook;

FIG. 3 is a schematic view of the overall structure of the end of the electrocoagulation hook at another angle;

FIG. 4 is an exploded view of a wire fixing end;

FIG. 5 is a front view of a wire fixing end;

FIG. 6 is a cross-sectional view at A-A of FIG. 5;

FIG. 7 is a schematic diagram of a wire prior to crimping;

FIG. 8 is a schematic diagram after crimping of the wire;

FIG. 9 is a schematic view of an electrode holder;

fig. 10 is a schematic view of another angle of the electrode holder.

Detailed Description

The first embodiment is as follows: referring to fig. 4 to 8, the wire fixing device for the electrosurgical instrument of the present embodiment includes an electrode holder 1, an electrode sheath 2, an electrode hook 3, a wire 4 and a fixing pin 5, a guide hole 6 is formed in a hollow portion of the lower portion of the electrode hook 3, a first fixing pin hole 7 penetrating the electrode hook 3 is provided above the wire hole 6 in a radial direction of the electrode hook 3,

the lead wire 4 enters the mounting hole 1-4 on the electrode holder 1, extends into the guide hole 6 at the lower part of the electrode hook 3 to be pressed and connected, the fixing pin 5 passes through the first fixing pin hole 7 and the second fixing pin hole 1-5 on the electrode holder 1, and the electrode sleeve 2 is sleeved on the outer side wall of the joint of the electrode holder 1 and the electrode hook 3. Because electrode holder 1 and electrode cover 2 are insulating material, consequently, fixed pin 5 can adopt the higher metal material of intensity, also can not take place the electric leakage condition. It will be appreciated that although not recommended, it is also possible to provide the electrode sheath 2 with pin holes, and to insert the fixing pins 5 after the electrode sheath 2 is sleeved, and the fixing pins 5 need to be made of an insulating material. The present invention is not limited thereto, and the related expressions concerning the assembly relationship throughout do not constitute limitations on the order of assembly of the components, as long as the products of the corresponding structures of the present invention can be formed.

An electrosurgical instrument lead fixation device in this embodiment is used to fix an implement portion of a surgical instrument and a lead that provides electrical energy.

In the embodiment, a guide hole is formed in the lower portion of the electrode hook, a fixing pin hole penetrating the electrode hook is formed above the wire guide hole along the radial direction, and a wire enters the mounting hole on the wire guide hole around the electrode seat and is fixedly connected with the lower end of the electrode hook. The metal wire part of the wire enters the wire hole at the lower end of the electrode hook, and the metal wire part and the wire hole are tightly pressed and combined through the crimping pliers. The electrode hook is inserted into the electrode seat, and the fixing pin is plugged into the fixing pin hole, so that the electrode hook is fixed on the electrode seat. The electrode sleeve is sleeved on the hook fixing part, so that the stability of the electrode hook is ensured.

The second embodiment is as follows: referring to fig. 9, the electrode holder 1 of the present embodiment includes an electrode holder base 1-1 and a hook fixing portion 1-2, a rotating shaft 13 is provided on the electrode holder base 1-1, a wire chute 1-3 is provided on the electrode holder base 1-1, and the hook fixing portion 1-2 is mounted on the upper end of the electrode holder base 1-1 on the side provided with the wire chute 1-3. So set up, fixed pin 5 passes second fixed pinhole 1-5 and first fixed pinhole 7, and then realizes the connection of electrode holder 1 and electrode hook. In the present embodiment, since the electrode holder 1-1 and the rotating shaft 13 are both plastic members, the rotating shaft 13 can be injection molded integrally with the middle portion of the electrode holder 1-1. It can be understood that the rotating shaft 13 may be made of metal and be inserted into the plastic electrode holder 1-1. Other compositions and connection relationships are the same as those of the first embodiment.

And a third specific embodiment: the present embodiment will be described with reference to fig. 9, in which a wire winding chute 1-7 is provided in the middle of an electrode holder base body 1-1. The cable is convenient to wind, the cable is positioned in the middle of the electrode base body 1-1, the provided driving force is also positioned in the middle, the stress of the electrode base body 1-1 is more facilitated, and the rotating shaft is not easy to damage due to the bias stress. In addition, the winding chute 1-7 is of an open structure, is convenient for production and processing and cable winding, and is more beneficial to sterilization and disinfection of surgical instruments. Other compositions and connection relationships are the same as those of the first or second embodiment.

The specific embodiment IV is as follows: the present embodiment will be described with reference to fig. 9, in which the wire winding chute 1-7 is parallel to the wire guide chute 1-3. The arrangement is convenient for the electrode holder to drive the electrode holder, the electrode hook and the electrode sleeve to realize pitching motion under the action of the mooring rope, and the lead cannot receive other forces. Other compositions and connection relationships are the same as those of the first, second or third embodiments.

Fifth embodiment: in the present embodiment, referring to fig. 9, the hook fixing portion 1-2 is provided with a mounting hole 1-4 communicating with the wire chute 1-3 in the vertical direction, and the second fixing pin hole 1-5 is arranged coaxially with the first fixing pin hole 7, is provided on the hook fixing portion 1-2, and is perpendicular to and communicates with the mounting hole 1-4. So set up, be convenient for realize electrode holder 1 and electrode hook's connection. Other compositions and connection relationships are the same as those in any one of the first to fourth embodiments.

Specific embodiment six: in the electrode holder 1 of the present embodiment, an auxiliary hole 1-6 is formed on the opposite side of the wire winding direction, and the auxiliary hole 1-6 communicates with the wire sliding groove 1-3, as described with reference to fig. 10. By the arrangement, the wires can be inserted into the auxiliary holes 1-6 by means of tools when the wires pass through, so that the assembly of the wires is assisted, and the production efficiency is improved. Meanwhile, the existence of the auxiliary holes 1-6 changes the wire sliding grooves 1-7 into an open structure, thereby facilitating the sterilization and disinfection of surgical instruments. Other compositions and connection relationships are the same as those in any one of the first to fifth embodiments.

Seventh embodiment: the present embodiment will be described with reference to fig. 10, in which the auxiliary holes 1 to 6 are horizontal through holes. The arrangement is convenient for processing and manufacturing the auxiliary holes 1-6, and improves the production efficiency. It will be appreciated that the auxiliary holes 1-6 may also be through holes in an inclined direction, which may facilitate the assembly of the wires, but increase the difficulty of machining the auxiliary holes 1-6. Other compositions and connection relationships are the same as those in any one of the first to sixth embodiments.

In particular, the auxiliary holes 1-6 can facilitate, on the one hand, the observation of the position of the wire and thus the threading of the wire from below into the mounting hole of the hook fixing portion, and, on the other hand, the insertion of the wire from the auxiliary hole by means of a tool can also be facilitated. In addition, the arrangement of the auxiliary holes also ensures that the electrode seat has no closed structure and is of an open structure, thereby being convenient for sterilization and disinfection of the instrument.

The assembly process of the wire fixing device of the present invention will be described with reference to fig. 4 to 10:

firstly, bending a wire, plugging the wire into the wire along the wire sliding groove, enabling the wire to pass through the mounting hole on the hook fixing part from bottom to top by bare hands or by means of a tool, enabling the extended wire to pass through the electrode sleeve again, crimping the electrode sleeve with the electrode hook, and then sequentially assembling the electrode hook and the electrode sleeve on the electrode seat. The present assembly process is exemplary only and does not constitute a limitation on the assembly sequence of the components, as long as the products of the present invention as set forth in the claims can be formed.

Since the other end of the lead is generally mounted in the instrument case, the slender shaft, or the like, the lead cannot be mounted so as to pass through the mounting hole in the hook fixing portion from top to bottom. This is why the auxiliary holes can play a great helping role.

Eighth embodiment: referring to fig. 1, a surgical instrument according to this embodiment includes an instrument case 8, an elongated shaft 9, and an instrument tip 10, wherein the instrument case 8 and the instrument tip 10 are respectively mounted on both ends of the elongated shaft 9, and the instrument tip 10 includes the electrosurgical instrument wire fixing device according to any one of the foregoing embodiments. So set up, this embodiment provides one kind and can press the surgical instrument of wire on the electrode holder, has guaranteed its stability of use, the assembly of the wire of being convenient for improves production efficiency.

Detailed description nine: referring to fig. 2, the instrument tip 10 of the present embodiment further includes a wrist portion 11 and a palm portion 12, wherein the wrist portion 11 is fixedly connected to one end of the elongated shaft 9, the palm portion 12 is rotatably connected to the wrist portion 11, the electrode holder 1 is rotatably mounted on the palm portion 12, and the lead wire 4 is led out from the wrist portion 11, passes through the palm portion 12, and is wound into the lead wire chute 1-3 of the electrode holder 1. This arrangement facilitates increased flexibility in the rotation of the surgical instrument, as well as other components and connections as in any of the embodiments one through eight.

Detailed description ten: the present embodiment is described with reference to fig. 1 to 10, and the minimally invasive surgical robot includes a master console and a slave operating device, where the master console is electrically connected to the slave operating device, and the slave operating device includes any one of the surgical instruments described in the eighth to ninth embodiments.

Example 1:

the electrode sleeve of the electrosurgical instrument wire fixing device seals the fixing pin for crimping the wire in the hook fixing part and the electrode hook, so that the problems of loosening and the like of the fixing pin after long-term use after the through hole is formed in the electrode sleeve can be effectively prevented, and the reliability of connection between the wire and the electrode hook can be ensured by adopting the wire fixing device.

The tail end of the electrocoagulation hook instrument is connected to the slender shaft, the main structure is formed by connecting a wrist, a palm part, an electrode seat and an electrode hook in sequence, the palm part can rotate in a certain range relative to the wrist, the electrode seat can rotate in a certain range relative to the palm part, one of the two rotating directions is pitching, and the other is yawing. The lead extends out of the wrist part, passes through the palm part and then winds up from the bottom of the electrode seat, and enters the inside of the electrode seat from the other side so as to be convenient for connecting the electrode hooks.

The electrode holder of this embodiment is plastic materials (specifically, peek plastics, integrated into one piece forms), including electrode holder base member, be located the pivot of both sides, be located the wire rope spout in the centre, be located the wire spout on right side and be located the hook fixed part of right side top, hook fixed part is hollow cylinder structure, and the hollow part is the mounting hole with wire spout intercommunication, and two fixed pinholes have been seted up to the side of cylinder for thereby insert the fixed pin and fix the electrode hook.

The connection mode of the electrode hook and the electrode seat is as follows: the electrode hook is inserted into the mounting hole and is inserted into the fixing pin holes of the electrode hook and the mounting hole through a fixing pin, so that the freedom degree of the rotation of the electrode hook is limited, and the freedom degree of the rotation of the electrode hook around the pin shaft is limited through sleeving an electrode sleeve, so that the electrode hook can be reliably fixed. The connection mode of the electrode hook and the lead is as follows: the front end of the wire is exposed out of the metal wire inside, is inserted into the wire guide hole, and is tightly pressed by the crimping pliers; of course, the wire cannot extend beyond the fixation pin hole, otherwise subsequent assembly is affected.

The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An electrosurgical instrument lead fixation device, characterized by: comprises an electrode seat (1), an electrode sleeve (2), an electrode hook (3), a lead (4) and a fixing pin (5), wherein a guide hole (6) is formed in the lower part of the electrode hook (3) in a hollow mode, a first fixing pin hole (7) penetrating the electrode hook (3) is formed above the guide hole (6) along the radial direction of the electrode hook (3),

the lead (4) enters the mounting hole (1-4) on the electrode seat (1) around the electrode seat, extends and is inserted into the guide hole (6) at the lower part of the electrode hook (3) to be pressed and connected, the fixing pin (5) penetrates through the first fixing pin hole (7) and the second fixing pin hole (1-5) on the electrode seat (1), and the electrode sleeve (2) is sleeved on the outer side wall of the joint of the electrode seat (1) and the electrode hook (3).

2. The electrosurgical instrument lead fixation device of claim 1, wherein: the electrode holder (1) comprises an electrode holder base body (1-1) and a hook fixing part (1-2), a rotating shaft (13) is arranged on the electrode holder base body (1-1), a wire sliding groove (1-3) is formed in the electrode holder base body (1-1), and the hook fixing part (1-2) is arranged at the upper end of the electrode holder base body (1-1) on one side provided with the wire sliding groove (1-3).

3. The electrosurgical instrument lead fixation device of claim 2, wherein: the middle part of the electrode base body (1-1) is provided with a winding chute (1-7).

4. The electrosurgical instrument lead fixation device of claim 3, wherein: the winding sliding groove (1-7) is parallel to the lead sliding groove (1-3).

5. The electrosurgical instrument lead fixation device of claim 2 or 4, wherein: the hook fixing part (1-2) is provided with a mounting hole (1-4) communicated with the wire chute (1-3) in the vertical direction, the second fixing pin hole (1-5) and the first fixing pin hole (7) are coaxially arranged, and the second fixing pin hole is arranged on the hook fixing part (1-2) and is vertical to and communicated with the mounting hole (1-4).

6. The electrosurgical instrument lead fixation device of claim 1 or 2, wherein: the electrode seat (1) is provided with an auxiliary hole (1-6) on the opposite surface of the wire winding direction, and the auxiliary hole (1-6) is communicated with the wire sliding groove (1-3).

7. The electrosurgical instrument lead fixation device of claim 6, wherein: the auxiliary holes (1-6) are horizontal through holes.

8. The utility model provides a surgical instrument, includes instrument box (8), slender axles (9) and apparatus end (10), and instrument box (8) and apparatus end (10) are installed at the both ends of slender axles (9) respectively, its characterized in that: the instrument tip (10) comprising the electrosurgical instrument lead fixation device of any one of the preceding claims 1 to 7.

9. A surgical instrument as recited in claim 8, wherein: the instrument tail end (10) further comprises a wrist (11) and a palm portion (12), the wrist (11) is fixedly connected with one end of the slender shaft (9), the palm portion (12) is rotatably connected with the wrist (11), the electrode base (1) is rotatably mounted on the palm portion (12), and the lead (4) is led out of the wrist (11) and then passes through the palm portion (12) to wind into the lead sliding groove (1-3) of the electrode base (1).

10. The utility model provides a minimally invasive surgery robot, includes master control platform and from operating device, electric connection between master control platform and the from operating device, its characterized in that: the slave operating device comprises a surgical instrument according to any of the preceding claims 8 to 9.