CN114391899B - Surgical instrument transmission mechanism, surgical instrument transmission device and surgical instrument - Google Patents
Surgical instrument transmission mechanism, surgical instrument transmission device and surgical instrument Download PDFInfo
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- CN114391899B CN114391899B CN202210176353.1A CN202210176353A CN114391899B CN 114391899 B CN114391899 B CN 114391899B CN 202210176353 A CN202210176353 A CN 202210176353A CN 114391899 B CN114391899 B CN 114391899B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/04—Endoscopic instruments
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/06—Biopsy forceps, e.g. with cup-shaped jaws
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/04—Endoscopic instruments
- A61B2010/045—Needles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The invention provides a surgical instrument transmission mechanism, a surgical instrument transmission device and a surgical instrument, and relates to the technical field of surgical instruments, wherein the surgical instrument transmission mechanism comprises: a fixing seat; the first rotating piece is arranged on the fixed seat; the second rotating piece is rotatably arranged on the fixed seat; the rotating structure is arranged between the first rotating piece and the second rotating piece and is used for driving the first rotating piece and the second rotating piece to generate relative rotation. The surgical instrument transmission mechanism can convert linear motion into rotary motion in the transmission process, and the rotary control precision of the actuator can be improved. The invention also provides a surgical instrument transmission device which comprises the surgical instrument transmission mechanism. And a surgical instrument comprising the aforementioned surgical instrument transmission.
Description
Technical Field
The invention relates to the technical field of surgical instruments, in particular to a surgical instrument transmission mechanism, a surgical instrument transmission device and a surgical instrument.
Background
The surgical instrument used in the minimally invasive surgery of the natural orifice comprises a surgical actuator, a flexible tube connected with the surgical actuator, and a controller connected with the flexible tube. The flexible tube is internally penetrated with a transmission wire for transmitting the acting force output by the controller to the operation actuator. The flexible surgical instrument is passed through the working channel of the endoscope to the location of the lesion in the patient.
For the rotation control of the flexible instrument, the prior product is respectively provided with a rotating component which can cooperatively rotate on a controller handle and a surgical actuator, the two groups of rotating components are connected through a transmission wire, and the controller handle transmits rotation to the surgical actuator through the transmission wire. The transmission wire can transmit pulling force along the axial direction of the transmission wire to control the opening and closing of the actuator, and can also transmit torque along the circumferential direction of the transmission wire to control the rotation of the actuator. When the transmission wire is used for rotation control, as the transmission wire is mostly a flexible piece, circumferential deformation exists in the rotation process of the transmission wire. The circumferential deformation amount can influence the torque transmission precision of the transmission wire, and particularly when the transmission wire is longer, the circumferential deformation amount is larger, and the circumferential rotation error is larger. In the in-service use, the length of a lot of transmission silk has all exceeded 1000mm, because the influence of circumference deformation can cause the circumference transmission ratio of the rear end of transmission silk can not reach the front end of transmission silk effectively, and then leads to the rotation accuracy decline of executor, influences the control accuracy of executor.
Disclosure of Invention
In order to overcome the above-mentioned drawbacks of the prior art, the technical problem to be solved by the embodiments of the present invention is to provide a surgical instrument transmission mechanism, a surgical instrument transmission device and a surgical instrument, which convert linear motion into rotary motion in the transmission process, and can improve the rotary control precision of an actuator.
The above object of the present invention can be achieved by the following technical solutions, and the present invention provides a surgical instrument transmission mechanism, including:
a fixing seat;
the first rotating piece is arranged on the fixed seat;
the second rotating piece is rotatably arranged on the fixed seat;
the rotating structure is arranged between the first rotating piece and the second rotating piece and is used for driving the first rotating piece and the second rotating piece to generate relative rotation.
In a preferred embodiment of the present invention, the rotating structure includes a first guiding groove disposed on the first rotating member, a first rotating groove disposed on the second rotating member, and a first sliding member engaged in the first guiding groove and the first rotating groove, and when the first sliding member moves along the first guiding groove and the first rotating groove, the first rotating member and the second rotating member are driven to rotate relatively.
In a preferred embodiment of the present invention, the first rotating member includes a first rotating sleeve fixedly disposed on the fixing base, the first guiding slot is disposed on the first rotating sleeve, the second rotating member includes a second rotating sleeve rotatably disposed on the fixing base, and the first rotating slot is disposed on the second rotating sleeve.
In a preferred embodiment of the present invention, the first guide groove is disposed on the first rotating sleeve along an axial direction of the first rotating sleeve, and the first rotating groove is disposed on the second rotating sleeve spirally along an axial direction of the second rotating sleeve.
In a preferred embodiment of the present invention, the second rotating sleeve is inserted into the first rotating sleeve.
In a preferred embodiment of the present invention, the first sliding member includes a first sliding block, and a first outer limiting portion and a first inner limiting member respectively disposed at two ends of the first sliding block, where the first outer limiting member is disposed on an outer side of the first rotating sleeve, and the first inner limiting member is disposed on an inner side of the second rotating sleeve.
In a preferred embodiment of the present invention, a supporting sleeve is disposed on the fixing base in a penetrating manner, the supporting sleeve has a penetrating passage for the opening and closing wire to pass through, the supporting sleeve is disposed in the second rotating sleeve in a penetrating manner, and the supporting sleeve and the first rotating sleeve are disposed at intervals to form a rotating gap for the second rotating sleeve to rotate.
In a preferred embodiment of the present invention, the rotating structure further includes a first transmission wire for driving the first sliding member, one end of the first transmission wire is connected to the first sliding member, and the other end of the first transmission wire is connected to the controller.
In a preferred embodiment of the present invention, a reset structure is disposed between the first rotating member and the second rotating member, and the reset structure can drive the first rotating member and the second rotating member to reset.
In a preferred embodiment of the present invention, the reset structure includes a second guiding groove disposed on the first rotating member, a second rotating groove disposed on the second rotating member, and a second sliding member clamped in the second guiding groove and the second rotating groove, where the second sliding member drives the first rotating member and the second rotating member to reset when moving in opposite directions along the second guiding groove and the second rotating groove and the first sliding member.
In a preferred embodiment of the present invention, the first guide groove and the second guide groove are disposed in anti-parallel, and the first rotation groove and the second rotation groove are disposed in anti-parallel.
In a preferred embodiment of the present invention, the second sliding member includes a second sliding block, and a second outer limiting portion and a second inner limiting member respectively disposed at two ends of the second sliding block, where the second outer limiting member is disposed at an outer side of the first rotating sleeve, and the second inner limiting member is disposed at an inner side of the second rotating sleeve.
In a preferred embodiment of the present invention, the reset structure further includes a second transmission wire for driving the second sliding member, one end of the second transmission wire is connected to the second sliding member, and the other end of the second transmission wire is connected to the controller.
In a preferred embodiment of the present invention, the first rotating member is provided with a reversing structure, one end of the second transmission wire is connected to the second sliding member through the reversing structure, and two ends of the second transmission wire are made to move in opposite directions through the reversing structure.
In a preferred embodiment of the present invention, the reversing structure includes a steering block disposed on the first rotating member, where the steering block is provided with a side wall for sliding the second driving wire, and one end of the second driving wire is connected to the second sliding member after being reversed by the side wall.
In a preferred embodiment of the present invention, the reversing structure includes a rotating member rotatably disposed on the first rotating member, and one end of the second transmission wire is connected to the second sliding member after being reversed by the rotating member.
In a preferred embodiment of the present invention, a rotation structure is disposed between the fixing base and the second rotating member, and the rotation structure can drive the second rotating member to reset.
In a preferred embodiment of the present invention, the rotating structure includes an elastic rotating member disposed between the fixing base and the second rotating member, the elastic rotating member is respectively connected to the fixing base and the second rotating member, and the elastic rotating member can drive the second rotating member to reset.
In a preferred embodiment of the present invention, the elastic rotary member includes a wrap spring having one end connected to the fixing base and the other end connected to the fixing base.
In a preferred embodiment of the present invention, a coil spring pressing piece is provided on the other side of the spiral spring opposite to the fixed seat.
In a preferred embodiment of the present invention, the fixing base is provided with a limiting through hole for the transmission wire to pass through.
The invention also provides a surgical instrument transmission device, which comprises the surgical instrument transmission mechanism.
In a preferred embodiment of the present invention, the surgical device transmission device further includes a catheter and an opening and closing wire, the surgical device transmission mechanism is disposed in the catheter, the fixing seat is connected with an inner wall of the catheter, the second rotating member is used for driving the actuator to rotate, the opening and closing wire has an executing end and a control end which are disposed oppositely, the executing end is used for connecting the actuator, and the control end is used for connecting the controller.
In a preferred embodiment of the present invention, the surgical instrument transmission mechanism includes the support sleeve, and the opening and closing wire is movably inserted in the support sleeve.
In a preferred embodiment of the invention, the catheter has a first tube end and a second tube end arranged opposite each other, the first tube end being for connection to a controller and the second tube end being for connection to an actuator, the holder being arranged adjacent to the second tube end.
The invention also provides a surgical instrument comprising the surgical instrument transmission device.
In a preferred embodiment of the invention, the surgical instrument further comprises an actuator and a controller, the controller being coupled to the actuator via the surgical instrument transmission.
In a preferred embodiment of the present invention, an elastic connection member is disposed between the second rotating member and the actuator, and the second rotating member is connected to the actuator through the elastic connection member for transmitting torque.
In a preferred embodiment of the invention, the actuator is one of a biopsy needle, a biopsy forceps, a foreign body forceps or a snare.
In a preferred embodiment of the invention, the actuator is a biopsy forceps comprising a forceps body, an instrument mount, an instrument swivel and an instrument connection;
the instrument installation seat is connected with the first pipe end, and the instrument connection seat is rotatably installed on the instrument installation seat through the instrument rotating seat;
the device comprises a clamp body, and is characterized in that an opening and closing transmission mechanism is arranged on the device connecting seat, one end of the opening and closing transmission mechanism is connected with the clamp body, and the other end of the opening and closing transmission mechanism is used for being connected with the executing end.
In a preferred embodiment of the present invention, the pliers body has a first clamping portion and a second clamping portion matched with the first clamping portion, the opening and closing transmission mechanism includes a scissor driving frame, the scissor driving frame has a first driving end, a first output end and a second output end opposite to the first driving end, the opening and closing of the first output end and the second output end can be controlled by the first driving end, the first driving end is used for being connected with the executing end, the first output end is connected with the first clamping portion, and the second output end is connected with the second clamping portion.
The technical scheme of the invention has the following remarkable beneficial effects:
when the surgical instrument transmission mechanism is used, the first rotating piece and the second rotating piece on the fixed seat are driven by the rotating structure to generate relative rotation, and torque can be transmitted to the actuator by the rotatable second rotating piece, so that the rotation angle of the actuator can be controlled.
The rotating structure comprises a first guide groove arranged on the first rotating piece, a first rotating groove arranged on the second rotating piece and a first sliding piece. The first sliding part is arranged in the first guide groove and the first rotating groove in a penetrating mode, the first guide groove and the first rotating groove are arranged at a certain included angle, and when the first sliding part moves in the first rotating groove along the first guide groove, a mutual rotating acting force is generated between the first guide groove and the first rotating groove, and then the first rotating part and the second rotating part are driven to rotate. The present application is capable of converting a pulling force acting on the first slider into a rotational force acting on the second slider using the first guide groove and the first rotational groove. Through setting up the shape in first guide way and second rotation groove rationally, can drive the second and rotate the piece and rotate more evenly for the second rotates the piece and rotates the process more continuously and controllable, is favorable to accurately controlling the rotation angle that the second rotated the piece. The user can control the arbitrary rotation angle of the second rotating member by controlling the movement distance of the first sliding member.
The axial tension acting on the first sliding part is converted into the rotating force acting on the second rotating part, the motion distance of the first sliding part is controlled by the controller, so that the control of any rotation angle of the second rotating part can be realized, the transmission ratio can be transmitted between the second rotating part and the controller more directly, the problem that the transmission ratio can not effectively reach the front end of the transmission wire when the torque is directly transmitted through the transmission wire in the prior art is solved, and the rotation control precision of the second rotating part is improved. Even if the transmission wire between the first sliding piece and the controller has a larger length, the transmission wire drives the first sliding piece to orderly move, and the rotating angle of the second rotating piece can be accurately controlled.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. In addition, the shapes, proportional sizes, and the like of the respective components in the drawings are merely illustrative for aiding in understanding the present invention, and are not particularly limited. Those skilled in the art with access to the teachings of the present invention can select a variety of possible shapes and scale sizes to practice the present invention as the case may be.
FIG. 1 is a schematic cross-sectional view of a surgical instrument drive mechanism;
FIG. 2 is a schematic view of a first rotor and a second rotor mounting structure;
FIG. 3 is a schematic view of a first slider mounting structure;
FIG. 4 is a schematic view of a rotating structure mounting structure;
FIG. 5 is a schematic diagram of a reset structure installation structure;
FIG. 6 is a schematic view of a first rotating tub configuration;
FIG. 7 is a schematic view of a first rotating tub and a second rotating tub;
FIG. 8 is a schematic view of an elastic rotating member mounting structure;
FIG. 9 is a schematic diagram of a swivel mounting structure;
FIG. 10 is a schematic view of an elastic connector mounting structure;
FIG. 11 is a schematic view of an actuator mounting structure;
FIG. 12 is a schematic view of a surgical instrument drive mechanism;
FIG. 13 is a schematic view of a surgical instrument mounting structure;
FIG. 14 is a schematic view of a biopsy forceps in a closed configuration;
fig. 15 is a schematic view showing the structure of the biopsy forceps in an opened state.
Reference numerals of the above drawings:
100. a surgical instrument transmission mechanism;
1. a fixing seat; 11. a first rotating member; 111. a first sleeve; 12. a second rotating member; 121. a second swivel; 13. a support sleeve; 14. limiting through holes;
2. a rotating structure; 21. a first guide groove; 22. a first rotating groove; 23. a first slider; 231. a first slider; 24. a first drive wire;
3. A reset structure; 31. a second guide groove; 32. a second rotating groove; 33. a second slider; 331. a second slider; 34. a second transmission wire;
4. a reversing structure; 41. a steering block; 42. a rotating member;
5. a rotary structure; 51. an elastic rotating member; 511. a volute coil spring; 512. tabletting the coil springs;
200. surgical instrument transmission means;
6. a conduit; 61. a first tube end; 62. a second tube end; 63. an elastic connection member;
7. opening and closing the yarn;
300. a surgical instrument;
8. an actuator; 81. biopsy forceps; 82. a clamp body; 821. a first clamping part; 822. a second clamping portion; 83. an instrument mounting seat; 84. an instrument rotating seat; 85. an opening and closing transmission mechanism; 851. a scissor-type driving frame; 8511. a first drive end; 8512. a first output terminal; 8513. a second output terminal; 86. an instrument connecting seat;
9. and a controller.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-15 in combination, the present application provides a surgical instrument drive mechanism 100 comprising: a fixing seat 1; a first rotating member 11 provided on the fixed base 1; a second rotating member 12 rotatably provided on the fixed base 1; the rotating structure 2 is arranged between the first rotating member 11 and the second rotating member 12, and the rotating structure 2 is used for driving the first rotating member 11 and the second rotating member 12 to rotate relatively.
In general, when the surgical device transmission mechanism 100 is used, the rotating structure 2 is used to drive the first rotating member 11 and the second rotating member 12 on the fixing seat 1 to generate relative rotation, and the second rotating member 12 can be used to transmit torque to the actuator 8, so as to control the rotation angle of the actuator 8. The first rotary element 11 can be fixedly arranged on the fixed base 1.
In the present specification, the detailed description will be given with reference to the specific embodiments and the accompanying drawings.
Referring specifically to fig. 1-15 in combination, the surgical instrument drive mechanism 100 may include: a fixing seat 1; a rotating structure 2; a reset structure 3; a reversing structure 4; and a revolving structure 5.
In this embodiment, referring to fig. 1 to 4, the rotating structure 2 includes a first guiding groove 21 provided on the first rotating member 11, a first rotating groove 22 provided on the second rotating member 12, and a first sliding member 23 engaged in the first guiding groove 21 and the first rotating groove 22, and when the first sliding member 23 moves along the first guiding groove 21 and the first rotating groove 22, the first rotating member 11 and the second rotating member 12 are driven to rotate relatively.
When the surgical instrument transmission mechanism 100 provided by the application is used, the controller 9 is used for controlling the first sliding piece 23 to move along the first guide groove 21 in the first rotating groove 22, and a mutual rotating acting force can be generated between the first guide groove 21 and the first rotating groove 22, so that the first rotating piece 11 and the second rotating piece 12 are driven to rotate mutually. By converting the pulling force acting on the first slider 23 into a rotational force acting on the second rotor 12 by means of the first guide groove 21 and the first rotational groove 22, the problem is overcome that the transmission ratio is not effective to reach the front end of the transmission wire when torque is directly transmitted through the transmission wire in the prior art.
In this embodiment, referring to fig. 5, the first rotating member 11 includes a first rotating sleeve 111 fixedly disposed on the fixing base 1, the first guide groove 21 is disposed on the first rotating sleeve 111, the second rotating member 12 includes a second rotating sleeve 121 rotatably disposed on the fixing base 1, and the first rotating groove 22 is disposed on the second rotating sleeve 121. Specifically, the second rotating sleeve 121 is inserted into the first rotating sleeve 111.
Further, by reasonably setting the shapes of the first guide groove 21 and the first rotating groove 22, the second rotating member 12 can be driven to rotate more uniformly, so that the rotating process of the second rotating member 12 is more continuous and controllable, and the rotating angle of the second rotating member 12 can be controlled accurately. For example, in the present embodiment, the first guide groove 21 is provided on the first rotating sleeve 111 in the axial direction of the first rotating sleeve 111, and the first rotating groove 22 is provided on the second rotating sleeve 121 in a spiral shape in the axial direction of the second rotating sleeve 121.
When the first slider 23 moves along the first guide groove 21 in the first rotating groove 22, the first slider 23 moves linearly along the first guide groove 21, and the first slider 23 moves spirally along the first rotating groove 22, so that the first slider 23 can drive the second rotating sleeve 121 to rotate when moving along the first guide groove 21 due to the included angle between the first guide groove 21 and the first rotating groove 22 for rotation. Wherein, the first rotating groove 22 is arranged in a spiral shape, so that the first rotating groove 22 has a more uniform and continuous guiding path, thereby facilitating the accurate control of the rotating angle of the second rotating sleeve 121.
The correspondence relationship between the helix angle of the first rotary groove 22, the moving distance of the first slider 23, and the rotation angle of the second turn sleeve 121 may be stored in advance. When in use, the rotation angle of the second rotating sleeve 121 can be precisely controlled by controlling the movement distance of the first sliding member 23. Of course, the designer may set the first guide groove 21 and the first rotation groove 22 in other shapes to achieve control of the rotation angle of the second rotator 121, without limitation.
In this embodiment, referring to fig. 3, the first slider 23 includes a first slider 231, and a first outer limiting part and a first inner limiting part respectively disposed at two ends of the first slider 231, the first outer limiting part is disposed at an outer side of the first rotating sleeve 111, and the first inner limiting part is disposed at an inner side of the second rotating sleeve 121. The first slider 23 can be prevented from being disengaged from the first guide groove 21 and the first rotation groove 22 by the first outer stopper and the first inner stopper. Of course, the designer may also provide other limiting structures at both ends of the first slider 23, which are not limited herein.
In this embodiment, the fixing base 1 is provided with a supporting sleeve 13, the supporting sleeve 13 has a penetrating channel for the opening and closing wire 7 to pass through, the supporting sleeve 13 is penetrated in the second rotating sleeve 121, and the supporting sleeve 13 and the first rotating sleeve 111 are arranged at intervals to form a rotating gap for the second rotating sleeve 121 to rotate. Specifically, the length of the support sleeve 13 may be longer than that of the second rotating sleeve 121, so that the opening and closing wire 7 may be prevented from contacting the second rotating sleeve 121, and the opening and closing wire 7 may be prevented from interfering with the rotation process of the second rotating sleeve 121.
In this embodiment, referring to fig. 3 and 4, the rotating structure 2 further includes a first driving wire 24 for driving the first slider 23, one end of the first driving wire 24 is connected to the first slider 23, and the other end of the first driving wire 24 is connected to the controller 9. The first slider 23 can be driven along the first guide groove 21 by a first drive wire 24. Wherein, the first transmission wire 24 can be flexible metal wire with small axial deformation amount, which can better transfer axial pulling force. Of course, the designer may set the transmission wire to other materials, which is not limited herein.
In this embodiment, referring to fig. 5, a reset structure 3 is disposed between the first rotating member 11 and the second rotating member 12, and the reset structure 3 can drive the first rotating member 11 and the second rotating member 12 to reset.
Further, the reset structure 3 includes a second guiding groove 31 provided on the first rotating member 11, a second rotating groove 32 provided on the second rotating member 12, and a second sliding member 33 engaged in the second guiding groove 31 and the second rotating groove 32.
When the second slider 33 moves along the second guide groove 31 and the second rotating groove 32 in the opposite direction to the first slider 23, the first rotating member 11 and the second rotating member 12 are driven to return. By providing two sets of guide grooves and rotation grooves to enable the second rotating member 12 to have the ability to rotate forward and backward, a user can precisely control the rotation angle of the second rotating member 12 by manipulating the movement distance of the first slider 23 or the second slider 33. The user can also lock the rotation angle of the second rotation member 12 by maintaining the positions of the first slider 23 and the second slider 33 in the groove.
Of course, a plurality of sets of rotating grooves and guiding grooves may be provided between the first rotating member 11 and the second rotating member 12 to control the rotation angle, and other arrangement modes are not limited.
Specifically, referring to fig. 7, the first guide groove 21 and the second guide groove 31 are disposed in anti-parallel, and the first rotation groove 22 and the second rotation groove 32 are disposed in anti-parallel. By providing two sets of antiparallel guide grooves and rotation grooves, the forward rotation and the reverse rotation of the second rotation member 12 have the same control precision, so that an operator can control the rotation angle of the second rotation member 12 in the use process.
Further, referring to fig. 5, the second slider 33 includes a second slider 331, and a second outer limit part and a second inner limit part respectively disposed at two ends of the second slider 331, the second outer limit part is disposed at an outer side of the first rotating sleeve 111, and the second inner limit part is disposed at an inner side of the second rotating sleeve 121. The second slider 33 can be prevented from being disengaged from the second guide groove 31 and the second rotation groove 32 by the second outer stopper and the second inner stopper. Of course, the designer may also provide other limiting structures at both ends of the second slider 33, which are not limited herein.
Further, the reset structure 3 further includes a second transmission wire 34 for driving the second slider 33, one end of the second transmission wire 34 is connected to the second slider 33, and the other end of the second transmission wire 34 is connected to the controller 9. The second transmission wire 34 may be a flexible wire, which has a small axial deformation and can better transmit axial tension. Of course, the designer may set the transmission wire to other materials, which is not limited herein.
In this embodiment, referring to fig. 5, the first rotating member 11 is provided with a reversing structure 4, one end of the second transmission wire 34 is connected to the second sliding member 33 through the reversing structure 4, and two ends of the second transmission wire 34 are made to move in opposite directions through the reversing structure 4. One end of the first transmission wire 24 and one end of the second transmission wire 34 are connected with the controller 9, the other end of the first transmission wire 24 is connected with the first sliding piece 23, and the first transmission wire 24 can directly act on the first sliding piece 23 to pull the first sliding piece 23 to move, and the moving directions of the two ends of the first transmission wire 24 are the same. The other end of the second transmission wire 34 is connected with the second sliding member 33 through the reversing structure 4, the movement directions of the two ends of the second transmission wire 34 are opposite, and when the one end of the second transmission wire 34 is pulled to move through the controller 9, the other end of the second transmission wire 34 drives the second sliding member 33 to move reversely, so that the second sliding member can be used for driving the second rotating member 12 to reset. Wherein, the reverse motion refers to: the movement direction of the first slider 23 is opposite to that of the second slider 33, that is, when the first slider 23 moves along the setting direction of the first guide groove 21, the second rotating member 12 is driven to rotate, and by controlling the second slider 33 to move reversely along the second guide groove 31, the second rotating member 12 can be driven to reset.
Further, the reversing structure 4 includes a steering block 41 disposed on the first rotating member 11, where the steering block 41 is provided with a side wall for sliding the second driving wire 34, and one end of the second driving wire 34 is reversed by the side wall and then connected to the second sliding member 33. Specifically, the steering block 41 may be fixedly disposed on an end of the first rotating sleeve 111 away from the fixing base 1.
Wherein the side walls can be smoothly arranged to reduce friction. A groove structure may also be provided on the side wall for limiting the second drive wire 34, preventing the second drive wire 34 from being disengaged from the steering block 41. The specific structure of the steering block 41 can be appropriately set by a designer as needed, without limitation.
Of course, as an alternative embodiment of the steering block 41, in this embodiment, the reversing structure 4 includes a rotating member 42 rotatably disposed on the first rotating member 11, and one end of the second transmission wire 34 is reversed by the rotating member 42 and then connected to the second sliding member 33. Specifically, the rotating member 42 is rotatably mounted on an end of the first rotating sleeve 111 remote from the fixed base 1. The provision of the rotary member 42 is advantageous in reducing the friction between the second transmission wire 34 and the reversing structure 4, so that the second transmission wire 34 can move more smoothly.
In this embodiment, referring to fig. 8 and 9, a revolving structure 5 is disposed between the fixing base 1 and the second rotating member 12, and the revolving structure 5 can drive the second rotating member 12 to reset.
Further, the revolving structure 5 includes an elastic revolving member 51 disposed between the fixing base 1 and the second rotating member 12, the elastic revolving member 51 is respectively connected to the fixing base 1 and the second rotating member 12, and the elastic revolving member 51 can drive the second rotating member 12 to reset.
In use, the first slider 23 is pulled by the first transmission wire 24 to move along the first guide groove 21 in the first rotating groove 22, and the resistance of the elastic rotating member 51 needs to be overcome during the movement of the first slider 23 along the first guide groove 21. The first sliding piece 23 can drive the second rotating piece 12 and the first rotating piece 11 to rotate mutually, and then the second rotating piece 12 is rotated to a specified angle by controlling the movement distance of the first sliding piece 23 in the first guide groove 21. During the rotation of the second rotating member 12, part of the rotation force is stored in the elastic rotating member 51, when the second rotating member 12 needs to be reset, the first transmission wire 24 can be loosened, and the elastic potential energy stored in the elastic rotating member 51 is utilized to drive the second rotating member 12 to reversely rotate, so that the second rotating member 12 is reset.
When the elastic rotating member 51 is used to drive the second rotating member 12 to reset, the second driving wire 34 may also simultaneously pull the second sliding member 33 to move reversely along the second guiding slot 31, so as to cooperatively drive the second rotating member 12 to reset. Of course, the second rotating member 12 may be locked at a desired angle by controlling the first driving wire 24 and the second driving wire 34 to maintain the first sliding member 23 and the second sliding member 33 at fixed positions in the corresponding guide grooves during the resetting of the elastic rotating member 51 driving the second rotating member 12. The above-described structures may be appropriately combined by a designer to control the rotation angle and the movement state of the second rotary member 12, without limitation.
Specifically, the elastic rotary member 51 includes a spiral spring 511, one end of the spiral spring 511 is connected to the fixing base 1, and the other end of the spiral spring 511 is connected to the fixing base 1. The wrap spring 511 can well store potential energy at the time of rotation of the second rotation member 12, and when the second rotation member 12 is required to rotate reversely, the second rotation member 12 is driven to rotate reversely by the potential energy stored in the wrap spring 511.
Further, the scroll spring 511 is provided with a coil spring pressing piece 512 at the other side opposite to the fixing base 1. The cavity for installing the spiral spring 511 is formed by the cooperation of the spiral spring pressing sheet 512 and the fixing seat 1, the spiral spring 511 is limited by the cavity, the spiral spring 511 can only rotate along the circumferential direction of the second rotating piece 12, the spiral spring 511 is prevented from being dispersed by the spiral spring pressing sheet 512, and the protection function is achieved.
In this embodiment, the fixing base 1 is provided with a limiting through hole 14 through which the driving wire passes. In actual use, the first and second drive wires 24, 34 are made of flexible wires, which are relatively flexible. The limiting through holes 14 are arranged, so that the movement path of the transmission wire can be limited, the stress direction of the transmission wire can be controlled conveniently, and a better transmission effect can be achieved.
And the limiting through holes 14 can limit the first transmission wire 24 and the second transmission wire 34, so that the transmission wires can only pass through the limiting through holes 14 in a single strand in the winding and unwinding process, and the phenomenon of winding and knotting of the transmission wires is prevented. Specifically, a limiting through hole 14 may be provided on the fixing base 1 for the first transmission wire 24 to pass through. Of course, the designer may also provide two limiting through holes 14 in the fixing base 1 for the first transmission wire 24 and the second transmission wire 34 to pass through, respectively.
Referring to fig. 12, a surgical instrument transmission device 200 includes the surgical instrument transmission mechanism 100 of the previous embodiment. The surgical instrument transmission device 200 can more accurately control the rotation angle of the actuator 8 by obtaining a rotation adjustment function by using the surgical instrument transmission mechanism 100.
In this embodiment, the surgical device transmission device 200 further includes a catheter 6 and an opening and closing wire 7, the surgical device transmission mechanism 100 is disposed in the catheter 6, the fixing seat 1 is connected with an inner wall of the catheter 6, the second rotating member 12 is used for driving the actuator 8 to rotate, the opening and closing wire 7 has an executing end and a control end which are oppositely disposed, the executing end is used for connecting the actuator 8, and the control end is used for connecting the controller 9.
Wherein the conduit 6 may be provided as a flexible tube. Of course, the catheter 6 may be provided as a rigid tube, or a combination of a rigid tube and a flexible tube, and the designer may adjust himself as needed, without limitation.
Specifically, the surgical instrument transmission mechanism 100 includes the support sleeve 13, and the opening and closing wire 7 is movably inserted into the support sleeve 13. During use, the controller 9 can transmit a pulling force or a pushing force to the actuator 8 through the opening and closing wire 7, and can be used for controlling the opening and closing movement of the actuator 8.
Through setting up surgical instrument drive mechanism 100 in pipe 6, can drive executor 8 through pipe 6 and reach focus position, can realize in the surgical instrument drive mechanism 100 that executor 8 turned angle's is adjusted, and through opening and shutting silk 7 can also control the process of opening and shutting of executor 8 for the executor 8 can accomplish the operation better.
In this embodiment, the catheter 6 has a first tube end 61 and a second tube end 62 arranged opposite to each other, the first tube end 61 being for connection to the controller 9 and the second tube end 62 being for connection to the actuator 8, the holder 1 being arranged close to the second tube end 62.
Referring to fig. 13, a surgical instrument 300 includes the surgical instrument transmission 200 described above. The surgical instrument 300 can be used to better perform surgical operations by employing the surgical instrument transmission 200 to precisely control the opening and closing and rotation of the actuator 8.
In this embodiment, the surgical instrument 300 further comprises an actuator 8 and a controller 9, the controller 9 being connected to the actuator 8 via the surgical instrument transmission 200. Specifically, the first end 61 of the conduit 6 is connected to the controller 9 and the second end 62 of the conduit 6 is connected to the actuator 8. One end of the first transmission wire 24 is connected with the first sliding piece 23, and the other end of the first transmission wire 24 is connected with the controller 9. One end of the second transmission wire 34 is connected with the second sliding piece 33, and the other end of the second transmission wire 34 is connected with the controller 9. The control end of the opening and closing wire 7 is connected with the controller 9, the execution end of the opening and closing wire 7 is connected with the actuator 8, and the opening and closing of the actuator 8 can be controlled through the opening and closing wire 7.
In this embodiment, the actuator 8 may be one of a biopsy needle, a biopsy forceps 81, a foreign body forceps, or a snare. Of course, the designer may set the actuator 8 to other configurations, without limitation.
Specifically, referring to fig. 13, the effector 8 may be provided as a biopsy forceps 81, the biopsy forceps 81 including a forceps body 82, an instrument mount 83, an instrument swivel 84, and an instrument connection 86.
The instrument mount 83 interfaces with the first tube end 61, and the instrument attachment mount 86 is rotatably mounted to the instrument mount 83 by the instrument swivel mount 84. The instrument attachment seat 86 may be coupled to the second rotational member for adjusting the rotational angle of the clamp body 82.
The instrument connecting seat 86 is provided with an opening and closing transmission mechanism 85, one end of the opening and closing transmission mechanism 85 is connected with the clamp body 82, and the other end of the opening and closing transmission mechanism 85 is connected with the executing end.
Further, the pliers 82 has a first clamping portion 821 and a second clamping portion 822 that is matched with the first clamping portion 821, the opening and closing transmission mechanism 85 includes a scissor driving frame 851, the scissor driving frame 851 has a first driving end 8511, a first output end 8512 and a second output end 8513 opposite to the first driving end 8511, the opening and closing of the first output end 8512 and the second output end 8513 can be controlled by the first driving end 8511, the first driving end 8511 is used for being connected with the executing end, the first output end 8512 is connected with the first clamping portion 821, and the second output end 8513 is connected with the second clamping portion 822.
By connecting the first driving end 8511 with the actuating end of the opening and closing wire 7, the opening and closing wire 7 can transmit axial pushing force or pulling force to the first driving end 8511 to control the opening and closing process of the first clamping portion 821 and the second clamping portion 822. And torque can be transmitted to the instrument attachment seat 86 through the second rotating member 12 to control the rotation angle of the clamp body 82.
In this embodiment, referring to fig. 10, an elastic connection 63 may be provided between the second rotating member 12 and the actuator 8, and the second rotating member 12 may be connected to the actuator 8 through the elastic connection 63 for transmitting torque.
In particular, the elastic connection may be provided in the catheter 6, the second rotation element 12 being connected to the instrument connection seat 86 by means of the elastic connection 63. When the second rotating member 12 rotates, the elastic connecting member 63 can be driven to rotate together, so that the elastic connecting member 63 can transmit torque to the instrument connecting seat 86, and the instrument connecting seat 86 is driven to rotate, thereby realizing adjustment and control of the rotation angle of the actuator 8.
And the elastic connecting piece 63 also enables the catheter 6 between the second rotating piece 12 and the instrument connecting seat 86 to have certain deformation and bending capacity. When the actuator 8 is stressed, the elastic connecting piece 63 can generate bending deformation; the elastic connection 63 is capable of automatically resetting for supporting the catheter 6 between the instrument connection seat 86 and the second rotation member 12 when the actuator 8 is not stressed. In the use, can drive pipe 6 when executor 8 receives the resistance and produce crooked, make pipe 6 have the deformation adjustment ability between apparatus connecting seat 86 and the second rotation piece 12 through elastic connection piece 63, reduced the bending radius of pipe 6, increased the application scope of executor 8.
The elastic connection member 63 may be a tightly wound spring, one end of the spring is connected to the second rotating member 12, the other end of the spring is connected to the instrument rotating seat 84, and the opening/closing wire 7 is movably inserted into the spring. Of course, the elastic connection member 63 may be one of a metal member, a plastic tube, or a composite tube having a restoring capability.
In use of the surgical instrument 300, and with reference to fig. 14 and 15, the surgical instrument 300 can be mated with an endoscope, the biopsy forceps 81 can be extended from the interior channel of the endoscope, and the endoscope can be controlled to find the lesion. When a focus part is found, the rotation angle of the biopsy forceps 81 is adjusted to reach an ideal position through the surgical instrument transmission mechanism 100, so that the rotation angle of the biopsy forceps 81 can be controlled through the first transmission wire 24 and the second transmission wire 34, the opening and closing of the biopsy forceps 81 can be controlled through the opening and closing wire 7, the focus part is clamped out through the forceps body 82, and the biopsy sampling operation is completed.
All articles and references, including patent applications and publications, disclosed herein are incorporated by reference for all purposes. The term "consisting essentially of …" describing a combination shall include the identified element, ingredient, component or step as well as other elements, ingredients, components or steps that do not substantially affect the essential novel features of the combination. The use of the terms "comprises" or "comprising" to describe combinations of elements, components, or steps herein also contemplates embodiments consisting essentially of such elements, components, or steps. By using the term "may" herein, it is intended that any attribute described as "may" be included is optional. Multiple elements, components, parts or steps can be provided by a single integrated element, component, part or step. Alternatively, a single integrated element, component, part or step may be divided into separate plural elements, components, parts or steps. The disclosure of "a" or "an" to describe an element, component, section or step is not intended to exclude other elements, components, sections or steps.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other. The above embodiments are provided to illustrate the technical concept and features of the present invention and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, and are not intended to limit the scope of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention should be construed to be included in the scope of the present invention.
Claims (13)
1. A surgical instrument drive mechanism, comprising:
a fixing seat;
the first rotating piece is arranged on the fixed seat;
the second rotating piece is rotatably arranged on the fixed seat;
the rotating structure is arranged between the first rotating piece and the second rotating piece and is used for driving the first rotating piece and the second rotating piece to generate relative rotation;
the rotating structure comprises a first guide groove arranged on the first rotating member, a first rotating groove arranged on the second rotating member and a first sliding member clamped in the first guide groove and the first rotating groove, and when the first sliding member moves along the first guide groove and the first rotating groove, the first rotating member and the second rotating member are driven to rotate relatively;
The first rotating piece comprises a first rotating sleeve fixedly arranged on the fixed seat, the first guide groove is formed in the first rotating sleeve, the second rotating piece comprises a second rotating sleeve rotatably arranged on the fixed seat, and the first rotating groove is formed in the second rotating sleeve;
a reset structure is arranged between the first rotating piece and the second rotating piece, and the reset structure can drive the first rotating piece and the second rotating piece to reset;
the reset structure comprises a second guide groove arranged on the first rotating member, a second rotating groove arranged on the second rotating member and a second sliding member clamped in the second guide groove and the second rotating groove, and when the second sliding member moves in the opposite direction with the first sliding member along the second guide groove and the second rotating groove, the first rotating member and the second rotating member are driven to reset;
the first guide groove and the second guide groove are arranged in an anti-parallel manner, and the first rotating groove and the second rotating groove are arranged in an anti-parallel manner;
the reset structure further comprises a second transmission wire for driving the second sliding piece, one end of the second transmission wire is connected with the second sliding piece, and the other end of the second transmission wire is connected with the controller;
The reversing structure is arranged on the first rotating piece, one end of the second transmission wire is connected with the second sliding piece through the reversing structure, and two ends of the second transmission wire are enabled to move reversely through the reversing structure.
2. The surgical instrument transmission mechanism according to claim 1, wherein the first guide groove is provided on the first rotating sleeve in an axial direction of the first rotating sleeve, and the first rotating groove is spirally provided on the second rotating sleeve in an axial direction of the second rotating sleeve.
3. The surgical instrument transmission mechanism according to claim 1, wherein the second rotating sleeve is inserted into the first rotating sleeve, a supporting sleeve is inserted into the fixing seat, the supporting sleeve is provided with an insertion passage for the opening and closing wire to pass through, the supporting sleeve is inserted into the second rotating sleeve, and a rotating gap for the second rotating sleeve to rotate is formed between the supporting sleeve and the first rotating sleeve at intervals.
4. The surgical instrument drive of claim 1, wherein the rotating structure further comprises a first drive wire for driving the first slider, one end of the first drive wire being coupled to the first slider, the other end of the first drive wire being configured to be coupled to a controller.
5. The surgical instrument transmission mechanism of claim 1, wherein the reversing mechanism includes a diverter block disposed on the first rotating member, the diverter block having a side wall for sliding movement of the second drive wire, one end of the second drive wire being diverted through the side wall and connected to the second sliding member.
6. The surgical instrument transmission mechanism of claim 1, wherein the reversing mechanism includes a rotating member rotatably disposed on the first rotating member, and wherein one end of the second transmission wire is reversed by the rotating member and then coupled to the second sliding member.
7. The surgical instrument transmission mechanism of claim 1, wherein a swivel structure is disposed between the fixed mount and the second rotating member, the swivel structure being capable of driving the second rotating member to return.
8. The surgical instrument transmission mechanism of claim 7, wherein the swivel structure comprises an elastic swivel member disposed between the fixed seat and the second swivel member, the elastic swivel member being respectively coupled to the fixed seat and the second swivel member, the elastic swivel member being capable of driving the second swivel member to return.
9. A surgical instrument transmission device comprising a surgical instrument transmission mechanism according to any one of claims 1 to 8.
10. The surgical instrument transmission device of claim 9, further comprising a catheter and an opening and closing wire, wherein the surgical instrument transmission mechanism is disposed in the catheter, the fixing base is connected with an inner wall of the catheter, the second rotating member is used for driving the actuator to rotate, the opening and closing wire has an executing end and a control end which are oppositely disposed, the executing end is used for being connected with the actuator, and the control end is used for being connected with the controller.
11. The surgical instrument transmission of claim 10, wherein the conduit has oppositely disposed first and second tube ends, the first tube end for connection to a controller and the second tube end for connection to an actuator, the mount disposed proximate the second tube end.
12. A surgical instrument comprising an actuator, a controller and a surgical instrument transmission according to any one of claims 9 to 11, the controller being connected to the actuator by the surgical instrument transmission.
13. The surgical instrument of claim 12, wherein an elastic connection is disposed between the second rotating member and the actuator, the second rotating member being coupled to the actuator via the elastic connection for transmitting torque.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210176353.1A CN114391899B (en) | 2022-02-24 | 2022-02-24 | Surgical instrument transmission mechanism, surgical instrument transmission device and surgical instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210176353.1A CN114391899B (en) | 2022-02-24 | 2022-02-24 | Surgical instrument transmission mechanism, surgical instrument transmission device and surgical instrument |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114391899A CN114391899A (en) | 2022-04-26 |
| CN114391899B true CN114391899B (en) | 2023-07-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210176353.1A Active CN114391899B (en) | 2022-02-24 | 2022-02-24 | Surgical instrument transmission mechanism, surgical instrument transmission device and surgical instrument |
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|---|---|---|---|---|
| JP2005131173A (en) * | 2003-10-31 | 2005-05-26 | Olympus Corp | Externally mounted channel for endoscope |
| CN201641908U (en) * | 2010-03-09 | 2010-11-24 | 王俊池 | Rotary-type mop structure |
| CN110087558A (en) * | 2016-04-14 | 2019-08-02 | 特兰森特里克斯手术公司 | Electromechanical surgical system including Linear Driving instrument roller |
| CN110269686A (en) * | 2018-03-14 | 2019-09-24 | 深圳市精锋医疗科技有限公司 | Connection component, motion arm and operating robot with rotation section |
| CN113163991A (en) * | 2018-12-04 | 2021-07-23 | Seb公司 | Manual control rope type driving device |
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2022
- 2022-02-24 CN CN202210176353.1A patent/CN114391899B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005131173A (en) * | 2003-10-31 | 2005-05-26 | Olympus Corp | Externally mounted channel for endoscope |
| CN201641908U (en) * | 2010-03-09 | 2010-11-24 | 王俊池 | Rotary-type mop structure |
| CN110087558A (en) * | 2016-04-14 | 2019-08-02 | 特兰森特里克斯手术公司 | Electromechanical surgical system including Linear Driving instrument roller |
| CN110269686A (en) * | 2018-03-14 | 2019-09-24 | 深圳市精锋医疗科技有限公司 | Connection component, motion arm and operating robot with rotation section |
| CN113163991A (en) * | 2018-12-04 | 2021-07-23 | Seb公司 | Manual control rope type driving device |
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| CN114391899A (en) | 2022-04-26 |
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