CN211433167U - Ultrasonic scalpel instrument - Google Patents
Ultrasonic scalpel instrument Download PDFInfo
- Publication number
- CN211433167U CN211433167U CN201922419570.5U CN201922419570U CN211433167U CN 211433167 U CN211433167 U CN 211433167U CN 201922419570 U CN201922419570 U CN 201922419570U CN 211433167 U CN211433167 U CN 211433167U
- Authority
- CN
- China
- Prior art keywords
- gear
- transmission shaft
- transmission
- base
- cutter bar
- Prior art date
- 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.)
- Active
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 98
- 238000000034 method Methods 0.000 abstract description 4
- 239000002699 waste material Substances 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 12
- 238000002324 minimally invasive surgery Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 230000000740 bleeding effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000004204 blood vessel Anatomy 0.000 description 1
- 230000001112 coagulating effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
Images
Landscapes
- Surgical Instruments (AREA)
Abstract
The utility model relates to an ultrasonic scalpel instrument, which solves the technical problems of complex transmission structure, low reliability and time and labor waste in the processing process of the prior ultrasonic scalpel instrument and comprises a base, a support plate, a first transmission shaft, a second transmission shaft, a bearing seat, a gear transmission shaft, a rack, a cutter bar, a fixed sleeve and a disc spring; the second transmission shaft is connected to the supporting plate and the base; the first transmission shaft is rotatably connected with the base through a bearing; the first transmission shaft is connected with a first transmission gear, the base is connected with a second transmission gear, the cutter bar is rotatably connected with the base through a bearing, the end part of the cutter bar is connected with a third transmission gear, the second transmission shaft is connected with a small bevel gear, the gear transmission shaft is connected with a large bevel gear and an opening and closing gear respectively, the bearing seat is connected with the support plate, and the gear transmission shaft is connected with the bearing seat; the disc spring is connected with the rear end of the cutter bar, and the rack is connected with the disc spring. The utility model discloses extensively be used for medical instrument technical field.
Description
Technical Field
The utility model relates to a minimally invasive surgery robot technical field particularly, relates to an ultrasonic scalpel apparatus.
Background
In minimally invasive surgery, an ultrasonic scalpel is a common surgical instrument, particularly for cutting biological tissues and closing blood vessels, the ultrasonic scalpel has the characteristics of less bleeding, less damage to surrounding tissues, quick postoperative recovery and the like, and has the functions of cutting and coagulating human tissues without causing side effects such as tissue drying, burning and the like. In the use process of the existing ultrasonic scalpel, a doctor needs to hold the ultrasonic scalpel by hand to cut and stop bleeding of patient tissues, the use operation tests the proficiency of the doctor on the use of the ultrasonic scalpel, in a minimally invasive surgery, because the cut wound of a patient is small, the space of a patient area is narrow, the movement of an instrument is difficult to accurately control by using a holding method, and the doctor is easy to feel fatigue. Therefore, the ultrasonic knife device applied to the minimally invasive surgery robot is developed by those skilled in the art, and refer to the invention patent application with the application publication number of CN110279451A, however, the transmission structure of the ultrasonic knife device is complex, the reliability is low, and in addition, the manufacturing process of the product is time-consuming and labor-consuming.
Disclosure of Invention
The utility model is to solve the technical problems of complex transmission structure, low reliability and time and labor waste in the manufacturing process of the prior ultrasonic scalpel instrument, and provides an ultrasonic scalpel instrument which has simple structure, high reliability and convenient assembly.
The utility model provides an ultrasonic scalpel instrument, which comprises a base, a supporting plate, a square column, a first transmission shaft, a first transmission gear, a second transmission gear, a third transmission gear, a second transmission shaft, a small bevel gear, a large bevel gear, a bearing seat, an opening and closing gear, a gear transmission shaft, a rack, a cutter bar, a fixed sleeve and a disc spring; the supporting plate is connected with the base through a square column; one end of the second transmission shaft is rotatably connected with the supporting plate through a bearing, and the other end of the second transmission shaft is rotatably connected with the base through a bearing; the first transmission shaft is rotatably connected with the base through a bearing; the first transmission gear is fixedly connected with the first transmission shaft, the second transmission gear is rotatably connected with the base, the cutter bar is rotatably connected with the base through a bearing, the third transmission gear is fixedly connected with the end part of the cutter bar, and the second transmission gear is simultaneously meshed with the first transmission gear and the third transmission gear; the small bevel gear is fixedly connected with the second transmission shaft, the large bevel gear and the opening and closing gear are respectively fixedly connected with the gear transmission shaft, the opening and closing gear is meshed with the rack, and the small bevel gear is meshed with the large bevel gear; the bearing seat is fixedly connected to the supporting plate, and the gear transmission shaft is connected with the bearing seat; the fixing sleeve is fixedly connected with the base, the disc spring is connected with the rear end of the cutter bar, the rack is connected with the disc spring, the disc spring is positioned in the inner cavity of the fixing sleeve, and the rear end of the cutter bar is positioned in the inner cavity of the fixing sleeve.
Preferably, the disc spring is sleeved at the rear end of the cutter rod, and the fixed sleeve is fixedly connected with the outer ring sleeve.
Preferably, the ultrasonic scalpel instrument further comprises a rotation connecting block and a connecting lantern ring, and the third transmission gear, the rotation connecting block and the connecting lantern ring are connected together through a gear connecting pin; the autorotation connecting block, the connecting lantern ring and the cutter bar are connected together through the cutter bar connecting pin.
The utility model has the advantages that the gear and rack transmission mechanism is provided, the occupied space is small, the structure is simple, and the reliability is high; the production and manufacturing process is time-saving and labor-saving. The combination of the existing ultrasonic scalpel and the transmission mechanism is realized, so that the ultrasonic scalpel can be used in a minimally invasive surgery robot, the operation of a hand on an instrument is replaced by the operation of the mechanical arm on the instrument, the use operability, the safety and the reliability are improved, the accuracy of the operation is improved, and the labor intensity of a doctor is greatly reduced.
Further features of the invention will be apparent from the description of the embodiments which follows.
Drawings
FIG. 1 is a schematic view of an ultrasonic surgical blade system;
FIG. 2 is a schematic structural view of an ultrasonic surgical blade instrument;
FIG. 3 is a schematic structural view of a third transmission gear connected with a cutter bar;
FIG. 4 is a schematic view showing the connection of the rack, the cutter bar and the disc spring;
FIG. 5 is a schematic view showing the assembly relationship between the second transmission shaft, the base, the support post and the bevel pinion;
FIG. 6 is a schematic view showing the connection among the knife bar, the rack and the disc spring;
FIG. 7 is a schematic diagram of the disc spring driving process;
fig. 8 is an exploded view of the third drive gear, the rotation connecting block, and the connecting collar of fig. 3.
The symbols in the drawings illustrate that:
1. an ultrasonic scalpel instrument comprises, by weight, 1-1 parts of a base, 1-2 parts of a supporting plate, 1-3 parts of a square column, 1-4 parts of a first transmission shaft, 1-5 parts of a first transmission gear, 1-6 parts of a second transmission gear, 1-7 parts of a third transmission gear, 1-8 parts of a second transmission shaft, 1-9 parts of a small bevel gear, 1-10 parts of a large bevel gear, 1-11 parts of a supporting column, 1-12 parts of a bearing seat, 1-13 parts of an opening and closing gear, 1-14 parts of a gear transmission shaft, 1-15 parts of a rack, 1-16 parts of a knife bar, 1-17 parts of a bearing, 1-18 parts of a fixed sleeve, 1-19 parts of an outer ring sleeve, 1-20 parts of a disc spring, 1-21 parts of a movable knife head, 1-22 parts of a fixed knife head, and 1-, 1-24 parts of fixed hinges, 1-25 parts of rotation connecting blocks, 1-26 parts of gear connecting pins, 1-27 parts of connecting lantern rings and 1-28 parts of cutter bar connecting pins; 2. transducer, 3. ultrasonic scalpel host, 4. foot pedal,
Detailed Description
The present invention will be described in further detail with reference to the following detailed description of the preferred embodiments with reference to the accompanying drawings.
As shown in fig. 1, the ultrasonic scalpel system includes an ultrasonic scalpel instrument 1, a transducer 2, an ultrasonic scalpel main body 3, and a foot pedal 4. The transducer 2 connects the ultrasonic scalpel device 1 to the ultrasonic scalpel main body 3 for energy transmission. The pedal 4 is connected with the ultrasonic scalpel main body 3 and used for controlling the transmission energy, and the pedal 4 is generally provided with two pedals which are respectively used for transmitting high energy and low energy.
As shown in FIG. 2, one end of the second transmission shaft 1-8 is rotatably connected with the support plate 1-2 through a bearing, and the other end is rotatably connected with the base 1-1 through a bearing. The first transmission shaft 1-4 is rotatably connected with the base 1-1 through a bearing, and the first transmission shaft 1-4 and the second transmission shaft 1-8 can be respectively connected with the surgical robot and are respectively driven by two motors independently. The first transmission gear 1-5 is fixedly arranged on the first transmission shaft 1-4, the second transmission gear 1-6 is rotatably connected with the base 1-1, the cutter bar 1-16 is rotatably connected with the base 1-1 through a bearing, the third transmission gear 1-7 is fixedly connected with the end part of the cutter bar 1-16, and the second transmission gear 1-6 is meshed with the first transmission gear 1-5 and the third transmission gear 1-7 simultaneously. When the first transmission shaft 1-4 is driven by the motor to rotate, the first transmission gear 1-5 sequentially transmits the rotating motion to the second transmission gear 1-6 and the third transmission gear 1-7, the third transmission gear 1-7 is connected with the cutter bar 1-16, and when the third transmission gear 1-7 rotates, the cutter bar 1-16 is driven to rotate together, so that the self-rotating function is realized. As shown in fig. 5, the bearings 1-17 are installed in the bearing holes of the base 1-1 in an interference fit manner, the inner holes of the bearings are matched with the second transmission shafts 1-8, the supporting column 11 is sleeved on the second transmission shafts 1-8, the supporting column 11 is in contact with the inner rings of the bearings 1-17, the bevel pinions 1-9 are in contact with the supporting columns 1-11, the bevel pinions 1-9 are fixed on the second transmission shafts 1-8 through screws, and when the second transmission shafts 1-8 are driven by the motor to rotate, the bevel pinions 1-9 and the transmission shafts 1-8 of the second transmission shafts rotate simultaneously. The small bevel gears 1-9 are meshed with the large bevel gears 1-10, the rotating motion in the vertical direction is converted into the rotating motion in the horizontal direction, so that the large bevel gears 1-10 rotate, the large bevel gears 1-10 and the opening and closing gears 1-13 are fixedly arranged on the gear transmission shafts 1-14, the opening and closing gears 1-13 are meshed with the racks 1-15, the rotating motion of the large bevel gears 1-10 drives the opening and closing gears 1-13 to rotate, the racks 1-15 can reciprocate in the vertical position, and the racks 1-15 are connected with the opening and closing mechanisms of the cutter bars 1-16, so that the opening and closing motion of the cutter bars can be realized. The gear transmission shaft 1-14 is supported by three bearing blocks 1-12, the gear transmission shaft 1-14 is connected with the three bearing blocks 1-12, the bearing blocks 1-12 are fixedly connected on the supporting plate 1-2, the supporting plate 1-2 is positioned and fixed together by square columns 1-3, one end of each square column 1-3 is fixedly connected with the supporting plate 1-2 through a screw, the other end of each square column 1-3 is connected with the base 1-1 and fixed together through a screw, and the stability of the mechanism during working is improved.
As shown in fig. 3 and 8, the rotation motion of the cutter bars 1-16 is transmitted through the second transmission gears 1-6, and the third transmission gears 1-7 are engaged with the second transmission gears 1-6. Four gear connecting pins 1-26 connect the third transmission gear 1-7, the autorotation connecting blocks 1-25 and the connecting lantern rings 1-27 together. The cutter bar connecting pins 1-28 connect the rotation connecting blocks 1-25, the connecting lantern rings 1-27 and the cutter bars 1-16 together.
As shown in figures 4 and 6, the opening and closing movement of the ultrasonic scalpel is transmitted through the racks 1-15, and the rear end of the ultrasonic scalpel rod is provided with a disc spring, and the compression and extension of the spring can control the opening and closing of the scalpel head. The fixing sleeve 1-18 is fixedly arranged on the base 1-1 through a screw, the disc spring 1-20 is sleeved at the rear end of the cutter bar 1-16, the rack 1-15 is connected with the disc spring 1-20, the disc spring 1-20 is positioned in the inner cavity of the fixing sleeve 1-18, and the rear end of the cutter bar 1-16 is positioned in the inner cavity of the fixing sleeve 1-18. When the racks 1-15 reciprocate in the outer ring sleeves 1-19, the disc springs 1-20 can be driven to compress and extend, so that the cutter head can be opened and closed. The outer ring sleeves 1-19 are in interference tight fit with the fixed sleeves 1-18 to prevent the outer ring sleeves 1-19 and the fixed sleeves 1-18 from sliding relatively, and the outer ring sleeves 1-19 can limit the movement positions of the racks 1-15.
The principle diagram of the opening and closing movement of the ultrasonic knife head is shown in fig. 7, the left and right reciprocating movement of the disc springs 1-20 drives the knife rods 1-16 to reciprocate simultaneously, when the knife rods 1-16 move leftwards, the movable hinges 1-23 move leftwards, the movable knife heads 1-21 rotate anticlockwise around the fixed hinges 1-24, and therefore the movable knife heads 1-21 are opened. When the cutter bar 1-16 moves rightwards, the movable hinge 1-23 moves rightwards, the movable cutter head 1-21 rotates clockwise around the fixed hinge 1-24, and therefore the movable cutter head 1-21 is closed relative to the fixed cutter head 1-22.
It should be noted that, the above structure may also be adopted without using the supporting columns 1 to 11, the bevel pinions 1 to 9 are directly and fixedly mounted on the second transmission shafts 1 to 8, and the bevel pinions 1 to 9 move along with the movement of the second transmission shafts 1 to 8.
The present invention and its embodiments have been described above schematically, and the description is not limited thereto, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if those skilled in the art should understand it, without departing from the spirit of the present invention, they should also understand that other configurations of the components, driving devices and connecting means can be adopted without inventive design and structural modes and embodiments similar to the technical solution.
Claims (3)
1. An ultrasonic scalpel instrument is characterized by comprising a base, a supporting plate, a square column, a first transmission shaft, a first transmission gear, a second transmission gear, a third transmission gear, a second transmission shaft, a small bevel gear, a large bevel gear, a bearing seat, an opening and closing gear, a gear transmission shaft, a rack, a cutter bar, a fixing sleeve and a disc spring; the supporting plate is connected with the base through a square column; one end of the second transmission shaft is rotatably connected with the supporting plate through a bearing, and the other end of the second transmission shaft is rotatably connected with the base through a bearing; the first transmission shaft is rotatably connected with the base through a bearing; the first transmission gear is fixedly connected with the first transmission shaft, the second transmission gear is rotatably connected with the base, the cutter bar is rotatably connected with the base through a bearing, the third transmission gear is fixedly connected with the end part of the cutter bar, and the second transmission gear is meshed with the first transmission gear and the third transmission gear simultaneously; the small bevel gear is fixedly connected with the second transmission shaft, the large bevel gear and the opening and closing gear are respectively fixedly connected with the gear transmission shaft, the opening and closing gear is meshed with the rack, and the small bevel gear is meshed with the large bevel gear; the bearing seat is fixedly connected to the supporting plate, and the gear transmission shaft is connected with the bearing seat; the fixing sleeve is fixedly connected with the base, the disc spring is connected with the rear end of the cutter bar, the rack is connected with the disc spring, the disc spring is located in the inner cavity of the fixing sleeve, and the rear end of the cutter bar is located in the inner cavity of the fixing sleeve.
2. The ultrasonic surgical blade device of claim 1, wherein the disc spring is sleeved on the rear end of the blade bar, and an outer ring sleeve is fixedly connected to the fixing sleeve.
3. The ultrasonic surgical blade apparatus of claim 2, further comprising a rotation connecting block and a connecting collar, the third drive gear, the rotation connecting block and the connecting collar being connected together by a geared connecting pin; the autorotation connecting block, the connecting lantern ring and the cutter bar are connected together through the cutter bar connecting pin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922419570.5U CN211433167U (en) | 2019-12-27 | 2019-12-27 | Ultrasonic scalpel instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922419570.5U CN211433167U (en) | 2019-12-27 | 2019-12-27 | Ultrasonic scalpel instrument |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211433167U true CN211433167U (en) | 2020-09-08 |
Family
ID=72309271
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922419570.5U Active CN211433167U (en) | 2019-12-27 | 2019-12-27 | Ultrasonic scalpel instrument |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211433167U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114947966A (en) * | 2022-08-01 | 2022-08-30 | 中国科学院自动化研究所 | Flexible medical device |
| CN115040201A (en) * | 2022-06-02 | 2022-09-13 | 以诺康医疗科技（苏州）有限公司 | Scissors type ultrasonic surgical instrument |
-
2019
- 2019-12-27 CN CN201922419570.5U patent/CN211433167U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115040201A (en) * | 2022-06-02 | 2022-09-13 | 以诺康医疗科技（苏州）有限公司 | Scissors type ultrasonic surgical instrument |
| CN115040201B (en) * | 2022-06-02 | 2023-08-18 | 以诺康医疗科技（苏州）有限公司 | Scissor type ultrasonic surgical instrument |
| CN114947966A (en) * | 2022-08-01 | 2022-08-30 | 中国科学院自动化研究所 | Flexible medical device |
| CN114947966B (en) * | 2022-08-01 | 2022-10-28 | 中国科学院自动化研究所 | Flexible medical device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN211433167U (en) | Ultrasonic scalpel instrument | |
| US11642126B2 (en) | Surgical stapling apparatus with tissue pockets | |
| EP3949891A1 (en) | Computer-assisted teleoperated surgery systems and methods | |
| JP2019519280A (en) | Robotic surgical assembly and instrument drive thereof | |
| CN109091231B (en) | Main operation arm for minimally invasive surgery | |
| CN201135461Y (en) | Micro-wound operation robot based on endoscopic | |
| RU2010121772A (en) | MEDICAL MANIPULATOR | |
| US11179206B2 (en) | Geared actuation mechanisms for surgical instruments such as for use in robotic surgical systems | |
| CN109091230B (en) | Main operation arm for minimally invasive surgery | |
| CN104398303B (en) | A kind of series-parallel connection manipulator for Minimally Invasive Surgery | |
| CN104337579A (en) | Novel series-parallel mechanical hand for minimally invasive operation | |
| US10470758B2 (en) | Suturing device | |
| CN207747115U (en) | A kind of Scissoring device of silica gel sheet material | |
| CN114041882A (en) | Surgical robot and master hand tool surgical controller | |
| CN217244671U (en) | Surgical robot ultrasonic knife instrument transmission device | |
| CN108175464B (en) | Cutting device of anastomat and anastomat | |
| CN207870963U (en) | The surgical instrument and operating robot of operating robot | |
| CN217244672U (en) | Ultrasonic knife transmission device of surgical robot | |
| CN108784928B (en) | Novel remote motion center mechanism for ophthalmic microsurgery | |
| JP2021514220A (en) | Surgical robot system | |
| CN208709999U (en) | A kind of blood vessel punching component and punch | |
| CN104939881A (en) | Driving device for surgical operating instrument and surgical operating instrument | |
| CN207168549U (en) | The cutter device and stapler of a kind of stapler | |
| CN211433276U (en) | Electric scissors surgical instrument | |
| CN204207850U (en) | A kind of series-parallel connection mechanical hand for Minimally Invasive Surgery |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |