CN208598454U - A kind of Medical electric stitching unstrument with guiding device - Google Patents
A kind of Medical electric stitching unstrument with guiding device Download PDFInfo
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- CN208598454U CN208598454U CN201721347343.0U CN201721347343U CN208598454U CN 208598454 U CN208598454 U CN 208598454U CN 201721347343 U CN201721347343 U CN 201721347343U CN 208598454 U CN208598454 U CN 208598454U
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- needle portion
- guiding device
- stitching unstrument
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- motor
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Abstract
The application provides a kind of Medical electric stitching unstrument with guiding device, which is equipped with guiding device, and guiding device includes stroke sensor, pressure sensor, processor, first motor and the indicating arm being connected with the first motor turning end.Processor utilizes the distance value of stroke sensor induction, it is matched with the measurement data of the sewing needle prestored, identify the model of sewing needle, further according to the model of sewing needle, find out the corresponding angle in needle track, and control instructions bar rotates corresponding angle, to prompt doctor's entry point and out pin mark, therefore, the application is without complicated surgical instrument, it is small in operative incision, in the case that the visual field is limited to, entry point and out pin mark are accurately found, reduces suture difficulty, reduce operating time, improves operation safety.
Description
Technical field
This application involves medical instruments field more particularly to a kind of Medical electric stitching unstruments with guiding device.
Background technique
At present both at home and abroad for there are mainly two types of the technology of suture under hysteroscope: (1) using traditional sewing needle and suture into
(2) stapler: capable delicate suture is chiefly used in coincideing for gastrointestinal tract, belongs to rough suture, be unable to delicate suture
There are mainly two types of methods for delicate suture under hysteroscope, and one of which is, using abdominal cavity pincers manual suture, another kind uses
Leonardo da Vinci's robot sewing, domestic suture instruments level is still in the manual suture stage at present, and foreign countries, which have had been developed that, to be reached
Fragrant surprise robot sewing technology；Compared with traditional-handwork suture, robot sewing method has time saving, flexibility ratio height, and operation is strong
Reduced advantage is spent, but either manual suture or robot sewing, operating process are using abdominal cavity pincers or mechanical arm
Inserting needle is extracted sewing needle using using abdominal cavity pincers or mechanical arm after going out needle, and is carried out using two abdominal cavity pincers or two mechanical arms
Alternating pulls out line, pulled out completely to line it is next find out sewing needle again, carry out next knotting or continue suture operation.Either manually
Suture and Leonardo da Vinci's robot sewing all can not accurately find entry point and out pin mark, can not achieve precision medical treatment, seriously
Hinder the development of stitching unstrument, therefore how to solve the problems, such as to encounter in hysteroscope sewing process, be current domestic and international researcher urgently
Problem to be solved.
Utility model content
This application provides a kind of Medical electric stitching unstrument with guiding device, to solve since Minimally Invasive Surgery notch is small,
Visual field limitation, surgical procedure space is narrow, and doctor need to increase suture difficulty, extend operating time, increase with inserting needle and out needle is felt
Add operation risk.
In a first aspect, the application provides a kind of Medical electric stitching unstrument with guiding device, including stitching unstrument ontology, folder needle
Portion, guiding device and hollow pull rod；
The stitching unstrument ontology include noumenal seat, the fixed handle for being located at described noumenal seat one end and with the noumenal seat
Hinged flexible handle；
The other end of the noumenal seat is connect by the pull rod with folder needle portion；
The folder needle portion includes the fixing clamp needle portion being fixedly connected with pull rod and the activity folder needle portion hinged with pull rod；
Activity folder needle portion also passes through the first transmission device and is connected with the flexible handle；
The guiding device include processor, stroke sensor, pressure sensor, first motor and with it is described first electricity
The indicating arm that machine turning end is connected；
The pressure sensor is located at the folder needle portion；
One end of the indicating arm and the pull rod are rotatablely connected close to the side in folder needle portion；
The stroke sensor is located between activity folder needle portion and pull rod；
The processor is connect respectively with stroke sensor, pressure sensor and first motor is connected.
Further, the noumenal seat is additionally provided with the second motor；
Activity folder needle portion is equipped with driven rotor；
Fixing clamp needle portion is equipped with power rotor；
The power rotor is equipped with folder needle tray；
The pressure sensor is fixed on the inner wall in activity folder needle portion, and is in contact with the power rotor；
Second motor is connect by the second transmission device with the power rotor；
Second transmission device includes transmission belt and diverter；
One end of the transmission belt is connect with second motor, and the other end of the transmission belt and the diverter connect
It connects；
The diverter is connect with the power rotor.
Further, the diverter includes longitudinal bevel gear and lateral bevel gear；
The transmission belt covers in the rotation axis of longitudinal bevel gear；
The transverse direction bevel gear is connect with the power rotor；
The longitudinal direction bevel gear and the lateral bevel gear are meshed.
Further, first transmission device includes connecting rope and the pulley blocks that are fixed on inside the pull rod,
One end of the connecting rope is connect with the flexible handle；
The other end of the connecting rope connect around the pulley blocks with activity folder needle portion.
Further, steering wheel is further fixed on the inside of the noumenal seat, and the steering wheel can be rotated around fixing axle；
Side on the pull rod close to folder needle portion is additionally provided with universal joint；
The shaft of the universal joint and the fixing axle of the steering wheel pass through transmission band connection；
The center line of pulley, the center line of diverter far from folder needle portion in the center line of universal joint, pulley blocks coincide.
Further, the steering wheel is located at the lever that is partially radially equipped with outside the noumenal seat and is connected with the lever
Limiting section.
Further, the other end of the indicating arm is equipped with instruction device, and the instruction device is used to indicate sewing needle
The position of pin mark and entry point out.
From the above technical scheme, the application provides a kind of Medical electric stitching unstrument with guiding device, processor benefit
The distance value incuded with stroke sensor, matches with the measurement data of the sewing needle prestored, identifies the model of sewing needle, then root
According to the model of sewing needle, find out the corresponding angle in needle track, and control instructions bar rotates corresponding angle, with prompt doctor into
Pin mark and out pin mark, therefore, the application is without complicated surgical instrument, in the case where the small visual field limitation of operative incision, accurately
Find entry point and out pin mark, reduce suture difficulty, reduce operating time, improve operation safety.
Detailed description of the invention
In order to illustrate more clearly of the technical solution of the application, letter will be made to attached drawing needed in the embodiment below
Singly introduce, it should be apparent that, for those of ordinary skills, without any creative labor,
It is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of a kind of structural schematic diagram of the Medical electric stitching unstrument with guiding device provided by the present application；
Fig. 2 is the structural schematic diagram of the first transmission device provided by the present application；
Fig. 3 is the structural schematic diagram of the second transmission device provided by the present application；
Fig. 4 is the structural schematic diagram of universal joint provided by the present application；
Fig. 5 is a kind of another structural schematic diagram of the Medical electric stitching unstrument with guide device provided by the present application；
Fig. 6 is the circuit diagram of the application；
Wherein, needle portion is pressed from both sides in 1- noumenal seat, 2- flexible handle, 3- fixed handle, 4- pull rod, 5- indicating arm, 6- activity, and 7- is solid
Clamp needle portion, 8- pressure sensor, the second motor of 9-, 10- pulley blocks, 11- driven rotor, 12- power rotor, 13- power supply peace
Fill mouth, 14- stroke sensor, 15- connecting rope, 16- transmission strap retainer, the total discharge cock of 17- power supply, 18- steering wheel, 181-
Lever, 182- limiting section, the second motor switch of 19-, 20- transmission belt, 21- transverse direction bevel gear, the longitudinal direction 22- bevel gear, 23- suture
Needle, 24- instruction device, 25- fixing axle, 26- universal joint, 27- processor, 28- first motor.
Specific embodiment
In a first aspect, the application provides a kind of Medical electric stitching unstrument with guiding device, including seam referring to Fig. 1 and Fig. 5
Clutch ontology, folder needle portion, guiding device and hollow pull rod 4；
The stitching unstrument ontology include noumenal seat 1, the fixed handle 3 for being located at described 1 one end of noumenal seat and with described
The hinged flexible handle 2 of housing 1；
The other end of the noumenal seat 1 is connect by the pull rod 4 with folder needle portion；
The folder needle portion includes the fixing clamp needle portion 7 being fixedly connected with pull rod 4 and the activity folder needle portion hinged with pull rod 4
6；
Activity folder needle portion 6 is also connected by the first transmission device with the flexible handle 2；
The guiding device include processor 27, stroke sensor 14, pressure sensor 8, first motor 28 and with institute
State the indicating arm 5 that 28 turning end of first motor is connected；
The pressure sensor 8 is located at the folder needle portion；
One end of the indicating arm 5 and the pull rod 4 are rotatablely connected close to the side in folder needle portion；
The stroke sensor 14 is located between activity folder needle portion 6 and pull rod 4；
The processor 27 is connect respectively with stroke sensor 14, pressure sensor 8 and first motor 28 is connected.
Schematically, STM32L0 series low-power chip can be used in processor 27, other models can also be used in processor 27
Chip, the present embodiment is with no restriction.
The working principle of the embodiment of the present application: it in use, sewing needle 23 is placed on fixing clamp needle portion 7 by doctor, then will live
Fixed handle 2 closes up with fixed handle 3, and flexible handle 2 clamps activity folder needle portion 6 and fixing clamp needle portion 7 by transmission device, pressure
Force snesor 8 sends the pressure value of induction to processor 27, the pressure value that processor 27 will test and preset pressure value ratio
Compared with if the pressure value of detection starts stroke sensor 14, due to each type of sewing needle 23 greater than preset pressure value
Have different diameters, can the distance value of the distance value that detected by stroke sensor 14 and storage match, determine sewing needle 23
Type.Then the type for passing through sewing needle 23, can search angle corresponding thereto, with the rotation of control instructions bar 5, in turn
Prompt entry point and out pin mark.
From the above technical scheme, the application provides a kind of Medical electric stitching unstrument with guiding device, processor 27
The distance value incuded using stroke sensor 14, is matched with the measurement data of the sewing needle 23 prestored, identifies sewing needle 23
Model finds out the corresponding angle in needle track further according to the model of sewing needle 23, and control instructions bar 5 rotates corresponding angle,
To prompt doctor to go out pin mark and entry point, therefore, the application is without complicated surgical instrument, visual field limitation small in operative incision
In the case where, entry point and out pin mark are accurately found, suture difficulty is reduced, reduces operating time, improve operation safety.
Further, referring to Fig. 3, the noumenal seat 1 is additionally provided with the second motor 9；
Activity folder needle portion 6 is equipped with driven rotor 11；
Fixing clamp needle portion 7 is equipped with power rotor 12；
The power rotor 12 is equipped with folder needle tray；
The pressure sensor 8 is fixed on the inner wall in activity folder needle portion 6, and is in contact with the power rotor 12；
Second motor 9 is connect by the second transmission device with the power rotor 12；
Second transmission device includes transmission belt 20 and diverter；
One end of the transmission belt 20 is connect with second motor 9, and the other end of transmission belt 20 is connect with diverter；
The diverter is connect with the power rotor 12.
Optionally, the diverter includes longitudinal bevel gear 22 and lateral bevel gear 21；
20 sets of the transmission belt in the rotation axis of longitudinal bevel gear 22；
The transverse direction bevel gear 21 is connect with the power rotor 12；
The longitudinal direction bevel gear 22 and the lateral bevel gear 21 are meshed.
Optionally, power rotor 12 and driven rotor 11 in addition to both ends fixing axle 25 be separately fixed at fixing clamp needle portion 7 and
The inside in activity folder needle portion 6, other site of action are all in outside, convenient for cleaning.
Optionally, power supply installing port 13 and motor switch are additionally provided on the fixed handle 3.Power supply installing port 13 is for putting
Supplying cell is set, to first motor 28, the second motor 9 and guiding device power supply, guarantees the normal use of stitching unstrument.Equally,
It can be powered using socket connection external power.
Optionally, the total discharge cock 17 of power supply, the electricity are additionally provided in the side that flexible handle 2 is housed on noumenal seat 1
The total discharge cock 17 in source is located at the lower section of the second motor 9, for controlling the power on/off of stitching unstrument.The total discharge cock 17 of power supply is controllable
The power on/off of stitching unstrument entirety processed, stitching unstrument when not in use, the total discharge cock of power supply can be closed；It is used using stitching unstrument
When, the openable total discharge cock of power supply, so that stitching unstrument is powered on.And when being not turned on the total discharge cock 17 of power supply,
Only press the second motor switch 19, the second motor 9 be it is idle, only when the total discharge cock 17 of power supply is opened, the second electricity
Machine 9 just will start.The total discharge cock 17 of power supply makes stitching unstrument at work, avoids mistakenly hit or the damage pair of the second motor switch 19
The influence of medical staff's work, plays the role of power-off protection.
From the above technical scheme, transmission belt 20 is due to covering in the rotation axis of longitudinal bevel gear 22, so when transmission
When band 20 rotates, and then longitudinal bevel gear 22 is driven to rotate, since longitudinal bevel gear 22 and lateral bevel gear 21 are meshed, so
When the rotation of longitudinal bevel gear 22, lateral bevel gear 21 also be can rotate, and then the active connecting with lateral bevel gear 21 is driven to turn
Son 12 rotates；Using driven rotor 11 and power rotor 12 and between object frictional force, the power rotor 12 of rotation passes through object
Body drives driven rotor 11 to rotate.When doctor prepares inserting needle, power rotor 12 can be controlled by the second motor 9 along inserting needle direction
Rotation, and then realize the automatic inserting needle of sewing needle 23；After the completion of inserting needle process, sewing needle 23 has exposed tissue, unclamps movable hand
Handle 2 opens activity folder needle portion 6 by the first transmission device, then clamps to the sewing needle 23 of exposing, passes through the second motor
9 control power rotors 12 are rotated along needle direction out, and then realize that sewing needle 23 goes out needle automatically.After completing set operation, according to need
If carrying out knotting operation or picking up sewing needle 23 to carry out repeated seam closing operation.After the completion of suture, it only need to close power supply and always insure
Switch 17 takes out power supply, carries out disinfection to the stitching unstrument, and next time is i.e. reusable.
Suture needle operation is realized in existing manual operation or the swing of mechanical arm, since the space under hysteroscope is limited, wherein
Needle movement of pulling out can not be achieved continuous operation, it is time-consuming, to consume the shortcomings that energy particularly evident especially in continuous suture,
It can not achieve operation in suture in situ and small space manually, even if Leonardo da Vinci's system can not realize manipulation in situ and narrow
Operation in space.Compared with prior art, embodiment provided by the present application can pass through power rotor 12 and driven rotor 11
Rotation carry out inserting needle in situ and pull out needle, be not necessarily to other auxiliary instruments, do not limited by space, suture in situ mistake can be completed
Journey, it is easy to use.
Further, the second motor switch 19 is adjustable speed switch, and the second motor 9 is adjustable speed motor.When user needs
When carrying out quick needle insertion or the out operation of needle, by the second motor switch 19 by tight, the at this moment rotation quickening of the second motor 9, band
Dynamic transmission belt 20 accelerates to rotate, and then controls rotor and accelerate rotation, makes inserting needle or out needle movement quickening, when sewing needle 23 extracts one out
Duan Hou unclamps the second motor switch 19 slightly, and the revolving speed of the second motor 9 can slow down, and then the movement for using needle or inserting needle slows down,
User can proceed with the operation of next step.
Further, several are equipped with inside pull rod 4 for fixed 20 fixator 16 of transmission belt passed.The transmission belt 20
Fixator 16 will not interfere the normal transmission agency of transmission device, and prevent transmission belt 20 loose under the influence of the factors such as gravity
Collapse sagging, and then guarantee the using effect of stitching unstrument, reduces operating time.
Further, referring to fig. 2, first transmission device includes connecting rope 15 and is fixed on inside the pull rod 4
Pulley blocks 10,
One end of the connecting rope 15 is connect with the flexible handle 2；
The other end of the connecting rope 15 connect around the pulley blocks 10 with activity folder needle portion 6.
Optionally, connecting rope 15 can be used wirerope, and wirerope has good anti-draggings property and wearability, to prevent and
The frictional force of pulley blocks 10 generated with respect to sliding is broken connecting rope 15.
When flexible handle 2 is separated with fixed handle 3, connecting rope 15 can be made to generate the effect of power to flexible handle 2, make to live
Dynamic folder needle portion 6 is separated with fixing clamp needle portion 7, being put into and taking out convenient for sewing needle 23；When flexible handle 2 and fixed handle 3 press from both sides
When tight, activity folder needle portion 6 can be made to close up with fixing clamp needle portion 7, to clamp sewing needle 23, be convenient for the operation of next step.
Further, referring to fig. 4, the inside of the noumenal seat 1 is further fixed on steering wheel 18, and the steering wheel 18 can be around
Fixing axle 25 rotates；
Side on the pull rod 4 close to folder needle portion is additionally provided with universal joint 26；
The shaft of the universal joint 26 is connect with the fixing axle 25 of the steering wheel by transmission belt 20；
The center line of pulley far from folder needle portion in the center line of the universal joint 26, the pulley blocks 10, diverter
Center line coincides.
Doctor can drive universal joint 26 to rotate by adjusting steering wheel 18 by transmission belt 20, and then drive the rotation of folder needle portion
Turn, therefore, doctor can adjust universal joint 26 according to the position of operation stitching, so that folder needle portion is transferred to the angle suitable for suture, use
It is convenient.
Further, the steering wheel 18 is located at being partially radially equipped with lever 181 and described hold outside the noumenal seat 1
The connected limiting section 182 of handle 181.Finger can be stuck on lever 181 by doctor using limiting section 182, to the direction of steering wheel 18
It is adjusted, can effectively prevent since friction is small between 18 outside of steering wheel and finger, causing cannot be effectively with turn
Rotation to disk 18 keeps 18 amplitude of steering wheel rotation smaller.
Further, the other end of the indicating arm 5 is equipped with instruction device 24, and the instruction device 24 is used to indicate suture
The position for going out pin mark and entry point of needle 23.
After indicating arm 5 rotates to corresponding angle, processor 27 can control instruction device 24 to start, preferably to prompt
Doctor's indicating arm 5 has rotated into entry point or out pin mark.
Instruction device 24 can be indicator light either holographic projector, and line holographic projections technology is former using interference and diffraction
Reason record and the record of the true 3-D image of reconstructed object and the technology of reproduction.It can be by operative site by holographic projector
The position of entry point and out pin mark projects on picture reproducer, so that medical staff preferably intuitively observes entry point and goes out
The position of pin mark.
From the above technical scheme, the application provides a kind of Medical electric stitching unstrument with guiding device, processor 27
The distance value incuded using stroke sensor 14, is matched with the measurement data of the sewing needle 23 prestored, identifies sewing needle 23
Model finds out the corresponding angle in needle track further according to the model of sewing needle 23, and control instructions bar 5 rotates corresponding angle,
To prompt doctor's entry point and out pin mark, therefore, the application is without complicated surgical instrument, visual field limitation small in operative incision
In the case where, entry point and out pin mark are accurately found, suture difficulty is reduced, reduces operating time, improve operation safety.
Claims (7)
1. a kind of Medical electric stitching unstrument with guiding device, which is characterized in that including stitching unstrument ontology, folder needle portion, guiding dress
It sets and hollow pull rod；
The stitching unstrument ontology includes noumenal seat, the fixed handle for being located at described noumenal seat one end and hinged with the noumenal seat
Flexible handle；
The other end of the noumenal seat is connect by the pull rod with folder needle portion；
The folder needle portion includes the fixing clamp needle portion being fixedly connected with pull rod and the activity folder needle portion hinged with pull rod；
Activity folder needle portion also passes through the first transmission device and is connected with the flexible handle；
The guiding device includes processor, stroke sensor, pressure sensor, first motor and turns with the first motor
The indicating arm that moved end is connected；
The pressure sensor is located at the folder needle portion；
One end of the indicating arm and the pull rod are rotatablely connected close to the side in folder needle portion；
The stroke sensor is located between activity folder needle portion and pull rod；
The processor is connect respectively with stroke sensor, pressure sensor and first motor is connected.
2. the Medical electric stitching unstrument with guiding device as described in claim 1, which is characterized in that the noumenal seat is additionally provided with
Second motor；
Activity folder needle portion is equipped with driven rotor；
Fixing clamp needle portion is equipped with power rotor；
The power rotor is equipped with folder needle tray；
The pressure sensor is fixed on the inner wall in activity folder needle portion, and is in contact with the power rotor；
Second motor is connect by the second transmission device with the power rotor；
Second transmission device includes transmission belt and diverter；
One end of the transmission belt is connect with second motor, and the other end of the transmission belt is connect with the diverter；
The diverter is connect with the power rotor.
3. the Medical electric stitching unstrument with guiding device as claimed in claim 2, which is characterized in that the diverter includes vertical
To bevel gear and lateral bevel gear；
The transmission belt covers in the rotation axis of longitudinal bevel gear；
The transverse direction bevel gear is connect with the power rotor；
The longitudinal direction bevel gear and the lateral bevel gear are meshed.
4. the Medical electric stitching unstrument with guiding device as described in claim 1, which is characterized in that first transmission device
Including connecting rope and the pulley blocks that are fixed on inside the pull rod,
One end of the connecting rope is connect with the flexible handle；
The other end of the connecting rope connect around the pulley blocks with activity folder needle portion.
5. the Medical electric stitching unstrument with guiding device as claimed in claim 4, which is characterized in that the inside of the noumenal seat
It is further fixed on steering wheel, and the steering wheel can be rotated around fixing axle；
Side on the pull rod close to folder needle portion is additionally provided with universal joint；
The shaft of the universal joint and the fixing axle of the steering wheel pass through transmission band connection；
The center line phase of center line, diverter far from the pulley for pressing from both sides needle portion in the center line of the universal joint, the pulley blocks
It is overlapped.
6. the Medical electric stitching unstrument with guiding device as claimed in claim 5, which is characterized in that the steering wheel is located at institute
State the limiting section for being partially radially equipped with lever and being connected with the lever outside noumenal seat.
7. the Medical electric stitching unstrument with guiding device as described in claim 1, which is characterized in that the indicating arm it is another
End is equipped with instruction device, and the instruction device is used to indicate the position for going out pin mark and entry point of sewing needle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721347343.0U CN208598454U (en) | 2017-10-19 | 2017-10-19 | A kind of Medical electric stitching unstrument with guiding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721347343.0U CN208598454U (en) | 2017-10-19 | 2017-10-19 | A kind of Medical electric stitching unstrument with guiding device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208598454U true CN208598454U (en) | 2019-03-15 |
Family
ID=65658891
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721347343.0U Expired - Fee Related CN208598454U (en) | 2017-10-19 | 2017-10-19 | A kind of Medical electric stitching unstrument with guiding device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208598454U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107582119A (en) * | 2017-10-19 | 2018-01-16 | 中国人民解放军第三军医大学第二附属医院 | A kind of Medical electric stitching unstrument and guidance method with guiding device |
-
2017
- 2017-10-19 CN CN201721347343.0U patent/CN208598454U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107582119A (en) * | 2017-10-19 | 2018-01-16 | 中国人民解放军第三军医大学第二附属医院 | A kind of Medical electric stitching unstrument and guidance method with guiding device |
| CN107582119B (en) * | 2017-10-19 | 2023-08-18 | 中国人民解放军第三军医大学第二附属医院 | Medical electric stitching instrument with guiding device and guiding method |
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Granted publication date: 20190315 Termination date: 20211019 |