CN116889493A - Surgical forceps with force protection function - Google Patents
Surgical forceps with force protection function Download PDFInfo
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- CN116889493A CN116889493A CN202310984561.9A CN202310984561A CN116889493A CN 116889493 A CN116889493 A CN 116889493A CN 202310984561 A CN202310984561 A CN 202310984561A CN 116889493 A CN116889493 A CN 116889493A
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- assembly
- working catheter
- forceps
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- clamping groove
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 48
- 230000009471 action Effects 0.000 claims abstract description 7
- 230000006870 function Effects 0.000 claims description 26
- 230000007246 mechanism Effects 0.000 claims description 19
- 230000003139 buffering effect Effects 0.000 claims description 8
- 239000002783 friction material Substances 0.000 claims description 4
- 239000002184 metal Substances 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 8
- 238000001356 surgical procedure Methods 0.000 description 8
- 210000004379 membrane Anatomy 0.000 description 6
- 238000002324 minimally invasive surgery Methods 0.000 description 6
- 210000001519 tissue Anatomy 0.000 description 6
- 239000012528 membrane Substances 0.000 description 4
- 230000002207 retinal effect Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 208000035719 Maculopathy Diseases 0.000 description 2
- 208000037111 Retinal Hemorrhage Diseases 0.000 description 2
- 208000002367 Retinal Perforations Diseases 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 208000002780 macular degeneration Diseases 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 238000011277 treatment modality Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F9/00—Methods or devices for treatment of the eyes; Devices for putting-in contact lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
- A61F9/007—Methods or devices for eye surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F9/00—Methods or devices for treatment of the eyes; Devices for putting-in contact lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
- A61F9/007—Methods or devices for eye surgery
- A61F9/00709—Instruments for removing foreign bodies
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Ophthalmology & Optometry (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Public Health (AREA)
- Heart & Thoracic Surgery (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Vascular Medicine (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Surgical Instruments (AREA)
Abstract
The present disclosure relates to the technical field of medical instruments, and in particular, to a surgical forceps with force protection function, the surgical forceps with force protection function includes: the forceps comprise a fixed support assembly, a driving assembly, a working catheter, a forceps assembly and a buffer assembly, wherein the working catheter can slide relative to the forceps assembly under the driving of the driving assembly so as to control the opening and closing of the second end of the forceps assembly, the forceps assembly can axially rotate, and the buffer assembly comprises a permanent magnet arranged at the first end of the forceps assembly and an annular permanent magnet matched with the permanent magnet. According to the technical scheme, the buffer assembly is arranged, so that the forceps assembly is prevented from being damaged by patient caused by the rapid increase of misoperation stress and excessive displacement, and the three actions of clamping, rotating and pulling of the forceps can be realized through the clutch assembly, so that the structure of the forceps is simplified.
Description
Technical Field
The disclosure relates to the technical field of medical instruments, in particular to surgical forceps with a force protection function.
Background
Minimally invasive surgery is a common treatment modality for ophthalmic diseases. For example, maculopathy requires a doctor to peel off the macular membrane through minimally invasive surgery, and because the macular membrane is an extremely thin membrane tissue, the operation process can destroy the macular cell tissue, and has extremely high requirements on the experience and technology of the doctor.
With the development of telemedicine technology, remote retinal surgery is becoming an innovative solution. The concept of remote retinal surgery is to separate a specialist from a patient and to perform the surgical procedure via the internet and high-tech equipment. The surgical robot is introduced in the minimally invasive surgery, so that the accuracy and safety of the surgery are improved. In the prior art, the following disadvantages exist: in remote operation, the surgeon may not be able to accurately perceive the force applied by the surgical instrument to the ocular tissue due to lack of perception. This may result in excessive applied force, causing damage to ocular tissue, such as retinal tears or hemorrhages. Lack of a sense of weakness may increase the difficulty and risk of the procedure.
Disclosure of Invention
In order to solve the problems in the related art, embodiments of the present disclosure provide an surgical forceps having a force protection function.
In a first aspect, embodiments of the present disclosure provide a surgical forceps with force protection, comprising a fixed support assembly, a drive assembly, a working catheter, a forceps assembly, a buffer assembly:
the fixed bracket component is used for fixing the driving component and the working catheter;
the working catheter is fixed with the driving assembly and is used for accommodating the forceps assembly;
the tweezer assembly passes through the working catheter, a first end of the tweezer assembly being connected to the buffer assembly via a first end of the working catheter, a second end of the tweezer assembly protruding from a second end of the working catheter;
the working catheter can slide relative to the tweezer assembly under the drive of the drive assembly so as to control the opening and closing of the second end of the tweezer assembly, and the tweezer assembly can rotate along the axial direction;
the buffering assembly comprises a permanent magnet arranged at the first end of the tweezer assembly and an annular permanent magnet matched with the permanent magnet, and the buffering assembly is used for preventing the tweezer assembly from being subjected to push-pull force surge.
According to an embodiment of the present disclosure, the surgical forceps with force protection function further includes:
the clutch assembly comprises a first locking clamping groove and a locking piece;
the first locking clamping groove is arranged on the outer side of the first end of the working conduit, the first end of the locking piece is arranged on the linear displacement reset base, and the second end of the locking piece is in separable contact with the first locking clamping groove;
when the tweezer assembly performs opening and closing operations, the locking piece is separated from the first locking clamping groove, and the working catheter moves relative to the tweezer assembly; when the tweezer assembly performs reciprocating displacement operation, the locking piece is in contact with the first locking clamping groove, and the working catheter, the linear displacement reset base and the tweezer assembly are simultaneously displaced.
According to an embodiment of the present disclosure, the clutch assembly further includes:
the second locking clamping groove is arranged on the inner side of the fixed bracket assembly and is matched with the locking piece;
when the tweezer assembly is opened and closed, the locking piece is separated from the first locking clamping groove and then is contacted with the second locking clamping groove, so that the tweezer assembly is fixed, and the tweezer assembly is prevented from being displaced under the action of friction force when the working catheter is displaced.
According to the embodiment of the disclosure, the radial cross sections of the first locking clamping groove and the second locking clamping groove are circular, the plane where the extending direction is located is perpendicular to the tweezer assembly, and when the tweezer assembly rotates and the locking piece is in contact with the first locking clamping groove or the second locking clamping groove, the locking piece can slide along the first locking clamping groove or the second locking clamping groove.
According to an embodiment of the present disclosure, the drive assembly includes a linear drive mechanism and a rotary drive mechanism;
the linear driving mechanism is connected with the working catheter and used for driving the working catheter to axially reciprocate;
the rotary driving mechanism is connected with the first end of the tweezer assembly and is used for driving the tweezer assembly to rotate.
According to an embodiment of the present disclosure, the fixed bracket assembly includes a fixed bracket and a working catheter mount;
the first end of the fixed bracket is movably connected with the linear displacement reset base;
the working catheter fixing frame is fixedly connected with the second end of the fixing bracket;
the center of the working catheter fixing frame is provided with a hole, and the working catheter passes through the hole and can move relative to the working catheter fixing frame.
According to the embodiment of the disclosure, the fixing support is connected with the linear displacement reset base through a low friction material bearing, and the low friction material bearing is used for reducing friction force of relative motion between the fixing support and the linear displacement reset base.
According to an embodiment of the present disclosure, the surgical forceps with force protection function further includes:
a sensor assembly including an axial displacement sensor and a rotation angle sensor; the axial displacement sensor is arranged outside the working catheter and is used for measuring the relative displacement of the working catheter relative to the fixed bracket component; the rotation angle sensor is arranged at the first end of the tweezer assembly and is used for measuring the rotation angle of the tweezer assembly.
According to an embodiment of the present disclosure, the clutch assembly further includes a clutch driving part, the clutch driving part being an electromagnet;
the locking piece is made of memory metal.
According to an embodiment of the present disclosure, the surgical forceps with force protection function further includes:
and the resetting elastic component is respectively connected with the working catheter fixing frame and the working catheter and is used for driving the working catheter to move towards the direction of the first end of the working catheter.
According to the technical scheme that the embodiment of the present disclosure provided, the present disclosure provides an operation forceps with force protection function, including fixed bolster subassembly, drive assembly, working catheter, tweezers subassembly, buffer assembly: the fixed bracket component is used for fixing the driving component and the working catheter; the working catheter is fixed with the driving assembly and is used for accommodating the forceps assembly; the tweezer assembly passes through the working catheter, a first end of the tweezer assembly being connected to the buffer assembly via a first end of the working catheter, a second end of the tweezer assembly protruding from a second end of the working catheter; the working catheter can slide relative to the tweezer assembly under the drive of the drive assembly to control the opening and closing of the second end of the tweezer assembly; the buffering assembly comprises a permanent magnet arranged at the first end of the tweezer assembly and an annular permanent magnet matched with the permanent magnet, and the buffering assembly is used for preventing the tweezer assembly from being subjected to push-pull force surge. According to the technical scheme, the buffer assembly is arranged, so that the forceps assembly is prevented from being damaged by patient caused by the rapid increase of misoperation stress and excessive displacement, and the three actions of clamping, rotating and pulling of the forceps can be realized through the clutch assembly, so that the structure of the forceps is simplified.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
Other features, objects and advantages of the present disclosure will become more apparent from the following detailed description of non-limiting embodiments, taken in conjunction with the accompanying drawings. In the drawings:
fig. 1 and 2 illustrate block diagrams of surgical forceps having a force protection function according to an embodiment of the present disclosure.
Fig. 3 illustrates a buffer assembly block diagram of surgical forceps with force protection according to an embodiment of the present disclosure.
FIG. 4 illustrates a block diagram of a clutch assembly and a drive assembly of surgical forceps with force protection according to an embodiment of the disclosure
Fig. 5 illustrates a block diagram of a drive assembly for surgical forceps with force protection according to an embodiment of the disclosure.
Detailed Description
Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. In addition, for the sake of clarity, portions irrelevant to description of the exemplary embodiments are omitted in the drawings.
In this disclosure, it should be understood that terms such as "comprises" or "comprising," etc., are intended to indicate the presence of features, numbers, steps, acts, components, portions, or combinations thereof disclosed in this specification, and are not intended to exclude the possibility that one or more other features, numbers, steps, acts, components, portions, or combinations thereof are present or added.
In addition, it should be noted that, without conflict, the embodiments of the present disclosure and features of the embodiments may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
In the present disclosure, if an operation of acquiring user information or user data or an operation of presenting user information or user data to another person is referred to, the operations are all operations authorized, confirmed, or actively selected by the user.
Minimally invasive surgery is a common treatment modality for ophthalmic diseases. For example, maculopathy requires a doctor to peel off the macular membrane through minimally invasive surgery, and because the macular membrane is an extremely thin membrane tissue, the operation process can destroy the macular cell tissue, and has extremely high requirements on the experience and technology of the doctor.
With the development of telemedicine technology, remote retinal surgery is becoming an innovative solution. The concept of remote retinal surgery is to separate a specialist from a patient and to perform the surgical procedure via the internet and high-tech equipment. The surgical robot is introduced in the minimally invasive surgery, so that the accuracy and safety of the surgery are improved. In the prior art, the following disadvantages exist: in remote operation, the surgeon may not be able to accurately perceive the force applied by the surgical instrument to the ocular tissue due to lack of perception. This may result in excessive applied force, causing damage to ocular tissue, such as retinal tears or hemorrhages.
In order to solve the technical problems, the invention discloses surgical forceps with a force protection function, which comprises: the device comprises a fixed support assembly, a driving assembly, a working catheter, a forceps assembly and a buffer assembly, wherein the fixed support assembly is used for fixing the driving assembly and the working catheter; the working catheter is fixed with the driving assembly and is used for accommodating the forceps assembly; the tweezer assembly passes through the working catheter, a first end of the tweezer assembly being connected to the buffer assembly via a first end of the working catheter, a second end of the tweezer assembly protruding from a second end of the working catheter; the working catheter can slide relative to the tweezer assembly under the drive of the drive assembly to control the opening and closing of the second end of the tweezer assembly; the buffering assembly comprises a permanent magnet arranged at the first end of the tweezer assembly and an annular permanent magnet matched with the permanent magnet, and the buffering assembly is used for preventing the tweezer assembly from being subjected to push-pull force surge. According to the technical scheme, the buffer assembly is arranged, so that the forceps assembly is prevented from being damaged by patient caused by the rapid increase of misoperation stress and excessive displacement, and the three actions of clamping, rotating and pulling of the forceps can be realized through the clutch assembly, so that the structure of the forceps is simplified.
Fig. 1 and 2 illustrate block diagrams of surgical forceps having a force protection function according to an embodiment of the present disclosure. As shown in fig. 1 and 2, the forceps with force protection function comprises a fixed bracket assembly, a driving assembly, a working catheter 100, a forceps assembly 200 and a buffer assembly 300:
the fixed bracket assembly is used for fixing the driving assembly and the working catheter 100;
the working catheter 100 is fixed with the drive assembly for accommodating the forceps assembly 200;
the tweezer assembly 200 is passed through the working catheter 100, a first end of the tweezer assembly being connected to the buffer assembly 300 via a first end of the working catheter, a second end of the tweezer assembly 200 protruding from a second end of the working catheter;
the working catheter can slide relative to the tweezer assembly under the drive of the drive assembly so as to control the opening and closing of the second end of the tweezer assembly, and the tweezer assembly can rotate along the axial direction;
the buffer assembly 300 comprises a permanent magnet arranged at the first end of the tweezer assembly and an annular permanent magnet matched with the permanent magnet, and is used for preventing the tweezer assembly from being subjected to the push-pull force.
The fixing bracket assembly has a hollow tubular shape for accommodating and fixing the working catheter 100, the forceps assembly 200, the driving assembly and the buffer assembly 300. The working catheter 100 is hollow and straight tubular, and is used for accommodating the tweezer assembly 200 and enabling the tweezer assembly 200 to open and close to clamp objects by moving the working catheter 100. The forceps assembly 200 comprises a forceps head and a long rod, the forceps head is two forceps sheets fixed at the second end of the long rod, the forceps sheets are in an open state and can be mutually attached to each other by external force to clamp objects, and the first end of the long rod is connected with the buffer assembly 300 and the driving assembly. Fig. 3 illustrates a buffer assembly block diagram of surgical forceps with force protection according to an embodiment of the present disclosure. As shown in fig. 3, the buffer assembly includes a permanent magnet 310 disposed at a first end of the tweezer assembly and an annular permanent magnet 320 engaged with the permanent magnet, poles of the permanent magnet and the annular permanent magnet are oppositely attracted to each other, and when the tweezer assembly is suddenly applied with excessive force, external force applied to the tweezer assembly is buffered by the reverse force applied to the buffer assembly, preventing the push-pull force applied to the tweezer assembly from suddenly abrupt change. Further, the width of the ring-shaped permanent magnet 320 is larger than the permanent magnet 310 at the first end of the tweezer assembly, preventing the permanent magnet 310 from exceeding the ring-shaped permanent magnet 320 after displacement, resulting in failure of the buffer assembly.
Fig. 4 illustrates a block diagram of a clutch assembly and a drive assembly of surgical forceps with force protection according to an embodiment of the present disclosure. As shown in fig. 3 and 4, the forceps with force protection function further includes:
a clutch assembly including a first locking detent 410 and a locking tab 420;
the first locking slot 410 is disposed outside the first end of the working catheter 100, the first end of the locking piece 420 is disposed on the linear displacement resetting base 500, and the second end of the locking piece 420 is detachably contacted with the first locking slot 410;
when the forceps assembly 200 is opened and closed, the locking piece 420 is separated from the first locking groove 410, and the working catheter 100 moves relative to the forceps assembly 200; when the tweezer assembly 200 performs a reciprocating displacement operation, the locking piece 420 contacts with the first locking groove 410, and the working catheter 100 is simultaneously displaced with the linear displacement return base 500 and the tweezer assembly 200.
The clutch assembly is used to switch the relative motion state of the working catheter 100 and the tweezer assembly 200 so that the tweezer assembly 200 performs the opening and closing operation and the pulling operation. When the locking piece 420 is in contact with the first locking groove 410, the relative position of the working catheter 100 and the tweezer assembly 200 is locked by the clutch assembly, and the two are simultaneously moved under the drive of the drive assembly; when the locking tab 420 is separated from the first locking catch 410, the working catheter 100 and the forceps assembly 200 may be moved independently. The linear displacement reset base 500 is used for accommodating the buffer assembly 300 and the driving assembly; the linear displacement reset base 500 is disposed outside the first end of the tweezer assembly 200, is movably connected to the first end of the fixed bracket assembly, rotatably positions the first end of the tweezer assembly 200 within the linear displacement reset base 500, and moves simultaneously with the tweezer assembly 200. The first end of the locking piece 420 is fixedly connected with the linear displacement reset base 500.
According to an embodiment of the present disclosure, the clutch assembly further includes:
a second locking groove 430, wherein the second locking groove 430 is disposed at the inner side of the fixed bracket assembly and is matched with the locking piece 420;
when the forceps assembly 200 is opened and closed, the locking piece 420 is separated from the first locking groove 410 and then contacts with the second locking groove 430, so as to fix the forceps assembly 200, and prevent the forceps assembly 200 from being displaced under the action of friction force when the working catheter 100 is displaced.
When the first locking slot 410 is separated from the locking piece 420, the forceps assembly 200 moves along with the working catheter 100 under the action of friction force due to the friction force between the forceps assembly 200 and the working catheter 100, so that the forceps assembly 200 is deviated, which may cause damage to the patient and the forceps heads of the forceps assembly 200 cannot be opened or clamped normally. Therefore, when the locking piece 420 is separated from the first locking slot 410, the locking piece 420 contacts with the second locking slot 430, and since the second locking slot 430 is fixed to the fixing bracket 710, the locking piece 420 can be axially fixed with respect to the fixing bracket assembly, and at the same time, the axial fixation of the forceps assembly 200 with respect to the fixing bracket assembly can be realized.
According to the embodiment of the present disclosure, the radial cross-sections of the first locking groove 410 and the second locking groove 430 are circular, and the plane of the extending direction of the grooves is perpendicular to the tweezer assembly 200, and when the tweezer assembly 200 rotates and the locking piece 420 contacts with the first locking groove 410 or the second locking groove 430, the locking piece 420 can slide along the first locking groove 410 or the second locking groove 430. The radial cross-section of the first locking detent 410 and the second locking detent 430 is a cross-section perpendicular to the direction in which the tweezer assembly 200 extends. The first locking clamping groove 410 and the second locking clamping groove 430 comprise a plurality of annular grooves, the first locking clamping groove 410 is arranged on the outer surface of the first end of the working catheter 100, and the second locking clamping groove 430 is arranged at a position corresponding to the first locking clamping groove 410 inside the fixed bracket assembly. Since the relative positions of the working catheter 100 and the locking piece 420, and the locking piece 420 and the fixed bracket assembly may be changed after the movement operation of the working catheter 100, the locking piece 420 may be in contact with the first locking catching groove 410 and the second locking catching groove 430 to perform the locking operation, and the first locking catching groove 410 and the second locking catching groove 430 may be formed as a plurality of grooves and may be sequentially arranged in a ring shape, regardless of the movement of the working catheter 100.
Fig. 5 illustrates a block diagram of a drive assembly of surgical forceps with force protection functionality according to an embodiment of the disclosure. As shown in fig. 4 and 5, the drive assembly includes a linear drive mechanism and a rotary drive mechanism 620;
the linear driving mechanism is connected with the working catheter 100 and is used for driving the working catheter 100 to axially reciprocate;
the rotary drive mechanism 620 is coupled to a first end of the tweezer assembly 200 for driving the tweezer assembly 200 in a rotary motion.
The linear driving mechanism may be a linear driving motor, including a linear motor rotor 611 fixed at the inner side of the fixed bracket assembly and a linear motor stator 612 fixed at the outer side of the working duct 100, and is used to drive the working duct 100 to reciprocate along the axial direction, i.e., the extending direction of the working duct 100. The rotation driving mechanism 620 may be a rotation driving motor including a rotation motor rotor 621 fixed at a first end of the tweezer assembly 200 and a rotation motor stator 622 fixed inside the linear displacement reset base 500, and the rotation driving mechanism 620 is used to drive the tweezer assembly 200 to rotate. Further, the linear displacement resetting base 500 is provided with a wiring hole 510 of a rotation driving mechanism for arranging the power line and the signal line of the rotation driving mechanism 620 through the linear displacement resetting base 500.
According to an embodiment of the present disclosure, as shown in fig. 1, the fixed bracket assembly includes a fixed bracket 710 and a working catheter mount 720;
the first end of the fixed bracket 710 is movably connected with the linear displacement reset base 500;
the working catheter fixing frame 720 is fixedly connected with the second end of the fixing bracket 710;
the working catheter holder 720 has a hole at the center, and the working catheter 100 passes through the hole and can move relative to the working catheter holder 720.
The fixing bracket 710 has a tubular shape for accommodating the linear driving mechanism 610, the working catheter 100, and the second locking catching groove 430. The first end of the working catheter holder 720 is fixedly connected with the second end of the fixing support 710, and the working catheter 100 passes through a hole arranged in the center of the working catheter holder 720 and can move relative to the working catheter holder 720 to perform opening and closing operations of the forceps assembly 200.
According to the embodiment of the present disclosure, as shown in fig. 3 and 5, the fixing bracket 710 is connected with the linear displacement resetting base 500 through a low friction material bearing 520, so as to reduce friction force of relative movement between the fixing bracket 710 and the linear displacement resetting base 500. When the locking piece 420 contacts the first locking groove 410, the linear displacement return base 500 and the working catheter 100 are jointly moved relative to the fixing bracket 710 by the driving of the linear driving mechanism, so that the friction force between the fixing bracket 710 and the linear displacement return base 500 needs to be reduced.
According to an embodiment of the present disclosure, as shown in fig. 4 and 5, the surgical forceps with force protection function further includes:
a sensor assembly comprising an axial displacement sensor 810 and a rotation angle sensor 820; the axial displacement sensor is arranged outside the working catheter 100 and is used for measuring the relative displacement of the working catheter 100 relative to the fixed bracket component; the rotation angle sensor is disposed at a first end of the tweezer assembly 200 for measuring the rotation angle of the tweezer assembly 200. The axial displacement sensor comprises a displacement ranging reflecting disc 811 arranged on the outer side of the working catheter 100 and a displacement ranging probe 812 arranged on the inner side of the fixed support 710, wherein the displacement ranging reflecting disc moves along with the working catheter 100, and the displacement ranging probe can measure the distance between the displacement ranging reflecting disc and the displacement ranging reflecting disc by emitting laser or sound waves to the displacement ranging reflecting disc. Thereby calculating the movement distance of the working catheter 100. The movement distance of the working catheter 100 and the clamping degree of the forceps assembly 200 have a fixed mapping relation, and the measurement record data can be obtained through multiple experiments and automatically converted.
According to an embodiment of the present disclosure, as shown in fig. 2 and 3, the clutch assembly further includes a clutch driving part 440, and the clutch driving part 440 is an electromagnet; the locking piece 420 is made of memory metal. The clutch driving part 440 is provided at a position corresponding to the locking piece 420 inside the fixing bracket 710 for driving the locking piece 420 to move toward the first locking catching groove 410 or the second locking catching groove 430. Further, the clutch driving part 440 may be an electromagnet that moves by magnetically attracting the locking piece 420. The locking piece 420 may be made of a memory metal or other nonmetallic material with good elasticity, and the locking piece 420 is initially in contact with the first locking groove 410, and when driven by the clutch driving member 440, the locking piece 420 is separated from the first locking groove 410 and is in contact with the second locking groove 430.
According to an embodiment of the present disclosure, as shown in fig. 2 and 4, the surgical forceps with force protection function further includes:
and a return elastic member 730, wherein the return elastic member 730 is connected to the working catheter holder 720 and the working catheter 100, respectively, and is used for driving the working catheter 100 to move toward the first end thereof. When the forceps head of the forceps assembly 200 is in a closed state by the driving of the working catheter 100 and the linear driving part is not operated, the reset elastic part 730 pushes the working catheter 100 toward the first end direction of the working catheter 100 by its own elastic force, so that the forceps head of the forceps assembly 200 is restored to an open state.
According to an embodiment of the present disclosure, the surgical forceps with force protection function further includes:
the outer tube 740 is hollow and tubular, and is disposed outside the fixing frame 710 for protecting and fixing the forceps. Screw holes 741 are formed in the outer tube 740, and the outer tube 740 is screwed with the fixing bracket 710 by being matched with the screw holes 711 formed in the fixing bracket 710.
The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by those skilled in the art that the scope of the invention referred to in this disclosure is not limited to the specific combination of features described above, but encompasses other embodiments in which any combination of features described above or their equivalents is contemplated without departing from the inventive concepts described. Such as those described above, are mutually substituted with the technical features having similar functions disclosed in the present disclosure (but not limited thereto).
Claims (10)
1. Surgical forceps with force protection function, comprising: fixed bolster subassembly, drive assembly, working conduit, tweezers subassembly, buffer unit, its characterized in that:
the fixed bracket component is used for fixing the driving component and the working catheter;
the working catheter is fixed with the driving assembly and is used for accommodating the forceps assembly;
the tweezer assembly passes through the working catheter, a first end of the tweezer assembly being connected to the buffer assembly via a first end of the working catheter, a second end of the tweezer assembly protruding from a second end of the working catheter;
the working catheter can slide relative to the tweezer assembly under the drive of the drive assembly so as to control the opening and closing of the second end of the tweezer assembly, and the tweezer assembly can rotate along the axial direction;
the buffering assembly comprises a permanent magnet arranged at the first end of the tweezer assembly and an annular permanent magnet matched with the permanent magnet, and the buffering assembly is used for preventing the tweezer assembly from being subjected to push-pull force surge.
2. The forceps with force protection function according to claim 1, further comprising:
the clutch assembly comprises a first locking clamping groove and a locking piece;
the first locking clamping groove is arranged at the outer side of the first end of the working catheter, the first end of the locking piece is arranged on the linear displacement reset base, and the second end of the locking piece is in separable contact with the first locking clamping groove;
when the tweezer assembly performs opening and closing operations, the locking piece is separated from the first locking clamping groove, and the working catheter moves relative to the tweezer assembly; when the tweezer assembly performs reciprocating displacement operation, the locking piece is in contact with the first locking clamping groove, and the working catheter, the linear displacement reset base and the tweezer assembly are simultaneously displaced.
3. The forceps with force protection function of claim 2, wherein the clutch assembly further comprises:
the second locking clamping groove is arranged on the inner side of the fixed bracket assembly and is matched with the locking piece;
when the tweezer assembly is opened and closed, the locking piece is separated from the first locking clamping groove and then is contacted with the second locking clamping groove, so that the tweezer assembly is fixed, and the tweezer assembly is prevented from being displaced under the action of friction force when the working catheter is displaced.
4. The forceps with force protection function according to claim 3, wherein:
the radial sections of the first locking clamping groove and the second locking clamping groove are circular, the plane where the extending direction is located is perpendicular to the tweezer assembly, and when the tweezer assembly rotates and the locking piece is in contact with the first locking clamping groove or the second locking clamping groove, the locking piece can slide along the first locking clamping groove or the second locking clamping groove.
5. The forceps with force protection function according to claim 1, wherein:
the driving assembly comprises a linear driving mechanism and a rotary driving mechanism;
the linear driving mechanism is connected with the working catheter and used for driving the working catheter to axially reciprocate;
the rotary driving mechanism is connected with the first end of the tweezer assembly and is used for driving the tweezer assembly to rotate.
6. Surgical forceps with force protection function according to claim 2, characterized in that:
the fixed support assembly comprises a fixed support and a working catheter fixing frame;
the first end of the fixed bracket is movably connected with the linear displacement reset base;
the working catheter fixing frame is fixedly connected with the second end of the fixing bracket;
the center of the working catheter fixing frame is provided with a hole, and the working catheter passes through the hole and can move relative to the working catheter fixing frame.
7. The forceps with force protection function according to claim 6, wherein:
the fixed support is connected with the linear displacement resetting base through a low friction material bearing, and is used for reducing the friction force of relative motion between the fixed support and the linear displacement resetting base.
8. The forceps with force protection function according to claim 1, further comprising:
a sensor assembly including an axial displacement sensor and a rotation angle sensor; the axial displacement sensor is arranged outside the working catheter and is used for measuring the relative displacement of the working catheter relative to the fixed bracket component; the rotation angle sensor is arranged at the first end of the tweezer assembly and is used for measuring the rotation angle of the tweezer assembly.
9. Surgical forceps with force protection function according to claim 2, characterized in that:
the clutch assembly further comprises a clutch driving component, and the clutch driving component is an electromagnet;
the locking piece is made of memory metal.
10. The forceps with force protection function of claim 6, further comprising:
and the resetting elastic component is respectively connected with the working catheter fixing frame and the working catheter and is used for driving the working catheter to move towards the direction of the first end of the working catheter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310984561.9A CN116889493A (en) | 2023-08-04 | 2023-08-04 | Surgical forceps with force protection function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310984561.9A CN116889493A (en) | 2023-08-04 | 2023-08-04 | Surgical forceps with force protection function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116889493A true CN116889493A (en) | 2023-10-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310984561.9A Pending CN116889493A (en) | 2023-08-04 | 2023-08-04 | Surgical forceps with force protection function |
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| Country | Link |
|---|---|
| CN (1) | CN116889493A (en) |
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2023
- 2023-08-04 CN CN202310984561.9A patent/CN116889493A/en active Pending
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