CN216221641U - Surgical instrument - Google Patents

Abstract

The utility model relates to a surgical instrument, which comprises a plurality of driving wires and a plurality of joints which are sequentially and rotatably connected, wherein the joint at the tail end is connected with an actuating mechanism, a plurality of shaft heads are clamped and fixed on the joint at the tail end, the driving wires penetrate through the shaft heads, the driving wires are divided into a first part and a second part by the shaft heads, the first part and the second part penetrate through all the joints, the end parts of the first part and the second part can be connected with the driving mechanism, and through holes for the first part and the second part to penetrate through are through holes which are adjacent along the circumferential direction.

Description

Surgical instrument

Technical Field

The utility model relates to the technical field of medical instruments, in particular to a surgical instrument.

Background

The statements herein merely provide background information related to the present disclosure and may not necessarily constitute prior art.

The existing surgical manipulator driven by the driving wires comprises a plurality of joints which are connected in a rotating mode, the joints are internally provided with the plurality of driving wires which are distributed along the circumference in a penetrating mode, one end of each driving wire is used for being connected with a driving mechanism, and the other end of each driving wire penetrates through all the joints and then is fixed with the tail end of each joint.

(1) The tail end of each driving wire needs to be welded and fixed with a tail end joint or needs to be crimped with a chuck, and the processing and the manufacturing are inconvenient.

(2) The adjacent joints are rotationally connected through the pin shaft, the structure is complex, a plurality of parts are needed during manufacturing, and manufacturing procedures and complexity are increased.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the defects of the prior art and provide a surgical instrument, wherein the connection between a driving wire and a tail end joint is convenient and quick, and the processing difficulty is reduced.

In order to achieve the purpose, the utility model adopts the following technical scheme:

in a first aspect, an embodiment of the present invention provides a surgical instrument, including a plurality of driving wires and a plurality of joints which are sequentially and rotatably connected, wherein the joint at the end is connected with an actuating mechanism, a plurality of shaft heads are fixed to the joint at the end in a clamping manner, the driving wires pass through the shaft heads, the driving wires are divided into a first part and a second part by the shaft heads, the first part and the second part both pass through all the joints, the end parts of the first part and the second part can be connected with the actuating mechanism, and through holes for the first part and the second part to pass through on the joints are through holes adjacent to each other in a circumferential direction.

Optionally, a clamping wall is arranged at the edge of the rear end face of the joint at the tail end, a clamping cylinder is arranged at the center of the rear end face of the joint at the tail end, the clamping wall and the clamping cylinder form a clamping groove, and the shaft head is clamped and fixed with the groove face of the clamping groove.

Optionally, in two adjacent joints, an arc protrusion is arranged in the middle of one of the joints, an arc groove is arranged in the center of the other joint, and the arc protrusion is embedded in the arc groove, so that the two adjacent joints are rotatably connected.

Optionally, the front end face and the rear end face of the joint are inclined faces symmetrically arranged relative to the center of the joint, and the thickness of the center of the joint is larger than that of the edge of the joint.

Optionally, the number of the driving wires is two, the driving wires are respectively a first driving wire and a second driving wire, four through holes are uniformly formed in the joint along the circumference, the through holes through which the first part and the second part of the first driving wire respectively penetrate are two adjacent through holes, and the through holes through which the first part and the second part of the second driving wire respectively penetrate are two other adjacent through holes.

Optionally, the joint at the tail end is rotatably connected with a connecting piece, and the connecting piece is connected with the executing mechanism and can drive the executing mechanism to rotate around the axis of the joint at the tail end.

Optionally, the joint at the end is connected with a plurality of limiting members arranged along the radial direction of the joint, and the limiting members are inserted into annular limiting grooves arranged on the periphery of the connecting member.

Optionally, the actuating mechanism is a clamp assembly, the clamp assembly includes a first clamp and a second clamp which are arranged in a crossed manner and rotatably connected at the crossed position through a rotating shaft, two ends of the rotating shaft are fixed to the connecting piece, the first clamp and the second clamp are connected to the clamp driving piece, and the clamp driving piece can drive the first clamp and the second clamp to open and close.

Optionally, the first clamp and the second clamp are both separated into a first clamp portion and a second clamp portion by a cross position, the first clamp portion is used for applying a clamping force, the second clamp portion of the first clamp and the second clamp is provided with an arc-shaped groove, the clamp driving part comprises a pull rod penetrating through the arc-shaped groove, the pull rod is fixed with a pull head located in the connecting piece, the pull head is fixed with one end of the clamp driving wire, the other end of the clamp driving wire penetrates through all joints and then can be connected with the driving mechanism, the clamp driving wire can drive the pull rod to move along the axis direction of the connecting piece through the pull head, and the first clamp and the second clamp are driven to open and close through the arc-shaped groove.

Optionally, a hole is formed in the middle of each joint for allowing the clamp driving wire to pass through.

The beneficial effects of the utility model are as follows:

1. according to the surgical instrument, the driving wire penetrates through the shaft head and is clamped on the joint at the tail end by the shaft head, the driving wire is not required to be welded with the joint at the tail end, the processing difficulty of the whole surgical instrument is reduced, the processing cost is reduced, after the driving wire penetrates through the shaft head, two parts of the driving wire divided by the shaft head penetrate through all joints through the through holes adjacent to the joints, one driving wire can participate in the driving of two degrees of freedom, the using amount of the driving wire is reduced, and the processing difficulty is further reduced.

2. According to the surgical instrument, the adjacent joints are rotatably connected through the cambered surface protrusions and the cambered surface grooves, and the adjacent joints are connected without using a pin shaft when being installed, so that the using number of parts is reduced, and the processing difficulty of the surgical instrument is reduced.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.

FIG. 1 is a front view of the overall structure of embodiment 1 of the present invention;

FIG. 2 is a plan view of the whole structure of embodiment 1 of the present invention;

FIG. 3 is an isometric view of the overall structure of embodiment 1 of the utility model;

FIG. 4 is a sectional view of embodiment 1 of the present invention;

FIG. 5 is a schematic view showing the clamping connection between the spindle head and the end joint in embodiment 1 of the present invention;

FIG. 6 is a schematic view showing a bent state in example 1 of the present invention;

FIG. 7 is a schematic view of the degrees of freedom achievable in example 1 of the present invention;

FIG. 8 is a schematic view of the angle adjustment principle of the clamp assembly according to embodiment 1 of the present invention;

the clamp comprises a head end joint 1, a middle joint 2, a tail end joint 3, a rigid pipe 4, a first driving wire 5, a second driving wire 6, a clamp assembly 7, a spherical bulge 8, a shaft head 9, a clamping wall 10, a clamping cylinder 11, a rotary connecting part 12, a clamp mounting part 13 and a limiting pin shaft 14;

7-1, a first clamp, 7-2, a second clamp, 7-3, a rotating shaft, 7-4, an arc-shaped groove, 7-5, a pull rod, 7-6, a pull head and 7-7, a clamp driving wire.

Detailed Description

Example 1

The embodiment discloses a surgical instrument, which comprises a plurality of joints which are sequentially and rotatably connected, wherein the joint at the front end is fixedly welded with a rigid pipe 4, and the joint at the tail end is connected with an actuating mechanism, as shown in figures 1-4. In the present embodiment, the actuating mechanism is a clamp assembly 7, it is understood that the actuating mechanism can also be a direct shear, an energy device, a suction irrigation device, etc., and those skilled in the art can select the actuating mechanism according to the actual surgical needs.

In this embodiment, one end of the surgical instrument mounting clamp assembly is defined as a tail end, and the other end is defined as a head end.

The number of joints is determined according to the degree of bending required in actual use, and in this embodiment, in order to meet the actual use requirement, five joints are provided, which are a head joint 1, three middle joints 2, and a tail joint 3 in sequence.

In this embodiment, two driving wires, namely a first driving wire 5 and a second driving wire 6, are further provided, and the surgical instrument can be driven to bend in two planes perpendicular to each other through the first driving wire and the second driving wire, so that the requirement of the degree of freedom of the surgical instrument is met.

The joint is convenient to assemble, and the processing and manufacturing difficulty of the whole surgical instrument is reduced.

In the adjacent joint, the intermediate position of one of them joint is provided with cambered surface arch 8, the cambered surface arch indicates bellied top surface to be the cambered surface, another articulated intermediate position be provided with the bellied assorted cambered surface recess of cambered surface, the bellied embedding of cambered surface in the cambered surface recess, realized the rotation of two adjacent joints and connected, all joints adopt cambered surface arch and cambered surface recess rotation to connect the back, recycle first drive silk and second drive silk with a plurality of joints connection for a whole surgical instruments.

In order to realize the rotary connection mode, the rear end face of the head end joint is provided with an arc-shaped protrusion, the front end face of the middle joint is provided with an arc-shaped groove, the rear end face of the middle joint is provided with an arc-shaped protrusion, the axis of the arc-shaped groove of the middle joint is perpendicular to the axis of the arc-shaped protrusion, and the front end face of the tail end joint is provided with an arc-shaped groove.

All joints can all adopt integral type machine-shaping, for example injection moulding, when the mutual rotation is connected, only need with spherical surface protruding embedding spherical surface recess can, need not to use other articulated parts such as round pin axle, reduced whole surgical instruments's manufacturing procedure, reduced the processing degree of difficulty.

Four through holes are formed in all the joints and are uniformly distributed along the circumference, and the first driving wire and the second driving wire penetrate through the four through holes.

In order to increase the bending angle of the surgical instrument, the front end surface and the rear end surface of each joint are inclined surfaces which are symmetrically arranged relative to the center of each joint, the thickness of the middle part of each joint is larger than that of the edge position of each joint, and when the surgical instrument is bent, adjacent joints can be contacted through the inclined surfaces.

The tail end of a driving wire of a traditional surgical instrument is welded and fixed with a tail end joint, and the joint of the surgical instrument is small in size and thin in driving wire, so that the processing difficulty is high, and the processing cost is high.

In this embodiment, in order to solve the above problem, two spindle heads 9 are fastened to the joints at the ends, the spindle heads are of a columnar structure, a through hole is formed in the centers of the spindle heads, the first driving wire penetrates through one of the spindle heads, the spindle heads divide the first driving wire into two parts, the two parts are respectively a first part and a second part, the two parts of the first driving wire penetrate through all joints through two adjacent through holes in the joints, and the end portions of the two parts of the first driving wire can be connected with the driving mechanism. The second driving wire penetrates through the other shaft head, the shaft head divides the second driving wire into two parts, namely a first part and a second part, the two parts of the second driving wire penetrate through all joints through the other two adjacent through holes in the joints respectively, and the end parts of the two parts of the second driving wire can be connected with the driving mechanism.

The first portion of first drive silk and the second portion of second drive silk are located the both ends of the same first diameter line of joint place circumference, can drive surgical instruments and crooked in the first plane of setting for, the second portion of first drive silk and the first portion of second drive silk are located the both ends of joint place circumference second diameter line, first diameter line and second diameter line are perpendicular, can drive surgical instruments and crooked in the second plane of setting for with first plane looks vertically, and then realized that surgical instruments can bend towards four directions, the demand of degree of freedom has been satisfied.

In this embodiment, utilize two drive silks can realize the crooked of four directions promptly, compare with the traditional only four drive silks of utilization just can realize the crooked of four directions, reduced the use quantity of drive silk, reduced the processing degree of difficulty.

The driving wire is made of steel wires or cables and the like, has certain flexibility and can be bent or formed by winding a plurality of steel wires or cables, and the driving wire can be selected by a person skilled in the art according to actual needs.

In order to realize the clamping fixation of the spindle head and the end joint, in this embodiment, as shown in fig. 5, a clamping wall 10 is disposed at the edge of the rear end face of the end joint, a clamping cylinder 11 is disposed at the center of the rear end face of the end joint, a clamping groove is formed between the clamping cylinder and the clamping wall, the spindle head contacts and is clamped with the groove surface of the clamping groove, and the clamping fixation of the spindle head and the end joint is realized.

In other embodiments, a buckle can be arranged at the rear end of the tail end joint, the buckle is fixedly clamped with the shaft head, and the technical personnel in the field can arrange the tail end joint according to actual needs.

In order to conveniently adjust the angle of the clamp assembly and meet the requirement of degree of freedom, the clamping wall of the tail end joint is rotatably connected with a connecting piece, the connecting piece is connected with the clamp assembly, and the clamp assembly can rotate around the axis of the tail end joint so as to adjust the angle.

The connecting piece is including rotating connecting portion 12 and clamp installation department 13, it is connected with terminal articulated joint wall rotation to rotate connecting portion.

In order to guarantee the stability of the rotation connection, evenly be provided with a plurality of locating parts that radially set up along the end joint along the circumference on the joint wall, the locating part adopts spacing round pin axle 14, set up annular spacing groove on the outer peripheral face of rotation connecting portion, spacing round pin axle inserts in the spacing groove, spacing groove and spacing round pin axle can restrict the motion of rotation connecting portion and joint wall for end joint axis direction, guarantee to rotate the stationarity of connecting.

In order to realize smooth rotation of the rotating connecting part, the diameter of the limiting pin shaft is smaller than the width of the limiting groove.

The clamp installation part adopts a U-shaped structure and is used for installing a clamp assembly.

The clamp assembly comprises a first clamp 7-1 and a second clamp 7-2, the first clamp and the second clamp are arranged in a crossed mode and are rotatably connected through a rotating shaft 7-3 at the crossed position, the rotating shaft is arranged in a clamp installation portion, and two ends of the rotating shaft are fixedly connected with the clamp installation portion.

The first clamp and the second clamp are divided into two parts by a cross position, namely a first clamp part and a second clamp part respectively, the first clamp part of the first clamp and the first clamp part of the second clamp are used for clamping operation in an operation, and in order to ensure the clamping effect, the surfaces of the first clamp and the second clamp used for clamping are sawtooth surfaces.

The second clamp parts of the first clamp and the second clamp are positioned in the clamp installation part and are provided with arc-shaped grooves 7-4, a sharp corner is formed when the first clamp and the second clamp are set to be opened, one end of the arc-shaped groove in the second clamp part of the first clamp is positioned on an angular bisector of the sharp corner, the other end of the arc-shaped groove is positioned on one side of the angular bisector and is close to one side of the second clamp part of the second clamp, one end of the arc-shaped groove in the second clamp part of the second clamp is positioned on the angular bisector of the sharp corner, and the other end of the arc-shaped groove is positioned on the other side of the angular bisector and is close to one side of the second clamp part of the first clamp.

The pull rod 7-5 penetrates through the arc-shaped grooves of the first clamp and the second clamp, and is fixedly connected with the pull head 7-6.

The clamp driving wire is made of steel wires or cables and the like, has certain flexibility and can be bent or formed by winding a plurality of steel wires or cables, and a person skilled in the art can select the steel wires or cables according to actual needs.

In order to realize that the clamp driving wires penetrate through all the joints, a hole is formed in the center of each joint, and the clamp driving wires penetrate through all the joints through the holes.

The working method of the surgical instrument of the embodiment comprises the following steps:

the first driving wire and the second driving wire pass through all the joints through four through holes, and the bending in one direction is taken as an example for explanation:

as shown in fig. 6-7, when a part of the first driving wire, which is divided by the shaft head, is pulled, and a part of the second driving wire, which is located at the other end of the diameter line where the part is located, is loosened, the whole surgical robot arm can be bent in one direction, and when parts of different driving wires are pulled, the surgical robot arm can be bent in four different directions.

As shown in fig. 8, the clamp driving wire is rotated, so that the clamp driving wire rotates around the axis of the clamp driving wire, and the clamp driving wire can drive the first clamp and the second clamp to rotate through the pull head and the pull rod, thereby realizing the angle adjustment of the clamp assembly.

The puller and the pull rod are pushed by the clamp driving wire, and the first clamp and the second clamp are driven to open and close by the interaction of the pull rod and the arc-shaped groove to perform surgical operation.

It will be appreciated that the drive mechanism associated with the first drive wire, the second drive wire and the clamp drive wire may be a drive motor, a drive rod or a direct manual operation, which may be selected depending on the surgical procedure.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.

Claims (10)

1. A surgical instrument comprises a plurality of driving wires and a plurality of joints which are sequentially connected in a rotating mode, and the joints at the tail end are connected with an actuating mechanism.

2. The surgical instrument according to claim 1, wherein a clamping wall is provided at an edge of the rear end surface of the joint at the distal end, a clamping cylinder is provided at a center of the rear end surface of the joint at the distal end, the clamping wall and the clamping cylinder form a clamping groove, and the shaft head is clamped and fixed to a groove surface of the clamping groove.

3. The surgical instrument according to claim 1, wherein a spherical protrusion is disposed at a central position of one of the two adjacent joints, and a spherical groove is disposed at a central position of the other joint, and the spherical protrusion is inserted into the spherical groove to realize the rotational connection between the two adjacent joints.

4. The surgical instrument according to claim 1, wherein the front and rear end surfaces of the joint are inclined surfaces symmetrically disposed with respect to the center of the joint, and the thickness at the center of the joint is larger than the thickness at the edge thereof.

5. The surgical instrument according to claim 1, wherein the two driving wires are a first driving wire and a second driving wire, the joint is uniformly provided with four through holes along the circumference, the through holes through which the first part and the second part of the first driving wire respectively pass are two adjacent through holes, and the through holes through which the first part and the second part of the second driving wire respectively pass are two other adjacent through holes.

6. The surgical instrument of claim 1 wherein the distal joint is rotatably coupled to a coupling member, the coupling member being coupled to the actuator to rotate the actuator about the axis of the distal joint.

7. The surgical instrument according to claim 1, wherein a plurality of stoppers are connected to the joints at the distal ends in a radial direction of the joints, and the stoppers are inserted into annular stopper grooves provided on the outer periphery of the connecting member.

8. The surgical instrument of claim 7, wherein the actuator is a jaw assembly, the jaw assembly including first and second jaws disposed in a cross-over arrangement and pivotally connected at the cross-over location by a pivot, the pivot being fixed at opposite ends to the connecting member, the first and second jaws being connected to a jaw driving member, the jaw driving member being capable of driving the first and second jaws to open and close.

9. The surgical instrument according to claim 8, wherein the first and second jaws are each divided into a first and second jaw portion by a cross portion, the first jaw portion is configured to apply a clamping force, the second jaw portion of the first and second jaws is provided with an arc-shaped groove, the jaw driving member includes a pull rod passing through the arc-shaped groove, the pull rod is fixed to a pull head located in the connecting member, the pull head is fixed to one end of the jaw driving wire, the other end of the jaw driving wire can be connected to the driving mechanism after passing through all joints, the jaw driving wire can drive the pull rod to move along the axis direction of the connecting member through the pull head, and the arc-shaped groove drives the first and second jaws to open and close.

10. A surgical instrument according to claim 9, wherein the joints are provided with apertures at a central location for passage of the clip drive wire.

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