CN207613802U - A kind of Minimally Invasive Surgery instrument with force feedback - Google Patents
A kind of Minimally Invasive Surgery instrument with force feedback Download PDFInfo
- Publication number
- CN207613802U CN207613802U CN201720507411.9U CN201720507411U CN207613802U CN 207613802 U CN207613802 U CN 207613802U CN 201720507411 U CN201720507411 U CN 201720507411U CN 207613802 U CN207613802 U CN 207613802U
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- China
- Prior art keywords
- inner shaft
- outer tube
- sliding part
- minimally invasive
- invasive surgery
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Abstract
The utility model provides a kind of Minimally Invasive Surgery instrument with force feedback, including implement body, sliding part and operation portion, and the rear end of implement body is provided with the first vessel, and the rear end of implement body extends to form hand-held fixed part；Sliding part is slidably sheathed on outside implement body, and the front end of sliding part forms outer fixing portion, interior fixed part and interconnecting piece, and foil gauge is provided on interconnecting piece；Operation portion includes operating parts, inner shaft and outer tube, and outer tube sleeve is set to outside inner shaft；The front end of outer tube and the front end of inner shaft are connect with operating parts respectively；The rear end of outer tube is fixed with sliding part, and the rear end of inner shaft is fixed with dynamometry block, and dynamometry block is located in the first vessel；There are two pressure sensors for the setting of first vessel.Using interior fixed part, outer fixing portion, interconnecting piece and foil gauge, the lateral force that operating parts is subject to can be detected；Using two pressure sensors in the first vessel, the operating force of operating parts itself can be measured.
Description
Technical field
The utility model is related to Minimally Invasive Surgery instrument more particularly to a kind of Minimally Invasive Surgery instruments with force feedback.
Background technology
Minimally Invasive Surgery instrument compares at present to be widely used in the relevant practical operation of Minimally Invasive Surgery and peacetime training, in order to
The effect that peacetime training can be improved, operating force when needing to training obtains preferable force feedback, consequently facilitating operator feels
By suitable operating force.Existing Minimally Invasive Surgery instrument generally cannot directly detect the lateral force that operating parts is subject to, and be not easy to grasp
Author experiences suitable operating force.
Utility model content
The purpose of this utility model is that proposing a kind of Minimally Invasive Surgery instrument with force feedback, operating parts can be measured simultaneously
The lateral force that the operating force and operating parts of itself are subject to.
For this purpose, the utility model uses following technical scheme：
A kind of Minimally Invasive Surgery instrument with force feedback, including implement body, sliding part and operation portion, the implement body
Rear end is provided with the first vessel, and the rear end of the implement body extends to form hand-held fixed part；The sliding part slidably covers
Outside the implement body, the front end of the sliding part, which is enclosed, to be set to form outer fixing portion, passes through interconnecting piece in the outer fixing portion
It is connected with interior fixed part, the quantity of the interconnecting piece is at least three and is radially arranged, at least three interconnecting pieces
It is provided with foil gauge；In the front end of the implement body, the operation portion includes operating parts, inner shaft and outer for the operating position
Pipe, the outer tube sleeve are set to outside the inner shaft；The front end of the outer tube and the front end of the inner shaft connect with the operating parts respectively
It connects, so that when the outer tube and the inner shaft are mutually slided, the operation portion is driven to act；The rear end of the outer tube with it is described
Sliding part is fixed, and the rear end of the inner shaft is fixed with dynamometry block, and the dynamometry block is located in first vessel；Described first holds
It is respectively set in chamber two side walls in the front-back direction there are two pressure sensor, to detect the power when operation portion acts.
Further, in a ring, the inner shaft passes through the interior fixed part out of described interior fixed part；The outer tube is from institute
Interior fixed part is stated to pass through and fix with the rear end of the interior fixed part or the front end of the outer tube and the interior fixed part is fixed.
Further, the dynamometry block is spherical, and the side wall that first vessel is located at front offers perforation, for institute
It states inner shaft to be pierced by, the internal diameter of the perforation is more than the diameter of the inner shaft, and the inner wall of the perforation is contacted to avoid the inner shaft.
Further, the Minimally Invasive Surgery instrument further includes movable part, and the movable part passes through with the hand-held fixed part
Axis pin connects, and the movable part is connect with the sliding part, to drive the sliding part to slide.
Further, the outer surface of the sliding part is equipped with groove, and the groove is arranged with driving portion, the driving portion
It is connect by connecting rod with the movable part, to drive the driving portion to slide.
Further, the rear end of the sliding part is fixed with rotating wheel, and the sliding part is step-like in a ring, the sliding
Part forms the groove with rotating wheel.
Further, the implement body is convexly equipped with blocking portion, and the sliding part is located at the blocking portion front end, the work
When dynamic portion is mutually abutted with the hand-held fixed part or the connecting rod between the movable part and the hand-held fixed part is stretched to
When maximum, the part of the sliding part at least one third is sheathed on the implement body.
Further, the operating parts is clamp, and the clamp includes two folders being mutually clamped being pivotally connected
Hold portion, the pivot is connect with the front end of the inner shaft, the rear end of the clamping part respectively by connecting rod and the outer tube before
End connection.
Further, the second reset bullet is provided between the rear end of the outer fixing portion and the front end of the implement body
Spring.
Advantageous effect：The utility model provides a kind of Minimally Invasive Surgery instrument with force feedback, including implement body, sliding
The rear end of part and operation portion, the implement body is provided with the first vessel, and the rear end of the implement body, which extends to form, to be held admittedly
Determine portion；The sliding part is slidably sheathed on outside the implement body, and the front end of the sliding part, which is enclosed, to be set to form outer fixing portion,
Interior fixed part is connected with by interconnecting piece in the outer fixing portion, the quantity of the interconnecting piece is at least three and radially sets
It sets, foil gauge is provided at least three interconnecting pieces；The operating position is in the front end of the implement body, the operation
Portion includes operating parts, inner shaft and outer tube, and the outer tube sleeve is set to outside the inner shaft；Before the front end of the outer tube and the inner shaft
End is connect with the operating parts respectively, so that when the outer tube and the inner shaft are mutually slided, the operation portion is driven to act；
The rear end of the outer tube is fixed with the sliding part, and the rear end of the inner shaft is fixed with dynamometry block, and the dynamometry block is located at described
In first vessel；Pressure sensor there are two being respectively set in the first vessel two side walls in the front-back direction, to detect
State power when operation portion action.Using interior fixed part, outer fixing portion, interconnecting piece and foil gauge, can very easily detect
The lateral force being subject to operating parts；Using two pressure sensors in the first vessel, operating parts sheet can be easily measured
The operating force of body.By detecting lateral force and operating force, is conducive to operator and feels suitable power in operation.
Description of the drawings
Fig. 1 is the structural schematic diagram for the Minimally Invasive Surgery instrument that the embodiments of the present invention 1 provide.
Fig. 2 is the structural schematic diagram of the implement body front end for the Minimally Invasive Surgery instrument that the embodiments of the present invention 1 provide.
Fig. 3 is the sectional view at the implement body for the Minimally Invasive Surgery instrument that the embodiments of the present invention 1 provide.
Fig. 4 is the explosive view for the Minimally Invasive Surgery instrument that the embodiments of the present invention 1 provide.
Fig. 5 is the sectional view of the explosive view for the Minimally Invasive Surgery instrument that the embodiments of the present invention 1 provide.
Fig. 6 is the structural schematic diagram at the operating parts for the Minimally Invasive Surgery instrument that the embodiments of the present invention 1 provide.
Wherein：
1- implement bodies, the first vessels of 11-, 111- pressure sensors, 112- perforation, 12- hold fixed part, 14- blockings
Portion, 2- sliding parts, 211- outer fixing portions, fixed part in 212-, 213- interconnecting pieces, 214- foil gauges, 215- second back-moving springs,
23- driving portions, 24- rotating wheels, 3- movable parts, 4- operation portions, 41- operating parts, 411- clamping parts, 412- pivots, 42- inner shafts,
43- outer tubes, 5- dynamometry blocks.
Specific implementation mode
The technical issues of to make the utility model solve, the technical solution of use and the technique effect that reaches are clearer,
Further illustrate the technical solution of the utility model below with reference to the accompanying drawings and specific embodiments.
Embodiment 1
As shown in figs 1 to 6, a kind of Minimally Invasive Surgery instrument with force feedback is present embodiments provided, including implement body 1,
Sliding part 2 and operation portion 4, the rear end of implement body 1 are provided with the first vessel 11, and the rear end of implement body 1 extends to form hand-held
Fixed part 12；Sliding part 2 is slidably sheathed on outside implement body 1, and the front end of sliding part 2, which is enclosed, to be set to form outer fixing portion 211, outside
Interior fixed part 212 is connected with by interconnecting piece 213 in fixed part 211, the quantity of interconnecting piece 213 is at least three and radially
It is arranged, foil gauge 214 is provided at least three interconnecting pieces 213；Operation portion 4 is located at the front end of implement body 1, and operation portion 4 wraps
Operating parts 41, inner shaft 42 and outer tube 43 are included, outer tube 43 is sheathed on outside inner shaft 42；The front end of outer tube 43 and the front end difference of inner shaft 42
It is connect with operating parts 41, so that when outer tube 43 and inner shaft 42 are mutually slided, operation portion 4 is driven to act；The rear end of outer tube 43 with
Sliding part 2 is fixed, and the rear end of inner shaft 42 is fixed with dynamometry block, and dynamometry block 5 is located in the first vessel 11；First vessel, 11 front and back
To two side walls on be respectively set there are two pressure sensor 111, to detect power when operation portion 4 acts.
Such Minimally Invasive Surgery instrument carries out operation by the operating parts 41 on operation portion 4, and operating parts 4 is connected to outer tube 43
On, outer tube 43 is fixed with interior fixed part 212.Sliding part 2 can be slided and be rotated in implement body 1, interior fixed part 212 with
Sliding part 2 acts, and drives the sliding accordingly of outer tube 43 and rotation, carries out corresponding surgical procedure.When in use, when operating parts 41
When by lateral power, it can be passed on interior fixed part 212 by outer tube 43 so that interior fixed part 212 is by corresponding lateral force.
It is connected by interconnecting piece 213 radially between interior fixed part 212 and outer fixing portion 211, lateral force can lead to interconnecting piece 213
It is squeezed generation deformation, the foil gauge being set on interconnecting piece 213 is caused to change, then the Parameters variation for passing through foil gauge
(such as change etc. of resistance value) can obtain the stressing conditions on corresponding three interconnecting pieces 213, since three interconnecting pieces 213 are in
Radial setting is met at a bit, therefore, in conjunction with three interconnecting pieces 213 stress can calculate in entire fixed part 212 by
Lateral force size and Orientation, to detect this stress.Certainly, the quantity of interconnecting piece 213 can also more than three, strain
The quantity of piece 214 can also be three extra, can be adjusted according to actual conditions.
When sliding part 2 drives outer tube 43 to slide, inner shaft 42 is limited at the limitation of the dynamometry block 5 in the first vessel 11, and outer
Pipe 43 and inner shaft 42 produce relative sliding, and are acted to control operating parts 41.Dynamometry block 5 and first vessel 11 former and later two side walls
On pressure sensor 111 between there are extruding force, i.e. inner shaft 42 to the pulling force or thrust of dynamometry block 5, this pulling force or thrust with
Power when operating parts 41 acts is related, with specific reference to its relationship of the structure determination of operating parts 41.Pass through the ginseng of pressure sensor 111
Number variation, you can obtain dynamometry block 5 by the pulling force of inner shaft 42 or the size of thrust, to calculate the action of operating parts 41
Power.
By above structure, the multiple parameters such as the action to operating parts 41, lateral force may be implemented in Minimally Invasive Surgery instrument
Detection.Influence using outer tube 43 to interconnecting piece 213 and foil gauge 214 can detect the lateral force that operating parts 41 is subject to.
Using the extruding with 42 fixed dynamometry block 5 of inner shaft to pressure sensor 111, the power that operating parts 41 acts can be detected.And
Inner shaft 42 sliding, outer tube 43 in outer tube 43 will not produce the operation force (power detected by pressure sensor 111) of operating parts 41
Raw to influence, the lateral force (being detected by foil gauge 41) that inner shaft 42 will not be subject to outer tube 43 has an impact, i.e., does not do mutually
It disturbs.
It is penetrated for the ease of inner shaft 42 in first vessel 11 of implement body 1, in a ring, inner shaft 42 can for interior fixed part 212
To be passed through out of interior fixed part 212 ring, outer tube 43 is passed through from interior fixed part 212 and is fixed with the rear end of interior fixed part 212.Outside
Pipe 43 is also passed through from interior fixed part 212, can improve the bond strength between outer tube 43 and interior fixed part 212, is convenient for outer tube
43 lateral force is passed directly on interior fixed part 212.It is of course also possible to by outer tube 43 from the front end in outside and interior fixed part 212
It is fixedly secured, reduces the influence that the connection structure of outer tube 43 and interior fixed part 212 detects lateral force.
Dynamometry block 5 could be provided as spherical, and the side wall that the first vessel 11 is located at front offers perforation 112, for inner shaft
42 are pierced by, perforate 112 internal diameter be more than inner shaft 42 diameter, to avoid inner shaft 42 contact perforation 112 inner wall.When outer tube 43 by
When to lateral force, inner shaft 42 has certain inclination, and spherical dynamometry block 51 can be rotated very easily in the first vessel 11,
The inclination for adapting to inner shaft 42, without causing lateral push-and-pull to inner shaft 42.The bottom of spherical dynamometry block 5 and the first vessel 11 is only
There is point contact, it is also very small in front-rear direction resistance, it is possible to reduce the influence to the push-pull effort of dynamometry block 5 along the longitudinal direction.
It is slided for the ease of control sliding part 2, Minimally Invasive Surgery instrument further includes movable part 3, movable part 3 and hand-held fixed part
12 are connected by axis pin, and movable part 3 is connect with sliding part 2, to drive sliding part 2 to slide.In use, user passes through control
Rotation between movable part 3 and hand-held fixed part 12 controls the sliding of sliding part 2.Specifically, sliding part 2 and movable part 3 it
Between to be indirectly connected with, groove is set by the appearance face ring of sliding part 2, groove is arranged with driving portion 23, driving portion 23 and movable part 3
It is connected by connecting rod, to drive driving portion 23 to slide.Driving portion 23 can be relatively rotated with sliding part 2, therefore, sliding part 2
Rotation will not cause to interfere to driving portion 23 and movable part 3.Driving portion 23 is located in groove, can push and slide from front-rear direction
Part 2 slides.The movable part 3 of the present embodiment and the end of hand-held fixed part 12 are both provided with lantern ring, and person's finger easy to operation is inserted in.
When operation, operator only needs to control the distance between two lantern rings, you can and drive sliding part 2 to slide by driving portion 23, from
And drive 41 opening and closing movement of operating parts.
For the ease of the assembly of driving portion 23, the rear end of sliding part 2 is fixed with rotating wheel 24, the step in a ring of sliding part 2
Shape, sliding part 2 form groove with rotating wheel 24.When assembly, driving portion 23 is inserted in the step of sliding part 2, then by rotating wheel 24
It is fixed on the rear end of sliding part 2, to which driving portion 23 to be clamped between sliding part 2 and rotating wheel 24, before and after drive sliding part 2
Movement.The outside of rotating wheel 24 can be equipped with multiple double wedges with convex annular, and person easy to operation holds rotation.
In the present embodiment, implement body 1 is also convexly equipped with blocking portion 14, and sliding part 2 is located at 14 front end of blocking portion, blocking portion 14
It can be from the movement of rear end limit slippage part 2.When movable part 3 is mutually abutted with hand-held fixed part 12 or movable part 3 is consolidated with hand-held
When determining the connecting rod between portion 12 and being stretched to maximum, sliding part 2 moves forward to maximum position, at this point, sliding part 2 is at least
The part of one third is sheathed on implement body 1, and sliding part 2 is avoided to deviate from, and ensures between sliding part 2 and implement body 1
Cooperation is stablized, and is not in too many shaking.It is additionally provided with second between the rear end and the front end of implement body 1 of outer fixing portion 211
Resetting spring 215, for resetting, when operator decontrols movable part 3, second back-moving spring 215 pushes outer fixing portion 211 to move
To at the maximum position of front end.
The above content is only the preferred embodiment of the utility model, for those of ordinary skill in the art, according to this reality
With novel thought, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be construed as
Limitations of the present invention.
Claims (9)
1. a kind of Minimally Invasive Surgery instrument with force feedback, which is characterized in that including：
The rear end of implement body (1), the implement body (1) is provided with the first vessel (11), the rear end of the implement body (1)
Extend to form hand-held fixed part (12)；
Sliding part (2), the sliding part (2) are slidably sheathed on the implement body (1) outside, before the sliding part (2)
End, which is enclosed, to be set to form outer fixing portion (211), and interior fixed part is connected with by interconnecting piece (213) in the outer fixing portion (211)
(212), the quantity of the interconnecting piece (213) is at least three and is radially arranged, at least three interconnecting pieces (213)
It is provided with foil gauge (214)；
Operation portion (4), the operation portion (4) are located at the front end of the implement body (1), and the operation portion (4) includes operating parts
(41), inner shaft (42) and outer tube (43), the outer tube (43) are sheathed on the inner shaft (42) outside；
The front end of the outer tube (43) and the front end of the inner shaft (42) are connect with the operating parts (41) respectively, so that described
When outer tube (43) and the inner shaft (42) are mutually slided, the operation portion (4) is driven to act；
The rear end of the outer tube (43) is fixed with the sliding part (2), and the rear end of the inner shaft (42) is fixed with dynamometry block, described
Dynamometry block (5) is located in first vessel (11)；
It is respectively set in first vessel (11) two side walls in the front-back direction there are two pressure sensor (111), with detection
Power when operation portion (4) action.
2. Minimally Invasive Surgery instrument as described in claim 1, which is characterized in that the interior fixed part (212) is in a ring, described interior
Axis (42) is passed through out of described interior fixed part (212)；
The outer tube (43) passes through from the interior fixed part (212) and is fixed with the rear end of the interior fixed part (212) or described
Outer tube (43) and the front end of the interior fixed part (212) are fixed.
3. Minimally Invasive Surgery instrument as described in claim 1, which is characterized in that the dynamometry block (5) is spherical, and described first holds
The side wall that chamber (11) is located at front offers perforation (112), so that the inner shaft (42) is pierced by, the internal diameter of the perforation (112)
More than the diameter of the inner shaft (42), to avoid the inner wall of the inner shaft (42) the contact perforation (112).
4. Minimally Invasive Surgery instrument as described in any one of claims 1-3, which is characterized in that the Minimally Invasive Surgery instrument further includes
Movable part (3), the movable part (3) are connect with the hand-held fixed part (12) by axis pin, and the movable part (3) with it is described
Sliding part (2) connects, to drive the sliding part (2) to slide.
5. Minimally Invasive Surgery instrument as claimed in claim 4, which is characterized in that the outer surface of the sliding part (2) is equipped with recessed
Slot, the groove are arranged with driving portion (23), and the driving portion (23) is connect with the movable part (3) by connecting rod, to drive
Driving portion (23) sliding.
6. Minimally Invasive Surgery instrument as claimed in claim 5, which is characterized in that the rear end of the sliding part (2) is fixed with rotation
It takes turns (24), the sliding part (2) is step-like in a ring, and the sliding part (2) forms the groove with rotating wheel (24).
7. Minimally Invasive Surgery instrument as claimed in claim 6, which is characterized in that the implement body (1) is convexly equipped with blocking portion
(14), the sliding part (2) is located at the blocking portion (14) front end, the movable part (3) and hand-held fixed part (12) phase
When mutually abutting or when the connecting rod between the movable part (3) and the hand-held fixed part (12) is stretched to maximum, the sliding
The part of part (2) at least one third is sheathed on the implement body (1).
8. Minimally Invasive Surgery instrument as described in any one of claims 1-3, which is characterized in that the operating parts (41) is clamp,
The clamp include by pivot (412) connect two clamping parts (411) being mutually clamped, the pivot (412) with it is described
The front end of inner shaft (42) connects, and the rear end of the clamping part (411) is connect by connecting rod with the front end of the outer tube (43) respectively.
9. Minimally Invasive Surgery instrument as described in any one of claims 1-3, which is characterized in that after the outer fixing portion (211)
It is provided with second back-moving spring (215) between end and the front end of the implement body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720507411.9U CN207613802U (en) | 2017-05-09 | 2017-05-09 | A kind of Minimally Invasive Surgery instrument with force feedback |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720507411.9U CN207613802U (en) | 2017-05-09 | 2017-05-09 | A kind of Minimally Invasive Surgery instrument with force feedback |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207613802U true CN207613802U (en) | 2018-07-17 |
Family
ID=62817342
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720507411.9U Withdrawn - After Issue CN207613802U (en) | 2017-05-09 | 2017-05-09 | A kind of Minimally Invasive Surgery instrument with force feedback |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207613802U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106955129A (en) * | 2017-05-09 | 2017-07-18 | 佛山衡生医疗自动化有限公司 | A kind of Minimally Invasive Surgery apparatus with force feedback |
-
2017
- 2017-05-09 CN CN201720507411.9U patent/CN207613802U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106955129A (en) * | 2017-05-09 | 2017-07-18 | 佛山衡生医疗自动化有限公司 | A kind of Minimally Invasive Surgery apparatus with force feedback |
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|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180717 Effective date of abandoning: 20230428 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20180717 Effective date of abandoning: 20230428 |