CN114305592A - Deflection mechanism and surgical instrument - Google Patents
Deflection mechanism and surgical instrument Download PDFInfo
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- CN114305592A CN114305592A CN202210013280.4A CN202210013280A CN114305592A CN 114305592 A CN114305592 A CN 114305592A CN 202210013280 A CN202210013280 A CN 202210013280A CN 114305592 A CN114305592 A CN 114305592A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention provides a deflection mechanism and a surgical instrument, and relates to the technical field of medical instruments, wherein the deflection mechanism comprises a machine body, a first deflection component, a second deflection component and a locking component, wherein a first driving wheel of the first deflection component is arranged on one side end face of the machine body and is suitable for driving a first driven piece of a driven mechanism to rotate; a second driving wheel of the second deflection assembly is arranged on the end face of the other side opposite to the machine body and is suitable for driving a second driven piece of the driven mechanism to rotate; be equipped with locking hole structure on the first drive wheel, the retaining member setting of locking subassembly is on the organism and be suitable for to pass locking hole structure with locking or unblock first drive wheel. When the locking part locks the first driving wheel, the clamping or shearing function of the driven mechanism can be realized, and when the locking part unlocks the first driving wheel, the first driving wheel and the second driving wheel can drive the first driven part and the second driven part to synchronously rotate, so that the deflection function of the surgical instrument is realized, and the surgical operation can be conveniently carried out under the conditions of different angles.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a deflection mechanism and a surgical instrument.
Background
Because of the large and slow recovery of the traditional open surgery, the minimally invasive surgery such as laparoscope is increasingly applied to clinical treatment. When performing minimally invasive surgeries such as laparoscopy on patients, a large number of surgical instruments such as forceps or scissors which can be opened and closed are generally needed.
The existing surgical instruments such as tweezers or scissors generally only have a single clamping or shearing function, and even though some products may be designed with a rotation function, the operation is still inconvenient in a plurality of angles during the operation, and the operation can be realized by adjusting the angle of the arm of an operator in a large range, so that the operator is difficult to operate in a comfortable conventional posture, and the operation is not only labor-consuming and inefficient, but also has great action difficulty and is easy to cause errors.
Disclosure of Invention
The invention solves the problem of how to realize the deflection function of the surgical instrument, and is convenient for surgical operation under the condition of different angles.
To solve the above problems, the present invention provides a yaw mechanism, including:
a body;
the first deflection assembly comprises a first driving wheel, the first driving wheel is arranged on one side end face of the machine body and is suitable for driving a first driven piece of the driven mechanism to rotate;
the second deflection assembly comprises a second driving wheel, the second driving wheel is arranged on the end face of the other side opposite to the machine body and is suitable for driving a second driven piece of the driven mechanism to rotate;
the locking assembly comprises a locking piece, a locking hole structure is arranged on the first driving wheel, and the locking piece is arranged on the machine body and is suitable for penetrating through the locking hole structure to lock or unlock the first driving wheel.
Optionally, the retaining member with organism swing joint is suitable for along being on a parallel with the axial direction of first drive wheel removes, the retaining member includes the first body of rod and the second body of rod, the first body of rod with the second body of rod is along being on a parallel with the axial direction is connected, works as the part of the first body of rod is located when the locking pore structure is interior, the outer wall of the first body of rod be suitable for with the inner wall conflict of locking pore structure is in order to lock first drive wheel, works as the second body of rod is located when the locking pore structure is interior, the outer wall of the second body of rod be suitable for with the inner wall of locking pore structure leaves the clearance in order to unblock first drive wheel.
Optionally, the locking subassembly still includes the elastic component, be equipped with mounting groove structure on the organism, the elastic component sets up in the mounting groove structure, just the one end of elastic component with mounting groove structure's tank bottom butt, the other end of elastic component with the retaining member butt.
Optionally, the locking assembly further comprises a pressing piece, and the pressing piece is arranged on one side of the first driving wheel, which is far away from the machine body, and is connected with the locking piece.
Optionally, the locking hole structure includes a plurality of through hole structures, each through hole structure is disposed in a direction parallel to the axial direction, and the plurality of through hole structures are arranged in the circumferential direction of the first driving wheel and penetrate through the through hole structures.
Optionally, the through-hole structure is circular through-hole, the first body of rod is first round bar, the second body of rod is the second round bar, the diameter of first round bar equals the diameter of circular through-hole and is greater than the diameter of second round bar, the locking pore structure is located adjacently the inner wall interval of circular through-hole junction is greater than the diameter of second round bar is less than the diameter of first round bar.
Optionally, the first deflection assembly further includes a first rotating shaft, a first opening wheel and a first closing wheel, the first rotating shaft is disposed on the machine body and is in driving connection with the first driving wheel, and the first opening wheel and the first closing wheel are respectively sleeved on the first rotating shaft and are adapted to drive the first driven member to rotate.
Optionally, the second deflection assembly further includes a second rotating shaft, a second opening wheel and a second closing wheel, the second rotating shaft is disposed on the machine body and is in driving connection with the second driving wheel, and the second opening wheel and the second closing wheel are respectively sleeved on the second rotating shaft and are adapted to drive the second driven member to rotate.
Compared with the prior art, the invention has the following beneficial effects:
the first driving wheel suitable for driving the first driven part of the driven mechanism to rotate and the second driving wheel suitable for driving the second driven part of the driven mechanism to rotate are respectively arranged on the two opposite side end surfaces of the machine body, and simultaneously, a locking hole structure is arranged on the first driving wheel, a locking piece is arranged on the machine body and penetrates through the locking hole structure, when the locking piece locks the first driving wheel, the first driven piece is fixed, the second driving wheel can drive the second driven piece to rotate towards the first driven piece, thereby realizing the clamping or shearing function of the driven mechanism, when the locking piece unlocks the first driving wheel, the first driving wheel and the second driving wheel can respectively drive the first driven piece and the second driven piece to synchronously rotate so as to ensure that the driven mechanism deflects from one station to another station, therefore, the deflection function of the surgical instrument can be realized, and the surgical operation can be conveniently carried out under the conditions of different angles.
Another objective of the present invention is to provide a surgical instrument, so as to solve the problem of how to make the surgical instrument implement a deflection function, and facilitate surgical operations under different angles.
In order to solve the above problems, the technical solution of the present invention is realized as follows:
a surgical instrument comprising a driven mechanism and a yaw mechanism as described above, a first yaw assembly of the yaw mechanism being adapted to drive rotation of a first follower of the driven mechanism and a second yaw assembly of the yaw mechanism being adapted to drive rotation of a second follower of the driven mechanism.
Optionally, the surgical instrument further comprises a connecting piece, one end of the connecting piece is connected with the driven mechanism, the other end of the connecting piece is connected with the deflection mechanism, a channel structure is arranged inside the connecting piece, the driven mechanism further comprises a first rope and a second rope, one end of the first rope is connected with the first driven piece, the other end of the first rope penetrates through the channel structure and then is in driving connection with the first deflection assembly, one end of the second rope is connected with the second driven piece, and the other end of the second rope penetrates through the channel structure and then is in driving connection with the second deflection assembly.
The advantages of the surgical instrument over the prior art are the same as the deflection mechanism described above and will not be described further herein.
Drawings
FIG. 1 is a schematic view of a surgical instrument according to an embodiment of the present invention;
FIG. 2 is a schematic view of the deflection mechanism and the connecting member of the surgical instrument according to the embodiment of the present invention;
FIG. 3 is a half-sectional view taken along A-A of FIG. 2 in accordance with an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a first driving wheel according to an embodiment of the present invention;
FIG. 5 is a schematic view of another aspect of a surgical instrument according to an embodiment of the present invention;
FIG. 6 is a schematic view of a surgical instrument according to an embodiment of the present invention from a further perspective;
FIG. 7 is a schematic view of a surgical instrument according to an embodiment of the present invention from a further perspective;
fig. 8 is a schematic view of the driven mechanism of the surgical instrument in accordance with the embodiment of the present invention.
Description of reference numerals: 1-machine body, 11-mounting groove structure, 2-first deflection component, 21-first driving wheel, 211-locking hole structure, 2111-through hole structure, 22-first rotating shaft, 23-first opening wheel, 24-first closing wheel, 3-second deflection component, 31-second driving wheel, 32-second rotating shaft, 33-second opening wheel, 34-second closing wheel, 4-locking component, 41-locking component, 411-first rod body, 412-second rod body, 42-elastic component, 43-pressing component, 100-driven mechanism, 101-first driven component, 102-second driven component, 103-first rope, 104-second rope and 200-connecting component.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the description of the present invention, it is to be understood that the forward direction of "X" in the drawings represents the left direction, and correspondingly, the reverse direction of "X" represents the right direction; the forward direction of "Y" represents forward, and correspondingly, the reverse direction of "Y" represents rearward; the forward direction of "Z" represents upward, and correspondingly, the reverse direction of "Z" represents downward; the terms "X", "Y", "Z", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings of the specification, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. The terms "first" and "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The existing surgical instruments such as tweezers or scissors generally only have a single clamping or shearing function, and even though some products may be designed with a rotation function, the operation is still inconvenient in a plurality of angles during the operation, and the operation can be realized by adjusting the angle of the arm of an operator in a large range, so that the operator is difficult to operate in a comfortable conventional posture, and the operation is not only labor-consuming and inefficient, but also has great action difficulty and is easy to cause errors.
To solve the above problem, an embodiment of the present invention provides a yaw mechanism, including: a machine body 1; the first deflection assembly 2 comprises a first driving wheel 21, wherein the first driving wheel 21 is arranged on one side end surface of the machine body 1 and is suitable for driving a first driven part 101 of the driven mechanism 100 to rotate; the second deflection assembly 3 comprises a second driving wheel 31, the second driving wheel 31 is arranged on the other end face of the machine body 1 opposite to the side face and is suitable for driving a second driven piece 102 of the driven mechanism 100 to rotate; the locking assembly 4 comprises a locking member 41, a locking hole structure 211 is arranged on the first driving wheel 21, and the locking member 41 is arranged on the machine body 1 and is suitable for penetrating through the locking hole structure 211 to lock or unlock the first driving wheel 21.
As shown in fig. 1 and 2, in the present embodiment, the machine body 1 is a carrier for mounting various components, and has left and right opposite end surfaces, and may adopt various structures such as a frame structure, a plate structure, or a block structure, and specifically, may be adaptively designed according to the size, number, and shape of the components to be mounted, and is not limited herein.
The first driving wheel 21 and the second driving wheel 31 can adopt a gear or a pulley structure, and are respectively installed on two opposite end surfaces of the machine body 1 through a rotating shaft or a bearing, and can be in driving connection with the first driven member 101 and the second driven member 102 of the driven mechanism 100 through a transmission member such as a rope, a chain or a belt, so that the first driving wheel 21 and the second driving wheel 31 can drive the first driven member 101 and the second driven member 102 to rotate under the driving of an operating handle or a driving member such as a motor, and the operations such as clamping or shearing can be realized.
In this embodiment, in order to adapt to the characteristic that most operators use right-handed operation instruments and the thumbs are more flexible, the first driving wheel 21 can be arranged on the right end face of the machine body 1, the second driving wheel 31 is arranged on the left end face of the machine body 1, the first operating handle of the first driving wheel 21 is arranged below the second operating handle of the second driving wheel 31, when the operators operate the operation instruments, the thumbs of the right hand can hold the second operating handle, the rest fingers of the right hand hold the first operating handle, and the second operating handle is driven by the up-and-down movement of the thumbs of the right hand to realize clamping or shearing operations.
It should be noted that the driven mechanism 100 may be a clamping mechanism having a clamping function, for example, a working end of an instrument such as tweezers, and accordingly, the first driven member 101 and the second driven member 102 may be clamping members capable of clamping each other, and the driven mechanism 100 may also be a cutting mechanism having a cutting function, for example, a working end of an instrument such as scissors, and accordingly, the first driven member 101 and the second driven member 102 may be cutting members capable of cutting each other.
The locking member 41 may be a locking block or a locking lever disposed on the machine body 1, and the locking block or the locking lever may be inserted into the locking hole structure 211 disposed on the first driving wheel 21 to restrict the rotation of the first driving wheel 21, so as to lock the first driving wheel 21, or may be disengaged from the locking hole structure 211 to release the rotation restriction of the first driving wheel 21, so as to unlock the first driving wheel 21.
The locking member 41 and the locking hole structure 211 may have various cross-sectional shapes such as square, circular or a combination thereof, which is not limited herein.
Thus, by respectively arranging the first driving wheel 21 adapted to drive the first driven member 101 of the driven mechanism 100 and the second driving wheel 31 adapted to drive the second driven member 102 of the driven mechanism 100 to rotate on the opposite side end surfaces of the machine body 1, and simultaneously arranging the locking hole structure 211 on the first driving wheel 21, and arranging the locking member 41 on the machine body 1 and passing through the locking hole structure 211, when the locking member 41 locks the first driving wheel 21, the first driven member 101 is fixed, the second driving wheel 31 can drive the second driven member 102 to rotate towards the first driven member 101, so as to realize the gripping or shearing function of the driven mechanism 100, and when the locking member 41 unlocks the first driving wheel 21, the first driving wheel 21 and the second driving wheel 31 can respectively drive the first driven member 101 and the second driven member 102 to synchronously rotate, so that the driven mechanism 100 swings from one station to another station, therefore, the deflection function of the surgical instrument can be realized, and the surgical operation can be conveniently carried out under the conditions of different angles.
Optionally, the locking member 41 is movably connected to the machine body 1 and adapted to move along a direction parallel to the axial direction of the first driving wheel 21, the locking member 41 includes a first rod 411 and a second rod 412, the first rod 411 and the second rod 412 are connected along the direction parallel to the axial direction, when a portion of the first rod 411 is located in the locking hole structure 211, an outer wall of the first rod 411 is adapted to abut against an inner wall of the locking hole structure 211 to lock the first driving wheel 21, and when the second rod 412 is located in the locking hole structure 211, an outer wall of the second rod 412 is adapted to leave a gap with the inner wall of the locking hole structure 211 to unlock the first driving wheel 21.
As shown in fig. 2 and 3, in the present embodiment, the locking member 41 is a rod-shaped structure disposed in a direction parallel to the axial direction of the first driving wheel 21, a part of the rod-shaped structure may be movably connected to the machine body 1 through a sliding rail or a sliding groove, for convenience of description, the part may be referred to as a connecting portion, and another part of the rod-shaped structure is a stepped shaft structure, and the locking or unlocking of the first driving wheel 21 may be achieved through the cooperation between the stepped shaft structure and the locking hole structure 211.
As shown in fig. 2, the direction parallel to the axial direction of the first drive wheel 21 is the X-axis direction.
It should be noted that, for convenience of description, the step shaft structure may be divided into two parts, namely a first rod 411 and a second rod 412, and the connecting part of the rod structure, the first rod 411 and the second rod 412 may be connected by welding, riveting, bolting, or integrally forming; in addition, the first rod 411 of the stepped shaft structure may be disposed on the left side of the second rod 412, or may be disposed on the right side of the second rod 412, which is not limited herein.
Specifically, when the first rod 411 is disposed on the left side of the second rod 412, the stepped shaft structure moves rightward, the first rod 411 can be pushed into the locking hole structure 211, the second rod 412 can be withdrawn from the locking hole structure 211, at this time, the first rod 411 abuts against the inner wall of the locking hole structure 211, and can limit the rotation of the first driving wheel 21, so as to lock the first driving wheel 21, the stepped shaft structure moves leftward, the first rod 411 can be withdrawn from the locking hole structure 211, the second rod 412 enters the locking hole structure 211, at this time, a gap is left between the second rod 412 and the inner wall of the locking hole structure 211, the rotation of the first driving wheel 21 is not affected, and the first driving wheel 21 can be unlocked; when the first lever 411 is disposed at the right side of the second lever 412, the operation of locking or unlocking the first driving wheel 21 is opposite to the above situation, and will not be described herein again.
Optionally, the locking assembly 4 further includes an elastic member 42 and a pressing member 43, the body 1 is provided with the mounting groove structure 11, the elastic member 42 is disposed in the mounting groove structure 11, one end of the elastic member 42 abuts against a groove bottom of the mounting groove structure 11, the other end of the elastic member 42 abuts against the locking member 41, and the pressing member 43 is disposed on one side of the first driving wheel 21 away from the body 1 and connected with the locking member 41.
As shown in fig. 3, in the present embodiment, the elastic member 42 may be a cylindrical spring, a spring plate, or a small-sized compressible air bag, and the mounting groove structure 11 is disposed on the machine body 1 along a direction parallel to the axial direction of the first driving wheel 21, the notch of the mounting groove structure 11 is located on the right end surface of the machine body 1, and the connecting portion of the rod-shaped structure is disposed in the mounting groove structure 11 and can slide in the axial direction under the action of an external force or the pushing of the elastic member 42.
It should be noted that, in this embodiment, in order to prevent the locking member 41 and the elastic member 42 from escaping from the mounting groove structure 11, the size of the mounting groove structure 11 and the connecting portion of the locking member 41 are both larger than the size of the first rod 411 and the second rod 412, and a stop is disposed at the notch of the mounting groove structure 11, so that the connecting portion of the locking member 41 and the elastic member 42 can be limited in the mounting groove structure 11.
As shown in fig. 2 and 3, the pressing member 43 may be a block or column structure and may be connected to the locking member 41 by welding, riveting or screwing, in this embodiment, the pressing member 43 is a nut-shaped structure, the end of the locking member 41 is provided with an external thread, the pressing member 43 is provided with a screw hole with an internal thread, and after the locking member 41 passes through the locking hole structure 211, the pressing member 43 may be screwed to the end of the locking member 41, so that it is more convenient for an operator to press the locking member 41 from the outside of the first driving wheel 21.
Like this, through set up elastic component 42 and retaining member 41 butt in mounting groove structure 11, after the effort that from the outside was applyed cancels, the reaction force that accessible elastic component 42 produced promotes retaining member 41 and realizes reseing for it is more convenient that first drive wheel 21 unblock or locking, and simultaneously, set up mounting groove structure 11 on organism 1, not only can alleviate the weight of organism 1, and can hide fragmentary spare part in the inside of organism 1 in addition, reduce occupation space, optimize mechanical layout.
Optionally, the locking hole structure 211 includes a plurality of through hole structures 2111, each through hole structure 2111 is disposed along a direction parallel to the axial direction of the first driving wheel 21, and the plurality of through hole structures 2111 are arranged along the circumferential direction of the first driving wheel 21 and penetrate through, the through hole structures 2111 are circular through holes, the first rod 411 is a first round rod, the second rod 412 is a second round rod, the diameter of the first round rod is equal to the diameter of the circular through hole and greater than the diameter of the second round rod, and the distance between the inner walls of the adjacent circular through hole joints of the locking hole structure 211 is greater than the diameter of the second round rod and smaller than the diameter of the first round rod.
As shown in fig. 4, in the present embodiment, the locking hole structure 211 is composed of a plurality of through hole structures 2111 arranged in the circumferential direction of the first driving wheel 21 and penetrating therethrough, the cross-sectional shape of the through hole structure 2111 may be square, circular or various combinations thereof, and accordingly, the cross-sectional shapes of the first rod 411 and the second rod 412 may also be square, circular or various combinations thereof so as to match the shape of the through hole structure 2111, so as to be able to contact with the inner wall of the through hole structure 2111 or maintain a gap, which is not limited.
As shown in fig. 3 and 4, for convenience of description, the through hole structure 2111 is a circular through hole, the first rod 411 is a first round rod, and the second rod 412 is a second round rod, so that the contact surfaces of the circular through hole structure 2111, the first rod 411, and the second rod 412 are smoother, which can reduce friction, and make the locking or unlocking operation smoother.
In this embodiment, the junction part of adjacent circular through-hole overlaps to make adjacent circular through-hole can realize lining up each other, when first round bar stretches into in the circular through-hole of a certain position department, because the diameter d of first round bar equals with circular through-hole, and be greater than the inner wall interval L of adjacent circular through-hole junction, the outer wall of first round bar contradicts each other with the inner wall of the circular through-hole of this position department this moment, from this, can restrict first drive wheel 21 and rotate, thereby realize the locking.
When first round bar withdrawed from circular through-hole, the second round bar stretched into in this circular through-hole, because the diameter of second round bar is less than the inner wall interval L of adjacent circular through-hole junction, at this moment, the outer wall of second round bar except can with the preceding back wall contact of locking pore structure 211, can not contact with the upper and lower inner wall of any circular through-hole, from this for first drive wheel 21 can rotate at certain within range, thereby realizes the unblock.
Optionally, the first deflection assembly 2 further includes a first rotating shaft 22, a first opening wheel 23 and a first closing wheel 24, the first rotating shaft 22 is disposed on the machine body 1 and is in driving connection with the first driving wheel 21, the first opening wheel 23 and the first closing wheel 24 are respectively sleeved on the first rotating shaft 22 and are adapted to drive the first driven member 101 to rotate, the second deflection assembly 3 further includes a second rotating shaft 32, a second opening wheel 33 and a second closing wheel 34, the second rotating shaft 32 is disposed on the machine body 1 and is in driving connection with the second driving wheel 31, and the second opening wheel 33 and the second closing wheel 34 are respectively sleeved on the second rotating shaft 32 and are adapted to drive the second driven member 102 to rotate.
As shown in fig. 1, 2, 5 and 6, the first rotating shaft 22 may be drivingly connected to the first driving wheel 21 through a gear or a belt, the first opening wheel 23 and the first closing wheel 24 may be drivingly connected to the first driven member 101 through a wire or a chain, the second rotating shaft 32 may be drivingly connected to the second driving wheel 31 through a gear or a belt, and the second opening wheel 33 and the second closing wheel 34 may be drivingly connected to the second driven member 102 through a wire or a chain.
In this embodiment, a hollow structure is arranged inside a forward portion of the machine body 1, the first rotating shaft 22 is arranged at a lower portion of the forward portion of the machine body 1 in a penetrating manner and is in driving connection with the first driving wheel 21 through a gear, the first opening wheel 23 and the first closing wheel 24 are respectively sleeved on the first rotating shaft 22, and the first opening wheel 23 is located on the right side of the first closing wheel 24; the second rotating shaft 32 penetrates through the upper portion of the forward portion of the machine body 1 and is in driving connection with the second driving wheel 31 through a gear, the second opening wheel 33 and the second closing wheel 34 are respectively sleeved on the second rotating shaft 32, the second opening wheel 33 is located on the right side of the second closing wheel 34, the first driving wheel 21 and the second driving wheel 31 are respectively in gear transmission, transmission is enabled to be stable and accurate, and the accuracy of the deflection mechanism can be improved.
The first driven part 101 is in driving connection with the first deflection component 2 through a first opening steel wire rope and a first closing steel wire rope, wherein the first opening steel wire rope is connected with the first opening wheel 23 through a steel wire rope mounting terminal, and the first closing steel wire rope is connected with the first closing wheel 24 through a steel wire rope mounting terminal; the second driven member 102 is in driving connection with the second deflection component 3 through a second opening wire rope and a second closing wire rope, wherein the second opening wire rope is also connected with the second opening wheel 33 through a wire rope mounting terminal, and the second closing wire rope is also connected with the second closing wheel 34 through a wire rope mounting terminal.
It should be noted that, since the first opening wheel 23 and the first closing wheel 24 are simultaneously sleeved on the first rotating shaft 22, when the first opening wire rope and the first closing wire rope are connected with the first opening wheel 23 and the first closing wheel 24, the first opening wire rope and the first closing wire rope should be wound on the corresponding opening or closing wheel in opposite directions, and similarly, the second opening wire rope and the second closing wire rope should also be wound on the corresponding opening or closing wheel in opposite directions.
In addition, in order to adjust the direction of each steel wire rope led out from the opening or closing wheel and prevent the mutual interference among the steel wire ropes, a guide wheel can be arranged at a proper position in front of each corresponding opening or closing wheel, the guide wheel is installed on the machine body 1 in a pin shaft mode and the like, and structures such as an insert are arranged to prevent the guide wheel from shaking left and right.
Another embodiment of the present invention provides a surgical instrument, including a follower mechanism 100, the first deflection component 2 of the deflection mechanism is suitable for driving the first driven piece 101 of the driven mechanism 100 to rotate, the second deflection component 3 of the deflection mechanism is suitable for driving the second driven piece 102 of the driven mechanism 100 to rotate, one end of the connecting piece 200 is connected with the driven mechanism 100, the other end of the connecting piece 200 is connected with the deflection mechanism, a channel structure is arranged inside the connecting piece 200, the driven mechanism 100 further comprises a first rope 103 and a second rope 104, one end of the first rope 103 is connected with the first driven piece 101, the other end of the first rope 103 penetrates through the channel structure and then is connected with the first deflection component 2 in a driving mode, one end of the second rope 104 is connected with the second driven piece 102, and the other end of the second rope 104 penetrates through the channel structure and then is connected with the second deflection component 3 in a driving mode.
As shown in fig. 1, 2, 7 and 8, in the present embodiment, the follower mechanism 100 is composed of a first follower 101, a second follower 102, a first rope 103, a second rope 104, a driven rotating shaft, a spring plate, a guiding rotating shaft, a guiding wheel, a U-shaped supporting structure, and the like, the connecting member 200 is a circular connecting rod, and a channel structure is provided inside the circular connecting rod.
The rear end of a U-shaped supporting structure of the driven mechanism 100 is detachably connected with the front end of a connecting rod through threads, a driven rotating shaft is arranged on the U-shaped supporting structure, a first driven member 101 and a second driven member 102 are respectively sleeved on the driven rotating shaft and are tightly pressed through a spring piece arranged on the driven rotating shaft, a guide rotating shaft is further arranged below the driven rotating shaft on the U-shaped supporting structure, a plurality of guide wheels are arranged on the guide rotating shaft, annular groove structures and terminal mounting holes are respectively arranged on rotating parts of the first driven member 101 and the second driven member 102, a first rope 103 and a second rope 104 both adopt steel wire ropes and are respectively wound on the annular groove structures of the corresponding driven members, then the first rope 103 and the second rope 104 wound on the corresponding driven members are respectively divided into two strands which are respectively a first open steel wire rope, The first closing steel wire rope, the second opening steel wire rope and the second closing steel wire rope are respectively and tangentially wound on corresponding guide wheels and then penetrate through a channel structure in the connecting piece 200 to be connected with the first opening wheel 23, the first closing wheel 24, the second opening wheel 33 and the second closing wheel 34 of the deflection mechanism, so that the driven mechanism 100 and the deflection mechanism are remotely and flexibly connected, and the surgical operation is convenient to perform.
Thus, when the locking piece 41 of the deflection mechanism locks the first driving wheel 21, the first driven piece 101 of the driven mechanism 100 is fixed, the second driving wheel 31 of the deflection mechanism can drive the second driven piece 102 to rotate towards the first driven piece 101, so that the clamping or shearing function of the driven mechanism 100 is realized, and when the locking piece 41 unlocks the first driving wheel 21, the first driving wheel 21 and the second driving wheel 31 can respectively drive the first driven piece 101 and the second driven piece 102 to synchronously rotate, so that the driven mechanism 100 deflects from one working position to another working position, thereby realizing the deflection function of the surgical instrument, and facilitating surgical operation under the condition of different angles.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.
Claims (10)
1. A yaw mechanism, comprising:
a body (1);
the first deflection assembly (2) comprises a first driving wheel (21), and the first driving wheel (21) is arranged on one side end face of the machine body (1) and is suitable for driving a first driven piece (101) of a driven mechanism (100) to rotate;
the second deflection assembly (3) comprises a second driving wheel (31), and the second driving wheel (31) is arranged on the other side end face opposite to the machine body (1) and is suitable for driving a second driven piece (102) of the driven mechanism (100) to rotate;
locking subassembly (4), including retaining member (41), be equipped with locking hole structure (211) on first drive wheel (21), retaining member (41) set up on organism (1) and be suitable for to pass locking hole structure (211) are with locking or unblock first drive wheel (21).
2. Yaw mechanism according to claim 1, characterized in that the locking member (41) is movably connected to the body (1) and adapted to move in a direction parallel to the axial direction of the first drive wheel (21), the locking member (41) comprises a first rod (411) and a second rod (412), the first rod (411) and the second rod (412) are connected in a direction parallel to the axial direction, when a portion of the first rod (411) is located within the detent hole structure (211), the outer wall of the first rod body (411) is suitable for abutting against the inner wall of the locking hole structure (211) to lock the first driving wheel (21), when said second rod (412) is positioned within said locking aperture arrangement (211), the outer wall of the second rod body (412) is suitable for leaving a gap with the inner wall of the locking hole structure (211) so as to unlock the first driving wheel (21).
3. The yaw mechanism according to claim 2, characterized in that the locking assembly (4) further comprises an elastic member (42), a mounting groove structure (11) is provided on the machine body (1), the elastic member (42) is disposed in the mounting groove structure (11), one end of the elastic member (42) abuts against the groove bottom of the mounting groove structure (11), and the other end of the elastic member (42) abuts against the locking member (41).
4. A yaw mechanism according to claim 2, characterized in that the locking assembly (4) further comprises a pressing member (43), the pressing member (43) being arranged on a side of the first drive wheel (21) remote from the body (1) and being connected to the locking member (41).
5. A yaw mechanism according to any one of claims 2 to 4, characterized in that the lock hole structure (211) includes a plurality of through hole structures (2111), each of the through hole structures (2111) being provided in a direction parallel to the axial direction, and the plurality of through hole structures (2111) being aligned in a circumferential direction of the first drive wheel (21) and penetrating therethrough.
6. The yaw mechanism according to claim 5, characterized in that the through hole structure (2111) is a circular through hole, the first rod (411) is a first circular rod, the second rod (412) is a second circular rod, the diameter of the first circular rod is equal to the diameter of the circular through hole and larger than the diameter of the second circular rod, and the distance between the inner walls of the locking hole structure (211) at the joint of the adjacent circular through holes is larger than the diameter of the second circular rod and smaller than the diameter of the first circular rod.
7. A yaw mechanism according to any one of claims 1 to 4, characterized in that the first yaw assembly (2) further comprises a first rotating shaft (22), a first opening wheel (23) and a first closing wheel (24), the first rotating shaft (22) is arranged on the machine body (1) and is in driving connection with the first driving wheel (21), and the first opening wheel (23) and the first closing wheel (24) are respectively sleeved on the first rotating shaft (22) and are adapted to drive the first driven member (101) to rotate.
8. The deflection mechanism according to any one of claims 1 to 4, wherein the second deflection assembly (3) further comprises a second rotating shaft (32), a second opening wheel (33) and a second closing wheel (34), the second rotating shaft (32) is arranged on the machine body (1) and is in driving connection with the second driving wheel (31), and the second opening wheel (33) and the second closing wheel (34) are respectively sleeved on the second rotating shaft (32) and are suitable for driving the second driven member (102) to rotate.
9. Surgical instrument, characterized in that it comprises a driven mechanism (100) and a deflection mechanism according to any one of claims 1 to 8, the first deflection assembly (2) of which is adapted to drive in rotation the first follower (101) of the driven mechanism (100), and the second deflection assembly (3) of which is adapted to drive in rotation the second follower (102) of the driven mechanism (100).
10. The surgical instrument according to claim 9, further comprising a connecting member (200), wherein one end of the connecting member (200) is connected to the driven mechanism (100), the other end of the connecting member (200) is connected to the deflection mechanism, a channel structure is disposed inside the connecting member (200), the driven mechanism (100) further comprises a first rope (103) and a second rope (104), one end of the first rope (103) is connected to the first driven member (101), the other end of the first rope (103) passes through the channel structure and is drivingly connected to the first deflection assembly (2), one end of the second rope (104) is connected to the second driven member (102), and the other end of the second rope (104) passes through the channel structure and is drivingly connected to the second deflection assembly (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210013280.4A CN114305592B (en) | 2022-01-07 | 2022-01-07 | Deflection mechanism and surgical instrument |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210013280.4A CN114305592B (en) | 2022-01-07 | 2022-01-07 | Deflection mechanism and surgical instrument |
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| CN114305592A true CN114305592A (en) | 2022-04-12 |
| CN114305592B CN114305592B (en) | 2023-06-23 |
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| US20090112230A1 (en) * | 2007-10-31 | 2009-04-30 | Kabushiki Kaisha Toshiba | Manipulator |
| CN107550541A (en) * | 2017-10-16 | 2018-01-09 | 吉林大学 | A kind of hand-held Flexible Multi-joint operating theater instruments for abdominal-cavity minimal-invasion surgery |
| 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 |
| CN110382179A (en) * | 2017-02-27 | 2019-10-25 | 朝日英达科株式会社 | Executor |
| CN210130893U (en) * | 2019-04-12 | 2020-03-10 | 佛山市高明区人民医院 | Laparoscopic surgery forceps |
| CN113397654A (en) * | 2021-05-06 | 2021-09-17 | 武汉联影智融医疗科技有限公司 | Synchronous locking structure, minimally invasive surgical instrument and control method of minimally invasive surgical instrument |
-
2022
- 2022-01-07 CN CN202210013280.4A patent/CN114305592B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090112230A1 (en) * | 2007-10-31 | 2009-04-30 | Kabushiki Kaisha Toshiba | Manipulator |
| CN110382179A (en) * | 2017-02-27 | 2019-10-25 | 朝日英达科株式会社 | Executor |
| CN107550541A (en) * | 2017-10-16 | 2018-01-09 | 吉林大学 | A kind of hand-held Flexible Multi-joint operating theater instruments for abdominal-cavity minimal-invasion surgery |
| 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 |
| CN210130893U (en) * | 2019-04-12 | 2020-03-10 | 佛山市高明区人民医院 | Laparoscopic surgery forceps |
| CN113397654A (en) * | 2021-05-06 | 2021-09-17 | 武汉联影智融医疗科技有限公司 | Synchronous locking structure, minimally invasive surgical instrument and control method of minimally invasive surgical instrument |
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| CN114305592B (en) | 2023-06-23 |
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