CN201551345U

CN201551345U - Bendable minimally invasive instrument

Info

Publication number: CN201551345U
Application number: CN200920202722XU
Authority: CN
Inventors: 王俊
Original assignee: YUYAO LANCET MEDICAL INSTRUMENT TECHNOLOGY Co Ltd
Current assignee: Ningbo LYD Medical Technology Co., Ltd.
Priority date: 2009-12-16
Filing date: 2009-12-16
Publication date: 2010-08-18
Anticipated expiration: 2019-12-16

Abstract

The utility model discloses a bendable minimally invasive instrument, which comprises a head part, an extension rod, a handle, a joint and an adjusting rotor, wherein the head part achieves activities in five movement degrees, has the functions similar to that of a hanuman wrist and achieves actions and operations which are hard to be finished through traditional minimally invasive surgery instruments; and on the other hand, the handle can perceive the pressure of the work area of the head part, so as to provide a medicine man with a basis for distinguishing tissues, organs, tumors and calculus.

Description

A kind of flexible mis instruments

Technical field

This utility model relates to the Minimally Invasive Surgery apparatus, relates in particular to a kind of flexible mis instruments.

Background technology

Behind Charles Robert Richet successful implementation in 1987 the first routine laparoscopic cholecystectomy, it with the laparoscopic surgery development that the Minimally Invasive Surgery of representative experiences surplus in the of 20 year, form a relatively independent subject, derived a series of Minimally Invasive Surgerys such as thoracoscope, pelvioscope, arthroscope.At present, Minimally Invasive Surgery has become forefront, surgical operation the inside, complicated technology, and a large amount of advanced equipment, material and apparatuses at first are applied to this field, and Minimally Invasive Surgery also is an important directions of 21 century surgery development.

Minimally Invasive Surgery is meant at body surface does some perforation, endoscope and operating apparatus are entered in the body cavity by above-mentioned aperture, as abdominal cavity, thoracic cavity, pelvic cavity, articular cavity etc., by the patient under the supervision of endoscope, by hands operating apparatus outside the patient body, excise the focus of intracavity the working end that apparatus is stretched in the patient's body cavity, or to organ repair, operation such as stitching, art finishes takes out endoscope and apparatus, sews up the aperture of body surface and can finish whole surgery.

Minimally Invasive Surgery is with respect to traditional surgery, and its great advantage is that wound is little, and it is few to lose blood, and patient's post-operative recovery is fast, and distress level is lighter, and scar after the operation is not obvious etc.But Minimally Invasive Surgery still can not substitute traditional open surgery at present, and reason is: 1, the degree directly perceived in the visual field of Minimally Invasive Surgery is lower than traditional operation; 2, the motility of Minimally Invasive Surgery apparatus can not show a candle to surgical hands, can't finish complicated operations; 3, Minimally Invasive Surgery almost can't transmit the touch-pressure sensation in the operating process.Above-mentioned 3 reasons become the bottleneck of present stage Minimally Invasive Surgery development, make the development of Minimally Invasive Surgery be in sluggish state.

Before this, patent " a kind of bionic surgical Instrument; the patent No. 200820153783.7 " has proposed a kind of flexible Minimally Invasive Surgery apparatus of 5 degree of freedom, but in the actual production process of this patent, find its complex structure, difficulty in process, reliability of products and ruggedness remain further to be improved.

Therefore, develop a kind of truly feasible warp architecture, the Minimally Invasive Surgery apparatus that can address the above problem is the important topic of present stage Minimally Invasive Surgery development.

Summary of the invention

The purpose of this utility model is to provide a kind of a plurality of freedom of movement that possess, a kind of flexible mis instruments of sensed pressure to a certain extent.

In order to achieve the above object, the technical solution adopted in the utility model is:

A kind of flexible mis instruments comprises head, extension rod, handle, joint and two adjusting rotors, and described head is fixedlyed connected with the extension rod front end by the joint, and described handle is fixedlyed connected with the extension rod rear end by handle chassis; Described joint is connected in series by driving wire by several articular sclerites, driving wire is distributed in the articular sclerite edge, four driving wire front ends are fixedlyed connected with the joint pedestal respectively, the rear end connects and composes the loop by two driving wires up and down, be enclosed within on the fixed pulley, about two driving wires connect and compose another loop, be enclosed within on another fixed pulley; Two adjacent articular sclerites become square crossing to arrange; Be provided with the handle drive link between head and the handle, binding clip drive link and push rod can be realized the action transmission between head and the handle.

Described two adjusting rotors are to bend right and left to regulate rotor and the crooked up and down rotor of regulating, be connected with two adjusting sliders by screw thread respectively, one of them adjusting slider is fixedlyed connected with the above-below direction driving wire, and another adjusting slider is fixedlyed connected with the left and right directions driving wire.

Described articular sclerite one end is the plane, and the other end is made up of two inclined-planes.

The form of described head is binding clip pattern and shears pattern.

The beneficial effect that the utlity model has is:

On the one hand, with respect to traditional Wicresoft electrode, this utility model possesses the more freedom degree, more near the function of staff wrist, the pressure of perception head working area can be finished the action that some traditional Minimally Invasive Surgery apparatuses can't be finished or be difficult to finish to a certain extent; Structure is practical more on the other hand, and process and assemble is more reasonable.

Description of drawings

Fig. 1 is a sketch map of the present utility model;

Fig. 2 is the sketch map in joint of the present utility model;

Fig. 3 is the sketch map of articular sclerite of the present utility model;

Fig. 4 is an articular sclerite arrangement architecture sketch map of the present utility model;

Fig. 5 is the crooked up and down sketch map in realization of the present utility model joint;

Fig. 6 is the connection diagram of driving wire of the present utility model;

Fig. 7 is the sketch map of realization head of the present utility model transmission;

Fig. 8 is the sketch map of head open configuration of the present utility model;

Fig. 9 is the sketch map of head of the present utility model near closure state;

Figure 10 is the sketch map of this utility model binding clip pattern;

Figure 11 is the sketch map of this utility model shears pattern;

Among the figure: 1. head; 2. extension rod; 3. hands handle; 4. joint; 5. the adjusting rotor bends right and left; 6. the crooked up and down rotor of regulating; 7. joint pedestal; 8. driving wire.; 9. articular sclerite; 10. medium pore; 11. periphery hole; 12. inclined-plane; 13. fixed pulley; 14. adjusting slider; 15. handle chassis; 16. push rod; 17. handle drive link; 18. axle; 19. binding clip drive link; 20. binding clip; 21. shears; 22. above-below direction driving wire; 23. left and right directions driving wire.

The specific embodiment

As Fig. 1, shown in Figure 5, this utility model comprises head 1, extension rod 2, handle 3, joint 4 and two inner cover drive system---joint drive system and head folding drive systems.Wherein head 1 is fixedlyed connected with extension rod 2 front ends by joint 4, and handle 3 is fixedlyed connected with extension rod 2 tail ends by handle chassis 7.Adjusting bends right and left and regulates rotor 5 and the crooked up and down rotor 6 of regulating, and can realize the flexure operation in joint 4.

As Fig. 2, Fig. 3, Fig. 4, Fig. 5, shown in Figure 6, the joint drive system is by joint 4, driving wire 9 and two adjusting rotors are formed, wherein joint 4 is made up of several articular sclerite 9 polyphones, one end of articular sclerite 9 is the plane, the other end is provided with two inclined-planes 12, central authorities are provided with medium pore 10, current for push rod 16, the surrounding is provided with periphery hole 11, walks driving wire 8 in the hole, and adjacent two articular sclerites 9 are 90 degree rotations and arrange, the front end of four driving wires 8 is fixedlyed connected with joint pedestal 7 respectively, the rear end connects and composes the loop by two driving wires 8 up and down, be enclosed within on the fixed pulley 13, about two driving wires 8 connect and compose another loop, be enclosed within on another fixed pulley 13, two fixed pulleys 13 all are fixed on the handle chassis 15.The adjusting rotor 5 that bends right and left is connected with an adjusting slider 14 by screw thread, this adjusting slider 14 is fixed on the left and right directions driving wire 23, when turn bends right and left adjusting rotor 5, adjusting slider 14 is moved, about velamen tension in two driving wires 8, another velamen loosens, and makes the joint 4 of driving wire 8 front ends that the flexure operation on the left and right directions take place; Same principle, crooked up and down adjusting rotor 6 is connected with another adjusting slider 14, this adjusting slider 14 is fixed on the above-below direction driving wire 22, when rotor 5 is regulated in bending about the rotation, adjusting slider is moved, velamen tension in two driving wires 8 up and down, another is followed and is loosened, and makes the flexure operation that the joint 4 of driving wire 8 front ends takes place on the above-below directions.

As Fig. 7, Fig. 8, shown in Figure 9, head folding drive system is made up of head 1 and handle 3, push rod 16, and handle drive link 17 and binding clip drive link 19 are formed.Axle 18 on two handle 3 thorny handle pedestals 15 is done open and close movement, drives push rods 16 by handle drive link 17 and seesaws, and push rod 16 front ends flexibly connect by binding clip drive link 19 and head 1.When push rod 16 slides forward, head 1 closure, otherwise head 1 open, thereby realized transmission between handle 3 foldings and binding clip 1 folding.

As Figure 10, shown in Figure 11, head 1 has two kinds of patterns, and a kind of is binding clip 20 patterns, is used for clamp tissue, blood vessel, suture needle etc.; Another kind is shears 21 patterns, is used for operations such as cutting, separation.

The above-mentioned specific embodiment is used for this utility model of explaining; rather than this utility model limited; in the protection domain of spirit of the present utility model and claim, any modification and change to this utility model is made all fall into protection domain of the present utility model.

Claims

1. flexible mis instruments, comprise head (1), extension rod (2), handle (3), joint (4) and two adjusting rotors, described head (1) is fixedlyed connected with extension rod (2) front end by joint (4), and described handle (3) is fixedlyed connected with extension rod (2) rear end by handle chassis (15); Described joint (4) is connected in series by driving wire (8) by several articular sclerites (9), driving wire (8) is distributed in articular sclerite (9) edge, four driving wires (8) front end is fixedlyed connected with joint pedestal (7) respectively, the rear end connects and composes the loop by two driving wires (8) up and down, be enclosed within on the fixed pulley (13), about two driving wires (8) connect and compose another loop, be enclosed within on another fixed pulley (13); Adjacent two articular sclerites (9) become square crossing to arrange; Be provided with handle drive link (17) between head (1) and the handle (3), binding clip drive link (19) and push rod (16) can be realized the action transmission between head (1) and the handle (3).

2. a kind of flexible mis instruments according to claim 1, it is characterized in that: described two adjusting rotors are to bend right and left to regulate rotor (5) and the crooked up and down rotor (6) of regulating, be connected with two adjusting sliders (14) by screw thread respectively, one of them adjusting slider (14) is fixedlyed connected with above-below direction driving wire (22), and another adjusting slider (14) is fixedlyed connected with left and right directions driving wire (23).

3. a kind of flexible mis instruments according to claim 1 is characterized in that: described articular sclerite (9) one ends are the plane, and the other end is made up of two inclined-planes (12).

4. a kind of flexible mis instruments according to claim 1 is characterized in that: the form of described head (1) is binding clip (20) pattern and shears (21) pattern.