CN211187509U - Surgical electric coagulation forceps unit - Google Patents
Surgical electric coagulation forceps unit Download PDFInfo
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- CN211187509U CN211187509U CN201922169932.XU CN201922169932U CN211187509U CN 211187509 U CN211187509 U CN 211187509U CN 201922169932 U CN201922169932 U CN 201922169932U CN 211187509 U CN211187509 U CN 211187509U
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- axis
- electrocoagulation
- rotating shaft
- sliding part
- frame body
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Abstract
The utility model discloses a surgery electricity congeals pincers unit belongs to the medical instrument field, include: a base (100) that can be fixed by a surgical robot; a rotating base (200) connected with the base and capable of rotating along a first axis relative to the base; an electrocoagulation clamp (300) for electrocoagulation of human tissue, the electrocoagulation clamp being fixed to the rotary base (200); the rotating seat comprises a first power piece (210), a second power piece (220) and a connecting portion (230), the first power piece is connected with the base, one end of the second power piece is hinged with one end of the first power piece, the hinged shaft is a second axis, the first axis is perpendicular to the second axis, a first sliding portion (217) is arranged on the first power piece (210), the first sliding portion can be fixed on the first power piece and also can be driven to move along a third axis, the third axis is perpendicular to the second axis, and a second sliding portion (224) is arranged on the second power piece.
Description
Technical Field
The present invention relates to the field of surgical instruments.
Background
The electrocoagulation pliers are indispensable tools in surgery, the existing electrocoagulation pliers are generally provided with an operation part, a long shaft part and a tail end pliers head, and the electrocoagulation pliers can be manually operated and can rotate according to the position of human tissues. With the development of medical surgical robots, in some surgical operations, an electrocoagulation clamp which can be used on a surgical robot is needed, and the angle and the position of the electrocoagulation clamp can be freely adjusted according to human tissues. In particular, the rotation of the electrocoagulation clamp in multiple directions can be adjusted, and under the condition that the rotation space is small, the electrocoagulation clamp can have larger angle freedom.
Disclosure of Invention
The invention aims to: in view of the above existing problems, a surgical electrocoagulation forceps unit is disclosed, comprising:
a base that can be secured by a surgical robot;
the rotating seat is connected with the base and can rotate along a first axis relative to the base;
the electrocoagulation clamp is used for electrocoagulation of human tissues and is fixed on the rotating seat;
the rotating seat comprises a first power part, a second power part and a connecting part, the first power part is connected with the base, one end of the second power part is hinged with one end of the first power part, the hinged shaft is a second axis, the first axis is vertical to the second axis, the first power part is provided with a first sliding part, the first sliding part can be fixed on the first power part and also can be driven to move along the third axis, the third axis is vertical to the second axis, the second power part is provided with a second sliding part, the second sliding part can be fixed on the second power part and also can be driven to move along the fourth axis, the fourth axis is vertical to the second axis, the third axis and the fourth axis are on the same plane, one end of the connecting part is hinged on the first sliding part, the other end of the connecting part is hinged on the second sliding part, the connecting part is of a rigid structure, so that the distance between the first sliding part and the second sliding part is fixed, when the first sliding part and/or the second sliding part is driven to move, the angle of the third axis and the fourth axis is changed to drive the electrocoagulation clamp to rotate relative to the second axis.
As an improvement, the first power member includes a first frame body, a first motor is connected to the first frame body, a cavity is formed in the first frame body, the first motor is connected with a first rotating shaft and drives the first rotating shaft to rotate, the first rotating shaft is located in the cavity of the first frame body, the first sliding portion is connected with a first rotating shaft lead screw, the axial direction of the first rotating shaft is a third axis, and the first rotating shaft rotates to drive the first sliding portion to move along the third axis.
As an improvement, the second power part including the second support body, be connected with the second motor on the first support body, be equipped with down the cavity in the second support body, the second motor is connected with the second axis of rotation and drives the second axis of rotation and rotate, the second axis of rotation is located the lower cavity of second support body, second sliding part and second axis of rotation lead screw connect, the axial of second axis of rotation is the fourth axis, the second axis of rotation rotates and removes along the fourth axis with drive second sliding part.
As an improvement, the second frame body is further provided with an upper cavity, a third rotating shaft is arranged in the upper cavity, the second frame body is further provided with a third motor, the third motor can drive the third rotating shaft to rotate, a third sliding portion is connected to a lead screw on the third rotating shaft, the third rotating shaft drives the third sliding portion to move along a fifth axis in a rotating mode, the fifth axis is parallel to the fourth axis, the fifth axis, the fourth axis and the third axis are coplanar, and the third sliding portion is fixedly connected with the electrocoagulation pliers.
As an improvement, the electrocoagulation pliers comprise a driving part, a connecting shaft and a pliers head, wherein the driving part is fixedly connected with a third sliding part, the pliers head extends into a human body to perform electrocoagulation operation, and the driving part controls the pliers head through the connecting shaft.
Drawings
Fig. 1 is a schematic structural diagram of the present invention;
FIG. 2 is a schematic view of a base
FIG. 3 is a schematic view of a rotating bed;
FIG. 4 is a schematic view of a first power member;
FIG. 5 is a schematic view of a second power member;
FIG. 6 is a schematic view of an electrocoagulation clamp;
the labels in the figure are: 100-base, 110-slide rail, 120-tooth part, 130-support seat, 140-fixed column, 200-rotating seat, 210-first power part, 211-combination part, 212-gear, 213-arc channel, 214-first frame body, 215-first motor, 216-first rotating shaft, 217-first sliding part, 220-second power part, 221-second frame body, 222-second motor, 223-second rotating shaft, 224-second sliding part, 225-third motor, 226-third rotating shaft, 227-third sliding part, 230-connecting part, 300-electrocoagulation clamp, 310-driving part, 320-connecting shaft and 330-clamp head.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
The present embodiment discloses a surgical instrument for a surgical robot, as shown in fig. 1, comprising a base 100, a rotary base 200, and an electrocoagulation forceps 300. As shown in fig. 1 and 2, the base 100 can be fixed by a surgical robot, the base includes a first slide rail 110, a side surface of the base is provided with an arc-shaped tooth portion, the first slide rail is arc-shaped, an arc-shaped central axis of the first slide rail is on a first axis (X line of fig. 2), a central axis of the arc-shaped tooth portion is on the first axis, the arc-shaped refers to a portion of a circle, an arc-shaped central point is a central point, a plane where the arc-shaped central point is located is an arc-shaped surface, and the arc-shaped central axis is an axis which passes through the central point and is perpendicular to the arc-shaped surface.
As shown in fig. 1 and 3, the rotating base 200 is connected to the base and can rotate along the first axis relative to the base, the rotating base includes a joint portion 211, the rotating base is connected to the base through the joint portion, the joint portion includes a gear 212, the gear is driven to rotate by the joint portion, the gear and the tooth of the arc-shaped tooth portion are combined and can rotate around the first axis, the joint portion is provided with an arc-shaped channel 213, as shown in fig. 1, the first sliding rail passes through the arc-shaped channel, and the first sliding rail and the arc-shaped channel are matched to limit the rotating base so that the rotating base can only rotate around the first axis.
As shown in fig. 1, electrocoagulation clamp 300, which is used for electrocoagulation of human tissue, can be fixed to a rotatable mount 200.
The combination portion is internally provided with a motor (not shown) connected with the combination portion, the motor is connected with the gear 212 and drives the gear to rotate, and specifically, the combination portion is internally provided with a motor cavity, and the motor is fixed in the motor cavity.
Further, as shown in fig. 2, the base includes two supporting seats 130, and the first sliding rail is located between the two supporting seats and fixed by the two supporting seats 130. The other two supporting parts are arranged at the two tail ends of the first sliding rail and can limit the combination part to prevent the combination part from falling.
In this embodiment, the arc channel of the joint portion and the first slide rail cooperate to limit the position of the rotating seat relative to the base, and the arc channel and the first slide rail are prone to generate deviation, so that the rotating seat is unstable, in a more preferred embodiment, as shown in fig. 2, the base is provided with a fixing column 140, the rotating seat is provided with a groove (not shown, specifically located at the bottom of the rotating seat, which is a common groove) for clamping the fixing column into the groove and enabling the rotating seat to rotate relative to the fixing column, the fixing column is located on the first axis, as shown in fig. 1, and the gear is located at the end of the joint portion.
Further, as shown in fig. 3, the rotating base includes a first power member 210, a second power member 220 and a connecting portion 230, the first power member is connected to the base, a distal end of the second power member is hinged to a distal end of the first power member, the hinge axis is a second axis (Y direction in fig. 4), the first axis is perpendicular to the second axis, a first sliding portion 217 is disposed on the first power member 210, the first sliding portion 217 can be fixed to the first power member and can also be driven to move along a third axis (Z direction in fig. 4), the third axis is perpendicular to the second axis, a second sliding portion 224 is disposed on the second power member, the second sliding portion can be fixed to the second power member and can also be driven to move along a fourth axis (O direction in fig. 3), the fourth axis is perpendicular to the second axis, one end of the connecting portion is hinged to the first sliding portion, and the other end is hinged to the second sliding portion, the connecting part is of a rigid structure so that the distance between the first sliding part and the second sliding part is fixed, and when the first sliding part and/or the second sliding part is driven to move, the angle of the third axis and the fourth axis is changed to drive the electrocoagulation pliers to rotate relative to the second axis.
In this embodiment, the positions of the first sliding portion 217 and the second sliding portion 224 can be fixed and can also be moved. In particular, in one case, the second sliding part is fixed in position, and the first sliding part moves along the third axis, at which time the second power member can be driven to rotate, but the rotation angle is limited; similarly, the first sliding part can be fixed, the second sliding part can move, and the second power part can also be driven to rotate, but the rotating angle is limited. Therefore, the first sliding part and the second sliding part can move to enable the second power piece to have a larger rotation angle relative to the first power piece, and the rotation angle range of the electrocoagulation clamp is wide.
In a further preferable embodiment, as shown in fig. 4, the first power member 210 includes a first frame body 214, a first motor 215 is connected to the first frame body, a cavity is formed in the first frame body, the first motor is connected to a first rotating shaft 216 and drives the first rotating shaft to rotate, the first rotating shaft is located in the cavity of the first frame body, the first sliding portion 217 is connected to the first rotating shaft 216 through a screw rod, the axial direction of the first rotating shaft is a third axis, and the first rotating shaft rotates to drive the first sliding portion 217 to move along the third axis.
Also in a more preferable embodiment, as shown in fig. 5, the second power member 220 includes a second frame 221, a second motor 222 is connected to the first frame, a lower cavity is formed in the second frame, the second motor is connected to a second rotating shaft 223 and drives the second rotating shaft to rotate, the second rotating shaft is located in the lower cavity of the second frame, the second sliding portion 224 is connected to the second rotating shaft lead screw, the axial direction of the second rotating shaft is a fourth axis, and the second rotating shaft rotates to drive the second sliding portion to move along the fourth axis.
As shown in fig. 6, the second frame body is further provided with an upper cavity, a third rotating shaft 226 is arranged in the upper cavity, the second frame body is further provided with a third motor 225, the third motor can drive the third rotating shaft to rotate, a third sliding portion 227 is connected to the lead screw on the third rotating shaft, the third rotating shaft drives the third sliding portion to move along a fifth axis in a rotating manner, the fifth axis is parallel to the fourth axis, the fifth axis, the fourth axis and the third axis are coplanar, and the third sliding portion is fixedly connected with the electrocoagulation pliers 300.
Continuing to refer to fig. 6, the electrocoagulation pliers comprise a driving part 310, a connecting shaft 320 and a pliers head 330, wherein the driving part 310 is fixedly connected with a third sliding part 227, the pliers head extends into a human body to collect a sample, the driving part 310 controls the action of the pliers head 330 through the connecting shaft 320, the electrocoagulation pliers can adopt some existing electrocoagulation pliers used on a robot, such as some electrocoagulation pliers apparatuses on a da vinci robot, the pliers head of the electrocoagulation pliers is connected with an electric wire through the connecting shaft 320, and the electric wire is connected with an external power supply at the driving part.
The motor/motor of the invention can be controlled remotely to enable the motor/motor to work, and the second power part can be provided with not only the electrocoagulation pliers but also a common surgical instrument which is also provided with a driving part, a connecting shaft and a pliers head.
Claims (5)
1. A surgical electrocoagulation forceps unit, comprising:
a base (100) that can be fixed by a surgical robot;
a rotating base (200) connected with the base and capable of rotating along a first axis relative to the base;
an electrocoagulation clamp (300) for electrocoagulation of human tissue, the electrocoagulation clamp being fixed on the rotary base (200);
the rotating seat comprises a first power piece (210), a second power piece (220) and a connecting part (230), the first power piece is connected with the base, one end of the second power piece is hinged with one end of the first power piece, the hinged shaft is a second axis, the first axis is vertical to the second axis, a first sliding part (217) is arranged on the first power piece (210), the first sliding part can be fixed on the first power piece and also can be driven to move along a third axis, the third axis is vertical to the second axis, a second sliding part (224) is arranged on the second power piece, the second sliding part can be fixed on the second power piece and also can be driven to move along a fourth axis, the fourth axis is vertical to the second axis, the third axis and the fourth axis are on the same plane, one end of the connecting part is hinged on the first sliding part, and the other end of the connecting part is hinged on the second sliding part, the connecting part is of a rigid structure so that the distance between the first sliding part and the second sliding part is fixed, and when the first sliding part and/or the second sliding part is driven to move, the angle of the third axis and the fourth axis is changed to drive the electrocoagulation pliers to rotate relative to the second axis.
2. A surgical electrocoagulation pliers unit according to claim 1, wherein the first power member (210) includes a first frame body (214), a first motor (215) is connected to the first frame body, a cavity is formed in the first frame body, the first motor is connected to a first rotating shaft (216) and drives the first rotating shaft to rotate, the first rotating shaft is located in the cavity of the first frame body, the first sliding portion (217) is connected to the first rotating shaft (216) through a screw rod, the axial direction of the first rotating shaft is a third axis, and the first rotating shaft rotates to drive the first sliding portion to move along the third axis.
3. A surgical electrocoagulation pliers unit according to claim 2, wherein the second power member (220) includes a second frame body (221), the first frame body is connected with a second motor (222), a lower cavity is formed in the second frame body, the second motor is connected with a second rotating shaft (223) and drives the second rotating shaft to rotate, the second rotating shaft is located in the lower cavity of the second frame body, the second sliding portion (224) is connected with a second rotating shaft lead screw, the axial direction of the second rotating shaft is a fourth axis, and the second rotating shaft rotates to drive the second sliding portion to move along the fourth axis.
4. A surgical electrocoagulation clamp unit according to claim 3, wherein the second frame body is further provided with an upper cavity, a third rotation shaft (226) is provided in the upper cavity, the second frame body is further provided with a third motor (225), the third motor can drive the third rotation shaft to rotate, a third sliding part (227) is connected to the lead screw on the third rotation shaft, the third rotation shaft drives the third sliding part to move along a fifth axis in a rotating manner, the fifth axis is parallel to the fourth axis, the fifth axis, the fourth axis and the third axis are coplanar, and the third sliding part is fixedly connected with the electrocoagulation clamp (300).
5. A surgical electrocoagulation clamp unit according to claim 4, wherein the electrocoagulation clamp comprises a driving part (310), a connecting shaft (320) and a clamp head (330), the driving part (310) is fixedly connected with the third sliding part (227), the clamp head extends into a human body to perform electrocoagulation operation, and the driving part (310) controls the clamp head (330) through the connecting shaft (320).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922169932.XU CN211187509U (en) | 2019-12-06 | 2019-12-06 | Surgical electric coagulation forceps unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922169932.XU CN211187509U (en) | 2019-12-06 | 2019-12-06 | Surgical electric coagulation forceps unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211187509U true CN211187509U (en) | 2020-08-07 |
Family
ID=71859383
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922169932.XU Expired - Fee Related CN211187509U (en) | 2019-12-06 | 2019-12-06 | Surgical electric coagulation forceps unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211187509U (en) |
-
2019
- 2019-12-06 CN CN201922169932.XU patent/CN211187509U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200807 Termination date: 20211206 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |