CN209136784U - A kind of handset type Minimally Invasive Surgery pincers - Google Patents
A kind of handset type Minimally Invasive Surgery pincers Download PDFInfo
- Publication number
- CN209136784U CN209136784U CN201820907749.8U CN201820907749U CN209136784U CN 209136784 U CN209136784 U CN 209136784U CN 201820907749 U CN201820907749 U CN 201820907749U CN 209136784 U CN209136784 U CN 209136784U
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- China
- Prior art keywords
- steel wire
- connecting bracket
- handle
- bracket
- minimally invasive
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model relates to a kind of handset type Minimally Invasive Surgery pincers, including jaw mechanism, flexible joint, stock, operation handle, jaw mechanism is connect by flexible joint with stock, and the stock is connect with operation handle, steel wire one end is connect with jaw mechanism, and the other end is connect with operation handle；Utility model simple structure and reasonable design, jaw mechanism opening and closing are controlled by squeeze grip, to realize the holding action of jaw mechanism, and flexible joint, jaw mechanism realization can control to rotate at any angle by handle, the deflection of jaw mechanism is realized by rotation driving wheel, so that different operation demands is realized, compared to traditional Minimally Invasive Surgery tool, the utility model flexible joint has yaw motion freedom degree, operates more flexible；It is driven by steel wire and realizes freedom degree movement, mechanical structure is simple, compact, and small volume, manually controls and is more favorable for surgical；And its manufacturing cost is lower, and operation precision is high, can be widely used to promote.
Description
Technical field
Utility model is related to a kind of technical field of surgical instruments, especially a kind of handset type Minimally Invasive Surgery pincers.
Background technique
With the rapid advances of scientific and technological level, medical field minimally invasive surgery is also continued to develop, and Minimally Invasive Surgery is opposite to be passed
Have many advantages, such as that notch is small, wound is small, recovery is fast, pain is few for system operation, becomes the main side of surgical operation development gradually
To.Minimally Invasive Surgery tool is essential instrument when surgeon is operated, Minimally Invasive Surgery tool construction, transmission side
The reasonability of face design will have a direct impact its applicability, flexibility, operation accuracy and surgical effect.
Currently, the requirement of human opponent's art is not limited in most basic treatment stage, on the contrary, constantly seeking whole matter
Higher operation is measured, shorter post-operative recovery time and smaller or without operative scar etc. is needed.
Existing Minimally Invasive Surgery tool is by the control of control mode separated motor and two kinds of Mechanical course, existing Minimally Invasive Surgery machine
Device National People's Congress majority is to use motor control, and number of degrees of freedom, is more, has good flexibility, can effectively eliminate doctor's hand
It trembles, improves operation total quality.
But operating robot is bulky, mechanism is complicated, controls cumbersome, shortage hand force feedback, and equipment is made
High price is expensive, can not be widely used.The Minimally Invasive Surgery tool of Mechanical course is there are lower-mobility, the disadvantages of malfunction, and
By the constraint of miniature incision, it is easy to cause surgeon tired, to influence surgical effect.
Utility model content
In view of the deficiencies of the prior art, utility model provides a kind of simple handset type Minimally Invasive Surgery device of structure.
The technical solution of utility model are as follows: a kind of handset type Minimally Invasive Surgery pincers, including jaw mechanism, flexible joint, stock,
Operation handle, the jaw mechanism are connect by flexible joint with stock, and the stock is connect with operation handle；
The jaw mechanism includes clamp piece a, clamp piece b, jaw bracket, idler wheel, and the clamp piece b and jaw bracket are integrated
Molding, the idler wheel is arranged on jaw bracket, on the idler wheel by roller shaft is also wound with one for driving the rolling
The steel wire a of rotation is taken turns, the other end of the steel wire a sequentially passes through flexible joint, stock, and connect with operation handle, and
The end that the shaft a, the clamp piece a for connecting with clamp piece a is additionally provided on the idler wheel is arranged by shaft a in idler wheel
On, and the clamp piece a also passes through shaft b and is arranged on jaw bracket, so that clamp piece a is by shaft b with idler wheel
It is rotated on jaw bracket, to match by clamp piece a and clamp piece b, completes holding action；
The operation handle include pedestal, the first connecting bracket, the second connecting bracket, third connecting bracket, handle,
Hand, driving wheel, spherical yawing axis, one end of first connecting bracket are fixedly connected with stock, first connecting bracket
The other end is fixedly connected with pedestal, and one end of second connecting bracket and third connecting bracket is fixed on the base, and described
The other end of two connecting brackets and third connecting bracket passes through a connection piece and connect with the end of spherical yawing axis, the spherical shape
The spherical portion outer sheath of yawing axis be equipped with can the rotation of relatively spherical yawing axis driving wheel, be additionally provided with stretching on the driving wheel
It is connected separately on boss a and stretching boss b, the stretching boss a and stretching boss b for controlling jaw mechanism or so partially
The other end of the steel wire b and steel wire c, the steel wire b and steel wire c that turn sequentially pass through stock, flexible joint, and solid with jaw bracket
Fixed connection；By rotating driving wheel, to stretch steel wire b or steel wire c, due to the flexibility effect of flexible joint, and then pincers are realized
Mouth bracket deflection；
The other end of the spherical shape yawing axis is plugged in handle, and the handle is arranged in handle, and described
Handle is connect with steel wire a, controls the flexible of steel wire a by squeeze grip, to control idler wheel rotation, thus realize clamp piece a and
The opening and closing of clamp piece b, and then realize the holding action of jaw mechanism；And by rotational handle, so that spherical yawing axis be driven to turn
It is dynamic, and then base rotation is driven by the second connecting bracket and third connecting bracket, to drive the first connection branch by pedestal
Frame rotation to drive stock rotation by the first connecting bracket, and then is turned by stock drive, flexible joint, jaw mechanism
It is dynamic, to realize the deflection action of jaw mechanism.
Further, the flexible joint is by connector a, connector b and multiple unit joint interconnected groups
At, the multiple unit joint interconnected is arranged between connector a and connector b, the other end of the connector a with
The connection of jaw bracket, the other end of the connector b are connect with stock.
Further, flexible hose is additionally provided in the flexible joint, on the one hand, the flexible hose is to flexible joint
It plays a supportive role, on the other hand, which can be used for accommodating steel wire a, steel wire b, steel wire c.
Further, one is additionally provided between first connecting bracket and spherical yawing axis for accommodating steel wire a, steel wire
B, the connecting tube of steel wire c.
Further, it is additionally provided with and multiple to be led for winding steel wire a, steel wire b, steel wire c in first connecting bracket
To wheel.
Further, the steel wire b, steel wire c one end connect with jaw bracket, the other end pass through flexible joint, stock,
Multiple directive wheels are then passed around, pass through connecting tube, and connect respectively with stretching boss a and stretching boss b through spherical yawing axis.
Further, the fixation hole for fixing steel wire a is also provided on the idler wheel.
Further, it is additionally provided with compressed spring between the handle and handle, makes handle multiple by the compressed spring
Position.
Further, be additionally provided with multiple guide posts for winding steel wire a in the handle, the steel wire a around
Multiple guide posts are crossed to connect with handle.
Further, one end of the steel wire a is connect with idler wheel, and the other end sequentially passes through flexible joint, stock, then around
Multiple directive wheels are crossed, connecting tube, spherical yawing axis is passed through, then passes around multiple guide posts and be fixedly connected with handle, to pass through
Control handle, control steel wire a's is flexible, so that idler wheel rotation is controlled, to realize the holding action of clamp piece a and clamp piece b.
Further, the pedestal includes the first lantern ring, the second lantern ring, third lantern ring, the third lantern ring and the
Two lantern rings are fixed in the first lantern ring by multiple fixed pins, by the pedestal reduce doctor wrist exert oneself, thus avoid by
Lead to doctor's wrist fatigue in long-term surgery.
Further, first connecting bracket, the second connecting bracket, the shape of third connecting bracket are arc, and
And one end of first connecting bracket, the second connecting bracket, third connecting bracket is connect with the first lantern ring.
Utility model has the beneficial effect that simple structure and reasonable design, controls jaw mechanism opening and closing by squeeze grip,
To realize the holding action of jaw mechanism, and flexible joint, jaw mechanism can control to realize at any angle by handle
Rotation, and the deflection of jaw mechanism can be realized by rotation driving wheel, so that different operation demands is realized, compared to biography
System Minimally Invasive Surgery tool, the utility model flexible joint have yaw motion freedom degree, operate more flexible；In addition, passing through steel
Freedom degree movement is realized in silk driving, and mechanical structure is simple, compact, and small volume, manually controls and is more favorable for surgical；
And its manufacturing cost is lower, and operation precision is high, can be widely used to promote.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of utility model；
Fig. 2 is the structural schematic diagram of the utility model jaw mechanism；
Fig. 3 is the structural schematic diagram of utility model elastic joint；
Fig. 4 is the structural schematic diagram of utility model operation handle；
Fig. 5 is the schematic partial cross-sectional view of utility model operation handle；
Fig. 6 is the structural schematic diagram of utility model pedestal；
Fig. 7 is the structural schematic diagram of the utility model jaw mechanism deflection；
In figure, 1- jaw mechanism, 2- flexible joint, 3- stock, 4- operation handle, 5- steel wire a, 6- steel wire b, 7- steel wire c,
11- clamp piece a, 12- clamp piece b, 13- jaw bracket, 14- idler wheel, 15- roller shaft, 16- shaft b, 21- connector a, 22- unit close
Section, 23- connector b, 41- pedestal, the first connecting bracket of 42-, the second connecting bracket of 43-, 44- third connecting bracket, 45- connection
Part, 46- spherical shape yawing axis, 47- driving wheel, 48- handle, 49- handle, 50- connecting tube, 51- guide post, 52- compressed spring,
53- stretches boss a, and 54- stretches boss b, the first lantern ring of 410-, the second lantern ring of 411-, 412- third lantern ring.
Specific embodiment
The specific embodiment of utility model is described further with reference to the accompanying drawing:
As shown in Figure 1, a kind of handset type Minimally Invasive Surgery pincers, including jaw mechanism 1, flexible joint 2, stock 3, operation handle
4 and steel wire 5, the jaw mechanism 1 connect by flexible joint 2 with stock 3, the stock 3 and the company of operation handle 4
It connects.
As shown in Fig. 2, the jaw mechanism 1 includes clamp piece a11, clamp piece b12, jaw bracket 13, idler wheel 14, it is described
Clamp piece b12 and jaw bracket 13 are integrally formed, and the idler wheel 14 is arranged on jaw bracket 13 by roller shaft 15, described
A steel wire a5 for driving the idler wheel 14 to rotate also is wound on idler wheel 15, the other end of the steel wire a5 sequentially passes through soft
Property joint 2, stock 3, then connect with operation handle 4, and one is additionally provided on the idler wheel 14 for connecting with clamp piece a11
Shaft a, the clamp piece a11 end by shaft a be arranged on idler wheel 14, and the clamp piece a11 also pass through turn
Axis b16 is arranged on jaw bracket 13, so that clamp piece a11 is rotated on jaw bracket 13 by shaft b16 with idler wheel 14,
To pass through the opening and closing of clamp piece a11 and clamp piece b12, holding action is completed.
As shown in figure 3, being additionally provided with flexible hose in the flexible joint 2, on the one hand, the flexible hose closes flexibility
Section 2 plays a supportive role, and on the other hand, which can be used for accommodating steel wire a5, silk b6 and steel wire c7, the flexible joint
2 are made of connector a21, connector b23 and multiple unit joints 22 interconnected, the multiple list interconnected
First joint 22 is arranged between connector a21 and connector b23, and the quantity in the unit joint 22 can determine according to demand, institute
The other end for stating connector a21 is connect with jaw bracket 13, and the other end of the connector b23 is connect with stock 3.
As shown in Figure 4, Figure 5, the operation handle 4 includes pedestal 41, the first connecting bracket 42, the second connecting bracket
43, third connecting bracket 44, handle 48, handle 49, driving wheel 47, spherical yawing axis 46, the one of first connecting bracket 42
End is fixedly connected with stock 3, and the other end of first connecting bracket 42 is fixedly connected with pedestal 41, second connecting bracket
43 and one end of third connecting bracket 44 be fixed on pedestal 41, second connecting bracket 43 and third connecting bracket 44 it is another
One end is all connected with the connection of part 45, and the connector 45 is fixed on the end of spherical yawing axis 46, the ball by multiple screws
The spherical portion outer sheath of shape yawing axis 46 be equipped with can the driving wheel 47 that rotates of relatively spherical yawing axis 46, on the driving wheel 47 also
It is provided with to stretch boss a53 and stretch to be connected separately on boss b54, the stretching boss a53 and stretching boss b54 and be used for
The other end of the steel wire b6 and steel wire c7, the steel wire b6 and steel wire c7 that control 1 deflection of jaw mechanism sequentially pass through stock
3, flexible joint 2, and be fixedly connected with jaw bracket 13, by rotating driving wheel 47, so that steel wire b6 or steel wire c7 is stretched, by
In the flexibility effect of flexible joint 2, and then realize 13 deflection of jaw bracket, the schematic diagram of deflection is shown in Figure 7；
The other end of the spherical shape yawing axis 46 is plugged in handle 48, and the handle 49 is arranged by handle axle in hand
In handle 48, the handle 49 is connect with steel wire a5, the flexible of steel wire a5 is controlled by squeeze grip 49, to control idler wheel 14
Rotation, so that the holding action of clamp piece a11 and clamp piece b12 are realized, by rotational handle 48, to drive 46 turns of spherical yawing axis
It is dynamic, and then drive pedestal 41 to rotate by the second connecting bracket 43 and third connecting bracket 44, to drive the by pedestal 41
The rotation of one connecting bracket 42 to drive stock 3 to rotate by the first connecting bracket 42, and then drives flexible pass by stock 3
Section 2, jaw mechanism 1 are rotated with any angle, to realize the rotation of jaw mechanism 1.
Further, one is additionally provided between first connecting bracket 42 and spherical yawing axis 46 for accommodating steel wire
The connecting tube 50 of a5, steel wire b6, steel wire c7.
Further, it is additionally provided in first connecting bracket 42 multiple for winding steel wire a5, steel wire b6, steel wire c7
Directive wheel, in the present embodiment, the quantity of directive wheel is 3.
Further, the steel wire b6, steel wire c7 one end connect with jaw bracket 13, the other end pass through flexible joint 2,
Then stock 3 is wound around on multiple directive wheels, pass through connecting tube 50, and through spherical yawing axis 46 respectively with stretch boss a53 and
Stretch boss b54 connection.
Further, in order to avoid steel wire a5 is slided on idler wheel 14, lead to control inaccuracy, gone back on the idler wheel 14
The fixation hole for fixing steel wire a5 being offered, by tying up steel wire a5 on fixation hole, and being wrapped on idler wheel 14.
Further, it is additionally provided with compressed spring 52 between the handle 49 and handle 48, is made by the compressed spring 52
Handle 49 is obtained to reset.
Further, it is additionally provided with multiple guide posts 51 in the handle 48, in the present embodiment, the quantity of guide post 51
It is 3, the steel wire 5 connect around multiple guide posts 51 with handle 49.
Further, one end of the steel wire a5 is connect with idler wheel 14, the other end sequentially pass through flexible joint 2, stock 3,
Connecting tube 50, spherical yawing axis 46, are then fixedly connected with handle 49, to control stretching for steel wire a5 by squeeze grip 49
Contracting to realize the opening and closing of clamp piece a11 and clamp piece b12, and then realizes holding action to control the rotation of idler wheel 14.
Further, as shown in fig. 6, the pedestal 41 includes the first lantern ring 410, the second lantern ring 411, third lantern ring
412, the third lantern ring 412 and the second lantern ring 411 are fixed in the first lantern ring 410 by multiple fixed pins, in use, logical
The wrist that doctor can be reduced by crossing the pedestal 41 is exerted oneself, to avoid leading to doctor's wrist fatigue due to long-term surgery.
Further, first connecting bracket 42, the second connecting bracket 43, the shape of third connecting bracket 44 are arc
Shape, and one end of first connecting bracket 42, the second connecting bracket 43, third connecting bracket 44 with the first lantern ring
410 connections.
The above embodiments and description only describe the principle of utility model and most preferred embodiments, are not departing from
Under the premise of utility model spirit and scope, utility model be will also have various changes and improvements, these changes and improvements are both fallen within
Within the scope of claimed utility model.
Claims (10)
1. a kind of handset type Minimally Invasive Surgery pincers, it is characterised in that: including jaw mechanism, flexible joint, stock, operation handle, institute
The jaw mechanism stated is connect by flexible joint with stock, and the stock is connect with operation handle；
The jaw mechanism includes clamp piece a, clamp piece b, jaw bracket, idler wheel, the clamp piece b and jaw bracket one at
Type, the idler wheel is arranged on jaw bracket, on the idler wheel by roller shaft is also wound with one for driving the idler wheel
The steel wire a of rotation, the other end of the steel wire a sequentially passes through flexible joint, stock, and connect with operation handle, and institute
The end that the shaft a, the clamp piece a for connecting with clamp piece a is additionally provided on idler wheel is stated by shaft a setting in idler wheel
On, and the clamp piece a also passes through shaft b and is arranged on jaw bracket；
The operation handle include pedestal, the first connecting bracket, the second connecting bracket, third connecting bracket, handle, handle,
Driving wheel, spherical yawing axis, one end of first connecting bracket are fixedly connected with stock, first connecting bracket it is another
End is fixedly connected with pedestal, and one end of second connecting bracket and third connecting bracket is fixed on the base, and described second connects
The other end for connecing bracket and third connecting bracket passes through a connection piece and connect with the end of spherical yawing axis, described spherical to deflect
The spherical portion outer sheath of axis be equipped with can the rotation of relatively spherical yawing axis driving wheel, be additionally provided with stretching boss on the driving wheel
It is connected separately on a and stretching boss b, the stretching boss a and stretching boss b for controlling jaw mechanism deflection
The other end of steel wire b and steel wire c, the steel wire b and steel wire c sequentially pass through stock, flexible joint, and fix and connect with jaw bracket
It connects, by rotating driving wheel, to stretch steel wire b or steel wire c, due to the flexibility effect of flexible joint, and then realizes jaw branch
Frame deflection；
The other end of the spherical shape yawing axis is plugged in handle, and the handle is arranged in handle, and the handle
It is connect with steel wire a, the flexible of steel wire a is controlled by squeeze grip, so that idler wheel rotation is controlled, to realize clamp piece a and clamp piece b
Opening and closing, and then realize jaw mechanism holding action；And by rotational handle, so that spherical yawing axis is driven to rotate, into
And base rotation is driven by the second connecting bracket and third connecting bracket, to drive the first connecting bracket to turn by pedestal
It is dynamic, to drive stock rotation by the first connecting bracket, and then rotated by stock drive, flexible joint, jaw mechanism, from
And realize the deflection action of jaw mechanism.
2. a kind of handset type Minimally Invasive Surgery pincers according to claim 1, it is characterised in that: the flexible joint is by connecting
Head a, connector b and multiple unit joint compositions interconnected, the multiple unit joint setting interconnected is even
Between connector a and connector b, the other end of the connector a is connect with jaw bracket, the other end and length of the connector b
Bar connection.
3. a kind of handset type Minimally Invasive Surgery pincers according to claim 1, it is characterised in that: also set in the flexible joint
It is equipped with the flexible hose for being used to support flexible joint and accommodating steel wire a, steel wire b, steel wire c.
4. a kind of handset type Minimally Invasive Surgery pincers according to claim 1, it is characterised in that: first connecting bracket and ball
One is additionally provided between shape yawing axis for accommodating the connecting tube of steel wire a, steel wire b, steel wire c.
5. a kind of handset type Minimally Invasive Surgery pincers according to claim 1, it is characterised in that: in first connecting bracket also
It is provided with multiple directive wheels for winding steel wire a, steel wire b, steel wire c.
6. a kind of handset type Minimally Invasive Surgery pincers according to claim 1, it is characterised in that: the pedestal includes first set
Ring, the second lantern ring, third lantern ring, the third lantern ring and the second lantern ring are fixed in the first lantern ring by multiple fixed pins.
7. a kind of handset type Minimally Invasive Surgery pincers according to claim 1, it is characterised in that: first connecting bracket, the
Two connecting brackets, the shape of third connecting bracket are arc, and first connecting bracket, the second connecting bracket,
One end of three connecting brackets is connect with the first lantern ring.
8. a kind of handset type Minimally Invasive Surgery pincers according to claim 1, it is characterised in that: between the handle and handle also
It is provided with compressed spring.
9. a kind of handset type Minimally Invasive Surgery pincers according to claim 1, it is characterised in that: be additionally provided in the handle
Multiple guide posts.
10. a kind of handset type Minimally Invasive Surgery pincers according to claim 1, it is characterised in that: also opened up on the idler wheel
There is the fixation hole for fixing steel wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820907749.8U CN209136784U (en) | 2018-06-12 | 2018-06-12 | A kind of handset type Minimally Invasive Surgery pincers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820907749.8U CN209136784U (en) | 2018-06-12 | 2018-06-12 | A kind of handset type Minimally Invasive Surgery pincers |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209136784U true CN209136784U (en) | 2019-07-23 |
Family
ID=67263461
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820907749.8U Expired - Fee Related CN209136784U (en) | 2018-06-12 | 2018-06-12 | A kind of handset type Minimally Invasive Surgery pincers |
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| Country | Link |
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| CN (1) | CN209136784U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110974353A (en) * | 2019-12-23 | 2020-04-10 | 吉林大学 | Hand-held type abdominal cavity surgical instruments |
| CN111658025A (en) * | 2020-06-12 | 2020-09-15 | 武汉联影智融医疗科技有限公司 | Attachment device and remote access instrument |
| CN113855252A (en) * | 2021-10-12 | 2021-12-31 | 浙江理工大学 | Handheld multi-degree-of-freedom minimally invasive surgical instrument |
| CN117257405A (en) * | 2023-11-23 | 2023-12-22 | 苏州心锐医疗科技有限公司 | Surgical instrument applied to minimally invasive surgery |
-
2018
- 2018-06-12 CN CN201820907749.8U patent/CN209136784U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110974353A (en) * | 2019-12-23 | 2020-04-10 | 吉林大学 | Hand-held type abdominal cavity surgical instruments |
| CN111658025A (en) * | 2020-06-12 | 2020-09-15 | 武汉联影智融医疗科技有限公司 | Attachment device and remote access instrument |
| CN113855252A (en) * | 2021-10-12 | 2021-12-31 | 浙江理工大学 | Handheld multi-degree-of-freedom minimally invasive surgical instrument |
| CN113855252B (en) * | 2021-10-12 | 2023-01-24 | 浙江理工大学 | Handheld multi-degree-of-freedom minimally invasive surgical instrument |
| CN117257405A (en) * | 2023-11-23 | 2023-12-22 | 苏州心锐医疗科技有限公司 | Surgical instrument applied to minimally invasive surgery |
| CN117257405B (en) * | 2023-11-23 | 2024-01-30 | 苏州心锐医疗科技有限公司 | Surgical instrument applied to minimally invasive surgery |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190723 Termination date: 20200612 |
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| CF01 | Termination of patent right due to non-payment of annual fee |