CN116784946A - Novel seven-degree-of-freedom laparoscopic surgical instrument - Google Patents
Novel seven-degree-of-freedom laparoscopic surgical instrument Download PDFInfo
- Publication number
- CN116784946A CN116784946A CN202310796121.0A CN202310796121A CN116784946A CN 116784946 A CN116784946 A CN 116784946A CN 202310796121 A CN202310796121 A CN 202310796121A CN 116784946 A CN116784946 A CN 116784946A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- shaft
- clamping jaw
- freedom
- hollow shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000012636 effector Substances 0.000 claims abstract description 14
- 239000007787 solid Substances 0.000 claims description 10
- 210000000707 wrist Anatomy 0.000 abstract description 8
- 238000001356 surgical procedure Methods 0.000 abstract description 5
- 210000000056 organ Anatomy 0.000 abstract description 4
- 238000002357 laparoscopic surgery Methods 0.000 abstract description 3
- 210000000683 abdominal cavity Anatomy 0.000 abstract description 2
- 230000001954 sterilising effect Effects 0.000 abstract 1
- 238000004659 sterilization and disinfection Methods 0.000 abstract 1
- 201000010099 disease Diseases 0.000 description 3
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 3
- 210000004185 liver Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 210000003813 thumb Anatomy 0.000 description 2
- 208000002847 Surgical Wound Diseases 0.000 description 1
- 210000001015 abdomen Anatomy 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000003811 finger Anatomy 0.000 description 1
- 210000000232 gallbladder Anatomy 0.000 description 1
- 210000001035 gastrointestinal tract Anatomy 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000000496 pancreas Anatomy 0.000 description 1
- 230000001850 reproductive effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000037390 scarring Effects 0.000 description 1
- 230000002966 stenotic effect Effects 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
- 210000001835 viscera Anatomy 0.000 description 1
Classifications
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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
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in 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
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2902—Details of shaft characterized by features of the actuating rod
- A61B2017/2903—Details of shaft characterized by features of the actuating rod transferring rotary motion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2908—Multiple segments connected by articulations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/2909—Handles
- A61B2017/2912—Handles transmission of forces to actuating rod or piston
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/2909—Handles
- A61B2017/2925—Pistol grips
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2946—Locking means
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Engineering & Computer Science (AREA)
- Ophthalmology & Optometry (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
Abstract
The invention relates to the technical field of medical equipment, and provides a seven-degree-of-freedom surgical instrument for laparoscopic surgery, which comprises: tool head module, center pin module and handle module. Wherein the tool head module further comprises an end effector and a wrist. Conventional laparoscopic instruments used in manual surgery typically have a straight shaft and four degrees of freedom (DOF) and grasping. However, these are not sufficient to fully rotate the instrument tip. This makes access to difficult-to-reach organs within the abdominal cavity during surgery challenging. The present invention therefore contemplates a new seven-degree-of-freedom laparoscopic surgical instrument that provides two additional degrees of freedom: (1) Wrist yaw about an axis (wrist yaw) and (2) rotation of the articulated end effector (wrist and end effector independently). The wrist may be articulated to 45 °, or may be rotated after articulation. The additional degrees of freedom may enable better operability, functionality and scope than conventional laparoscopic instruments. Furthermore, the new instrument employs only rigid links, providing better strength and minimal loss of functionality after multiple sterilization.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a seven-degree-of-freedom surgical instrument for laparoscopic surgery.
Background
In recent years, the incidence rate of liver and gall diseases is rising year by year, and serious threat is brought to the life health of patients. Surgery is the first choice for treating liver and gall diseases, but due to the complexity of diseased organs and the characteristics of large trauma, slow recovery, more pain and the like of the traditional open surgery, open surgery is more and more unacceptable. Laparoscope is a minimally invasive surgery, which can clearly see the conditions of tissues and organs in the abdominal cavity with only a small surgical wound, and is widely used for treating intra-abdominal diseases involving gall bladder, pancreas, liver, intestinal tract and reproductive organs. Laparoscopic or minimally invasive surgery involves inserting a stenotic device into the abdomen of a patient and manipulating the viscera by viewing on a screen. These procedures have many advantages, such as less scarring, reduced hospital stay, lower blood loss, and faster recovery than open procedures.
Disclosure of Invention
The invention overcomes the defects of the prior art and provides a novel seven-degree-of-freedom laparoscopic surgical instrument. It provides two additional degrees of freedom: (1) Wrist yaw about an axis (wrist yaw) and (2) rotation of the articulated end effector (wrist and end effector independently). Additional degrees of freedom may enable better operability, functionality, and scope.
The invention realizes the aim by adopting the following technical scheme:
a novel seven degree of freedom laparoscopic surgical instrument comprising: a tool head module (I), a central shaft module (II) and a handle module (III).
Further, the tool head module includes: an inner sleeve (1), an outer sleeve (2), an end effector (3), a clamping jaw connecting rod 1 (4), a clamping jaw connecting rod 2 (5), a clamping jaw driving connecting rod (6), a driving connecting rod (7) and a universal joint (8); wherein: the front side of the inner sleeve (1) is connected with the clamping jaw connecting rod 1 (4) through a clamp shaft, and the rear side of the inner sleeve (1) is connected with one end of the universal joint (8) through a pin shaft; the outer sleeve (2) is hinged with the hollow shaft 2 (11); the end effector (3) is connected with the clamping jaw connecting rod 1 (4) through a cylindrical pin; the clamping jaw connecting rod 1 (4) is connected with the clamping jaw connecting rod 2 (5) through a cylindrical pin; the front side of the clamping jaw driving connecting rod (6) is connected with the clamping jaw connecting rod 2 (5) through a cylindrical pin, and the rear side of the clamping jaw driving connecting rod (6) is rigidly connected with the solid shaft (9) through a driving connecting rod (7); the rotating shaft of the universal joint (8) is connected with the hollow shaft 1 (10).
Further, the central shaft module includes: solid shaft (9), hollow shaft 1 (10), hollow shaft 2 (11) and hollow shaft 3 (12); wherein: the solid shaft (9), the hollow shaft 1 (10), the hollow shaft 2 (11) and the hollow shaft 3 (12) are concentrically connected; the hollow shaft 2 (11) is connected with the hollow shaft (3) through a pin shaft.
Further, the handle module includes: a front knob (13), a gear-shaped outer contour (14), a front trigger (15), a handle housing (16), a scissor-type structure (17), a ratchet (18), a check pawl 1 (19), a spring (20) and a check pawl 2 (21); wherein, the front scissor hand in the scissor type structure (17) is in a fixed state.
Drawings
FIG. 1 is a general construction diagram of the present invention, and is also a brief summary of the invention
FIG. 2 is a schematic view of a tool head module structure
FIG. 3 is a schematic view of a central axis module structure
FIG. 4 is a schematic view of a handle module structure
In the figures, 1-inner sleeve, 2-outer sleeve, 3-end effector, 4-jaw link 1, 5-jaw link 2, 6-jaw drive link, 7-drive link, 8-universal joint, 9-solid shaft, 10-hollow shaft 1, 11-hollow shaft 2, 12-hollow shaft 3, 13-front knob, 14-gear-shaped outer profile, 15-front trigger, 16-handle housing, 17-scissor type structure, 18-ratchet, 19-check pawl 1, 20-spring, 21-check pawl 2.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings
As shown in fig. 1 to 4, the novel seven-degree-of-freedom laparoscopic surgical instrument according to the present invention includes: a tool head module (I), a central shaft module (II) and a handle module (III).
Specifically, the tool head module includes: an inner sleeve (1), an outer sleeve (2), an end effector (3), a clamping jaw connecting rod 1 (4), a clamping jaw connecting rod 2 (5), a clamping jaw driving connecting rod (6), a driving connecting rod (7) and a universal joint (8); wherein: the front side of the inner sleeve (1) is connected with the clamping jaw connecting rod 1 (4) through a clamp shaft, and the rear side of the inner sleeve (1) is connected with one end of the universal joint (8) through a pin shaft; the outer sleeve (2) is hinged with the hollow shaft 2 (11); the end effector (3) is connected with the clamping jaw connecting rod 1 (4) through a cylindrical pin; the clamping jaw connecting rod 1 (4) is connected with the clamping jaw connecting rod 2 (5) through a cylindrical pin; the front side of the clamping jaw driving connecting rod (6) is connected with the clamping jaw connecting rod 2 (5) through a cylindrical pin, and the rear side of the clamping jaw driving connecting rod (6) is rigidly connected with the solid shaft (9) through a driving connecting rod (7); the rotating shaft of the universal joint (8) is connected with the hollow shaft 1 (10).
Specifically, the center shaft module includes: solid shaft (9), hollow shaft 1 (10), hollow shaft 2 (11) and hollow shaft 3 (12); wherein: the solid shaft (9), the hollow shaft 1 (10), the hollow shaft 2 (11) and the hollow shaft 3 (12) are concentrically connected; the hollow shaft 2 (11) is connected with the hollow shaft (3) through a pin shaft.
Specifically, the handle module includes: a front knob (13), a gear-shaped outer contour (14), a front trigger (15), a handle housing (16), a scissor-type structure (17), a ratchet (18), a check pawl 1 (19), a spring (20) and a check pawl 2 (21); wherein, the front scissor hand in the scissor type structure (17) is in a fixed state.
The working process of the invention comprises the following steps:
when the scissors are in operation, a doctor puts two fingers into the scissors-type structure (17), the thumb is used for controlling the back scissors to move around the pivot point, the driving connecting rod (7) is pushed by force transmission, so that the jaw driving connecting rod (6) is controlled to control the opening and closing movement of the end effector (3), and when the thumb is used for controlling the back scissors to move forwards, the end effector (3) is opened, and otherwise, the scissors are closed. When the doctor presses the front trigger (15), the front trigger (15) drives the ratchet wheel (18) to rotate, and when the doctor is to lock at a certain angle, the check pawl (2) (21) is pressed. The rotation of the instrument is controlled by the structure of the front knob (13).
The above embodiments are only illustrative of the present patent and do not limit the protection scope thereof, and those skilled in the art can also change the parts thereof, which are within the protection scope of the present patent without exceeding the spirit of the present patent.
Claims (4)
1. A novel seven degree of freedom laparoscopic surgical instrument comprising: the tool head module (I), the central shaft module (II) and the handle module (III) are hinged through a pin shaft and the central shaft module (II), and the central shaft module (II) is connected with a front knob (13) and a gear-shaped outer contour (14) in the handle module (III).
2. The novel seven-degree-of-freedom laparoscopic surgical instrument according to claim 1, wherein said tool head module (i) comprises: an inner sleeve (1), an outer sleeve (2), an end effector (3), a clamping jaw connecting rod 1 (4), a clamping jaw connecting rod 2 (5), a clamping jaw driving connecting rod (6), a driving connecting rod (7) and a universal joint (8); wherein: the front side of the inner sleeve (1) is connected with the clamping jaw connecting rod 1 (4) through a clamp shaft, and the rear side of the inner sleeve (1) is connected with one end of the universal joint (8) through a pin shaft; the outer sleeve (2) is hinged with the hollow shaft 2 (11); the end effector (3) is connected with the clamping jaw connecting rod 1 (4) through a cylindrical pin; the clamping jaw connecting rod 1 (4) is connected with the clamping jaw connecting rod 2 (5) through a cylindrical pin; the front side of the clamping jaw driving connecting rod (6) is connected with the clamping jaw connecting rod 2 (5) through a cylindrical pin, and the rear side of the clamping jaw driving connecting rod (6) is rigidly connected with the solid shaft (9) through a driving connecting rod (7); the rotating shaft of the universal joint (8) is connected with the hollow shaft 1 (10).
3. The novel seven-degree-of-freedom laparoscopic surgical instrument according to claim 1, wherein said central shaft module (ii) comprises: solid shaft (9), hollow shaft 1 (10), hollow shaft 2 (11) and hollow shaft 3 (12); wherein: the solid shaft (9), the hollow shaft 1 (10), the hollow shaft 2 (11) and the hollow shaft 3 (12) are concentrically connected; the hollow shaft 2 (11) is connected with the hollow shaft (3) through a pin shaft.
4. A novel seven degree of freedom laparoscopic surgical instrument according to claim 1, characterized in that said handle module (iii) comprises: a front knob (13), a gear-shaped outer contour (14), a front trigger (15), a handle housing (16), a scissor-type structure (17), a ratchet (18), a check pawl 1 (19), a spring (20) and a check pawl 2 (21); wherein, the front scissor hand in the scissor type structure (17) is in a fixed state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310796121.0A CN116784946A (en) | 2023-07-01 | 2023-07-01 | Novel seven-degree-of-freedom laparoscopic surgical instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310796121.0A CN116784946A (en) | 2023-07-01 | 2023-07-01 | Novel seven-degree-of-freedom laparoscopic surgical instrument |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116784946A true CN116784946A (en) | 2023-09-22 |
Family
ID=88049501
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310796121.0A Pending CN116784946A (en) | 2023-07-01 | 2023-07-01 | Novel seven-degree-of-freedom laparoscopic surgical instrument |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116784946A (en) |
-
2023
- 2023-07-01 CN CN202310796121.0A patent/CN116784946A/en active Pending
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