CN116439766B - Double-freedom-degree joint transmission device and full-electric endoscope anastomat - Google Patents
Double-freedom-degree joint transmission device and full-electric endoscope anastomat Download PDFInfo
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- CN116439766B CN116439766B CN202310713570.4A CN202310713570A CN116439766B CN 116439766 B CN116439766 B CN 116439766B CN 202310713570 A CN202310713570 A CN 202310713570A CN 116439766 B CN116439766 B CN 116439766B
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- rod
- driving shaft
- joint
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 34
- 230000006978 adaptation Effects 0.000 claims description 14
- 230000033001 locomotion Effects 0.000 claims description 14
- 230000009977 dual effect Effects 0.000 claims description 6
- 230000003044 adaptive effect Effects 0.000 claims description 2
- 238000005452 bending Methods 0.000 abstract description 5
- 230000008602 contraction Effects 0.000 description 4
- 230000001575 pathological effect Effects 0.000 description 3
- 230000003872 anastomosis Effects 0.000 description 2
- 230000003902 lesion Effects 0.000 description 2
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000002674 endoscopic surgery Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910052719 titanium Inorganic materials 0.000 description 1
- 239000010936 titanium Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
-
- 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
-
- 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
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00305—Constructional details of the flexible means
-
- 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
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B2017/07214—Stapler heads
- A61B2017/07257—Stapler heads characterised by its anvil
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B2017/07214—Stapler heads
- A61B2017/07271—Stapler heads characterised by its cartridge
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B2017/07214—Stapler heads
- A61B2017/07285—Stapler heads characterised by its cutter
Abstract
The application discloses a double-freedom-degree joint transmission device and a full-electric endoscope anastomat, wherein the double-freedom-degree joint transmission device comprises: a hollow rod body; the distal joint is rotationally connected with one end of the rod body; the guide rod is provided with a first guide groove component and a second guide groove component along the length direction; the first gear is sleeved on the guide rod, and a first left-handed spiral groove and a first right-handed spiral groove are respectively arranged on two sides of an inner hole of the first gear; the second gear is sleeved on the guide rod, and a second left-handed spiral groove and a second right-handed spiral groove are formed in two sides of an inner hole of the second gear; a first pull rod assembly adapted to fit within the first guide slot assembly to drive bending of the distal joint in one direction; and the second pull rod assembly is adaptively arranged in the second guide groove assembly so as to drive the bending of the distal joint in the other direction. The application has the function of multi-angle adjustment, and improves the operation convenience of the endoscopic stapler.
Description
Technical Field
The application relates to the technical field of medical appliances, in particular to a double-freedom-degree joint transmission device and an all-electric endoscopic stapler.
Background
The endoscopic stapler is one of important instruments for endoscopic surgery, replaces the traditional manual suturing, utilizes titanium nails to separate or anastomose tissues, is simple and quick to operate, and greatly shortens the operation time. And the endoscopic anastomat makes the anastomosis with narrow operative field and deep manual operation difficulty easy and accurate. Thus, endoscopic staplers are becoming increasingly important surgical medical devices.
Because the anastomat needs to be matched and anastomosed with a focus accurately, the joint end of the anastomat needs to be subjected to angle adjustment in a limited space, but most of the existing anastomat does not have an angle adjustment function or only has a single angle function, and certain difficulty is brought to operation on pathological tissues with relatively biased positions.
Therefore, it is necessary to design a dual-degree-of-freedom joint transmission device and an all-electric endoscopic stapler to solve the above problems.
Disclosure of Invention
Aiming at the technical problems, the application aims to provide the double-freedom-degree joint transmission device and the full-electric endoscope anastomat, which have the function of multi-angle adjustment and improve the operation convenience of the endoscope anastomat.
In order to achieve the above object, the present application provides a two-degree-of-freedom joint transmission device including:
a hollow rod body;
the distal joint is rotationally connected with one end of the rod body;
the guide rod is arranged in the rod body, and a first guide groove component and a second guide groove component are arranged on the guide rod along the length direction of the guide rod;
the first gear is sleeved on the guide rod, and a first left-handed spiral groove and a first right-handed spiral groove are respectively arranged on two sides of an inner hole of the first gear;
the second gear is sleeved on the guide rod, and a second left-handed spiral groove and a second right-handed spiral groove are formed in two sides of an inner hole of the second gear;
the first pull rod assembly is adaptively arranged in the first guide groove assembly, one end of the first pull rod assembly is respectively connected with the first left-handed spiral groove and the first right-handed spiral groove, the other end of the first pull rod assembly is connected with the far-end joint, and the first gear is rotated to drive the first pull rod assembly to reciprocate along the length direction of the guide rod so as to drive the far-end joint to bend in one direction;
the second pull rod assembly is arranged in the second guide groove assembly in an adapting mode, one end of the second pull rod assembly is connected with the second left-handed spiral groove and the second right-handed spiral groove respectively, the other end of the second pull rod assembly is connected with the far-end joint, the second gear is rotated to drive the second pull rod assembly to reciprocate along the length direction of the guide rod, and then the far-end joint is driven to bend in the other direction.
In some embodiments, the first guide slot assembly includes a first guide slot and a second guide slot, the first guide slot and the second guide slot being located on opposite sides of the guide bar, respectively;
the second guide groove assembly comprises a third guide groove and a fourth guide groove, and the third guide groove and the fourth guide groove are respectively positioned on two opposite sides of the guide rod.
In some embodiments, the first pull rod assembly comprises a first pull rod and a second pull rod, the first pull rod is matched and arranged in the first guide groove, the second pull rod is matched and arranged in the second guide groove, and when the first gear is rotated, the movement direction of the first pull rod is opposite to that of the second pull rod, and the expansion and contraction amount of the first pull rod is equal to that of the second pull rod;
the second pull rod assembly comprises a third pull rod and a fourth pull rod, the third pull rod is arranged in the third guide groove in an adaptation mode, the fourth pull rod is arranged in the fourth guide groove in an adaptation mode, and when the second gear is rotated, the movement direction of the third pull rod is opposite to that of the fourth pull rod, and the expansion and contraction amount of the third pull rod is equal to that of the fourth pull rod.
In some embodiments, the plane where the first pull rod and the second pull rod are located and the plane where the third pull rod and the fourth pull rod are located are arranged at a preset angle.
In some embodiments, the first pull rod is provided with a first boss, the first boss is fixed at the end part of the first pull rod, and the first boss is adapted to be clamped in the first left-handed spiral groove, so that the first pull rod is movably connected with the first gear;
the second pull rod is provided with a second boss, the second boss is fixed at the end part of the second pull rod, and the second boss is adaptively clamped in the first right-handed spiral groove, so that the second pull rod is movably connected with the first gear;
the third pull rod is provided with a third boss, the third boss is fixed at the end part of the third pull rod, and the third boss is adaptively clamped in the second left-handed spiral groove, so that the third pull rod is movably connected with the second gear;
the fourth pull rod is provided with a fourth boss, the fourth boss is fixed to the end portion of the fourth pull rod, and the fourth boss is adapted to be clamped in the second right-handed spiral groove, so that the fourth pull rod is movably connected with the second gear.
In some embodiments, further comprising:
the first gear driving mechanism comprises a first gear driving shaft and a first gear driving wheel, the first gear driving wheel is fixed at one end of the first gear driving shaft, and the first gear driving wheel is in fit engagement with the first gear;
the second gear driving mechanism comprises a second gear driving shaft and a second gear driving wheel, the second gear driving wheel is fixed at one end of the second gear driving shaft, and the second gear driving wheel is in fit engagement with the second gear.
In some embodiments, the first gear drive mechanism further comprises a first motor connected to an end of the first gear drive shaft remote from the first gear drive wheel for driving the first gear drive shaft to rotate;
and/or the second gear driving mechanism further comprises a second motor, and the second motor is connected with one end, far away from the second gear driving wheel, of the second gear driving shaft and is used for driving the second gear driving shaft to rotate.
In some embodiments, the end of the rod body is provided with a joint support, the distal joint is provided with a terminal flange, and the terminal flange is connected with the joint support through a first universal joint, so that the rod body is rotationally connected with the distal joint.
In some embodiments, further comprising:
and the rotating mechanism is connected with the rod body and used for driving the rod body to axially rotate.
In some embodiments, the rotating mechanism comprises a rotating driven wheel, a rotating driving wheel and a rotating driving shaft, wherein the rotating driven wheel is connected with the rod body, and the rotating driving wheel is fixed on the rotating driving shaft and is in fit engagement with the rotating driven wheel to drive the rotating driving shaft to rotate, so that the rod body is driven to axially rotate.
In some embodiments, the rotary driven wheel is of an internal gear structure, the outer side of the rotary driven wheel is fixed on the rod body, the rotary driving wheel is of an external gear structure, and the rotary driving wheel is arranged on the inner side of the rotary driven wheel.
In some embodiments, a housing is arranged on the outer side of the rotating mechanism, the housing is connected with one end of the rod body far away from the distal joint, and the rotating driven wheel is fixed in the housing;
the shell is internally provided with a first support and a second support, and the first support and the second support are arranged on one side of the rotary driven wheel far away from the rod body.
In some embodiments, further comprising:
the remote joint is provided with an executing mechanism, and the moving mechanism is connected with the executing mechanism and used for driving the executing mechanism to axially move.
In some embodiments, the moving mechanism comprises a central driving shaft, a second universal joint, a bias driving shaft, a telescopic driving shaft, a third universal joint, a flange driving shaft, a driving gear, a screw rod and a screw rod nut, wherein the central driving shaft is rotationally connected with the bias driving shaft through the second universal joint, one end of the bias driving shaft, which is far away from the second universal joint, is connected with the telescopic driving shaft, one end of the telescopic driving shaft, which is far away from the bias driving shaft, is connected with the flange driving shaft through the third universal joint, the flange driving shaft is connected with the driving gear, the driving gear is in adaptive engagement with the screw rod gear, the screw rod gear is connected with the screw rod, the screw rod nut is adaptively arranged on the screw rod, and the executing mechanism is fixedly connected with the screw rod nut.
In some embodiments, the central drive shaft is inserted into the guide rod, the second universal joint, the offset drive shaft, and the telescoping drive shaft are disposed in the rod body, the flange drive shaft is disposed on a terminal flange of the distal joint, and the drive gear, the lead screw, and the lead screw nut are disposed on the distal joint.
According to another aspect of the present application, there is further provided an all-electric endoscopic stapler including the dual-degree-of-freedom joint transmission device of any one of the above, further including:
the handle is detachably connected with one end, far away from the far-end joint, of the rod body;
and the nail bin nail anvil component is arranged on the far-end joint.
In some embodiments, a plurality of driving motors are arranged in the handle, and the driving motors are respectively in driving connection with the first gear driving shaft, the second gear driving shaft, the rotating driving shaft and the central driving shaft.
In some embodiments, the cartridge anvil assembly includes a cutting knife fixedly connected to a lead screw nut of a moving mechanism that drives the cutting knife to move axially to cut.
Compared with the prior art, the double-freedom-degree joint transmission device and the full-electric endoscope anastomat provided by the application have the following beneficial effects:
the double-freedom-degree joint transmission device and the full-electric endoscope anastomat provided by the application have the function of multi-angle adjustment, and can enable the far-end joint to bend towards different directions so as to facilitate the operation on pathological tissues at different positions, thereby improving the operation convenience of the endoscope anastomat; and the rotation function of the rod body and the axial movement function of the actuating mechanism are matched, so that the operation efficiency can be effectively improved, and the operation time is shortened.
Drawings
The above features, technical features, advantages and implementation of the present application will be further described in the following description of preferred embodiments with reference to the accompanying drawings in a clear and easily understood manner.
FIG. 1 is a schematic view of the proximal end of a dual degree of freedom articulation transmission of a preferred embodiment of the present application;
FIG. 2 is a cross-sectional view of the proximal end of a preferred embodiment dual degree of freedom articulation transmission of the present application;
FIG. 3 is a cross-sectional view of a partial structure of a dual degree of freedom joint transmission according to a preferred embodiment of the present application;
FIG. 4 is a cross-sectional view of the distal end of a preferred embodiment dual degree of freedom articulation transmission of the present application;
FIG. 5 is a schematic view of the structure of the distal end of the dual degree of freedom articulation transmission of the preferred embodiment of the present application;
fig. 6 is a schematic structural view of an all-electric endoscopic stapler according to a preferred embodiment of the present application.
Reference numerals illustrate:
the rotary driven wheel 1, the rotary drive shaft 2, the rotary drive wheel 3, the first gear 4, the first gear drive shaft 5, the first gear drive wheel 6, the first pull rod 7, the second pull rod 8, the second gear 9, the second gear drive shaft 10, the second gear drive wheel 11, the third pull rod 12, the fourth pull rod 13, the guide rod 14, the central drive shaft 15, the rod body 16, the first support 17, the second support 18, the housing 19, the second universal joint 20, the distal guide rod 21, the offset drive shaft 22, the telescoping drive shaft 23, the articulation support 24, the third universal joint 25, the first universal joint 26, the end flange 27, the flange drive shaft 28, the drive gear 29, the lead screw gear 30, the cutter 31, the lead screw 32, the rotary mechanism 33, and the cartridge anvil assembly 34.
Detailed Description
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description will explain the specific embodiments of the present application with reference to the accompanying drawings. It is evident that the drawings in the following description are only examples of the application, from which other drawings and other embodiments can be obtained by a person skilled in the art without inventive effort.
For simplicity of the drawing, only the parts relevant to the application are schematically shown in each drawing, and they do not represent the actual structure thereof as a product. Additionally, in order to simplify the drawing for ease of understanding, components having the same structure or function in some of the drawings are shown schematically with only one of them, or only one of them is labeled. Herein, "a" means not only "only this one" but also "more than one" case.
It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
In this context, it should be noted that the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, unless explicitly stated or limited otherwise; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
In addition, in the description of the present application, the terms "first," "second," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
In one embodiment, referring to fig. 1 to 6 of the drawings, the present application provides a two-degree-of-freedom joint transmission device, including: the rod body 16, the distal joint, the guide rod 14, the first gear 4, the second gear 9, the first pull rod assembly and the second pull rod assembly. The rod body 16 is of a hollow structure, a distal joint is rotationally connected with one end of the rod body 16, the guide rod 14 is arranged in the rod body 16, and the guide rod 14 is provided with a first guide groove assembly and a second guide groove assembly along the length direction of the guide rod 14. The first gear 4 is sleeved on the guide rod 14, and a first left-handed spiral groove and a first right-handed spiral groove are respectively arranged on two sides of an inner hole of the first gear 4; the second gear 9 is sleeved on the guide rod 14, and a second left-handed spiral groove and a second right-handed spiral groove are formed in two sides of an inner hole of the second gear 9. The first pull rod assembly is arranged in the first guide groove assembly in a matching mode, one end of the first pull rod assembly is connected with the first left-handed spiral groove and the first right-handed spiral groove respectively, the other end of the first pull rod assembly is connected with the far-end joint, the first gear 4 is rotated to drive the first pull rod assembly to reciprocate along the length direction of the guide rod 14, and further the far-end joint is driven to bend in one direction. The second pull rod assembly is arranged in the second guide groove assembly in an adaptation mode, one end of the second pull rod assembly is connected with the second left-handed spiral groove and the second right-handed spiral groove respectively, the other end of the second pull rod assembly is connected with the far-end joint, the second gear 9 is rotated to drive the second pull rod assembly to reciprocate along the length direction of the guide rod 14, and further the far-end joint is driven to bend in the other direction.
In the embodiment, the endoscope anastomat has the multi-angle adjusting function, and can bend the far-end joint towards different directions so as to facilitate the operation on lesion tissues at different positions, thereby improving the operation convenience of the endoscope anastomat.
In one embodiment, referring to fig. 1-6 of the drawings, the first guide slot assembly includes first and second guide slots, one on each of opposite sides of the guide bar 14; the second guide slot assembly includes a third guide slot and a fourth guide slot, which are located on opposite sides of the guide bar 14, respectively. The guide bar 14 has a cylindrical structure, the first guide groove and the second guide groove are spaced 180 ° apart on the guide bar 14, and the third guide groove and the fourth guide groove are also spaced 180 ° apart on the guide bar 14. Preferably, the third guide groove is spaced 90 ° from the first guide groove and the second guide groove on the guide bar 14, but other angles such as 30 °, 45 °, 60 ° and the like are also possible. The first guide slot assembly and the second guide slot assembly may also be configured as more guide slots, such as three, four, etc., to provide more directional bending of the distal joint.
The first pull rod assembly comprises a first pull rod 7 and a second pull rod 8, the first pull rod 7 is arranged in the first guide groove in an adaptation mode, the second pull rod 8 is arranged in the second guide groove in an adaptation mode, and when the first gear 4 rotates, the movement direction of the first pull rod 7 is opposite to that of the second pull rod 8, and the expansion and contraction amount is equal to that of the second pull rod. The second pull rod assembly comprises a third pull rod 12 and a fourth pull rod 13, the third pull rod 12 is arranged in the third guide groove in an adaptation mode, the fourth pull rod 13 is arranged in the fourth guide groove in an adaptation mode, and when the second gear 9 rotates, the movement direction of the third pull rod 12 is opposite to that of the fourth pull rod 13, and the expansion and contraction amount is equal. The number of the pull rods is matched with that of the guide grooves, and a plurality of pull rods can be arranged to realize bending of the distal joint in a plurality of directions. The planes of the first pull rod 7 and the second pull rod 8 and the planes of the third pull rod 12 and the fourth pull rod 13 are arranged at preset angles, and the angles of the planes of the first pull rod 7 and the second pull rod 8 and the planes of the third pull rod 12 and the fourth pull rod 13 can be adapted according to the angles between the guide grooves.
Specifically, the first pull rod 7 is provided with a first boss, the first boss is fixed in the tip of first pull rod 7, and first boss adaptation card is located in the first left-handed helicla flute for first pull rod 7 and first gear 4 swing joint, when rotating first gear 4, first pull rod 7 can remove in first guide way. The second pull rod 8 is provided with the second boss, and the second boss is fixed in the tip of second pull rod 8, and the second boss adaptation card is located in the first right-handed helicla flute for second pull rod 8 and first gear 4 swing joint, when rotating first gear 4, second pull rod 8 can remove in the second guide way, and first pull rod 7 and second pull rod 8 opposite in direction of motion just flexible volume equals.
The third pull rod 12 is provided with a third boss, the third boss is fixed in the tip of third pull rod 12, and third boss adaptation card is located in the second left-handed helicla flute for third pull rod 12 and second gear 9 swing joint, when rotating second gear 9, third pull rod 12 can remove in the third guide way. The fourth pull rod 13 is provided with the fourth boss, and the fourth boss is fixed in the tip of fourth pull rod 13, and the fourth boss adaptation card is located in the second right-handed helical groove for fourth pull rod 13 and second gear 9 swing joint, when rotating second gear 9, fourth pull rod 13 can remove in the fourth guide way, and third pull rod 12 and fourth pull rod 13 direction of motion are opposite and the flexible volume equals.
In one embodiment, referring to fig. 1 and 2 of the specification, the two-degree-of-freedom joint transmission device further includes: the first gear driving mechanism comprises a first gear driving shaft 5 and a first gear driving wheel 6, wherein the first gear driving wheel 6 is fixed at one end of the first gear driving shaft 5, and the first gear driving wheel 6 is in fit engagement with the first gear 4. The second gear drive mechanism comprises a second gear drive shaft 10 and a second gear drive wheel 11, the second gear drive wheel 11 being fixed to one end of the second gear drive shaft 10, the second gear drive wheel 11 being in mating engagement with the second gear 9.
The first gear driving mechanism further comprises a first motor connected with one end of the first gear driving shaft 5 away from the first gear driving wheel 6 for driving the first gear driving shaft 5 to rotate. The second gear driving mechanism further comprises a second motor connected to an end of the second gear driving shaft 10 remote from the second gear driving wheel 11 for driving the second gear driving shaft 10 to rotate. The first motor and the second motor may be servo motors, but the first motor and the second motor may also be other structures or devices capable of driving the first gear driving shaft 5 and the second gear driving shaft 10 to rotate.
Further, referring to fig. 4 and 5 of the drawings, the end of the rod 16 is provided with a joint support 24, the distal joint is provided with a distal flange 27, and the distal flange 27 is connected to the joint support 24 by a first universal joint 26, so that the rod 16 is pivotally connected to the distal joint. Of course, other devices may be used to implement the rotational connection between the rod 16 and the distal joint, and the embodiment does not limit the rotational connection between the rod 16 and the distal joint.
In one embodiment, referring to fig. 1 to 6 of the drawings, the two-degree-of-freedom joint transmission further comprises: and the rotating mechanism 33, wherein the rotating mechanism 33 is connected with the rod body 16 and is used for driving the rod body 16 to axially rotate. The rotation mechanism 33 comprises a rotation driven wheel 1, a rotation driving wheel 3 and a rotation driving shaft 2, wherein the rotation driven wheel 1 is connected with the rod body 16, and the rotation driving wheel 3 is fixed on the rotation driving shaft 2 and is in fit engagement with the rotation driven wheel 1 to drive the rotation driving shaft 2 to rotate, so that the rod body 16 is driven to axially rotate.
Specifically, the rotation driven wheel 1 has an internal gear structure, the outer side of the rotation driven wheel 1 is fixed on the rod body 16, the rotation driving wheel 3 has an external gear structure, and the rotation driving wheel 3 is arranged on the inner side of the rotation driven wheel 1.
The outer side of the rotating mechanism 33 is provided with a shell 19, the shell 19 is connected with one end of the rod body 16 far away from the far-end joint, and the rotating driven wheel 3 is fixed in the shell 19. A first support 17 and a second support 18 are also provided in the housing 19, the first support 17 and the second support 18 being provided on the side of the rotary driven wheel 3 remote from the rod body 16. The first support 17 and the second support 18 serve as mounting supports for internal components of the dual-degree-of-freedom joint transmission for fixedly supporting the gear members and the drive shaft. The rotation mechanism 33 is provided to realize axial rotation of the rod body 16, so that the distal joint can be driven to rotate. Of course, the rotation mechanism 33 may have other structures or devices, as long as the axial rotation of the rod 16 is enabled.
In one embodiment, referring to fig. 1 to 6 of the drawings, the two-degree-of-freedom joint transmission further comprises: the remote joint is provided with an executing mechanism, and the moving mechanism is connected with the executing mechanism and is used for driving the executing mechanism to axially move. The moving mechanism comprises a central driving shaft 15, a second universal joint 20, an offset driving shaft 22, a telescopic driving shaft 23, a third universal joint 25, a flange driving shaft 28, a driving gear 29, a screw rod gear 30, a screw rod 32 and a screw rod nut, wherein the central driving shaft 15 is rotationally connected with the offset driving shaft 22 through the second universal joint 20, one end of the offset driving shaft 22, far away from the second universal joint 20, is connected with the telescopic driving shaft 23, one end of the telescopic driving shaft 23, far away from the offset driving shaft 22, is connected with the flange driving shaft 28 through the third universal joint 25, the flange driving shaft 28 is connected with the driving gear 29, the driving gear 29 is meshed with the screw rod gear 30 in an adapting way, the screw rod gear 30 is connected with the screw rod 32, the screw rod nut is matched with the screw rod 32, and the executing mechanism is fixedly connected with the screw rod nut.
The central driving shaft 15 is inserted in the guide rod 14, the end part of the guide rod 14 is connected with a far-end guide rod 21, the far-end guide rod 21 is connected with a joint support 24, the second universal joint 20, the offset driving shaft 22 and the telescopic driving shaft 23 are arranged in the rod body 16, the flange driving shaft 28 is arranged on a tail end flange 27 of a far-end joint, and the driving gear 29, the lead screw gear 30, the lead screw 32 and the lead screw nut are arranged on the far-end joint. When the central driving shaft 15 is driven to rotate, the screw rod 32 is driven to rotate, and further axial movement of the actuating mechanism on the screw rod nut is realized.
In the embodiment, the double-freedom-degree joint transmission device has a multi-angle adjusting function, and can bend the far-end joint in different directions, so that the operation on lesion tissues at different positions is facilitated, and the operation convenience of the endoscopic stapler is improved; the rotation function of the rod body 16 and the axial movement function of the actuating mechanism are matched, so that the operation efficiency can be effectively improved, and the operation time can be shortened.
According to another aspect of the present application, referring to fig. 1 to 6 of the accompanying drawings, the present application further provides an all-electric endoscopic stapler, including the dual-degree-of-freedom joint transmission device according to any one of the above, further including: a handle detachably connected to the end of the shaft 16 remote from the distal joint, and a cartridge anvil assembly 34, the cartridge anvil assembly 34 being disposed on the distal joint. A plurality of driving motors are arranged in the handle and are respectively in driving connection with the first gear driving shaft 5, the second gear driving shaft 10, the rotating driving shaft 2 and the central driving shaft 15. The handle is used as a central control mechanism, and a device for controlling a control board can be arranged in the handle to control the axial rotation of the rod body 16, the joint bending in two directions and the axial movement of the cutting knife 31 in the nail bin and nail anvil component 34 in the all-electric endoscope anastomat.
The nail bin anvil assembly 34 comprises a cutter 31, the cutter 31 is fixedly connected with a screw nut of a moving mechanism, and the moving mechanism drives the cutter 31 to axially move so as to cut.
In the embodiment, the full-electric endoscope anastomat has a multi-angle adjusting function, and can bend the far-end joint to different directions so as to be convenient for operating on pathological tissues at different positions, thereby improving the operation convenience of the endoscope anastomat; the rotation function of the rod body 16 and the axial movement function of the actuating mechanism are matched, so that the operation efficiency can be effectively improved, and the operation time can be shortened; the full-electric endoscope anastomat can realize automatic angle adjustment of the execution joint, so that the accuracy of the adjustment angle of the execution joint is higher; the automatic axial rotation of the rod body 16 and the automatic axial movement of the cutting knife 31 can be realized, and the alignment of the execution joint and the focus can be ensured to be more accurate.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and the parts of a certain embodiment that are not described or depicted in detail may be referred to in the related descriptions of other embodiments.
It should be noted that the above embodiments can be freely combined as needed. The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application, which are intended to be comprehended within the scope of the present application.
Claims (13)
1. A two-degree-of-freedom joint transmission comprising:
a hollow rod body;
the distal joint is rotationally connected with one end of the rod body;
the guide rod is arranged in the rod body, and a first guide groove component and a second guide groove component are arranged on the guide rod along the length direction of the guide rod;
the first gear is sleeved on the guide rod, and a first left-handed spiral groove and a first right-handed spiral groove are respectively arranged on two sides of an inner hole of the first gear;
the second gear is sleeved on the guide rod, and a second left-handed spiral groove and a second right-handed spiral groove are formed in two sides of an inner hole of the second gear;
the first pull rod assembly is adaptively arranged in the first guide groove assembly, one end of the first pull rod assembly is respectively connected with the first left-handed spiral groove and the first right-handed spiral groove, the other end of the first pull rod assembly is connected with the far-end joint, and the first gear is rotated to drive the first pull rod assembly to reciprocate along the length direction of the guide rod so as to drive the far-end joint to bend in one direction;
the second pull rod assembly is adaptively arranged in the second guide groove assembly, one end of the second pull rod assembly is respectively connected with the second left-handed spiral groove and the second right-handed spiral groove, the other end of the second pull rod assembly is connected with the distal joint, and the second gear is rotated to drive the second pull rod assembly to reciprocate along the length direction of the guide rod so as to drive the distal joint to bend in the other direction;
the remote joint is provided with an executing mechanism, and the moving mechanism is connected with the executing mechanism and is used for driving the executing mechanism to axially move; the moving mechanism comprises a center driving shaft, a second universal joint, an offset driving shaft, a telescopic driving shaft, a third universal joint, a flange driving shaft, a driving gear, a screw rod and a screw rod nut, wherein the center driving shaft is rotationally connected with the offset driving shaft through the second universal joint, one end of the offset driving shaft, which is far away from the second universal joint, is connected with the telescopic driving shaft, one end of the telescopic driving shaft, which is far away from the offset driving shaft, is connected with the flange driving shaft through the third universal joint, the flange driving shaft is connected with the driving gear, the driving gear is in fit engagement with the screw rod gear, the screw rod gear is connected with the screw rod, the screw rod nut is matched with the screw rod, and the executing mechanism is fixedly connected with the screw rod nut;
the central driving shaft is inserted into the guide rod, the second universal joint, the offset driving shaft and the telescopic driving shaft are arranged in the rod body, the flange driving shaft is arranged on a tail end flange of the far-end joint, and the driving gear, the lead screw and the lead screw nut are arranged on the far-end joint;
the first guide groove assembly comprises a first guide groove and a second guide groove, the first pull rod assembly comprises a first pull rod and a second pull rod, the first pull rod is arranged in the first guide groove in an adapting mode, the second pull rod is arranged in the second guide groove in an adapting mode, and when the first gear is rotated, the movement direction of the first pull rod is opposite to that of the second pull rod, and the expansion amount of the first pull rod is equal to that of the second pull rod;
the second guide groove assembly comprises a third guide groove and a fourth guide groove, the second pull rod assembly comprises a third pull rod and a fourth pull rod, the third pull rod is arranged in the third guide groove in an adaptation mode, the fourth pull rod is arranged in the fourth guide groove in an adaptation mode, and when the second gear is rotated, the movement direction of the third pull rod is opposite to that of the fourth pull rod, and the expansion amount of the third pull rod is equal to that of the fourth pull rod;
the end of the rod body is provided with a joint support, the far-end joint is provided with a tail end flange, and the tail end flange is connected with the joint support through a first universal joint, so that the rod body is rotationally connected with the far-end joint.
2. The two degree of freedom joint transmission of claim 1, wherein,
the first guide groove and the second guide groove are respectively positioned at two opposite sides of the guide rod;
the third guide groove and the fourth guide groove are respectively positioned on two opposite sides of the guide rod.
3. The two degree of freedom joint transmission of claim 2, wherein,
the planes of the first pull rod and the second pull rod and the planes of the third pull rod and the fourth pull rod are arranged at preset angles.
4. The two degree of freedom joint transmission of claim 2, wherein,
the first pull rod is provided with a first boss, the first boss is fixed at the end part of the first pull rod, and the first boss is adaptively clamped in the first left-handed spiral groove, so that the first pull rod is movably connected with the first gear;
the second pull rod is provided with a second boss, the second boss is fixed at the end part of the second pull rod, and the second boss is adaptively clamped in the first right-handed spiral groove, so that the second pull rod is movably connected with the first gear;
the third pull rod is provided with a third boss, the third boss is fixed at the end part of the third pull rod, and the third boss is adaptively clamped in the second left-handed spiral groove, so that the third pull rod is movably connected with the second gear;
the fourth pull rod is provided with a fourth boss, the fourth boss is fixed to the end portion of the fourth pull rod, and the fourth boss is adapted to be clamped in the second right-handed spiral groove, so that the fourth pull rod is movably connected with the second gear.
5. The two degree of freedom joint transmission of claim 1 further comprising:
the first gear driving mechanism comprises a first gear driving shaft and a first gear driving wheel, the first gear driving wheel is fixed at one end of the first gear driving shaft, and the first gear driving wheel is in fit engagement with the first gear;
the second gear driving mechanism comprises a second gear driving shaft and a second gear driving wheel, the second gear driving wheel is fixed at one end of the second gear driving shaft, and the second gear driving wheel is in fit engagement with the second gear.
6. The two degree of freedom joint transmission of claim 5, wherein,
the first gear driving mechanism further comprises a first motor, and the first motor is connected with one end, far away from the first gear driving wheel, of the first gear driving shaft and is used for driving the first gear driving shaft to rotate;
and/or the second gear driving mechanism further comprises a second motor, and the second motor is connected with one end, far away from the second gear driving wheel, of the second gear driving shaft and is used for driving the second gear driving shaft to rotate.
7. The dual degree of freedom joint transmission of any of claims 1-6 further comprising:
and the rotating mechanism is connected with the rod body and used for driving the rod body to axially rotate.
8. The two degree of freedom joint transmission of claim 7, wherein,
the rotating mechanism comprises a rotating driven wheel, a rotating driving wheel and a rotating driving shaft, wherein the rotating driven wheel is connected with the rod body, and the rotating driving wheel is fixed on the rotating driving shaft and is meshed with the rotating driven wheel in an adaptive manner to drive the rotating driving shaft to rotate, so that the rod body is driven to axially rotate.
9. The two degree of freedom joint transmission of claim 8, wherein,
the rotary driven wheel is of an internal gear structure, the outer side of the rotary driven wheel is fixed on the rod body, the rotary driving wheel is of an external gear structure, and the rotary driving wheel is arranged on the inner side of the rotary driven wheel.
10. The two degree of freedom joint transmission of claim 9, wherein,
the outer side of the rotating mechanism is provided with a shell, the shell is connected with one end of the rod body far away from the far-end joint, and the rotating driven wheel is fixed in the shell;
the shell is internally provided with a first support and a second support, and the first support and the second support are arranged on one side of the rotary driven wheel far away from the rod body.
11. An all-electric endoscopic stapler comprising the dual-degree-of-freedom joint transmission device of any one of claims 1-10, further comprising:
the handle is detachably connected with one end, far away from the far-end joint, of the rod body;
and the nail bin nail anvil component is arranged on the far-end joint.
12. The fully-powered endoscopic stapler of claim 11, wherein,
the handle is internally provided with a plurality of driving motors, and the driving motors are respectively in driving connection with the first gear driving shaft, the second gear driving shaft, the rotating driving shaft and the central driving shaft.
13. The fully-powered endoscopic stapler of claim 11, wherein,
the nail bin and anvil assembly comprises a cutting knife which is fixedly connected with a screw nut of a moving mechanism, and the moving mechanism drives the cutting knife to move axially so as to cut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310713570.4A CN116439766B (en) | 2023-06-16 | 2023-06-16 | Double-freedom-degree joint transmission device and full-electric endoscope anastomat |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310713570.4A CN116439766B (en) | 2023-06-16 | 2023-06-16 | Double-freedom-degree joint transmission device and full-electric endoscope anastomat |
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| CN116439766A CN116439766A (en) | 2023-07-18 |
| CN116439766B true CN116439766B (en) | 2023-09-15 |
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| CN202310713570.4A Active CN116439766B (en) | 2023-06-16 | 2023-06-16 | Double-freedom-degree joint transmission device and full-electric endoscope anastomat |
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