CN208851580U - A kind of Minimally Invasive Surgery pincers - Google Patents
A kind of Minimally Invasive Surgery pincers Download PDFInfo
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- CN208851580U CN208851580U CN201721897001.6U CN201721897001U CN208851580U CN 208851580 U CN208851580 U CN 208851580U CN 201721897001 U CN201721897001 U CN 201721897001U CN 208851580 U CN208851580 U CN 208851580U
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- invasive surgery
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Abstract
A kind of Minimally Invasive Surgery pincers provided by the utility model, comprising: enforcement division, including binding clip, and connect with the binding clip, can drive and described clamp cephalomotor flexible joint；Driving portion is connect with the enforcement division, the joint drive structure including driving the flexible joint movement；Grip part, it is connect with the driving portion, and it links with the joint drive structure, grip part is connect with driving portion, and is linked with joint drive structure, and grip part can drive joint drive structure motion when swinging, to drive flexible joint movement to deflect binding clip, grip part both can control binding clip to carry out open and close movement, also can control control binding clip yaw motion, easy to operate.
Description
Technical field
The utility model relates to the field of medical instrument technology, and in particular to a kind of Minimally Invasive Surgery pincers.
Background technique
Minimally invasive surgery is the developing direction of current medical science and technology forefront, because its operation wound is small, postoperative pain is light, is hospitalized
The features such as time is short, cosmetic result is good, the effect for being clinically widely used and being satisfied with.Due to traditional minimally invasive hand
Art instrument freedom degree is limited, does not have pitching and beat freedom degree, and more clumsy, automaticity is poor, has seriously affected the matter of operation
Amount and precision.
Chinese patent literature CN105361924A discloses a kind of universal surgical clamp of operation control, especially a kind of control manually
Universal Minimally Invasive Surgery pincers, including pedestal, claw beam, binding clip are made, binding clip includes to determine plier and dynamic plier, is set between claw beam and binding clip
There are at least two steering connections, pedestal is a hollow cavity, control ball is equipped in cavity, the control ball is equipped with trigger piece and at least
The movement of two groups of manipulation joint control two steering connections of line traffic control, pedestal are additionally provided with plier control mechanism and control the dynamic of dynamic plier
Make, can flexibly rotate binding clip to a very small extent.
Chinese patent literature CN103690222A discloses a kind of abdominal cavity of bending angle between adjustable binding clip and ontology
Videoendoscopic surgery pincers, comprising: handle, ontology, flex connector, bending regulating part, connector and binding clip, flex connector include with
Driving member coaxial arrangement spring-backed quill, be axially disposed within outside spring-backed quill articular sclerite, both ends respectively with preceding side pole and biography
The elastic link that moving part is connected, bending regulating part include bending adjusting knob, along driving member outer circumference surface sliding sliding shoe,
And one end is connect with connector and other end partial center is connected to the traction body of sliding shoe after each articular sclerite, passes through rotation
It is bent adjusting knob, so that sliding shoe slides axially to tense or unclamp traction body along driving member, and then bending is promoted to connect
Part adjusts the bending angle between binding clip and outer tube to the curving of traction body.
The above-mentioned prior art can make binding clip free-open-close and deflect on certain angle, but the movement in joint
It is required to be controlled with special structure, it is inconvenient for operation.
Utility model content
Therefore, the technical problem to be solved by the present invention is to overcome surgical clamp manipulation in the prior art joint not side
Just defect, to provide a kind of Minimally Invasive Surgery pincers that can flexibly control joint motions.
In order to solve the above technical problems, a kind of Minimally Invasive Surgery pincers provided by the utility model, comprising:
Enforcement division, including binding clip, and connect with the binding clip, the cephalomotor flexible joint of pincers can be driven；
Driving portion is connect with the enforcement division, the joint drive structure including driving the flexible joint movement；
Grip part is connect with the driving portion, and is linked with the joint drive structure.
The enforcement division further includes the rod piece for connecting the joint drive structure and the flexible joint.
The joint drive structure includes joint control line, and one end of the joint control line is connect with the grip part,
The other end is connect with the flexible joint.
The rod piece includes in the rod piece, for the accommodating chamber of joint control line accommodating.
The rod piece is tubular structure.
The joint control line have it is a plurality of, and in one end scattering device close to the grip part, and in the gripping
There is different axial displacements by the joint drive structure under the axial movement in portion.
The joint drive structure includes the solidus structure that the joint control line can be fixed.
The solidus structure includes:
Solidus ontology；
Convex block, have it is multiple, be respectively correspondingly set on the solidus ontology with a plurality of joint control line, Mei Gesuo
Convex block is stated to be suitable for that the corresponding joint control line is fixed.
Each convex block is equipped with the solidus hole for passing through and fixing for the joint control line.
The joint drive structure further includes the conducting wire being smoothly introduced into a plurality of joint control line in the rod piece
Structure, the conductor structure include:
Wire seat, the metallic channel equipped with bootable joint control line, the metallic channel have it is multiple, and with a plurality of pass
Section control line respectively corresponds setting；Line of the metallic channel close to one end and the solidus hole of the solidus structure is parallel to
The rod piece；
Housing is set in outside the wire seat, suitable for preventing the joint control line from deviating from from the metallic channel.
The joint drive structure further includes being set between the grip part and the rod piece, the grip part being made opposite
In the driving body of rod piece rotation.
The driving body includes the first Hooke's hinge structure.
The first Hooke's hinge structure includes:
First articulation piece, it is hinged by the first articulated shaft and the grip part；
Second articulation piece is set in first articulation piece, and passes through the second articulated shaft and institute with connecting with the rod piece
It is hinged to state the first articulation piece, first articulated shaft intersects with second articulated shaft.
First articulation piece is ring body, and second articulation piece is sphere.
The driving body further includes the second Hooke's hinge structure.
The second Hooke's hinge structure includes:
Third articulation piece, it is hinged by third articulated shaft and the solidus structure, wherein the solidus structure and described the
Two articulation pieces are affixed；
4th articulation piece, with the rod piece it is affixed be set to the third articulation piece in, and pass through the 4th articulated shaft and institute
It is hinged to state third articulation piece, the third articulated shaft intersects with the 4th articulated shaft.
The third articulation piece and the 4th articulation piece are respectively ring body.
The joint drive structure further includes being rotatably connected with the grip part and the solidus structure being driven to rotate
Runner.
The first Hooke's hinge structure is set in the runner, and first articulation piece is cut with scissors by first articulated shaft
It is connected on the runner.
The grip part includes:
First shell；
Second shell is cooperatively connected with the first shell, the first shell and the second shell be cooperatively connected at
Entirety and the driving body it is hinged；
Crank block slider structure, including the crank structure being made of the pressing structure of the grip part, and with control the pincers
The slide block structure of the binding clip control line connection of head open and close movement.
The slide block structure is in axial sliding connection with the runner.
The slide block structure is positive hexagonal structure, and being equipped in the runner can cooperate just with the regular hexagon structure
Hexagon slot.
It further include support frame, the first end of support frame as described above is connect with the rod piece, and second end, which has, is suitble to arm to be put into
Supported hole.
The second end of support frame as described above includes:
5th articulation piece, the ontology by the 5th articulated shaft and support frame as described above are hinged；
6th articulation piece, sixth articulated shaft and described the hinged by the 6th articulated shaft and the 5th articulation piece
The intersection of five articulated shafts.
5th articulation piece is ring body, and the 6th articulation piece is hemizonid.
5th articulation piece is equipped with c-type hole along the surface of ring wall in position diametrically, so that the described 6th is hinged
Annular convex platform on part is suitably inserted into the c-type hole.
6th articulation piece, which is equipped with, can fix the with holes of arm.
It further include the elastic shaft through flexible joint setting, the rear end company of described elastic shaft one end and the binding clip
It connects, the other end is connect with grip part.
The elastic shaft is spring flexible shaft.
Technical solutions of the utility model have the advantages that
1. a kind of Minimally Invasive Surgery pincers provided by the utility model, grip part are connect with driving portion, and with joint drive structure
Linkage, grip part can drive joint drive structure motion when swinging, so that flexible joint movement be driven to deflect binding clip, hold
Portion both can control binding clip to carry out open and close movement, also can control control binding clip yaw motion, easy to operate.
2. a kind of Minimally Invasive Surgery pincers provided by the utility model, the enforcement division further includes connecting the joint drive structure
With the rod piece of the flexible joint, the length of the surgical clamp is increased to a certain extent, it can be small range of by hand-held part
Motion control binding clip is movable in a big way, reduces the distortion to wrist portion to a certain extent.
3. a kind of Minimally Invasive Surgery pincers provided by the utility model, the rod piece includes being set in the rod piece, for the pass
The accommodating chamber for saving control line accommodating, joint control line is placed into rod piece, be can avoid joint control line and is accidentally encountered and make to clamp
Head turns to the place for not needing operation and causes malpractice.
4. a kind of Minimally Invasive Surgery pincers provided by the utility model, the joint drive structure further includes by a plurality of joint
Control line is smoothly introduced into the conductor structure in the rod piece, and the conductor structure includes: wire seat, is equipped with bootable joint and controls
The metallic channel of line processed, the metallic channel have multiple, and respectively correspond setting with a plurality of joint control line；The metallic channel
The rod piece is parallel to close to one end of the solidus structure and the line in the solidus hole；Housing is set in the wire seat
Outside, suitable for preventing the joint control line from deviating from from the metallic channel, it is arranged can avoid joint control line directly from solid in this way
Cable architecture is directly entered in rod piece after coming out and stress concentration occurs, and extends the service life of joint control line.
5. a kind of Minimally Invasive Surgery pincers provided by the utility model, the joint drive structure further includes being set to the grip part
Between the rod piece, driving body that the grip part can be made to rotate relative to the rod piece, the setting of driving body makes grip part
Can be rotated relative to rod piece, wrist portion can flexible rotating, reduce the distortion to wrist, operate when the surgical clamp it is more flexible relax
It is suitable.
6. a kind of Minimally Invasive Surgery pincers provided by the utility model, the driving body further includes the second Hooke's hinge structure, can be led to
Crossing the swing of grip part more by a small margin makes flexible joint have swing by a relatively large margin, increases the working range of binding clip, so as to
The openings of sizes for reducing wound, is conducive to the recovery of sufferer, the operation of surgical clamp is also more flexible, and wrist portion is avoided to be turned round
It is bent.
7. a kind of Minimally Invasive Surgery pincers provided by the utility model, the joint drive structure further includes can with the grip part
It is rotatablely connected and drives the runner of the solidus structure rotation, the setting of runner can make the rotation of solidus structure drive joint control
Line rotation finally makes binding clip turn to another direction from a direction to make joint string rotation, easy to operate, improves
Surgical quality and efficiency.
8. a kind of Minimally Invasive Surgery pincers provided by the utility model, the grip part includes: first shell；Second shell, with
The first shell is cooperatively connected, and the entirety and the driving body that the first shell and the second shell are cooperatively connected are cut with scissors
It connects；Crank block slider structure is opened and closed including the crank structure being made of the pressing structure of the grip part, and with the binding clip is controlled
The slide block structure of the binding clip control line connection of movement just can control the open and close movement of binding clip, structure letter by pressing pressing structure
List facilitates operation, and the first shell and the second shell are cooperatively connected, easy disassembly.
9. a kind of Minimally Invasive Surgery pincers provided by the utility model, the slide block structure is positive hexagonal structure, the runner
Interior to be equipped with the regular hexagon slot that cooperate with the regular hexagon structure, setting in this way ensure that slide block structure is synchronous with runner and turn
It is dynamic, and will not influence moving forward and backward for slide block structure.
10. a kind of Minimally Invasive Surgery pincers provided by the utility model, further include support frame, the first end of support frame as described above and institute
Rod piece connection is stated, second end has the supported hole for being suitble to arm to be put into, and when operation clamps, arm is put into supported hole, can be led to
The movement for crossing the entire surgical clamp of mobile control of arm, realizes the separation of wrist and arm, to reduce the torsion to wrist
It is bent.
11. a kind of Minimally Invasive Surgery pincers provided by the utility model, the second end of support frame as described above includes: the 5th articulation piece,
Ontology by the 5th articulated shaft and support frame as described above is hinged；6th articulation piece, it is hinged with the described 5th by the 6th articulated shaft
Part is hinged, and the 6th articulated shaft intersects with the 5th articulated shaft, and setting in this way can be such that arm rotates in supported hole, increases
The flexibility ratio of arm reduces the operating burden of the wrist of arm front end.
12. a kind of Minimally Invasive Surgery pincers provided by the utility model, the 5th articulation piece is in position diametrically along ring
The surface of wall is equipped with c-type hole and facilitates the 6th so that the annular convex platform on the 6th articulation piece is suitably inserted into the c-type hole
Articulation piece is smoothly packed into the 5th articulation piece.
13. a kind of Minimally Invasive Surgery pincers provided by the utility model, further include the elastic shaft through flexible joint setting,
Described elastic shaft one end is connect with the rear end of the binding clip, and the other end is connect with grip part, and the setting of elastic shaft can prevent flexibility
Joint is deflected under the gravity of itself not being driven power, and malpractice occurs.
Detailed description of the invention
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art
Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below
In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art
Under the premise of labour, it is also possible to obtain other drawings based on these drawings.
Fig. 1 be the utility model the first embodiment in provide a kind of Minimally Invasive Surgery pincers structural schematic diagram；
Fig. 2 is a kind of structural schematic diagram of the enforcement division of Minimally Invasive Surgery pincers shown in FIG. 1；
Fig. 3 is a kind of explosive view of the joint drive structure of Minimally Invasive Surgery pincers shown in FIG. 1；
Fig. 4 is a kind of schematic diagram of internal structure of the grip part of Minimally Invasive Surgery pincers shown in FIG. 1；
Fig. 5 is a kind of explosive view of the support frame of Minimally Invasive Surgery pincers shown in FIG. 1；
Fig. 6 is the structural schematic diagram after a kind of grip part of Minimally Invasive Surgery pincers shown in FIG. 1 is swung.
Description of symbols:
1- enforcement division；2- driving portion；The grip part 3-；
4- support frame；5- rod piece；The first collet of 6-；
The second collet of 7-；8- four-bar mechanism；9- sheath；
The first steel pipe of 10-；11- flexible joint；12- runner；
The first articulation piece of 13-；The second articulation piece of 14-；15- solidus structure；
16- third articulation piece；The 4th articulation piece of 17-；18- wire seat；
19- housing；20- pressing structure；21- slide block structure；
The 5th articulation piece of 22-；The 6th articulation piece of 23-.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, originally
Field those of ordinary skill every other embodiment obtained without making creative work belongs to practical
Novel protected range.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
For ease of description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, term " the
One ", " second ", " third " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
The concrete meaning of language in the present invention.
In addition, as long as technical characteristic involved in the utility model different embodiments disclosed below is each other
Not constituting conflict can be combined with each other.
Embodiment 1
It is as shown in figures 1 to 6 a kind of a kind of specific embodiment of Minimally Invasive Surgery pincers, including enforcement division 1, driving portion 2, holds
Hold portion 3, support frame 4.
The enforcement division 1 includes binding clip, flexible joint 11, as shown in Fig. 2, the binding clip includes the first collet 6, and it is described
The second hinged collet 7 of first collet 6；The extended segment of four-bar mechanism 8, first collet 6 and second collet 7 is constituted
Adjacent two bar of the four-bar mechanism 8 is equipped with sheath 9 on the outside of four-bar mechanism 8, and the end of sheath 9 connects the first steel pipe 10,
The end of short steel pipes is connect with flexible joint 11, and the end of flexible joint 11 connects a segment length and is far longer than first steel pipe
The rod piece 5 of 10 length, in the present embodiment, the rod piece 5 are the second steel pipe.
The driving portion 2 includes that the binding clip driving structure of control binding clip open and close movement and control flexible joint 11 move
Joint drive structure.
The binding clip driving structure includes binding clip control line, and one end is connect with four-bar mechanism 8, the other end and grip part
3 connections.The outside of binding clip control line is equipped with spring flexible shaft, and the spring flexible shaft is arranged through the flexible joint 11, the bullet
One end of spring flexible axle is fixedly connected with the sheath 9, and the other end is fixedly attached on grip part 3.
The solidus structure that the joint drive structure includes a plurality of joint control line, the joint control line is fixed
15, a plurality of joint control line is smoothly introduced into the conductor structure in the rod piece 5, be set to the grip part 3 with it is described
Between rod piece 5, driving body that the grip part 3 can be made to rotate relative to the rod piece 5, be rotatably connected with the grip part 3,
And the runner 12 for driving the solidus structure 15 to rotate.
The driving body includes the first Hooke's hinge structure, the second Hooke's hinge structure, and the first Hooke's hinge structure is set to institute
It states in runner 12, the first Hooke's hinge structure includes: the first articulation piece 13 for ring body, passes through the first articulated shaft and described turn
Wheel 12 is hinged；It for the second articulation piece 14 of sphere, is set in first articulation piece 13 with being connect with the rod piece 5, and passes through
Second articulated shaft and first articulation piece 13 are hinged, and first articulated shaft intersects with second articulated shaft；Described second
Hooke's hinge structure includes: third articulation piece 16, hinged by third articulated shaft and the solidus structure 15, wherein the solidus knot
Structure 15 and second articulation piece 14 are affixed；4th articulation piece 17, with the rod piece 5 it is affixed be set to the third articulation piece 16
Interior and hinged by the 4th articulated shaft and the third articulation piece 16, the third articulated shaft intersects with the 4th articulated shaft.
In the present embodiment, as shown in figure 3, the solidus structure 15 is structure as a whole with second articulation piece 14, both ends have
Towards opposite hollow hemisphere structure, the first axle bearing bore that first articulation piece 13 is put into equipped with suitable bearing, described turn
Wheel 12 is equipped with pin hole in position corresponding with the first axle bearing bore, and the runner 12 is installed to the first articulation piece for installing bearing
After on 13 by pin across pin hole and first axle bearing bore, the line of centres of two opposite first axle bearing bore forms the first hinge
Spindle；Second articulation piece 14, which is equipped with, is suitble to the second bearing hole that is put into of bearing, first articulation piece 13 with it is described
The corresponding position in second bearing hole is equipped with pin hole, after first articulation piece 13 is installed on the second articulation piece 14 for install bearing
By pin across pin hole and second bearing hole, the line of centres in two opposite second bearing holes forms the second articulated shaft；
The third articulation piece 16 is equipped with the 3rd bearing hole for being suitble to bearing to be put into, and the solidus structure 15 is equipped with and the third
The corresponding position of bearing hole is equipped with pin hole, and solidus structure 15 passes through pin after being installed on the third articulation piece 16 for install bearing
Between pin hole and 3rd bearing hole, the line of centres in two opposite 3rd bearing holes forms the third articulated shaft；Described
Four articulation pieces 17 are fixedly connected with the rod piece 5, and the 4th articulation piece 17 is equipped with the fourth bearing hole for being suitble to bearing to be put into,
Position corresponding with the fourth bearing hole is equipped with pin hole on the third articulation piece 16, and the third articulation piece 16 is installed to dress
After on 4th articulation piece 17 of good bearing by pin across pin hole and fourth bearing hole, two opposite fourth bearing holes
The line of centres forms the 4th articulated shaft.
As shown in figure 3, the solidus structure 15 include solidus ontology solidus ontology, multiple convex blocks, the convex block with it is a plurality of
The joint control line is respectively correspondingly set on the solidus ontology, and each convex block is suitable for controlling the corresponding joint
Line processed is fixed, and each convex block is equipped with the solidus hole for passing through and fixing for the joint control line.
The conductor structure includes wire seat 18, housing 19, and the wire seat 18 is equipped with leading for bootable joint control line
Wire casing, the metallic channel have multiple, and respectively correspond setting with a plurality of joint control line；The metallic channel is close to described
The line in one end of solidus structure 15 and the solidus hole is parallel to the rod piece 5；Housing 19 is set in the wire seat 18
Outside, suitable for preventing the joint control line from deviating from from the metallic channel, in the present embodiment, the wire seat 18 is set in
On the rod piece 5, the 4th articulation piece 17 is fixedly connected and being fixedly connected with the wire seat 18 with the rod piece 5,
As shown in figure 3, the wire seat 18 along several strip grooves are axially arranged with, is additionally provided with card slot, the 4th hinge in each strip groove
The inside of fitting 17 is equipped with the fixture block that matches with the card slot, and when installation, the convex block on the 4th articulation piece 17 is pacified along strip groove
It is attached on the wire seat 18, the 4th articulation piece 17 is rotated at the position for being moved to card slot makes the fixture block on the 4th articulation piece 17
It is caught in card slot, is then inserted into cutting in strip groove again and fixes the position of the 4th articulation piece 17 and wire seat 18, it is this to set
Mode is set easily the 4th articulation piece 17 is fixedly installed on wire seat 18.
As shown in figure 4, the grip part 3 includes first shell, second shell, crank block slider structure, the second shell
It is cooperatively connected with the first shell, the entirety and the driving body that the first shell and the second shell are cooperatively connected
Hingedly；The crank block slider structure includes the crank structure being made of the pressing structure 20 of the grip part 3, and with described in control
The slide block structure 21 of the binding clip control line connection of binding clip open and close movement.It just can control the folding of binding clip by pressing pressing structure 20
Movement, structure is simple, facilitates operation, and the first shell and the second shell are cooperatively connected, easy disassembly.The sliding block knot
Structure 21 is in axial sliding connection with the runner 12, and in the present embodiment, the slide block structure 21 is positive hexagonal structure, described
The regular hexagon slot that can cooperate with the regular hexagon structure is equipped in runner 12, setting in this way ensure that slide block structure 21 and turn
Wheel 12 rotates synchronously, and will not influence moving forward and backward for slide block structure 21.
The first end of support frame as described above 4 is connect with the rod piece 5, and second end has the supported hole for being suitble to arm to be put into, branch
The setting of support 4, in operation pincers, arm is put into supported hole, can pass through the entire surgical clamp of mobile control of arm
It is mobile, the separation of wrist and arm is realized, to reduce the distortion to wrist.The second end of support frame as described above 4 includes:
Five articulation pieces 22, the ontology by the 5th articulated shaft and support frame as described above 4 are hinged；6th articulation piece 23 passes through the 6th articulated shaft
Hinged with the 5th articulation piece 22, the 6th articulated shaft intersects with the 5th articulated shaft, and setting in this way can make arm exist
Rotation, facilitates the flexible operating of the wrist of arm front end in supported hole.In the present embodiment, it is set on the 5th articulation piece 22
The 5th bearing hole for having suitable bearing to be put into, 4 ontology of support frame as described above are equipped at position corresponding with the 5th bearing hole
Pin hole, installs the center that pin is passed through to after bearing pin hole and 5th bearing hole on the 5th articulation piece 22, and opposite two
The line of centres in a 5th bearing hole forms the 5th articulated shaft；5th articulation piece 22 is in position diametrically along ring
The surface of wall is equipped with c-type hole, so that the annular convex platform on the 6th articulation piece 23 is suitably inserted into the c-type hole, facilitates the
Six articulation pieces 23 are smoothly packed into the 5th articulation piece 22, relative to two c-type holes line of centres row at the 6th articulated shaft.
6th articulation piece 23 be equipped with can fix the with holes of arm, in use, by sack pass through it is described it is with holes after be bonded on arm,
Then the 6th articulation piece 23 is installed on the 5th articulation piece 22, avoid arm slightly is inconvenient to pass through asking for the supported hole excessively
Topic.
In use, crank structure drives slide block structure 21 mobile, slide block structure by the crank structure of pressing grip part 3
21 drive the double leval jib movement of binding clip by binding clip control line, and the first collet 6, the second collet 7 is made to realize open and close movement；Binding clip needs
When deflecting certain angle, as shown in fig. 6, swinging grip part 3, runner 12 is swung with grip part 3, the first articulation piece 13,
Second articulation piece 14 is swung with grip part 3, and solidus structure 15 is swung with first articulation piece 13, leads to solidus knot
Axially displaced, the axial displacement of each joint control line is different, makes to be applied in joint control for joint control line on structure 15
Flexible joint 11 on line processed deflects, and finally binding clip is made to deflect；When binding clip needs to turn an angle, rotating wheel
12, runner 12 drives the first articulation piece 13, the rotation of the second articulation piece 14, and solidus structure 15 is rotated with first articulation piece 13,
Joint control line rotates with it, so that the flexible joint 11 being applied on joint control line be made to rotate, finally rotates binding clip；When
When needing to move integrally the surgical clamp, arm force drives support frame 4 mobile to keep surgical clamp mobile.The surgical clamp grip part
3 freedom degree is higher, wrist in operation can flexible rotating, it is easy to operate, reduce the distortion to wrist portion.
In interchangeable embodiment, solidus structure 15 can be set up directly on grip part 3, such grip part 3
Directly joint control line is driven to change in axial displacement when swinging, so that flexible joint 11 be made to deflect.
The second Hooke's hinge structure can be not provided with, and the second articulation piece 14 and rod piece 5 of the first Hooke's hinge structure are fixed
Connection, also may be implemented the deflection of binding clip.
Wire installation can be omitted, and directly joint control line is introduced into rod piece 5.
The Hooke's hinge structure can be replaced spherical hinge connecting structure, connect grip part 3 with 5 flexural pivot of rod piece.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes among the protection scope created still in the utility model.
Claims (28)
1. a kind of Minimally Invasive Surgery pincers characterized by comprising
Enforcement division (1), including binding clip, and connect with the binding clip, the cephalomotor flexible joint (11) of pincers can be driven；
Driving portion (2) is connect with the enforcement division (1), the joint drive structure including driving flexible joint (11) movement；
Grip part (3) is connect with the driving portion (2), and is linked with the joint drive structure；The enforcement division (1) is also wrapped
Include the rod piece (5) for connecting the joint drive structure and the flexible joint (11).
2. a kind of Minimally Invasive Surgery pincers according to claim 1, which is characterized in that the joint drive structure includes joint control
One end of line processed, the joint control line is connect with the grip part (3), and the other end is connect with the flexible joint (11).
3. a kind of Minimally Invasive Surgery pincers according to claim 2, which is characterized in that the rod piece (5) includes being set to the bar
In part (5), for the accommodating chamber of joint control line accommodating.
4. a kind of Minimally Invasive Surgery pincers according to claim 3, which is characterized in that the rod piece (5) is tubular structure.
5. a kind of Minimally Invasive Surgery pincers according to any one of claim 2-4, which is characterized in that the joint control line tool
Have a plurality of, and in one end scattering device close to the grip part (3), and passes through under the axial movement of the grip part (3)
The joint drive structure has different axial displacements.
6. a kind of Minimally Invasive Surgery pincers according to claim 5, which is characterized in that the joint drive structure includes can be to institute
State the solidus structure (15) that joint control line is fixed.
7. a kind of Minimally Invasive Surgery pincers according to claim 6, which is characterized in that the solidus structure (15) includes:
Solidus ontology；
Convex block, have it is multiple, be respectively correspondingly set on the solidus ontology with a plurality of joint control line, it is each described convex
Block is suitable for that the corresponding joint control line is fixed.
8. a kind of Minimally Invasive Surgery pincers according to claim 7, which is characterized in that each convex block, which is equipped with, supplies the pass
The solidus hole that section control line is passed through and fixed.
9. a kind of Minimally Invasive Surgery pincers according to claim 8, which is characterized in that the joint drive structure further includes will be more
Joint control line described in item is smoothly introduced into the conductor structure in the rod piece (5), and the conductor structure includes:
Wire seat (18), the metallic channel equipped with bootable joint control line, the metallic channel have it is multiple, and with a plurality of pass
Section control line respectively corresponds setting；The metallic channel is flat close to one end of the solidus structure (15) and the line in the solidus hole
Row is in the rod piece (5)；
Housing (19) is set in the wire seat (18) outside, suitable for preventing the joint control line from deviating from from the metallic channel.
10. a kind of Minimally Invasive Surgery pincers according to any one of claim 6-9, which is characterized in that the joint drive knot
Structure further includes being set between the grip part (3) and the rod piece (5), the grip part (3) being made relative to the rod piece (5)
The driving body of rotation.
11. a kind of Minimally Invasive Surgery pincers according to claim 10, which is characterized in that the driving body includes the first Hooke's hinge
Structure.
12. a kind of Minimally Invasive Surgery pincers according to claim 11, which is characterized in that the first Hooke's hinge structure includes:
First articulation piece (13), it is hinged by the first articulated shaft and the grip part (3)；
Second articulation piece (14) is set in first articulation piece (13) with connecting with the rod piece (5), and hinged by second
Hingedly, first articulated shaft intersects with second articulated shaft for axis and first articulation piece (13).
13. a kind of Minimally Invasive Surgery pincers according to claim 12, which is characterized in that first articulation piece (13) is ring
Body, second articulation piece (14) are sphere.
14. a kind of Minimally Invasive Surgery pincers according to claim 13, which is characterized in that the driving body further includes the second Hooke
Hinged structure.
15. a kind of Minimally Invasive Surgery pincers according to claim 14, which is characterized in that the second Hooke's hinge structure includes:
Third articulation piece (16), hingedly by third articulated shaft and the solidus structure (15), wherein the solidus structure (15)
It is affixed with second articulation piece (14)；
4th articulation piece (17), with the rod piece (5) it is affixed be set in the third articulation piece (16), and it is hinged by the 4th
Hingedly, the third articulated shaft intersects with the 4th articulated shaft for axis and the third articulation piece (16).
16. a kind of Minimally Invasive Surgery pincers according to claim 15, which is characterized in that the third articulation piece (16) and described
4th articulation piece (17) is respectively ring body.
17. a kind of Minimally Invasive Surgery pincers described in any one of 2-16 according to claim 1, which is characterized in that the joint drive
Structure further includes the runner (12) that solidus structure (15) rotation is rotatably connected and driven with the grip part (3).
18. a kind of Minimally Invasive Surgery pincers according to claim 17, which is characterized in that the first Hooke's hinge structure is set to institute
It states in runner (12), and first articulation piece (13) is articulated on the runner (12) by first articulated shaft.
19. a kind of Minimally Invasive Surgery pincers according to claim 17, which is characterized in that the grip part (3) includes:
First shell；
Second shell is cooperatively connected with the first shell, and the first shell is cooperatively connected whole with the second shell
Body and the driving body are hinged；
Crank block slider structure, including the crank structure being made of the pressing structure (20) of the grip part (3), and with described in control
The slide block structure (21) of the binding clip control line connection of binding clip open and close movement.
20. a kind of Minimally Invasive Surgery pincers according to claim 19, which is characterized in that the slide block structure (21) and described turn
Wheel (12) is in axial sliding connection.
21. a kind of Minimally Invasive Surgery pincers according to claim 20, which is characterized in that the slide block structure (21) is positive six sides
Shape structure, the runner (12) is interior to be equipped with the regular hexagon slot that can cooperate with the regular hexagon structure.
22. a kind of Minimally Invasive Surgery pincers described in any one of -4 according to claim 1, which is characterized in that further include support frame
(4), the first end of support frame as described above (4) is connect with the rod piece (5), and second end has the supported hole for being suitble to arm to be put into.
23. a kind of Minimally Invasive Surgery pincers according to claim 22, which is characterized in that the second end packet of support frame as described above (4)
It includes:
5th articulation piece (22), the ontology by the 5th articulated shaft and support frame as described above (4) are hinged；
6th articulation piece (23), hingedly by the 6th articulated shaft and the 5th articulation piece (22), the 6th articulated shaft and institute
State the intersection of the 5th articulated shaft.
24. a kind of Minimally Invasive Surgery pincers according to claim 23, which is characterized in that the 5th articulation piece (22) is ring
Body, the 6th articulation piece (23) are hemizonid.
25. a kind of Minimally Invasive Surgery pincers according to claim 24, which is characterized in that the 5th articulation piece (22) is in radial direction
Opposite position is equipped with c-type hole along the surface of ring wall, so that the annular convex platform on the 6th articulation piece (23) is suitably inserted into institute
It states in c-type hole.
26. a kind of Minimally Invasive Surgery pincers according to any one of claim 24-25, which is characterized in that the described 6th is hinged
Part (23), which is equipped with, can fix the with holes of arm.
27. a kind of Minimally Invasive Surgery pincers described in any one of -4 according to claim 1, which is characterized in that further include through described
The elastic shaft of flexible joint (11) setting, described elastic shaft one end are connect with the rear end of the binding clip, the other end and grip part (3)
Connection.
28. a kind of Minimally Invasive Surgery pincers according to claim 27, which is characterized in that the elastic shaft is spring flexible shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721897001.6U CN208851580U (en) | 2017-12-29 | 2017-12-29 | A kind of Minimally Invasive Surgery pincers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721897001.6U CN208851580U (en) | 2017-12-29 | 2017-12-29 | A kind of Minimally Invasive Surgery pincers |
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| Publication Number | Publication Date |
|---|---|
| CN208851580U true CN208851580U (en) | 2019-05-14 |
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| CN201721897001.6U Active CN208851580U (en) | 2017-12-29 | 2017-12-29 | A kind of Minimally Invasive Surgery pincers |
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| Country | Link |
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| CN (1) | CN208851580U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109984804A (en) * | 2017-12-29 | 2019-07-09 | 江苏木偶医疗科技有限公司 | A kind of Minimally Invasive Surgery pincers |
| CN112716564A (en) * | 2020-12-31 | 2021-04-30 | 杭州康基医疗器械有限公司 | Large-swing-angle single-joint surgical instrument |
| CN112826572A (en) * | 2020-12-31 | 2021-05-25 | 杭州康基医疗器械有限公司 | Large-swing-angle binding clip winding structure |
-
2017
- 2017-12-29 CN CN201721897001.6U patent/CN208851580U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109984804A (en) * | 2017-12-29 | 2019-07-09 | 江苏木偶医疗科技有限公司 | A kind of Minimally Invasive Surgery pincers |
| CN109984804B (en) * | 2017-12-29 | 2023-12-26 | 江苏木偶医疗科技有限公司 | Minimally invasive surgical forceps |
| CN112716564A (en) * | 2020-12-31 | 2021-04-30 | 杭州康基医疗器械有限公司 | Large-swing-angle single-joint surgical instrument |
| CN112826572A (en) * | 2020-12-31 | 2021-05-25 | 杭州康基医疗器械有限公司 | Large-swing-angle binding clip winding structure |
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