CN201612638U

CN201612638U - Minimally invasive instrument with rotatable wrist

Info

Publication number: CN201612638U
Application number: CN2009202027234U
Authority: CN
Inventors: 王俊; 王爱娣
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: 2010-10-27
Anticipated expiration: 2019-12-16

Abstract

The utility model discloses a minimally invasive instrument with a rotatable wrist. The minimally invasive instrument comprises a head, an extension rod, a handle and two joints, wherein the head can fulfill movement with five motion freedom degrees, so as to be more approach to the function of the wrist of a human hand. Therefore, the utility model can fulfill actions and operations which can be difficultly fulfilled and even can not be fulfilled by using the conventional minimally invasive instrument; on the other hand, the minimally invasive instrument provided by the utility model further comprises an operation area capable of perceiving the pressure of the working area of the head, so as to provide a certain reference for an operator to distinguish tissues, organs, tumors and calculi.

Description

A kind of wrist mis instruments of changeing

Technical field

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

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 Minimally Invasive Surgery apparatus of changeed wrist 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 commentaries on classics wrist structure, 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, to a certain extent a kind of wrist mis instruments of changeing of sensed pressure.

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

A kind of wrist mis instruments of changeing comprises head, extension rod, handle and two joints, and described head is fixedlyed connected with the extension rod front end by joint of head, and described handle is fixedlyed connected with the extension rod rear end by handle joint; Described joint of head and handle joint are connected in series by driving wire by several articular sclerites, driving wire is distributed in the articular sclerite edge, the driving wire front end is fixedlyed connected with the joint of head pedestal, fixedly connected with the handle joint pedestal in the rear end, adjacent two articular sclerites become square crossing to arrange, and can realize two action transmissions between the joint; Be provided with drive link between head and the handle, can realize the action transmission between head and the handle.

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

Described head rear end is provided with chute, is slidingly connected with the gate shafts of drive link front end.

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 mis instruments, 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 two joints of the present utility model;

Fig. 3 is the structural representation in joint of the present utility model;

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

Fig. 5 a is the front view in joint of the present utility model;

Fig. 5 b is the vertical view in joint of the present utility model;

Fig. 6 is the sketch map of realization arthrogryposis of the present utility model;

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

Fig. 8 is a head chute sketch map of the present utility model;

Fig. 9 is the sketch map of head open configuration of the present utility model;

Figure 10 is the sketch map of head of the present utility model near closure state;

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

Figure 12 is the sketch map of this utility model shears pattern;

Among the figure: 1. head; 2. extension rod; 3. joint of head; 4. handle joint; 5. hands handle; 6. locking tooth; 7. drive link; 8. joint of head pedestal; 9. handle joint pedestal; 10. driving wire; 11. articular sclerite; 12. medium pore; 13. periphery hole; 14. inclined-plane; 15. chute; 16. axis hole; 17. gate shafts; 18. binding clip; 19. shears.

The specific embodiment

As Fig. 1, shown in Figure 6, this utility model comprises head 1, extension rod 2, handle 5, joint of head 3, handle 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 of head 3, and handle 5 is fixedlyed connected with extension rod 2 tail ends by handle joint 4, and handle 5 is provided with locking tooth 6, is used for fixing the folding angle of handle 5.Twisting handle 5 can drive handle joint 4, and joint of head 3 also produces corresponding flexure operation simultaneously.

As Fig. 2, Fig. 3, Fig. 4, Fig. 5, shown in Figure 6, the joint drive system is made up of joint of head 3 and handle joint 4 and driving wire 10, wherein two joints are formed by articular sclerite 11 polyphones, one end of articular sclerite 11 is the plane, the other end is provided with 2 inclined-planes 14, central authorities are provided with medium pore 12, current for drive link 7, the surrounding is provided with periphery hole 13, walk driving wire 10 in the hole, adjacent two articular sclerites 11 are 90 degree rotations mutually to be arranged, and the front end of driving wire 10 is fixedlyed connected with joint of head pedestal 8, fixedlys connected with handle joint pedestal 9 in the rear end.When handle joint 4 bends, space between the inclined-plane 14 of one side is compressed, space between the inclined-plane 14 of opposite side is exaggerated, make that the driving wire 10 of compression one side is loosened, the driving wire 10 of opposite side is tightened up, because driving wire length immobilizes, and is delivered to joint of head 3, makes joint of head produce corresponding flexure operation.

As Fig. 4, Fig. 7, Fig. 8, Fig. 9, shown in Figure 10, head folding drive system is made up of head 1 and handle 5 and drive link 7, and drive link 7 front ends are provided with gate shafts 17, is slidingly connected with the chute 15 of head 1, be equipped with axis hole 16 on two heads 1, can sway.When drive link 7 slides forward, head 1 closure, otherwise head 1 open, drive link 7 rear ends are connected with handle 5 by connecting rod, promote drive link 7 when handle 5 is closed and slide forward.Thereby realized the transmission between handle folding and the binding clip folding.

As Figure 11, shown in Figure 12, head 1 has two kinds of patterns, and a kind of is binding clip 18 patterns, is used for clamp tissue, blood vessel, suture needle etc.; Another kind is shears 19 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. one kind can be changeed the wrist mis instruments, comprise head (1), extension rod (2), handle (5) and two joints, it is characterized in that described head (1) passes through joint of head (3) and fixedlys connected with extension rod (2) front end, described handle (5) is fixedlyed connected with extension rod (2) rear end by handle joint (4); Described joint of head (3) and handle joint (4) are connected in series by driving wire (10) by several articular sclerites (11), driving wire (10) is distributed in articular sclerite (11) edge, driving wire (10) front end is fixedlyed connected with joint of head pedestal (8), fixedly connected with handle joint pedestal (9) in the rear end, adjacent two articular sclerites (11) become square crossing to arrange, and can realize two action transmissions between the joint; Be provided with drive link (7) between head (1) and the handle (5), can realize the action transmission between head (1) and the handle (5).

2. a kind of wrist mis instruments of changeing according to claim 1 is characterized in that: described articular sclerite (11) one ends are the plane, and the other end is made up of two inclined-planes (14).

3. a kind of wrist mis instruments of changeing according to claim 1 is characterized in that: described head (1) rear end is provided with chute (15), is slidingly connected with the gate shafts (17) of drive link (7) front end.

4. a kind of wrist mis instruments of changeing according to claim 1 is characterized in that: the form of described head (1) is binding clip (18) pattern and shears (19) pattern.