CN203789971U - Surgical operating instrument and driving device thereof - Google Patents
Surgical operating instrument and driving device thereof Download PDFInfo
- Publication number
- CN203789971U CN203789971U CN201420140267.6U CN201420140267U CN203789971U CN 203789971 U CN203789971 U CN 203789971U CN 201420140267 U CN201420140267 U CN 201420140267U CN 203789971 U CN203789971 U CN 203789971U
- Authority
- CN
- China
- Prior art keywords
- telescopic
- driving device
- connecting rods
- studs
- nut
- 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.)
- Withdrawn - After Issue
Links
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
- 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
- A61B17/28—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
-
- 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
- A61B2017/2919—Handles transmission of forces to actuating rod or piston details of linkages or pivot points
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (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 utility model relates to the technical field of medical instruments, and discloses a surgical operating instrument and a driving device thereof. The driving device comprises a driving assembly, a lead screw assembly, a cross telescopic driving arm and a driving rod. The lead screw assembly comprises a double-end stud, a transmission gear and two nut assemblies, the double-end stud is axially limited, the transmission gear is coaxially connected with the middle of the double-end stud and is driven by the driving assembly, the turning directions of threads of threaded portions on two sides of the double-end stud are opposite to each other, and the two nut assemblies are respectively connected with the threaded portions on the two sides of the double-end stud in a threaded manner and are peripherally limited; the cross telescopic driving arm comprises one telescopic unit or at least two telescopic units which are in chain connection with each other, and two connecting rods of the telescopic units on the side closest to the two nut assemblies are correspondingly hinged to each other; the driving rod is positioned in the axial direction of the cross telescopic driving arm and is hinged to a far end of the cross telescopic driving arm. The surgical operating instrument and the driving device have the advantage that the operation efficiency of surgical operation can be improved.
Description
Technical field
This utility model relates to technical field of medical instruments, particularly relates to a kind of driving device and a kind of surgical operating instrument of surgical operating instrument.
Background technology
Stapler is a kind of surgical operating instrument often using in surgical operation, has the function of cutting and suture tissue.As shown in Figure 1a, stapler mainly comprises: driving handle 100, slender bodies 200 and end effector 300, wherein, driving handle 100 is used for being gripped and operating by operator as driving device, control and drive to provide, the distally of driving handle 100 (is nearside near operator's a side when operation, be distally away from operator's a side) be connected with end effector 300 by slender bodies 200, end effector 300 is carried out cutting and sews up tissue in the driving of driving handle 100 with under controlling.
As shown in Figure 1a, driving handle 100 generally includes and drives trigger 101, as shown in Figure 1 b, drive trigger 101 to be installed in and drive trigger bearing pin 102, when driving trigger 101 in the time driving trigger bearing pin 102 to rotate with illustrated counter clockwise direction, the ratchet 103 hinged with driving trigger 101 drives distad axially-movable of tooth bar 104, tooth bar 104 drives distad axially-movable of drive rod 105, thereby realize the percussion of apparatus, meanwhile, the releasing piece 106 and the rollback trigger (with reference to the rollback trigger 107 in Fig. 1 a) that are configured on tooth bar 104 move to far-end in the lump.In the time stirring rollback trigger with hands proximad, as shown in Fig. 1 c, releasing piece 106 presses to ratchet 103 under the guide effect of tooth bar guiding bearing pin 108 makes ratchet 103 depart from and engage with tooth bar 104, now, tooth bar 104 and releasing piece 106 can be returned to by rollback trigger the initial position of nearside, thereby realize the rollback of apparatus.
The defect that prior art exists is, the percussion of apparatus adopts different mechanism principles to realize from rollback, and apparatus structure is complexity comparatively, and therefore, existing stapler is unfavorable for that surgeon carries out surgical procedures efficiently.This problem exists equally in other surgical operating instrument that comprises similar drives structure.
Utility model content
The purpose of this utility model is to provide a kind of driving device and a kind of surgical operating instrument of surgical operating instrument, the operating efficiency while carrying out surgical procedures to improve surgeon.
The driving device of the surgical operating instrument that this utility model embodiment provides, comprises driven unit, screw component, intersection telescopic drive arm and drive rod, wherein:
Described screw component comprise by the studs of axial limiting, with the coaxial travelling gear that is connected and is driven by described driven unit in middle part of described studs, and two nut assemblies, the threaded portion thread rotary orientation of described studs both sides is contrary, and two described nut assemblies are threaded with the threaded portion of described studs both sides respectively and by circumferentially spacing;
Described intersection telescopic drive arm comprises at least two joint telescopic units that a joint or chain type connect, and every joint telescopic unit comprises two connecting rods of cross-articulation, and two described connecting rods of telescopic unit are corresponding hinged with two described nut assemblies respectively described in recent side;
Described drive rod be positioned at described intersection telescopic drive arm axially upper and with described distal end articulated of intersecting telescopic drive arm.
In technical solutions of the utility model, driven unit, travelling gear, studs, two nut assembly transmissions successively, screw component by the rotation of studs be converted into two nut assemblies in opposite directions or opposing rectilinear motion, thereby controlling the telescopic drive arm that intersects being connected with two nut assemblies elongates or shortens, the telescopic drive arm that makes to intersect drives drive rod advance or retreat, to realize percussion or the rollback of apparatus.Technical solutions of the utility model can change the driving condition of apparatus by controlling the driving direction of driven unit, than prior art, greatly improved operating efficiency when surgeon is carried out surgical procedures.Further, the dilatation amount of intersection telescopic drive arm configuration is smaller, is easy to realize surgical instruments function, is conducive to improve the degree of accuracy of operation; The threaded engagement of studs and nut assembly self has auto-lock function, and therefore, surgical operating instrument can be realized self-locking at any activation point, can greatly reduce the risk that apparatus mistakenly hit is sent out, and the safety of operation is higher.
Optionally, described driven unit has output gear, and described travelling gear engages with described output gear, or described travelling gear and described output gear be by drive mechanism transmission, and described drive mechanism comprises tooth bar.
Optionally, described drive rod is connected with the cross-articulation bearing pin of two described connecting rods of telescopic unit described in farthest side.
Preferably, described intersection telescopic drive arm also comprises two connecting rods, and the near-end of two described connecting rods is corresponding hinged with two described connecting rods of telescopic unit described in farthest side respectively, and the far-end of two described connecting rods and described drive rod are hinged.
More excellent, the distal end articulated of two described connecting rods, described drive rod is connected with the distal end articulated bearing pin of two described connecting rods.
Preferably, described driving device also comprises handle housing, and described driven unit, described tooth bar, described screw component, described intersection telescopic drive arm and described drive rod are disposed in described handle housing;
Described studs is by described handle housing axial limiting, and described in each, nut assembly is circumferentially spacing by described handle housing.
Preferably, each described nut assembly comprises square nut and the linking arm being connected with described square nut, and two described connecting rods of telescopic unit are corresponding hinged with two described linking arms respectively described in recent side; Corresponding each nut assembly of described handle housing has provides guiding and spacing square configuration chamber for the rectilinear motion of described square nut.The construction features in square nut and square configuration chamber can realize the circumferential spacing and comparatively reliable of nut assembly.
Preferably, described square nut comprises square nut cover and the hex nut inserts with the interlocking of described square nut cover, and described linking arm is connected with described square nut cover.Adopt the structure of hex nut inserts and the interlocking of square nut cover to be convenient to production and processing, cost is lower, and the standard component interchangeability of hex nut inserts is stronger, is conducive to reduce the maintenance cost of apparatus.
Optionally, the middle part of described travelling gear and described studs is structure as a whole, or described travelling gear is connected with the middle part key of described studs.
Preferably, described driven unit comprises motor, and the output shaft of described motor is coaxially connected with described output gear.Operating efficiency while carrying out surgical procedures by controlling the driving condition that can change apparatus that turns to of motor, can greatly improving surgeon.
Preferably, described handle housing has drive rod configure cavities, and described drive rod configure cavities inwall has at least two the first fins that support described drive rod.The first fin can support drive bar and for drive rod provides guiding, makes drive rod advance vertically or retreat, and can not depart from.
Preferably, described handle housing has the telescopic drive of intersection arm configure cavities, described intersection telescopic drive arm configure cavities inwall has for the flexible of described intersection telescopic drive arm provides guiding and two spacing guiding ribs, and the second fin of at least two described intersection telescopic drive arms of support.Article two, guiding rib can be the flexible guiding and spacing that provides of intersection telescopic drive arm, and the second fin can support intersection telescopic drive arm, and therefore, the telescopic drive arm that intersects can stretch in localized area, can not depart from.
Preferably, the bottom of described tooth bar has guide protrusions, and described handle housing has the direction recess being slidably matched with described guide protrusions; Or the bottom of described tooth bar has direction recess, described handle housing has the guide protrusions being slidably matched with described direction recess.In above two schemes, tooth bar can be output gear drive and handle housing slip relatively, and the transmission of output gear wheel and rack is comparatively reliable.
This utility model also provides a kind of surgical operating instrument, comprises the driving device described in aforementioned arbitrary technical scheme.The driving condition that can change apparatus by controlling the driving direction of driven unit, therefore, this surgical operating instrument can improve the operating efficiency of surgeon, further can also improve degree of accuracy and the safety of operation.
Brief description of the drawings
Fig. 1 a is the overall structure schematic diagram of existing stapler;
Fig. 1 b is the internal structure schematic diagram of existing stapler handle in the time of percussion state;
Fig. 1 c is the internal structure schematic diagram of existing stapler handle in the time of rollback state;
Fig. 2 is the driving device structure schematic diagram of this utility model one embodiment surgical operating instrument;
Fig. 3 is the structural representation of driven unit;
Fig. 4 a is apparatus driven unit, tooth bar, screw component transmission schematic diagram in the time of percussion state;
Fig. 4 b is studs and travelling gear structural representation;
Fig. 5 a is for intersecting telescopic drive arm configuration schematic diagram;
Fig. 5 b is the bar linkage structure schematic diagram of the telescopic unit of intersection telescopic drive arm;
The telescopic unit structural representation of Fig. 5 c intersection telescopic drive arm;
Fig. 6 is the structural representation of drive rod;
Fig. 7 is the structural representation of handle housing;
Fig. 8 is the structural representation of tooth bar;
Fig. 9 a is nut assembly one example structure schematic diagram;
Fig. 9 b is another example structure schematic diagram of nut assembly.
Prior art Reference numeral:
100-driving handle; 200-slender bodies; 300-end effector; 101-drives trigger;
102-drives trigger bearing pin; 103-ratchet; 104-tooth bar; 105-drive rod; 106-releasing piece;
107-rollback trigger; 108-tooth bar guiding bearing pin;
This utility model embodiment Reference numeral:
400-drive rod; 401-open slot; 500-handle housing; 510-square configuration chamber;
520-drive rod configure cavities; 521-the first fin; 530-intersection telescopic drive arm configure cavities;
550-motor configurations chamber; 531-guiding rib; 532-the second fin; 540-direction recess;
600-driven unit; 610-output gear; 620-motor; 630-output shaft; 700-tooth bar;
710-guide protrusions; 800-screw component; 810-studs; 820-travelling gear;
830-nut assembly; 831-square nut; 832-linking arm; 8311-hex nut inserts;
8312-square nut cover; 8321-open slot; 900-intersection telescopic drive arm; 910-telescopic unit;
911-connecting rod; 920-connecting rod; 9201-hinge hole.
Detailed description of the invention
Operating efficiency while carrying out surgical procedures in order to improve surgeon, this utility model embodiment provides a kind of driving device and a kind of surgical operating instrument of surgical operating instrument.In technical solutions of the utility model, driven unit, travelling gear, studs, two nut assembly transmissions successively, screw component by the rotation of studs be converted into two nut assemblies in opposite directions or opposing rectilinear motion, thereby controlling the telescopic drive arm that intersects being connected with two nut assemblies elongates or shortens, the telescopic drive arm that makes to intersect drives drive rod advance or retreat, to realize percussion or the rollback of apparatus.Technical solutions of the utility model can change the driving condition of apparatus by controlling the driving direction of driven unit, than prior art, greatly improved operating efficiency when surgeon is carried out surgical procedures.For making the purpose of this utility model, technical scheme and advantage clearer, by the following examples this utility model is described in further detail.
As shown in Figure 2, the driving device of the surgical operating instrument of this utility model embodiment, comprises driven unit 600, screw component 800, intersection telescopic drive arm 900 and drive rod 400, wherein:
Screw component 800 comprise by the studs 810 of axial limiting, with the coaxial travelling gear 820 that is connected and is driven by driven unit 600 in middle part of studs 810, and two nut assemblies 830, the threaded portion thread rotary orientation of studs 810 both sides is contrary, and two nut assemblies 830 are threaded with the threaded portion of studs 810 both sides respectively and by circumferentially spacing;
The telescopic drive arm 900 that intersects comprises at least two joint telescopic units 910 that a joint or chain type connect, and every joint telescopic unit 910 comprises two connecting rods 920 of cross-articulation, and two connecting rods 920 of recent side telescopic unit 910 are corresponding hinged with two nut assemblies 830 respectively;
Drive rod 400 be positioned at intersect telescopic drive arm 900 axially upper and with intersect the distal end articulated of telescopic drive arm 900.
In each embodiment of the present utility model, the particular type of the surgical operating instrument that comprises this driving device is not limit, for example, can be purse-string forceps, stapler etc.When " distally " refers to that apparatus is operated away from a side of user, when " nearside " refers to that apparatus is operated near a side of user." advance " and point to the direction motion away from user, " retreating " points to the direction motion near user.
Shown in Fig. 2, driven unit 600 has output gear 610, travelling gear 820 can directly engage with output gear 610, also can and output gear 610 between by drive mechanism transmission, drive mechanism can be the tooth bar 700 shown in Fig. 2, also can be transfer gear train, be not specifically limited here.
As shown in Figure 3, driven unit 600 comprises motor 620, and the output shaft 630 of motor 620 is coaxially connected with output gear 610.Now, the control knob being connected with motor 620 signals should be set on the driving handle of surgical operating instrument, or, drive turning to of trigger controllable motor 620 output shafts by control.The output shaft 630 of motor 620 and output gear 610 specifically can be by being connected of key and keyway, i.e. key connections.Operating efficiency while carrying out surgical procedures by controlling the driving condition that can change apparatus that turns to of motor 620, can greatly improving surgeon.
Screw component 800 rotation of studs 810 can be converted into two nut assemblies 830 in opposite directions or opposing rectilinear motion.Rotation band carry-over bar 700 rectilinear motions of output gear 610, the rectilinear motion band nutating gear 820 of tooth bar 700 rotates.As shown in Fig. 2 and Fig. 4 a, the middle part of studs 810 is coaxially connected with travelling gear 820, and the two ends of studs 810 are limited, and studs 810 is by axial limiting, studs 810 can not move axially, and only can be transmitted gear 820 and drive around axis and rotate.The peripheral surface of nut assembly 830 is limited, be that nut assembly 830 is by circumferentially spacing, nut assembly 830 can not rotate, only can be with the rotation of studs 810 axially do rectilinear motion along studs 810, because the threaded portion thread rotary orientation at studs 810 two ends is contrary, two nut assemblies 830 along studs 810 axially to do straight-line direction also contrary.Studs 810 has auto-lock function with the threaded engagement of nut assembly 830 itself, and therefore, surgical operating instrument can be realized self-locking at any activation point, can greatly reduce the risk that apparatus mistakenly hit is sent out, and the safety of operation is higher.
The middle part of studs 810 is coaxially connected with travelling gear 820, refers to that the middle part of studs 810 is fixedly connected with and dead in line with travelling gear 820.As shown in Figure 4 b, optional, travelling gear 820 is structure as a whole with the middle part of studs 810, or travelling gear 820 is connected with the middle part key of studs 810.Travelling gear 820 is connected with and is beneficial to raising assembly precision with the middle part key of studs 810, reduces part consumptive material, reduces production costs.
The telescopic drive arm 900 that intersects can only comprise a joint telescopic unit 910, also can comprise at least two joint telescopic units 910 that chain type connects, the joint number of telescopic unit 910 can design according to the specification of surgical operating instrument and required driving stroke, is not specifically limited here.
As shown in Fig. 5 a and Fig. 5 c, every joint telescopic unit 910 of intersection telescopic drive arm 900 comprises that two intersections are the connecting rod 920 of X-shaped, as shown in Figure 5 b, each connecting rod 920 has three hinge holes 9201, hinge hole in the middle of being positioned at, for connecting by bearing pin with the corresponding hinge hole of another connecting rod, is positioned at two hinge holes at two ends for connecting by bearing pin with the corresponding hinge hole of adjacent expansion unit connecting rod.As shown in Figure 5 a, between adjacent two joint telescopic units 910, form parallelogram linkage, utilize the unstability of parallelogram can realize the dilatation of intersection telescopic drive arm 900, and the dilatation amount of this structure is relatively little, therefore, be easy to realize surgical instruments function, be conducive to improve the degree of accuracy of operation.
Drive rod 400 is positioned at the axially upper of intersection telescopic drive arm 900, and telescopic drive arm 900 driving axials that therefore only can be intersected move, and can be with the flexible upper and lower play of intersection telescopic drive arm 900.Drive rod 400 with intersect the specific implementation of telescopic drive arm 900 distal end articulated and do not limit, for example in one embodiment, drive rod 400 can be directly connected with the cross-articulation bearing pin of two connecting rods 920 of farthest side telescopic unit 910, and cross-articulation bearing pin refers to the bearing pin coordinating with the hinge hole in the middle of two connecting rods 920 herein.As shown in Figure 2, in preferred embodiment of the present utility model, the telescopic drive arm 900 that intersects also comprises that the near-end of 911, two connecting rods 911 of two connecting rods is corresponding hinged with two connecting rods 920 of farthest side telescopic unit 910 respectively, and the far-end of two connecting rods 911 and drive rod 400 are hinged.Concrete, as shown in Figure 2 and Figure 6, the near-end of drive rod 400 is provided with open slot 401, the distal end articulated of two connecting rods 911 and being limited in open slot 401, drive rod 400 is connected with the distal end articulated bearing pin of two connecting rods 911, and distal end articulated bearing pin refers to the bearing pin coordinating with the hinge hole of two connecting rod 911 far-ends herein.When two nut assemblies 830 in opposite directions or when opposing rectilinear motion, the telescopic drive arm 900 that intersects is driven to elongate or shorten, thereby drives drive rod 400 advance or retreat.
Studs 810 is carried out axial limiting and nut assembly 830 carried out to circumferentially spacing specific implementation and do not limit, for example, some fixed structure piece that can utilize surgical operating instrument inside are carried out spacing to studs 810 and nut assembly 830, also can be carried out axial limiting and carry out circumferentially spacing to nut assembly 830 studs 810 by the handle housing of surgical operating instrument.As shown in Figure 7, driving device also comprises handle housing 500, and driven unit 600, tooth bar 700, screw component 800, intersection telescopic drive arm 900 and drive rod 400 are disposed in handle housing 500; Studs 810 is by handle housing 500 axial limitings, and each nut assembly 830 is circumferentially spacing by handle housing 500.
Handle housing 500 can, for moulding housing processed or alloy housing, be fastened the containing cavity that forms inner structural members by relative two parts.For configuration driven assembly 600, tooth bar 700, screw component 800, the structural members such as telescopic drive arm 900 and drive rod 400 that intersect, what the inwall of handle housing 500 need to be corresponding arranges the structures such as some projections, fin, muscle or groove.
As shown in Figure 2 and Figure 7, handle housing 500 has motor configurations chamber 550, and motor 620 is fixed in motor configurations chamber 550, and the supporting walls that handle housing 500 forms motor configurations chamber 550 comprises the gap structure that supports motor output shaft.
As shown in Figure 7 and Figure 8, the bottom of tooth bar 700 has guide protrusions 710, and handle housing 500 has the direction recess 540 being slidably matched with guide protrusions 710.In addition, can be also that the bottom of tooth bar 700 has direction recess, handle housing 500 has the guide protrusions being slidably matched with direction recess.Tooth bar 700 can be output that gear 610 drives and relatively handle housing 500 slide, output gear 610 is comparatively reliable with the transmission of tooth bar 700.
Shown in Fig. 2, Fig. 7 and Fig. 9 a, each nut assembly 830 comprises square nut 831 and the linking arm 832 being connected with square nut 831, and two connecting rods of recent side telescopic unit are corresponding hinged with two linking arms 832 respectively; Corresponding each nut assembly 830 of handle housing 500 have provides guiding and spacing square configuration chamber 510 for the rectilinear motion of square nut 831.The supporting walls that handle housing 500 forms two square configuration chambeies 510 has the gap structure that supports studs 810 two ends and middle part.The construction features in square nut 831 and square configuration chamber 510 can realize the circumferential spacing and comparatively reliable of nut assembly 830.As shown in Fig. 9 b, preferred, square nut 831 comprises square nut cover 8312 and the hex nut inserts 8311 with 8312 interlockings of square nut cover, and linking arm 832 is connected with square nut cover 8312.Linking arm 832 can overlap 8312 with square nut and be structure as a whole, or connects by welding manner.Each linking arm 832 is provided with open slot 8321, and the respective link of recent side telescopic unit is limited in open slot 8321 and realizes and linking arm 832 hinged by bearing pin.Adopt hex nut inserts 8311 and the structure of square nut cover 8312 interlockings to be convenient to production and processing, cost is lower, and the standard component interchangeability of hex nut inserts 8311 is stronger, is conducive to reduce the maintenance cost of apparatus.
As shown in Figure 2 and Figure 7, handle housing 500 has drive rod configure cavities 520, and drive rod configure cavities 520 inwalls have the first fin 521 of at least two support drive bars 400.The shape of the first fin 521 should match with the cross sectional shape of drive rod 400, and as shown in Figure 7, the cross section of drive rod 400 is circular, and the first fin 521 can be designed to have the fin of circumferential notch.The first fin 521 can support drive bar 400 and for drive rod 400 provides guiding, makes drive rod 400 advance vertically or retreat, and can not shake and depart from.
As shown in Figure 2 and Figure 7, handle housing 500 has the telescopic drive of intersection arm configure cavities 530, telescopic drive arm configure cavities 530 inwalls that intersect have for the flexible of intersection telescopic drive arm 900 provides guiding and two spacing guiding ribs 531, and the second fin 532 of at least two support intersection telescopic drive arms 900.Article two, guiding rib 531 is along the length direction setting of intersection telescopic drive arm configure cavities 530, it can be the flexible guiding and spacing that provides of intersection telescopic drive arm 900, the second fin 532 can support intersection telescopic drive arm 900, therefore, the telescopic drive arm 900 that intersects can stretch in localized area, can not shake and depart from.
Please refer to shown in Fig. 2 and Fig. 4 a, in the time that needs carry out apparatus percussion, rotate along clockwise direction shown in Fig. 4 a by the output shaft 630 that drives trigger (or being arranged on the control knob on handle) to control motor 620, this hour rack 700 distad moves linearly, travelling gear 820 and studs 810 clockwise rotate, and two nut assemblies 830 are close in opposite directions, and the telescopic drive arm 900 that intersects extends, drive rod 400 advances, and realizes the percussion of apparatus, in the time that needs carry out apparatus rollback, be rotated counterclockwise by the output shaft 630 that drives trigger (or being arranged on the control knob on handle) to control motor 620, these hour rack 700 proximad rectilinear movements, travelling gear 820 and studs 810 rotate counterclockwise, two nut assemblies 830 opposing away from, the telescopic drive arm 900 that intersects shortens, drive rod 400 rollbacks, realize the rollback of apparatus (when apparatus is during in rollback state, output shaft 630 shown in Fig. 4 a, tooth bar 700, travelling gear 820, studs 810, the direction of motion of two nut assemblies 830 is just the opposite with diagram arrow direction indication).
In technical solutions of the utility model, driven unit 600, travelling gear 820, studs 810, two nut assembly 830 transmissions successively, screw component 800 by the rotation of studs 810 be converted into two nut assemblies 830 in opposite directions or opposing rectilinear motion, thereby controlling the telescopic drive arm 900 that intersects being connected with two nut assemblies 830 elongates or shortens, the telescopic drive arm 900 that makes to intersect drives drive rod 400 advance or retreat, to realize percussion or the rollback of apparatus.Technical solutions of the utility model can change the driving condition of apparatus by controlling the driving direction of driven unit 600, than prior art, greatly improved operating efficiency when surgeon is carried out surgical procedures.Further, the dilatation amount of intersection telescopic drive arm 900 structures is smaller, is easy to realize surgical instruments function, is conducive to improve the degree of accuracy of operation; Studs 810 has auto-lock function with the threaded engagement self of nut assembly 830, and therefore, surgical operating instrument can be realized self-locking at any activation point, can greatly reduce the risk that apparatus mistakenly hit is sent out, and the safety of operation is higher.
This utility model embodiment also provides a kind of surgical operating instrument, comprises the driving device of aforementioned arbitrary embodiment.The type of surgical operating instrument is not limit, for example, can be purse-string forceps, stapler etc.In an embodiment, surgical operating instrument is the stapler with chamber mirror specification therein.The driving condition that can change apparatus by controlling the rotation direction of driven unit output gear, therefore, this surgical operating instrument can improve the operating efficiency of surgeon, further can also improve degree of accuracy and the safety of operation.
Obviously, those skilled in the art can carry out various changes and modification and not depart from spirit and scope of the present utility model this utility model.Like this, if these amendments of the present utility model and within modification belongs to the scope of this utility model claim and equivalent technologies thereof, this utility model is also intended to comprise these changes and modification interior.
Claims (14)
1. a driving device for surgical operating instrument, is characterized in that, comprises driven unit (600), screw component (800), intersection telescopic drive arm (900) and drive rod (400), wherein:
Described screw component (800) comprise by the studs of axial limiting (810), with the coaxial travelling gear (820) that is connected and is driven by described driven unit (600) in the middle part of described studs (810), and two nut assemblies (830), the threaded portion thread rotary orientation of described studs (810) both sides is contrary, and two described nut assemblies (830) are threaded with the threaded portion of described studs (810) both sides respectively and by circumferentially spacing;
Described intersection telescopic drive arm (900) comprises at least two joint telescopic units (910) that a joint or chain type connect, every joint telescopic unit (910) comprises two connecting rods (920) of cross-articulation, and two described connecting rods (920) of telescopic unit (910) are corresponding hinged with two described nut assemblies (830) respectively described in recent side;
Described drive rod (400) be positioned at described intersection telescopic drive arm (900) axially upper and with described distal end articulated of intersecting telescopic drive arm (900).
2. driving device as claimed in claim 1, it is characterized in that, described driven unit (600) has output gear (610), described travelling gear (820) engages with described output gear (610), or described travelling gear (820) is with described output gear (610) by drive mechanism transmission, and described drive mechanism comprises tooth bar (700).
3. driving device as claimed in claim 2, is characterized in that, described drive rod (400) is connected with the cross-articulation bearing pin of two described connecting rods (920) of telescopic unit described in farthest side (910).
4. driving device as claimed in claim 2, it is characterized in that, described intersection telescopic drive arm (900) also comprises two connecting rods (911), the near-end of two described connecting rods (911) is corresponding hinged with two described connecting rods (920) of telescopic unit described in farthest side (910) respectively, and the far-end of two described connecting rods (911) and described drive rod (400) are hinged.
5. driving device as claimed in claim 4, is characterized in that, the distal end articulated of two described connecting rods (911), and described drive rod (400) is connected with the distal end articulated bearing pin of two described connecting rods (911).
6. the driving device as described in claim 2～5 any one, it is characterized in that, also comprise handle housing (500), described driven unit (600), described tooth bar (700), described screw component (800), described intersection telescopic drive arm (900) and described drive rod (400) are disposed in described handle housing (500);
Described studs (810) is by described handle housing (500) axial limiting, and nut assembly described in each (830) is circumferentially spacing by described handle housing (500).
7. driving device as claimed in claim 6, is characterized in that,
Each described nut assembly (830) comprises square nut (831) and the linking arm (832) being connected with described square nut (831), and two described connecting rods (920) of telescopic unit (910) are corresponding hinged with two described linking arms (832) respectively described in recent side;
Corresponding each nut assembly of described handle housing (500) (830) has provides guiding and spacing square configuration chamber (510) for the rectilinear motion of described square nut (831).
8. driving device as claimed in claim 7, it is characterized in that, described square nut (831) comprises square nut cover (8312) and the hex nut inserts (8311) with described square nut cover (8312) interlocking, and described linking arm (832) is connected with described square nut cover (8312).
9. driving device as claimed in claim 6, is characterized in that, described travelling gear (820) is structure as a whole with the middle part of described studs (810), or described travelling gear (820) is connected with the middle part key of described studs (810).
10. driving device as claimed in claim 6, is characterized in that, described driven unit (600) comprises motor (620), and the output shaft (630) of described motor (620) is coaxially connected with described output gear (610).
11. driving devices as claimed in claim 6, is characterized in that,
Described handle housing (500) has drive rod configure cavities (520), and described drive rod configure cavities (520) inwall has at least two the first fins (521) that support described drive rod (400).
12. driving devices as claimed in claim 6, is characterized in that,
Described handle housing (500) has the telescopic drive arm configure cavities of intersection (530), described intersection telescopic drive arm configure cavities (530) inwall has for the flexible of described intersection telescopic drive arm (900) provides guiding and spacing two guiding ribs (531), and second fin (532) of at least two described intersection telescopic drive arms of support (900).
13. driving devices as claimed in claim 6, is characterized in that, the bottom of described tooth bar (700) has guide protrusions (710), and described handle housing (500) has the direction recess (540) being slidably matched with described guide protrusions (710); Or
The bottom of described tooth bar has direction recess, and described handle housing has the guide protrusions being slidably matched with described direction recess.
14. 1 kinds of surgical operating instruments, is characterized in that, comprise the driving device as described in claim 1～13 any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420140267.6U CN203789971U (en) | 2014-03-26 | 2014-03-26 | Surgical operating instrument and driving device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420140267.6U CN203789971U (en) | 2014-03-26 | 2014-03-26 | Surgical operating instrument and driving device thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203789971U true CN203789971U (en) | 2014-08-27 |
Family
ID=51372253
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420140267.6U Withdrawn - After Issue CN203789971U (en) | 2014-03-26 | 2014-03-26 | Surgical operating instrument and driving device thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203789971U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104939881A (en) * | 2014-03-26 | 2015-09-30 | 瑞奇外科器械(中国)有限公司 | Driving device for surgical operating instrument and surgical operating instrument |
| CN109350150A (en) * | 2018-11-29 | 2019-02-19 | 北京天星博迈迪医疗器械有限公司 | A kind of meniscus stitching unstrument |
-
2014
- 2014-03-26 CN CN201420140267.6U patent/CN203789971U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104939881A (en) * | 2014-03-26 | 2015-09-30 | 瑞奇外科器械(中国)有限公司 | Driving device for surgical operating instrument and surgical operating instrument |
| CN104939881B (en) * | 2014-03-26 | 2017-03-22 | 瑞奇外科器械(中国)有限公司 | Driving device for surgical operating instrument and surgical operating instrument |
| CN109350150A (en) * | 2018-11-29 | 2019-02-19 | 北京天星博迈迪医疗器械有限公司 | A kind of meniscus stitching unstrument |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102579227B (en) | Hand and wrist exoskeleton rehabilitation training device | |
| US9161772B2 (en) | Surgical instrument and medical manipulator | |
| CN106691591B (en) | Single-hole minimally invasive surgery robot arm | |
| CN113491580B (en) | Wire transmission structure, surgical instrument and surgical robot | |
| CN102973321B (en) | Manual multi-degree of freedom micro-manipulator for surgical operation | |
| CN105796179A (en) | Master-slave intervention operation robot slave side operating device and control method thereof | |
| CN207708010U (en) | A kind of Three Degree Of Freedom robot for Minimally Invasive Surgery | |
| CN203789971U (en) | Surgical operating instrument and driving device thereof | |
| CN203468671U (en) | Bi-direction stroke control switch, bending stroke control device and surgical operation instrument | |
| CN104939881A (en) | Driving device for surgical operating instrument and surgical operating instrument | |
| CN111685876A (en) | Surgical instrument and surgical robot | |
| CN203468670U (en) | Electric bending device of surgical operation instrument and surgical operation instrument | |
| CN105434001B (en) | Hernia repairs staple device | |
| CN110151494B (en) | Multi-drive modularized exoskeleton mechanism | |
| CN113456240B (en) | Main operating hand clamping structure | |
| CN103169518A (en) | Operation cutting suture instrument and drive device thereof | |
| CN113662673A (en) | Mechanical arm, slave operation equipment and surgical robot | |
| CN211433167U (en) | Ultrasonic scalpel instrument | |
| CN116269581A (en) | Electric anastomat | |
| CN208808649U (en) | A kind of mechanically decoupled single hole surgical robot quick replacement mechanism with linear joint | |
| CN110666786B (en) | Wheel train type remote center mechanism | |
| CN106109089B (en) | Continuous shear stress probe | |
| CN212261515U (en) | Surgical instrument and surgical robot | |
| CN211723295U (en) | Anastomat end effector, deflection device thereof and anastomat adopting deflection device | |
| CN104337554A (en) | Two-way stroke control switch, bending stroke control device and surgical operating instrument |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140827 Effective date of abandoning: 20171114 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20140827 Effective date of abandoning: 20171114 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |