CN217488726U

CN217488726U - Suture needle holder for minimally invasive surgery robot

Info

Publication number: CN217488726U
Application number: CN202221312457.2U
Authority: CN
Inventors: 陈飞蛟; 刘剑; 蔡强国
Original assignee: Shanghai Ruitouch Technology Co ltd
Current assignee: Shanghai Ruitouch Technology Co ltd
Priority date: 2022-05-30
Filing date: 2022-05-30
Publication date: 2022-09-27
Anticipated expiration: 2032-05-30

Abstract

The utility model relates to a suture needle holder for minimally invasive surgery robot, which comprises a suture needle and a needle holder matched with the suture needle, wherein the suture needle comprises a needle point, a needle tail, a needle holding part and a needle body, the needle body is in a circular arc structure, one end of the needle body is the needle point, the other end of the needle body is the needle tail, and the needle holding part is designed at the position close to the needle tail; the needle holder comprises a base, a driving disc A, a driving disc B, a supporting rod and a clamp head, wherein the clamp head is installed at one end of the supporting rod, the other end of the supporting rod is installed on the base, the driving disc A and the driving disc B are installed on the base, the driving disc A and the driving disc B respectively control the rotation of the clamp A and the clamp B of the clamp head through rotation, when the clamp A and the clamp B are combined, a notch A on the clamp A is aligned with the notch B, and the planes of the notch A and the notch B are tightly attached to the plane of a needle holding part so as to stably clamp a suture needle; the utility model discloses can prevent to take place relative slip between sewing needle and the needle holder, shorten the time of sewing up, solve the real problem of the time overlength of sewing up among the robot minimal access surgery.

Description

Suture needle holder for minimally invasive surgery robot

[ technical field ]

The utility model relates to the field of medical equipment, in particular to a novel suture needle holder for a minimally invasive surgery robot.

[ background art ]

The surgical minimally invasive surgery has the advantages of small body surface wound, relatively small bleeding amount, quick postoperative recovery and the like, and is widely popularized in the fields of thoracic cavity, abdominal cavity, urinary system, gynecology and the like. In recent years, a batch of minimally invasive surgery robots emerge, not only inherit the advantages of traditional minimally invasive surgery, but also have the functions of remote operation, master-slave mapping and the like, and greatly reduce the physical consumption of surgeons. However, there is no significant difference in overall procedure time between traditional minimally invasive surgery and robotic minimally invasive surgery. The robot is adopted to carry out minimally invasive surgery, the surgery time is not obviously reduced, and the surgery efficiency is improved. By comparing the two operation modes, the time consumption of the robot minimally invasive surgery in the suture knot stage is particularly long, often exceeds 30 minutes, and is far more than that of the traditional minimally invasive surgery.

Whereas commercially available and standardized needles are generally in the form of elongated circular arcs with smooth outer surfaces and circular cross-sections. This structure is not conducive to stable grasping of the suture needle by the needle holder. In particular, when suturing in a human body, the needle holder holds the suture needle due to the lubricating action of blood, body fluid, or the like, and the suture needle may be displaced or positionally slid. At present, the suture can be performed only by frequently adjusting the posture and the position of the suture needle.

Therefore, in order to solve the practical problem that the suture time is too long due to the relative sliding between the suture needle and the needle holder in the robot minimally invasive surgery, if a novel suture needle and a novel needle holder for a minimally invasive surgery robot can be provided, so that the suture needle and the needle holder are prevented from sliding relatively, the suture time is shortened, and the method has very important significance.

[ contents of utility model ]

The utility model aims at solving the defects and providing a suture needle holder for a minimally invasive surgery robot, which can prevent the suture needle from sliding relative to the needle holder, shorten the suture time and solve the practical problem of overlong suture time in the minimally invasive surgery of the robot.

The suture needle holder for the minimally invasive surgery robot comprises a suture needle 9 and a needle holder matched with the suture needle 9, wherein the needle holder is used for clamping the suture needle 9; the suture needle 9 comprises a needle point 15, a needle tail 16, a needle holding part 17 and a needle body 18, wherein the needle body 18 is of an arc-shaped structure, one end of the needle body 18 is the needle point 15, the other end of the needle body 18 is the needle tail 16, and the needle holding part 17 is designed at a position close to the needle tail 16; the needle holder comprises a base 10, a driving disc A11, a driving disc B12, a supporting rod 13 and a binding clip 14, wherein the binding clip 14 is installed at one end of the supporting rod 13, the other end of the supporting rod 13 is installed on the base 10, the driving disc A11 and the driving disc B12 are installed on the base 10, the driving disc A11 and the driving disc B12 respectively control the rotation of a clamp A23 and a clamp B28 of the binding clip 14 through rotation, notches A24 and B27 are respectively arranged on the clamp A23 and the clamp B28, when the clamp A23 and the clamp B28 are combined, the notch A24 is aligned with the notch B27, and the planes of the notch A24 and the notch B27 are tightly attached to the plane of a needle holding portion 17 of the suture needle 9 so as to stably hold the suture needle 9.

Further, the cross section of the needle body 18 is a circular section 22, the diameter of the circular section 22 of the needle body 18 is gradually reduced from the needle tail 16 to the needle point 15, and the cross section of the needle holding part 17 is a square section 19.

Further, the binding clip 14 is composed of a clamp a 23, a clamp B28, a wire winding wheel a 37, a wire winding wheel B36 and a pin shaft 35, the pin shaft 35 penetrates through the clamp a 23, the clamp B28, the wire winding wheel a 37 and the wire winding wheel B36, the clamp B28 and the wire winding wheel B36 rotate around the pin shaft 35 and have unchanged relative positions, the clamp a 23 and the wire winding wheel a 37 rotate around the pin shaft 35 and have unchanged relative positions, a plane C25 and a plane D26 of the notch a 24 are respectively tightly attached to a plane a 20 and a plane B21 of the needle holding portion 17 of the suture needle 9, and two planes of the notch B27 are respectively tightly attached to the other two planes of the needle holding portion 17.

Furthermore, a boss C34 is arranged on the contact surface of the clamp B28 and the wire winding wheel B36, the boss C34 and an opening 40 on the wire winding wheel B36 form a channel, a U-shaped groove 41 on the side wall of the wire winding wheel B36 is embedded with the steel cable B29, a part of the steel cable B29 is embedded in the U-shaped groove 41, a part of the steel cable B29 passes through the channel and forms a steel cable self-contact section 43.

Furthermore, a boss A31 and a boss B33 are arranged on the contact surface of the pliers B28 and the wire winding wheel B36, a cylindrical hole A39 and a cylindrical hole B42 are correspondingly arranged on the wire winding wheel B36, the boss A31 and the boss B33 are respectively matched and connected with the cylindrical hole A39 and the cylindrical hole B42, and the plane E32 of the pliers B28 is clung to the plane F38 of the wire winding wheel B36.

Furthermore, a boss C34, a boss A31 and a boss B33 are also arranged on the surface of the clamp A23, which is contacted with the wire winding wheel A37, the structures of the clamp A23 and the wire winding wheel A37 are respectively the same as the structure of the clamp B28 and the structure of the wire winding wheel B36, the wire winding wheel A37 is embedded with the steel cable A30, and the distribution and the working mode of the steel cable A30 are the same as the steel cable B29.

Furthermore, the pliers A23 and the pliers B28 are respectively driven by a steel cable A30 and a steel cable B29, and the steel cable A30 and the steel cable B29 are respectively connected with the driving disc A11 and the driving disc B12 and are controlled by the driving disc A11 and the driving disc B12.

Further, the steel cable B29 is divided into a steel cable self-contact section 43, a steel cable left end 45 and a steel cable right end 44, the steel cable self-contact section 43 is used for preventing the steel cable B29 from sliding, the steel cable left end 45 controls the pliers B28 to rotate around the pin shaft 35 towards the pliers a 23, and the steel cable right end 44 controls the pliers B28 to rotate around the pin shaft 35 towards the pliers a 23 in the opposite direction.

Further, the needle holder comprises a needle holder A5 and a needle holder B6, the needle holder A5 and the needle holder B6 are respectively installed at the tail ends of the mechanical arm A4 and the mechanical arm B7, the mechanical arm A4 and the mechanical arm B7 are respectively connected with controllers in the control cabinet A3 and the control cabinet B8, and the controllers in the control cabinet A3 and the control cabinet B8 respectively control the mechanical arm A4 and the mechanical arm B7 to move so as to control the position and the posture of the needle holder A5 and the needle holder B6.

Compared with the prior art, the utility model provides a novel suture needle holder for minimally invasive surgery robot, aiming at the practical problem that the suture time is overlong because of the relative sliding between the suture needle and the needle holder in the robot minimally invasive surgery, the needle holder can stably clamp the suture needle, thereby preventing the suture needle from sliding relatively to the needle holder, shortening the suture time and solving the problem of overlong suture time in the robot minimally invasive surgery; furthermore, the utility model discloses the cable wire can be divided into the cable wire from contact segment, cable wire left end and cable wire right-hand member, and the cable wire has also further guaranteed from the contact segment that the cable wire does not appear sliding, is worth popularizing and applying.

[ description of the drawings ]

FIG. 1 is a schematic diagram of the application structure of the present invention;

fig. 2 is a schematic perspective view of the present invention;

FIG. 3a is a schematic view of the front structure of the suture needle of the present invention;

FIG. 3B is a cross-sectional view taken along line B-B of FIG. 3 a;

FIG. 3c is a cross-sectional view taken along line A-A of FIG. 3 a;

FIG. 4 is a schematic view of the three-dimensional structure of the needle holder end of the present invention;

FIG. 5 is an exploded view of the distal end of the needle holder of the present invention;

FIG. 6 is a schematic perspective view of a wire winding wheel B according to the present invention;

figure 7 is a cross-sectional view of a pliers B of the present invention;

in the figure: 1. the surgical bed 2, the patient 3, the control cabinet A4, the mechanical arm A5, the needle holder A6, the needle holder B7, the mechanical arm B8, the control cabinet B9, the suture needle 10, the base 11, the drive disk A12, the drive disk B13, the support rod 14, the forceps head 15, the needle point 16, the needle tail 17, the needle holding part 18, the needle body 19, the square section 20, the plane A21, the plane B22, the circular section 23, the forceps A24, the notch A25, the plane C26, the plane D27, the notch B28, the forceps B29, the steel cable B30, the steel cable A31, the boss A32, the plane E33, the boss B34, the boss C35, the pin shaft 36, the wire winding wheel B37, the wire winding wheel A38, the plane F39, the cylindrical hole A40, the opening 41, the U-shaped groove 42, the cylindrical hole B43, the needle holder B8, the control cabinet B9, the needle holding part 18, the square section 20, the plane A21, the plane B22, the circular section 23, the circular section A24, the circular hole A24, and the circular hole B24, and the circular hole B24, A self-contacting section 44, a right end 45 of the cable, and a left end of the cable.

[ detailed description of the invention ]

The invention is further described below with reference to the accompanying drawings:

the utility model provides a novel suture needle holder for a minimally invasive surgery robot, which comprises a suture needle 9 and a needle holder matched with the suture needle 9, wherein the needle holder is used for clamping the suture needle 9; the suture needle 9 mainly comprises a needle point 15, a needle tail 16, a needle holding part 17 and a needle body 18, wherein the needle body 18 is in an arc-shaped structure, one end of the needle body 18 is the needle point 15, the other end of the needle body 18 is the needle tail 16, and the needle holding part 17 is designed at a position close to the needle tail 16; the needle holder mainly comprises a base 10, a driving disc A11, a driving disc B12, a supporting rod 13 and a binding clip 14, wherein the binding clip 14 is installed at one end of the supporting rod 13, the other end of the supporting rod 13 is installed on the base 10, the driving disc A11 and the driving disc B12 are installed on the base 10, and the driving disc A11 controls the rotation of a binding clip A23 of the binding clip 14 through rotation; the driving disc B12 rotates to control the rotation of a clamp B28 of the clamp head 14, a notch A24 and a notch B27 are respectively arranged on the clamp A23 and the clamp B28, when the clamp A23 is combined with the clamp B28, the notch A24 is aligned with the notch B27, and the planes of the notch A24 and the notch B27 are tightly attached to the plane of the needle holding part 17 of the sewing needle 9 so as to stably hold the sewing needle 9; in the suture needle holder for the minimally invasive surgery robot, the suture needle and the needle holder are matched structurally, and the needle holder can stably clamp the suture needle, so that the suture needle is prevented from sliding relatively, and the suture time is shortened.

As an example of a robot minimally invasive surgery shown in fig. 1, the needle holder includes a needle holder A5 and a needle holder B6, the needle holder A5 and the needle holder B6 are respectively installed at the ends of a mechanical arm A4 and a mechanical arm B7, the mechanical arm A4 and the mechanical arm B7 are respectively connected with controllers in a control cabinet A3 and a control cabinet B8, the controllers in the control cabinet A3 and the control cabinet B8 respectively control the actions of the mechanical arm A4 and the mechanical arm B7, and further control the positions and postures of the needle holder A5 and the needle holder B6; that is, the positions and postures of the needle holder A5 and the needle holder B6 control the mechanical arm A4 and the mechanical arm B7 to operate through controllers in the control cabinet A3 and the control cabinet B8, and the needle holder A5 and the needle holder B6 work in coordination, so that the suturing of the patient 2 on the operating table 1 can be completed.

The sewing needle 9 is of an arc-shaped structure overall, one end of the sewing needle is a needle point 15, the other end of the sewing needle is a needle tail 16, and a needle holding part 17 is designed at a position close to the needle tail 16; the cross section B-B of the needle body 18 of the suture needle 9 is a circular section 22, the diameter of the circular section 22 of the needle body 18 is gradually reduced from the needle tail 16 to the needle point 15, except for the needle holding part 17; the cross-section a-a of the needle holding portion 17 is a square section 19, as shown in fig. 3a, 3b and 3 c.

The clamp head 14 consists of a clamp A23, a clamp B28, a wire winding wheel A37, a wire winding wheel B36 and a pin shaft 35, wherein the pin shaft 35 penetrates through the clamp A23, the clamp B28, the wire winding wheel A37 and the wire winding wheel B36; a boss A31 and a boss B33 are arranged on the contact surface of the clamp B28 and the wire winding wheel B36, a cylindrical hole A39 and a cylindrical hole B42 are correspondingly arranged on the wire winding wheel B36, the boss A31 and the boss B33 are respectively matched with the cylindrical hole A39 and the cylindrical hole B42 on the wire winding wheel B36, and the plane E32 of the clamp B28 is tightly attached to the plane F38 of the wire winding wheel B36; the clamp B28 and the wire winding wheel B36 can rotate around the pin shaft 35, and the relative positions are unchanged; the pliers A23 and the winding wheel A37 rotate in the same manner about the pin 35, the relative positions being unchanged. A notch A24 is designed on the clamp A23, a notch B27 is designed on the clamp B28, and when the clamp A23 and the clamp B28 are combined, the notch A24 is aligned with the notch B27; the plane C25 and the plane D26 of the notch A24 are respectively in close contact with the plane A20 and the plane B21 of the needle holding portion 17 of the suture needle 9, and the two planes of the notch B27 are respectively in close contact with the other two planes of the needle holding portion 17, so that the binding clip 14 stably holds the suture needle 9.

The utility model discloses in, be equipped with boss C34 on the face of pincers B28 and wire winding wheel B36 contact, the opening 40 on boss C34 and the wire winding wheel B36 constitutes a passageway, and partly U type groove 41 on the wire winding wheel B36 lateral wall is inlayed to cable wire B29, and partly through this passageway, and form the cable wire from contact segment 43. That is, the cable B29 can be divided into a cable self-contacting section 43, a cable left end 45 and a cable right end 44, the cable self-contacting section 43 ensures that the cable B29 does not slide, the cable left end 45 controls the jaw B28 to rotate around the pin 35 toward the jaw a 23, and the cable right end 44 controls the jaw B28 to rotate around the pin 35 toward the jaw a 23 in the opposite direction.

The surface of the clamp A23, which is contacted with the wire winding wheel A37, is also provided with a boss C34, a boss A31 and a boss B33, the structures of the clamp A23 and the wire winding wheel A37 are respectively the same as the clamp B28 and the wire winding wheel B36, the wire winding wheel A37 is embedded with a steel cable A30, and the distribution and the working mode of the steel cable A30 are the same as the steel cable B29. The pliers A23 and the pliers B28 are respectively driven by a steel cable A30 and a steel cable B29, and the steel cable A30 and the steel cable B29 are respectively connected with the driving disk A11 and the driving disk B12 and are controlled by the driving disk A11 and the driving disk B12. That is, the rotations of the pliers a 23 and the pliers B28 are independent of each other without interference, and are driven by the cables a 30 and B29, respectively.

The present invention is not limited by the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and are all included in the protection scope of the present invention.

Claims

1. The utility model provides a suture needle holder for minimally invasive surgery robot which characterized in that: comprises a suture needle (9) and a needle holder matched with the suture needle (9), wherein the needle holder is used for clamping the suture needle (9); the suture needle (9) comprises a needle point (15), a needle tail (16), a needle holding part (17) and a needle body (18), wherein the needle body (18) is of an arc-shaped structure, one end of the needle body (18) is the needle point (15), the other end of the needle body (18) is the needle tail (16), and the needle holding part (17) is designed at a position close to the needle tail (16); the needle holder comprises a base (10), a driving disk A (11), a driving disk B (12), a supporting rod (13) and a tong head (14), one end of the supporting rod (13) is provided with a tong head (14), the other end of the supporting rod (13) is arranged on the base (10), a driving disc A (11) and a driving disc B (12) are arranged on the base (10), the driving disc A (11) and the driving disc B (12) respectively control the rotation of a tong A (23) and a tong B (28) of the tong head (14) through rotation, the clamp A (23) and the clamp B (28) are respectively provided with a notch A (24) and a notch B (27), when the clamp A (23) and the clamp B (28) are combined, the notch A (24) is aligned with the notch B (27), and the planes of the notch A (24) and the notch B (27) are clung to the plane of the needle holding part (17) of the sewing needle (9) so as to stably hold the sewing needle (9).

2. The needle holder for a suture needle for a minimally invasive surgical robot according to claim 1, characterized in that: the cross section of the needle body (18) is a circular section (22), the diameter of the circular section (22) of the needle body (18) is gradually reduced from the needle tail (16) to the needle point (15), and the cross section of the needle holding part (17) is a square section (19).

3. The needle holder for a suture needle for a minimally invasive surgical robot according to claim 1, characterized in that: the binding clip (14) comprises a clamp A (23), a clamp B (28), a wire winding wheel A (37), a wire winding wheel B (36) and a pin shaft (35), wherein the pin shaft (35) penetrates through the clamp A (23), the clamp B (28), the wire winding wheel A (37) and the wire winding wheel B (36), the clamp B (28) and the wire winding wheel B (36) rotate around the pin shaft (35) and have unchanged relative positions, the clamp A (23) and the wire winding wheel A (37) rotate around the pin shaft (35) and have unchanged relative positions, a plane C (25) and a plane D (26) of a notch A (24) are respectively clung to a plane A (20) and a plane B (21) of a needle holding portion (17) of a sewing needle (9), and two planes of the notch B (27) are clung to the other two planes of the needle holding portion (17).

4. The needle holder for a suture needle for a minimally invasive surgical robot according to claim 3, characterized in that: a boss C (34) is arranged on the surface, in contact with the wire winding wheel B (36), of the clamp B (28), the boss C (34) and an opening (40) in the wire winding wheel B (36) form a channel, a steel cable B (29) is embedded in a U-shaped groove (41) in the side wall of the wire winding wheel B (36), a part of the steel cable B (29) is embedded in the U-shaped groove (41), and a part of the steel cable B passes through the channel and forms a steel cable self-contact section (43).

5. The needle holder for a suture needle for a minimally invasive surgical robot according to claim 4, wherein: a boss A (31) and a boss B (33) are arranged on the surface of the pliers B (28) contacting the wire winding wheel B (36), a cylindrical hole A (39) and a cylindrical hole B (42) are correspondingly arranged on the wire winding wheel B (36), the boss A (31) and the boss B (33) are respectively matched and connected with the cylindrical hole A (39) and the cylindrical hole B (42), and the plane E (32) of the pliers B (28) is tightly attached to the plane F (38) of the wire winding wheel B (36).

6. The needle holder for a suture needle for a minimally invasive surgical robot according to claim 5, wherein: the steel cable winding clamp is characterized in that a boss C (34), a boss A (31) and a boss B (33) are also arranged on the surface, in contact with the wire winding wheel A (37), of the clamp A (23), the structure of the wire winding wheel A (37) is the same as that of the clamp B (28) and that of the wire winding wheel B (36), the wire winding wheel A (37) is embedded with a steel cable A (30), and the distribution and the working mode of the steel cable A (30) are the same as those of the steel cable B (29).

7. The needle holder for a suture needle for a minimally invasive surgical robot according to claim 1, characterized in that: the pliers A (23) and the pliers B (28) are respectively driven by a steel cable A (30) and a steel cable B (29), and the steel cable A (30) and the steel cable B (29) are respectively connected with a driving disc A (11) and a driving disc B (12) and are controlled by the driving disc A (11) and the driving disc B (12).

8. The needle holder for a suture needle for a minimally invasive surgical robot of claim 7, wherein: the steel cable B (29) is divided into a steel cable self-contact section (43), a steel cable left end (45) and a steel cable right end (44), the steel cable self-contact section (43) is used for enabling the steel cable B (29) not to slide, the steel cable left end (45) controls the pliers B (28) to rotate around the pin shaft (35) towards the pliers A (23), and the steel cable right end (44) controls the pliers B (28) to rotate around the pin shaft (35) towards the pliers A (23) in the opposite direction.

9. The needle holder for a suture needle for a minimally invasive surgical robot according to any one of claims 1 to 8, characterized in that: the needle holder comprises a needle holder A (5) and a needle holder B (6), the needle holder A (5) and the needle holder B (6) are respectively installed at the tail ends of a mechanical arm A (4) and a mechanical arm B (7), the mechanical arm A (4) and the mechanical arm B (7) are respectively connected with controllers in a control cabinet A (3) and a control cabinet B (8), and the controllers in the control cabinet A (3) and the control cabinet B (8) respectively control the actions of the mechanical arm A (4) and the mechanical arm B (7) so as to control the positions and postures of the needle holder A (5) and the needle holder B (6).