CN217525259U

CN217525259U - Continuous shooting clip applier with integrated bendable structure

Info

Publication number: CN217525259U
Application number: CN202122956059.6U
Authority: CN
Inventors: 庞建; 高轶明; 翟俊旺
Original assignee: Suzhou Wesent Medical Robot Co Ltd
Current assignee: Suzhou Wesent Medical Robot Co Ltd
Priority date: 2021-11-28
Filing date: 2021-11-28
Publication date: 2022-10-04
Anticipated expiration: 2031-11-28

Abstract

The utility model discloses a repeating clip applier with an integrated bendable structure, wherein, the clip applier body tube comprises a bendable part and comprises a front body tube and a rear body tube which are connected by the bendable structure; the bendable part comprises a plurality of joints which are connected in sequence; the joint comprises a joint seat, and one side of the joint seat is fixedly provided with a stop piece and a shaft piece; the two stop pieces and the two shaft pieces are uniformly distributed on one side of the joint seat; a stop groove and a shaft groove are arranged on the opposite side of the joint seat; when adjacent joints are connected with each other, the gear piece is inserted into the gear groove, and the shaft piece is limited in the shaft groove. The utility model discloses a company of integral type structure of can buckling sends out and executes clamp axostylus axostyle has the portion of can buckling, helps improving the flexibility of action.

Description

Repeating clip applier with integrated bendable structure

Technical Field

The utility model belongs to the technical field of the manipulator utensil of patient side among the minimal access surgery system, especially, relate to the continuous sending of integral type bendable structure is executed and is pressed from both sides.

Background

The clip applier is a surgical instrument in surgical operation, and is used for clamping a special closing clip such as a plastic clip or a metal clip at a specified position of a blood vessel or a urinary catheter so as to achieve the effects of cutting off, blocking flow and the like.

In the process of minimally invasive surgery, the space for the instrument to move is limited, and the requirements on the flexibility and the reliability of the instrument are continuously improved.

The special forceps for the existing surgical robot has certain technical function defects, and if a shaft rod of the forceps cannot be bent, the flexibility of the forceps is required to be improved, and reduction of surgical wounds is not facilitated. In addition, the existing special clip applier for robots can not perform multiple clip appliers while meeting the bendable function, and can not meet the operation requirements and the like.

How to further improve the comprehensive performance of the surgical robot special clip applier is always one of the research and development directions of those skilled in the art.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art's defect, provide the continuous sending of integral type bendable structure and execute the clamp.

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

a repeating clip applier with an integrated bendable structure is characterized in that a body tube of the clip applier comprises a bendable part, the body tube comprises a front body tube and a rear body tube, and the front body tube is connected with the rear body tube through the bendable part; the bendable part comprises a plurality of joints which are connected in sequence; the joint comprises a joint seat, the middle part of the joint seat is provided with a through hole, and one side of the joint seat is fixedly provided with a stop piece and a shaft piece; the two stop pieces and the two shaft pieces are uniformly distributed on one side of the joint seat; a stop groove and a shaft groove are arranged on the opposite side of the joint seat; when adjacent joints are connected with each other, the gear piece is inserted into the gear groove, and the shaft piece is limited in the shaft groove.

Preferably, the utility model also comprises a body base, a body tube connected with the body base, a nail feeding rod connected with the body base and a nail closing rod connected with the body base; a nail feeding rod moving mechanism for driving the nail feeding rod to move back and forth and a nail closing rod moving mechanism for driving the nail closing rod to move back and forth are arranged in the base of the device body;

the body base comprises two turning control bobbins and a wire fixing device;

the two bending control bobbins are respectively and fixedly connected with the fourth chuck and the fifth chuck, and when the fourth chuck and the fifth chuck rotate, the bending control bobbins fixedly connected with the fourth chuck and the fifth chuck rotate along with the fourth chuck and the fifth chuck;

a winding shaft groove is arranged on the turning control spool;

the wire fixing device is fixedly connected with the middle layer bracket, the wire fixing device is provided with a plurality of wire holes, and the wire rope is connected with the turning control wire shaft;

the nail feeding rod and the nail closing rod are respectively provided with a flexible part, and the flexible parts correspond to the bendable parts in position;

one end of the wire rope is fixedly connected with the winding shaft groove, and the other end of the wire rope extends into the body pipe from the wire guide hole and is connected with the joint.

Preferably, the nail feeding rod comprises a first straight rod part and a first snake rod part, the front end of the nail feeding rod is provided with a front end of the nail feeding rod, the nail closing rod comprises a second straight rod part and a second snake rod part, and the front end of the nail closing rod is provided with a front end of the nail closing rod; the inside fixedly connected with of sending the nail pole backs the taut rope, and the rear portion that backs the taut rope and send the inside fixed connection of nail pole, the preceding end card of the taut rope that backs is put in the draw-in groove of sending the preceding end of nail pole.

The silk ropes sequentially pass through the silk rope holes in the joints from the back to the front, and the tail end of each silk rope is fixedly connected with the silk rope hole of the joint positioned at the foremost end.

Preferably, the shaft piece is a convex body which extends outwards from the joint seat and is provided with a certain arc surface;

the shaft groove is a concave part which is matched with the shaft piece and is concave towards the joint seat.

When the shaft lever of the clip applier bends and rotates, the shaft lever can rotate along the arc surface of the shaft piece, and when the shaft piece and the shaft groove have a deflection trend along the arc surface of the shaft piece, the blocking piece and the blocking groove generate action interference, so that deflection action is prevented.

Preferably, the joint seats positioned at the two sides of the shaft piece are provided with inclined planes for avoiding actions in the process of joint rotation; the shaft sheet is a circular bulge extending outwards from the joint seat or a bulge with an excellent arc surface; the bendable part of the body tube is formed by cutting in an integrated manner.

Preferably, the nail feeding rod, the nail closing rod and the instrument body tube of the clip applier are respectively connected with an instrument body base, and the instrument body base can be connected with a mechanical arm of a surgical robot when in use;

the body base comprises a second transmission component, a third transmission component and a driving assembly;

the second transmission assembly and the third transmission assembly are respectively connected with the driving assembly;

the second transmission assembly comprises a second chuck and a second transmission wheel, and the second chuck is fixedly connected with the second transmission wheel through a shaft; when the second chuck rotates, the second transmission wheel rotates along with the second chuck;

the third transmission assembly comprises a third chuck and a third transmission wheel, and the third chuck is fixedly connected with the third transmission wheel through a shaft; when the third chuck rotates, the third driving wheel rotates along with the third chuck;

the drive assembly includes an outer rotor and an inner rotor; the inner rotating body and the outer rotating body can be connected in a rotating mode by taking the central axis of the inner rotating body and the central axis of the outer rotating body as an axis;

the external rotating body comprises a first cylindrical body, a cavity extending along the central axis of the first cylindrical body is arranged in the first cylindrical body, and the outer side wall of the first cylindrical body is connected with a third driving wheel; when the third transmission wheel rotates, the first cylindrical body rotates along with the third transmission wheel;

the inner rotating body comprises a second cylindrical body, the upper part of the second cylindrical body extends into the cavity, the lower part of the second cylindrical body is positioned outside the cavity, and the outer side wall of the part of the second cylindrical body, which is positioned outside the cavity, is connected with the second driving wheel; when the second driving wheel rotates, the second cylindrical body rotates along with the second driving wheel; a nail closing driving sleeve is fixedly arranged in the second cylindrical body, a through screw hole is formed in the middle of the nail closing driving sleeve, and a nail closing rod is in threaded connection with the nail closing driving sleeve;

one end of the cavity, which is far away from the opening, is fixedly provided with a nail feeding driving sleeve, a through screw hole is formed in the nail feeding driving sleeve, and a nail feeding rod is connected with the nail feeding driving sleeve through threads;

the upper part of the first cylindrical body is fixedly connected with the positioning seat, and the first cylindrical body can rotate relative to the positioning seat; the lower part of the second cylindrical body is fixedly connected with the other positioning seat, and the second cylindrical body can rotate relative to the positioning seat;

the nail feeding rod and the nail closing rod are respectively connected with the rotation stopping mechanism, the rotation stopping mechanism can prevent the nail feeding rod and the nail closing rod from rotating by taking the self central axis as the axis, and the rotation stopping mechanism allows the nail feeding rod and the nail closing rod to move along the self central axis direction.

Preferably, the nail closing rod is sleeved outside the nail feeding rod, the body pipe is sleeved outside the nail closing rod, and the body pipe, the nail closing rod and the nail feeding rod are coaxially arranged;

the nail feeding rod penetrates through the second cylindrical body and is connected with the first cylindrical body.

Preferably, the utility model also comprises a first transmission component and a third cylindrical body, wherein the first transmission component comprises a first chuck and a first transmission wheel, and the first chuck is fixedly connected with the first transmission wheel through a shaft; when the first chuck rotates, the first transmission wheel rotates along with the first chuck; the lower part of the third cylindrical body is rotatably connected with the positioning seat, the third cylindrical body is fixedly connected with the instrument body tube, the third cylindrical body is connected with the first transmission wheel, and when the first transmission wheel rotates, the third cylindrical body rotates along with the first transmission wheel.

Preferably, the outer side wall of the first cylindrical body is fixedly provided with a gear ring, the third transmission wheel is a transmission gear, and the gear ring is meshed with the transmission gear;

the outer side wall of the second cylindrical body is provided with a gear ring, the second driving wheel is a transmission gear, and the gear ring is meshed with the transmission gear.

Preferably, a gear ring is fixedly arranged on the outer side wall of the third columnar body, the first transmission wheel is a transmission gear, and the gear ring is meshed with the transmission gear.

Preferably, the instrument body base comprises a base, a middle layer bracket and a top layer bracket, the middle layer bracket and the top layer bracket are respectively and fixedly connected with the base, the upper part of the first cylindrical body is rotatably connected with the top layer bracket, and the lower part of the second cylindrical body is rotatably connected with the middle layer bracket; the third columnar body of the repeating clip applier clamp is rotatably connected with the base; the first chuck, the second chuck and the third chuck of the instrument body base respectively extend out of the base.

Preferably, the rotation stopping mechanism comprises a rotation stopping pipe, the rotation stopping pipe is fixedly connected with a body pipe of the clip applier, and a first guide hole is formed in the side wall of the rotation stopping pipe;

the side wall of the nail closing rod is provided with a second guide hole corresponding to the first guide hole in position;

the nail feeding rod is fixedly connected with a limiting column, the limiting column is inserted into the first guide hole and the second guide hole, and when the nail feeding rod or the nail closing rod moves towards the front portion or the rear portion of the clip applier, the limiting column moves along the length direction of the first guide hole and the length direction of the second guide hole.

Preferably, the tissue clamping device comprises a clamping jaw positioned at one end of a device body tube, a nail bin fixedly arranged in the device body tube, a rotation stopping tube fixedly arranged in the device body tube, a nail feeding assembly used for pushing a tissue clamp to the clamping jaw and a nail closing assembly used for closing the clamping jaw;

the nail feeding assembly comprises a nail feeding rod and a nail feeding plate fixedly connected with the nail feeding rod;

the clamping jaw is hinged with the front part of the nail bin, and a closing spring capable of providing closing force for the clamping jaw to close for a certain angle is arranged at the tail part of the clamping jaw;

the nail feeding plate is connected with the nail bin; the front end of the nail feeding plate is provided with a nail pushing head for pushing the tissue clamp, and when the nail feeding rod moves towards the front end or the rear end of the instrument, the nail feeding plate can move forwards/backwards along the length direction of the nail bin along with the nail feeding rod; and the nail feeding plate is connected with an opening spring.

Preferably, a nail closing rod in a nail closing assembly of the clip applier is sleeved outside the nail feeding rod, the front end of the nail closing rod is fixedly connected with a nail closing pipe, the nail closing pipe is sleeved outside the nail bin, a limiting bulge is arranged on the side wall of the nail bin, a through hole is arranged on the side wall of the nail closing pipe, the limiting bulge penetrates through the through hole, and the through hole allows the limiting bulge to pass through in a reciprocating mode along the length direction of the through hole.

Preferably, a guide fixing piece is fixedly arranged in the instrument body tube, a fixing hole corresponding to the limiting bulge is formed in the guide fixing piece, and the limiting bulge penetrates through the through hole and is inserted into the fixing hole; the guide fixing piece is separated into two parts from the middle part, and the two parts are buckled to form a cylinder shape during assembly; a gap for reciprocating motion of the nail closing tube is preset between the guide fixing piece and the nail bin.

The utility model discloses a company of integral type bendable structure applies clamp axostylus axostyle has the portion of can buckling, helps improving the flexibility of action.

And, the utility model discloses a unique joint mechanism in the portion of can turning can integrated into one piece, need not counter shaft and limit structure and carries out extra assembly, when saving the process, helps reducing structure station space, unified technology to improve the accurate nature of action of joint structure.

In addition, the clip applier can be butted and fused with a surgical robot to form a surgical robot clip applier.

The utility model discloses a function that is used for surgical robot's company to send out clamp can realize company to send out when butt joint fuses with surgical robot and carry out the clamp.

Drawings

FIG. 1 is a schematic structural view of the present invention;

fig. 2 is a schematic structural diagram of the positional relationship of the first chuck, the second chuck and the third chuck of the present invention;

fig. 3 is a schematic structural diagram of the connection of the first transmission assembly, the second transmission assembly, and the third transmission assembly with the driving assembly;

fig. 4 is a schematic structural diagram of the drive assembly of the present invention;

FIG. 5 is a schematic structural view of the nail feeding assembly and the nail closing assembly of the present invention;

FIG. 6 is a schematic structural view of the rotation stopping mechanism of the present invention;

FIG. 7 is a schematic structural view of the tissue clip of the present invention in the position inside the staple cartridge;

FIG. 8 is a schematic structural view of the base, the middle layer bracket and the top layer bracket of the present invention;

FIG. 9 is a schematic view of the connection of the outer rotor and the inner rotor according to the present invention;

fig. 10 is a schematic structural view of the closing spring of the present invention;

fig. 11 is a schematic structural view of the expanding spring of the present invention;

fig. 12 is a schematic structural view of the housing of the present invention;

fig. 13 is a schematic structural view of a fourth chuck and a fifth chuck according to the present invention;

fig. 14 is a schematic structural view of the turning control spool of the present invention;

FIG. 15 is a schematic structural view of the wire fixing device of the present invention;

fig. 16 is a schematic structural view of the connection between the wire rope and the wire fixing device of the present invention;

FIG. 17 is a schematic structural view of the flexible bendable portion of the clip applier of the present invention;

fig. 18 is a schematic structural view of a joint of the present invention;

fig. 19 is a schematic structural view of a backspacing tensioning rope of the present invention;

fig. 20 is a schematic structural view of the connection relationship between the nail feeding rod and the nail closing rod and the backspacing tensioning rope according to an embodiment of the present invention;

fig. 21 is a schematic structural view of a flexible bendable portion of an embodiment of the present invention;

fig. 22 is a schematic structural view of an embodiment of the present invention;

fig. 23 is a schematic structural view of a joint according to an embodiment of the present invention;

fig. 24 is a schematic structural view of the joint seat of the present invention;

FIG. 25 is a schematic structural view showing the relationship between two joints when the two joints rotate around the shaft piece as the shaft according to an embodiment of the present invention;

in the drawings, there is shown in the drawings, 1 clip applier, 2 jaws, 3 barrels, 4 barrels bases, 5 nail feeding rods, 6 nail closing rods, 71 first chucks, 72 first driving wheels, 81 second chucks, 82 second driving wheels, 91 outer rotating bodies, 911 first cylindrical bodies, 912 cavities, 913 nail feeding driving sleeves, 92 inner rotating bodies, 921 second cylindrical bodies, 922 nail closing driving sleeves, 93 third cylindrical bodies, 94 third chucks, 95 third driving wheels, 10 gear rings, 11 shells, 111 bases, 112 middle layer brackets, 113 upper covers, 114 top layer brackets, 121 rotation stopping tubes, 122 first guiding holes, 122 nail feeding driving sleeves, 92 inner rotating bodies, 921 second cylindrical bodies, 922 third cylindrical bodies, 93 third cylindrical bodies, 95 third driving wheels, 10 gear rings, 11 shells, 111 bases, 112 middle layer brackets, 113 upper covers, 114 top layer brackets, 121 rotation stopping tubes 123 second guide hole, 124 limit column, 13 nail bin, 131 limit bulge, 132 nail bin stopping spring sheet, 14 nail feeding plate, 141 nail pushing head, 142 nail feeding spring sheet, 15 closing spring, 16 opening spring, 17 nail closing pipe, 18 via hole, 19 actuating hook, 191 actuating hook hole, 20 guide fixing sheet, 201 fixing hole, 21 manual control port, 22 control port cover plate, a tissue clamp, a1 positioning bulge, b central axis of the external rotator and the internal rotator, c bearing, d platform position, e clamping jaw tail and f shaft lever.

24 front body tube, 25 rear body tube, 26 joints, 261 wire hole, 262 rotating shaft, 27 first straight rod part, 271 front end of nail feeding rod, 28 first snake rod part, 29 second straight rod part, 291 front end of nail closing rod, 30 second snake rod part, 40 withdrawing tensioning rope, 401 withdrawing tensioning rope front end, 50 wire rope, 60 turning control spool, 601 winding shaft groove, 70 wire fixing device, 701 wire hole, 80 fourth chuck and 90 fifth chuck.

100 joint seats, 101 shaft pieces, 102 baffle pieces, 103 baffle grooves, 104 shaft grooves, 105 wire rope holes and 106 inclined planes.

Detailed Description

The following examples are given in conjunction with the accompanying drawings to further illustrate the embodiments. The present invention is not limited to the description of the following embodiments.

In the following embodiments, the main disclosed technical solutions are: a repeating clip applier for a surgical robot belongs to a part of a minimally invasive surgical robot system, and is assembled with a mechanical arm in the process of minimally invasive surgery, and the manipulation actions input by a doctor (a doctor, a nurse or other workers who manipulate the minimally invasive surgical robot system in the process of surgery in the following implementation mode) are converted into the surgical actions of a front-end instrument through the minimally invasive surgical robot system.

Example 1

In this embodiment, in order to facilitate the technical solution disclosed in the embodiments of the present invention to be fully and clearly understood by those skilled in the art, a more uniform orientation reference is used: the orientation of the clamping jaw is taken as the front, and the orientation of the body base is taken as the back (refer to the attached figure 1). The "tissue clips" may also be referred to as "staples" or "tacks" in this embodiment.

Referring to fig. 1 to 4, the one-piece bendable structure of the repeating clip applier, the nail feeding rod, the nail closing rod and the body tube of the clip applier are respectively connected with the body base, and when in use, the body base is connected with the mechanical arm of the surgical robot.

As shown in fig. 3 and 4, the body base includes a second transmission component, a third transmission component, and a drive assembly.

The second transmission component and the third transmission component are respectively connected with the driving assembly.

The second transmission assembly comprises a second chuck and a second transmission wheel, and the second chuck is fixedly connected with the second transmission wheel through a shaft.

The third transmission assembly comprises a third chuck and a third transmission wheel, and the third chuck is fixedly connected with the third transmission wheel through a shaft.

The drive assembly comprises an outer rotor and an inner rotor; the inner rotating body and the outer rotating body can be connected in a rotating mode by taking the central axis of the inner rotating body and the central axis of the outer rotating body as an axis.

The external rotating body comprises a first cylindrical body, a cavity extending along the central axis of the first cylindrical body is arranged in the first cylindrical body, and the outer side wall of the first cylindrical body is connected with the third transmission wheel; when the third transmission wheel rotates, the first cylindrical body rotates along with the third transmission wheel.

As shown in fig. 3 and 4, the inner rotating body comprises a second cylindrical body, the upper part of the second cylindrical body extends into the cavity, the lower part of the second cylindrical body is positioned outside the cavity, and the outer side wall of the part of the second cylindrical body, which is positioned outside the cavity, is connected with the second driving wheel; when the second driving wheel rotates, the second cylindrical body rotates along with the second driving wheel; the nail closing driving sleeve is fixedly arranged inside the second cylindrical body, a through screw hole is formed in the middle of the nail closing driving sleeve, and the nail closing rod is in threaded connection with the nail closing driving sleeve.

The one end of keeping away from the open-ended in chamber is fixed to be provided with and send the nail drive cover, send nail drive cover inside to be provided with penetrating screw, send the nail pole with send through threaded connection between the nail drive cover.

The nail feeding driving sleeve and the nail closing driving sleeve are hollow sleeve-shaped driving sleeves with connecting threads.

Referring to fig. 8: the upper part of the first cylindrical body is fixedly connected with the positioning seat, and the first cylindrical body can rotate relative to the positioning seat; the lower part of the second cylindrical body is fixedly connected with the other positioning seat, and the second cylindrical body can rotate relative to the positioning seat. It should be clear from reading this embodiment and referring to the drawings that the positioning seat only allows the first cylindrical body and the second cylindrical body to rotate about their own central axes, but does not allow the first cylindrical body and the second cylindrical body to yaw or translate or rotate about their own central axes.

The following illustrates a set of transmission actions: when the nail closing driving sleeve rotates, on one hand, the thread of the nail closing driving sleeve generates pushing/pulling force on the nail closing rod, on the other hand, the rotation stopping mechanism prevents the nail closing rod from rotating and allows the nail closing rod to move along the direction of the central axis of the nail closing rod, and thus the nail closing rod moves forwards/backwards. Similarly, when the third chuck rotates forwards or reversely, the third driving wheel rotates along with the third chuck, so that the first columnar body is driven to rotate, the nail feeding driving sleeve rotates along with the third chuck, and the nail feeding rod is pushed to move forwards or backwards. In the process of forward movement of the nail feeding rod, the tissue clamp in the nail bin is pushed into the clamping jaw, and the nail closing rod draws the clamping jaw in and closes the clamping jaw when moving forward, so that the tissue clamp is closed.

As shown in fig. 8: the device body base comprises a base, a middle layer bracket and a top layer bracket, wherein the middle layer bracket and the top layer bracket are respectively and fixedly connected with the base; the third cylinder of the burst applicator clamp is rotatably connected to the base. In this embodiment, the structures rotatably coupled to each other are coupled using bearings. The first chuck, the second chuck and the third chuck of the instrument body base respectively extend out of the base, the first chuck, the second chuck and the third chuck are respectively connected with a plurality of brake discs or actuating motors of the surgical robot at corresponding positions, and when the brake discs or the actuating motors rotate forwards or backwards, the first chuck, the second chuck and the third chuck rotate forwards or backwards along with the brake discs or the actuating motors. The body base is provided with a clamping mechanism or other quick-release mechanism for detachably fixing with the surgical robot.

In some embodiments of the present invention, the positioning seat is connected to the first cylindrical body and the second cylindrical body through a bearing.

As shown in fig. 9: the inner side wall of the cavity is fixedly connected with the outer side wall of the second cylindrical body through a bearing. The inner diameter of the opening end of the cavity is expanded to form a platform, the outer diameter of the upper part of the second cylindrical body is reduced to form a platform, and a bearing is clamped between the inner platform of the cavity and the outer platform of the second cylindrical body.

As shown in fig. 4 and 9: the nail closing rod is sleeved outside the nail feeding rod, the body pipe is sleeved outside the nail closing rod, and the body pipe, the nail closing rod and the nail feeding rod are coaxially arranged. The nail feeding rod penetrates through the second cylindrical body and is connected with the first cylindrical body.

As shown in fig. 3 and 4: preferably, in some embodiments of the present invention, to further enhance the maneuverability of the clip applier, more physician manipulation actions are performed, and the technical solution is optimized: arranging a first transmission assembly and a third cylindrical body, wherein the first transmission assembly comprises a first chuck and a first transmission wheel, and the first chuck is fixedly connected with the first transmission wheel through a shaft; the lower part of the third cylindrical body is rotatably connected with the positioning seat, the third cylindrical body is fixedly connected with the body tube, and the third cylindrical body is connected with the first transmission wheel. When the first driving wheel rotates, the third cylindrical body is driven to rotate, and the body pipe follows up. Thereby realizing the autorotation of the body tube of the clip applier. The orientation of the clamping jaw is convenient to adjust. Preferably, the nail feeding rod and the nail closing rod penetrate through the third cylindrical body to be connected with the second cylindrical body and the first cylindrical body.

In the above embodiments, the "positioning seat" described is a fixing frame/seat structure with a positioning function connected to a structure to be positioned (e.g., a first column, a second column, a third column, etc.), and on the premise of satisfying compact and precise functions and structural layout, the "positioning seat" may be separate, respectively corresponding to the structure of the device to be positioned, and may also be an integrated positioning structure.

As shown in fig. 3: the outer side wall of the first columnar body is fixedly provided with a gear ring, the third driving wheel is a transmission gear, and the gear ring is meshed with the transmission gear.

The outer side wall of the second cylindrical body is provided with a gear ring, the second driving wheel is a transmission gear, and the gear ring is meshed with the transmission gear. The outer side wall of the third columnar body is fixedly provided with a gear ring, the first transmission wheel is a transmission gear, and the gear ring is meshed with the transmission gear.

As shown in fig. 4, preferably, the first column, the second column and the third column are coaxially arranged, and the nail closing rod and the nail feeding rod penetrate through a central hole of the third column and then extend into the second column and the first column.

As shown in fig. 5 and 6, preferably, the rotation stopping mechanism comprises a rotation stopping tube, the rotation stopping tube is fixedly connected with the body tube of the clip applier, and a first guide hole is formed in the side wall of the rotation stopping tube; and a second guide hole corresponding to the first guide hole is formed in the side wall of the nail closing rod.

The nail feeding rod is fixedly connected with a limiting column, the limiting column is inserted into the first guide hole and the second guide hole, and when the nail feeding rod or the nail closing rod moves towards the front portion or the rear portion of the clip applier, the limiting column moves along the length direction of the first guide hole and the second guide hole. It should be understood from reading the present embodiment that the first guide hole and the second guide hole are holes having a certain length, such as long holes (waist-shaped holes) or other holes capable of limiting the deflection of the position-limiting column and allowing the position-limiting column to move in the length direction. The rotation stopping mechanism can prevent the nail from being fed into the driving sleeve the nail feeding rod and the nail closing rod rotate along with the nail closing driving sleeve in the rotating process.

As shown in fig. 1, 5 and 7, the clip applier comprises a body tube, a clamping jaw at one end of the body tube, a staple cartridge fixedly arranged in the body tube, a rotation stop tube fixedly arranged in the body tube, a staple feeding assembly for pushing a tissue clip to the clamping jaw, and a staple closing assembly for closing the clamping jaw.

The device body pipe and the nail closing rod are respectively of a hollow structure, the nail closing rod is inserted in the device body pipe, and the nail feeding rod is inserted in the nail closing rod.

The nail feeding assembly comprises a nail feeding rod and a nail feeding plate fixedly connected with the nail feeding rod.

As shown in fig. 10: the clamping jaw is hinged with the front part of the nail bin, and the tail part of the clamping jaw is provided with a closing spring which can provide closing force for the clamping jaw to close for a certain angle.

Referring to fig. 5: the nail feeding plate is connected with the nail bin; the front end of the nail feeding plate is provided with a nail pushing head used for pushing the tissue clamp, and when the nail feeding rod moves towards the front end or the rear end of the instrument, the nail feeding plate can move forwards/backwards along the length direction of the nail bin along with the nail feeding rod.

Referring to figures 5 and 7 of the drawings: preferably, close the nail subassembly including closing the nail pole, close the nail pole suit and send the outside of nail pole, close the front end of nail pole and close nail pipe fixed connection, close nail pipe suit outside the nail storehouse, the lateral wall of nail storehouse is provided with spacing arch, the lateral wall of closing the nail pipe is provided with the via hole, and spacing arch passes from the via hole, and the via hole allows spacing arch to pass through along the length direction of via hole is reciprocal. The via holes are kidney-shaped holes in this embodiment. The nail bin and the nail feeding plate are inserted in the nail closing pipe.

As shown in fig. 7, with reference to fig. 5 and 11: an opening spring used for keeping the clamping jaws in an opening state is connected to the nail feeding plate. The nail feeding plate is fixedly provided with a nail feeding elastic sheet, the nail bin is internally provided with a nail bin stopping elastic sheet, the nail feeding plate is connected with the nail bin to form a bin which extends along the length direction of the nail bin and can store the tissue clamp, and when the tissue clamp is positioned in the bin, the nail feeding elastic sheet and the nail bin stopping elastic sheet are respectively abutted against a positioning bulge part (also called as a tissue clamp cylinder) of the tissue clamp. The nail feeding elastic sheet and the nail bin backstop elastic sheet are arranged in pairs oppositely. The tissue clamps are sequentially arranged along the length direction of the nail bin, when the nail feeding rod moves forwards, the nail pushing head feeds the foremost tissue clamp in the nail bin into the clamping jaw, and the nail feeding elastic sheet pushes the tissue clamp positioned at the rear position forwards in the process. The tissue clamps are pushed to the clamping jaws one by one and closed, so that the aim of continuously applying the clamps is fulfilled. After the nail feeding is finished once, the nail feeding plate returns backwards, the nail feeding elastic sheet bounces off the tissue clamp under the elastic deformation of the nail feeding elastic sheet in the process, and the nail bin backstop elastic sheet abuts against the positioning bulge of the tissue clamp to prevent the tissue clamp from retreating along with the nail feeding elastic sheet. Before not sending the nail, the clamping jaw keeps opening, and the afterbody at the clamping jaw is held to the front end card of opening spring this moment, and opening spring moves forward along with sending the nail board, leans on the boss at the clamping jaw afterbody until opening spring front end, and the couple that moves on the opening spring breaks away from with sending the action couple hole on the nail board, send the nail board to retreat the in-process, and it gets into and collude again and send the action couple hole on the nail board to move, and opening spring returns along with sending the nail board to retreat, accomplishes once and send the nail. When the nail is closed, the nail closing pipe moves forwards until the nail closing pipe closes the clamping jaw collecting cage, and the nail closing is completed.

Referring to fig. 5, a guide fixing piece is fixedly arranged in the body tube, a fixing hole corresponding to the limiting protrusion is formed in the guide fixing piece, and the limiting protrusion penetrates through the through hole and is inserted into the fixing hole. The guide fixing piece is separated into two parts from the middle part, and the two parts are buckled to form a cylinder shape during assembly. A gap for reciprocating motion of the nail closing tube is preset between the guide fixing piece and the nail bin. The guide fixing piece is welded or clamped and fixed in the instrument body tube.

Example 2

As shown in fig. 12, the present embodiment is optimized based on embodiment 1: the casing of ware body base includes the upper cover of being connected with base detachable, and the upper cover closes middle level support and top layer support lid in inside, and the upper cover is provided with the manual control mouth, manual control mouth detachable is connected with control mouthful apron. The position of the manual control port corresponds to the positions of the second transmission wheel, the third transmission wheel and/or the first transmission wheel in the instrument body base.

The control port cover plate is made of transparent materials. The control port cover plate is fixedly clamped with the manual control port.

When the accident of utensil minimum probability meets artificial irresistible surgical robot system power supply disappearance, leads to the unable action of front end manipulator utensil, leads to executing the clamp unable action, and medical personnel can stir first drive wheel, second drive wheel or third drive wheel through opening the control mouth through manual control mouth.

Referring to the drawings, several exemplary clip applier application sequences are illustrated below, and the present invention is not limited to a single action, but the following actions are merely exemplary.

In use, the first action is that the body tube rotates: the first chuck drives the first transmission wheel to rotate, the first transmission wheel is meshed with the third cylindrical body through a gear, the third cylindrical body is fixedly connected with the body tube through a pin, and the first chuck rotates to enable the body tube to rotate along the center shaft of the body tube.

And II, feeding clips: the third chuck is connected with a third driving wheel, the third driving wheel is meshed with a gear outside the first cylindrical body, a nail feeding driving sleeve (also called as a nail feeding nut) is fixed inside the third cylindrical body, and the nail feeding driving sleeve is matched with the screw thread of the nail feeding rod. The nail feeding rod is provided with a limiting column which slides in the long hole of the rotation stopping pipe to prevent the nail feeding rod from rotating. The rotation stopping pipe is fixed in the body pipe through a buckle.

When the third chuck rotates under the driving of the actuating motor/actuating disc, the nail feeding driving sleeve correspondingly rotates, the screw threads push the nail feeding rod, the rotation motion is changed into linear motion, and the nail feeding rod moves forwards or backwards.

The head of the nail feeding rod is fixedly connected with the tail of the nail feeding plate, and the movement of the nail feeding rod is transferred to the nail feeding plate. The head of the staple feeding plate pushes the tissue gripper located in the ready-to-deliver position forward to the working position, at which time the gripper jaws are in an open state. Meanwhile, the nail feeding plate is provided with a nail feeding elastic sheet, and the nail feeding elastic sheet pushes a tissue clamp cylinder of a second tissue clamp (the tissue clamp positioned at the forefront part in the nail bin is the first tissue clamp, and the tissue clamps are sequentially arranged to the back part to form an nth tissue clamp of the second tissue clamp … …) to move forwards along the nail bin to a position ready for delivery.

Action three, closing the clamp: the second chuck is connected with a second driving wheel which is meshed with a gear outside the second cylindrical body, a nail closing driving sleeve (also called a nail closing screw cap) is arranged inside the second cylindrical body, and the nail closing driving sleeve is matched with the screw thread of the nail closing rod. When the second chuck rotates under the drive of the actuating motor/actuating disc, the nail closing driving sleeve correspondingly rotates, the screw threads push the nail closing rod, the rotation motion is changed into linear motion, and the nail closing rod moves forwards along with the linear motion. The rotation stopping mechanism also prevents the nail closing rod from rotating. The head of the nail closing rod is fixedly connected with the tail of the nail closing pipe, and the movement of the nail closing rod is transferred to the nail closing pipe. The nail closing pipe is guided by the guide fixing piece which is fixed in the body pipe through a buckle. And when the nail closing pipe advances, the clamping jaws are pushed to be closed, and the nail closing is completed.

Action four, close the nail pole, send the nail pole to reset: (the related figure shows that the action III is used for closing the clamp), the second chuck rotates reversely (the reverse direction refers to the direction opposite to the direction of the closing nail action) under the driving of the motor, and the closing nail driving sleeve rotates reversely to drive the closing nail rod and the closing nail pipe to return to the original position.

The third chuck rotates reversely under the drive of the motor (the related figure shows that the action II is the nail feeding clamp), the nail feeding driving sleeve rotates reversely, and the nail feeding rod is driven to return to the original position.

In the process that the nail feeding rod drives the nail pushing piece to return to the original position, the head of the nail feeding plate and the nail feeding elastic piece are pulled back, and the second tissue clamp completely returns to the position of preparing the nail bin and is clamped by the nail bin backstop elastic piece.

And fifthly, feeding and closing the nails again: after resetting is completed, feeding the nail again, closing the nail and performing action two: clip feeding and action three: the closed clamp is the same.

Example 3

This example was optimized on the basis of example 2 or 1: as shown in fig. 13 to 20, the shaft of the clip applier has flexible, bendable portions.

Further, the body tube comprises a front body tube and a rear body tube, and the front body tube and the rear body tube are connected through a plurality of joints. As shown in fig. 21 and 22, the guide fixing piece, the magazine, and the nail feeding plate are connected to the front body pipe, the rotation stopping pipe is connected to the rear body pipe, and the body base is connected to the rear body pipe.

As shown in fig. 13, 16 and 18, a bending control spool and a wire fixing device are arranged in the body base, and the wire fixing device is fixedly connected with the middle layer bracket. The two bending control bobbins are fixedly connected with the fourth chuck and the fifth chuck respectively. Two wire ropes with opposite winding directions are fixed on the winding shaft grooves of each turning control spool respectively, the wire ropes enter the body tube through wire holes in the wire fixing device and reach the joints along the body tube and are fixedly connected with the wire rope holes of the joints, and when the turning control spools rotate under the driving of the chucks, the wire ropes drive the joints to turn. Further, two wire ropes on each turn control spool are grouped, and each group of wire ropes is connected with two wire rope holes opposite to each other at the joint. The fourth chuck and the fifth chuck respectively extend out of the outer side of the base.

In some embodiments of the present invention, two wires are disposed on each turning control spool, and the two wires are wound on the turning control spool in opposite directions, that is, when one turning control spool rotates in one direction, one of the two wires on the turning control spool is wound on the turning control spool along the winding shaft groove, and the other wire is gradually paid off from the turning control spool along the winding shaft groove. After the wire rope is stretched into the body tube from the wire guide hole, the wire rope sequentially penetrates into the wire guide hole on the joint from the rear part of the turning section (the tube section where the joint on the body tube is located is called as the turning section) to the front part of the turning section and is finally fixed with the guide hole of the joint positioned at the forefront part of the turning section. Four wire rope holes are uniformly distributed on the circumference of each joint of the turning section, and two wire ropes on the same turning control spool are respectively connected with two wire rope holes positioned at opposite angles in the four wire rope holes, so that the turning of the turning section on a plane is realized

Referring to figures 19 and 20 and 21: the front end of the nail closing rod is fixedly connected with the rear part of the nail closing pipe, and the front end of the nail feeding rod is fixedly connected with the nail feeding plate. In some embodiments of the present invention, welding is used for fixing.

As shown in fig. 18, further, joint bases for fixedly connecting joints are fixedly arranged at the end portions of the front body tube and the rear body tube, adjacent joints are fixedly connected through rotating shafts, two adjacent joints form a turning group, and the axes of the rotating shafts on the adjacent turning groups are perpendicular to each other. In this embodiment, the rotating shaft is a rivet, and adjacent joints can rotate around the rivet. The silk ropes sequentially pass through the silk rope holes in the joints from the back to the front, and the tail end of each silk rope is fixedly connected with the silk rope hole of the joint positioned at the foremost end.

Referring to fig. 20, further, the nail feeding rod and the nail closing rod at the positions of the joints are respectively provided with flexible parts. The nail feeding rod comprises a first straight rod part and a first snake rod part, and the front end of the nail feeding rod is provided with a front end head. The nail closing rod comprises a second straight rod part and a second snake rod part, and the front end of the nail closing rod is provided with a front end head. The inside fixedly connected with of sending the nail pole backs the taut rope, and the rear portion that backs the taut rope and send the inside fixed connection of nail pole, the front end card of backing the taut rope is put in the draw-in groove of sending the front end of nail pole. The front end of the nail feeding rod is abutted against the front end of the nail closing rod, the front end of the nail feeding rod is clamped outside the middle hole of the nail closing rod, and when the nail feeding rod moves backwards, the withdrawing tensioning rope can keep tension, so that the first snake rod part is prevented from being excessively stretched in the process of withdrawing backwards. When the bendable part bends, the returning tensioning rope is elastically deformed, bends along with the bending action, and returns after the bending is finished. The position of the back tensioning rope corresponds to the position of the first snake rod part. When the clip applier is in an initial state, namely the clip jaws are opened, and the nail feeding rod and the nail closing rod are positioned at the rearmost part of the movement stroke, the rear end of the front end head of the nail feeding rod is abutted against the front end of the front end head of the nail closing rod, and the front end head of the backspacing tensioning rope is clamped on the front end head of the nail feeding rod. As shown in the figure, the nail bin, the nail feeding plate and the guide fixing plate are positioned in the inner part of the front body tube.

Example 4

This example was optimized on the basis of example 1 or 2: as shown in fig. 22 to 24, the shaft of the clip applier is provided with a bendable portion comprising a plurality of joints connected in series. The joint comprises a joint seat, as shown in fig. 24 and 25, a through hole is formed in the middle of the joint seat, and a stop piece and a shaft piece are fixedly arranged on one side of the joint seat. The two stop pieces and the two shaft pieces are uniformly distributed on one side of the joint seat. The opposite side of the joint seat where the stop piece and the shaft piece are located is provided with a stop groove and a shaft groove. The connecting line of the centers of the two baffle plates of the same joint seat is vertical to the connecting line of the centers of the two shaft plates of the same joint seat.

The stop piece is a round shape extending outwards from the joint seat or a convex body with a good arc surface. The shaft groove is a concave part which is corresponding to the outer contour of the shaft piece and is concave towards the joint seat.

The gear piece protrudes outwards from the joint seat, and the gear groove is matched with the outer contour of the gear piece. When adjacent joints are connected with each other, the gear piece is inserted into the gear groove.

When the shaft lever of the clip applier is bent, the clip applier can rotate along the arc surface of the shaft piece, and when the shaft lever tries to perform actions other than rotation along the arc surface of the shaft piece, action interference occurs between the stop piece and the stop groove, so that the actions are prevented. (refer to fig. 25), that is, when the joint rotates along the arc surface of the shaft piece, the gear piece moves along with the joint, the gear groove gives way to the action of the gear piece, and the inclined surface gives way to the rotation action, so that the rotation is completed; when the two joints are subjected to a force perpendicular to the plane of the rotating direction, the stop piece and the side wall of the stop groove are abutted against each other to generate action interference, and the two joints are prevented from relatively moving under the action of the force. When the shaft piece and the shaft groove have a deflection trend under the external force in other directions along the arc surface of the shaft piece, the action interference occurs between the stop piece and the stop groove, so that the deflection action is prevented. Thereby realizing a plane rotation between two adjacent and connected joint seats. As shown in fig. 23, the joint seats on both sides of the shaft piece are provided with inclined surfaces for avoiding movement during the rotation of the joint.

As shown in fig. 23, preferably, in the present embodiment, the plurality of joints of the shaft bendable portion of the clip applier are formed by integral cutting. Preferably, the shaft piece is a circular protruding body protruding outwards from the joint seat or a protruding body with a good arc surface.

The joint seat is provided with two symmetrically arranged baffle plates and two symmetrically arranged shaft plates, and as shown in the attached drawing, the connecting line of the centers of the two baffle plates is the connecting line vertical to the centers of the two shaft plates.

The foregoing is a more detailed description of the present invention, taken in conjunction with the specific preferred embodiments thereof, and it is not intended that the invention be limited to the specific embodiments shown and described. To the utility model belongs to the technical field of ordinary technical personnel, do not deviate from the utility model discloses under the prerequisite of design, can also make a plurality of simple deductions or replacement, all should regard as belonging to the utility model discloses a protection scope.

Claims

1. The utility model provides a clip is executed to running fire of structure that integral type can be bent which characterized in that: the body tube of the clip applier comprises a bendable part, the body tube comprises a front body tube and a rear body tube, and the front body tube and the rear body tube are connected through the bendable part;

the bendable part comprises a plurality of joints which are connected in sequence;

the joint comprises a joint seat, the middle part of the joint seat is provided with a through hole, and one side of the joint seat is fixedly provided with a stop piece and a shaft piece; the two stop pieces and the two shaft pieces are uniformly distributed on one side of the joint seat; a stop groove and a shaft groove are arranged on the opposite side of the joint seat;

when adjacent joints are connected with each other, the gear piece is inserted into the gear groove, and the shaft piece is limited in the shaft groove.

2. The one-piece bendable structural hair clip applier of claim 1, wherein: comprises a device body base, a device body tube connected with the device body base, a nail feeding rod connected with the device body base and a nail closing rod connected with the device body base; a nail feeding rod moving mechanism for driving the nail feeding rod to move back and forth and a nail closing rod moving mechanism for driving the nail closing rod to move back and forth are arranged in the base of the device body;

the body base comprises two turning control bobbins and a wire fixing device;

a winding shaft groove is arranged on the turning control spool;

one end of the wire rope is fixedly connected with the winding shaft groove, and the other end of the wire rope extends into the body tube from the wire guide hole and is connected with the joint.

3. The one-piece bendable structural hair clip applier of claim 2, wherein: the nail feeding rod comprises a first straight rod part and a first snake rod part, the front end of the nail feeding rod is provided with a front end of the nail feeding rod, the nail closing rod comprises a second straight rod part and a second snake rod part, and the front end of the nail closing rod is provided with a front end of the nail closing rod; a backspacing tensioning rope is fixedly connected inside the nail feeding rod, the rear part of the backspacing tensioning rope is fixedly connected with the inside of the nail feeding rod, and the front end of the backspacing tensioning rope is clamped in a clamping groove at the front end of the nail feeding rod;

4. The one-piece, bendable-structure hair clip applier of claim 1, wherein: the shaft sheet is a convex body which extends outwards from the joint seat and is provided with a certain arc surface;

the shaft groove is a concave part which is matched with the shaft sheet and is concave to the joint seat;

when the shaft lever of the clamp is bent, the shaft lever can rotate along the arc surface of the shaft piece, and when the shaft piece and the shaft groove have a deflection trend along the arc surface of the shaft piece, the blocking piece and the blocking groove generate action interference, so that deflection action is prevented.

5. The one-piece bendable structured hair clip applier according to claim 4, wherein: inclined planes for avoiding actions in the process of joint rotation are arranged on the joint seats positioned on the two sides of the shaft piece; the shaft sheet is a circular bulge extending outwards from the joint seat or a bulge with an excellent arc surface; the bendable part of the body tube is formed by cutting in an integrated manner.

6. The one-piece bendable structural hair clip applier of claim 3, wherein: the nail feeding rod, the nail closing rod and the instrument body pipe of the clip applier are respectively connected with an instrument body base, and the instrument body base can be connected with a mechanical arm of a surgical robot when in use;

the drive assembly comprises an outer rotor and an inner rotor; the inner rotating body and the outer rotating body can be connected in a rotating mode by taking the central axis of the inner rotating body and the central axis of the outer rotating body as an axis;

send the nail pole and close the nail pole and link to each other with the mechanism that splines respectively, the mechanism that splines can prevent to send the nail pole and close the nail pole and use its self axis to rotate as the axle center, and the mechanism that splines allows to send the nail pole and close the nail pole and remove along its self axis direction.

7. The one-piece, bendable-structure hair clip applier of claim 6, wherein:

the nail closing rod is sleeved outside the nail feeding rod, the body pipe is sleeved outside the nail closing rod, and the body pipe, the nail closing rod and the nail feeding rod are coaxially arranged;

8. The one-piece bendable structural hair clip applier of claim 6, wherein: the first transmission assembly comprises a first chuck and a first transmission wheel, and the first chuck is fixedly connected with the first transmission wheel through a shaft; when the first chuck rotates, the first transmission wheel rotates along with the first chuck; the lower part of the third cylindrical body is rotatably connected with the positioning seat, the third cylindrical body is fixedly connected with the instrument body tube, the third cylindrical body is connected with the first transmission wheel, and when the first transmission wheel rotates, the third cylindrical body rotates along with the first transmission wheel.

9. The one-piece bendable structural hair clip applier of claim 6, wherein: the outer side wall of the first columnar body is fixedly provided with a gear ring, the third transmission wheel is a transmission gear, and the gear ring is meshed with the transmission gear;

10. The one-piece bendable structural hair clip applier of claim 8, wherein: the outer side wall of the third columnar body is fixedly provided with a gear ring, the first driving wheel is a driving gear, and the gear ring is meshed with the driving gear.

11. The one-piece bendable structural hair clip applier of claim 6, wherein: the device body base comprises a base, a middle layer bracket and a top layer bracket, wherein the middle layer bracket and the top layer bracket are respectively and fixedly connected with the base; the third columnar body of the repeating clip applier clamp is rotatably connected with the base; the first chuck, the second chuck and the third chuck of ware body base stretch out to the base outside respectively.

12. The one-piece bendable structural hair clip applier of claim 6, wherein: the rotation stopping mechanism comprises a rotation stopping pipe, the rotation stopping pipe is fixedly connected with a body pipe of the clip applier, and a first guide hole is formed in the side wall of the rotation stopping pipe;

13. The one-piece bendable structural hair clip applier of claim 6, wherein: the tissue clamp comprises a clamping jaw positioned at one end of a body tube, a nail bin fixedly arranged in the body tube, a rotation stopping tube fixedly arranged in the body tube, a nail feeding assembly used for pushing a tissue clamp to the clamping jaw and a nail closing assembly used for closing the clamping jaw;

the nail feeding plate is connected with the nail bin; the front end of the nail feeding plate is provided with a nail pushing head for pushing the tissue clamp, and when the nail feeding rod moves to the front end or the rear end of the instrument, the nail feeding plate can move forwards/backwards along the length direction of the nail bin along with the nail feeding rod; and the nail feeding plate is connected with an opening spring.

14. The one-piece bendable structural hair clip applier of claim 6, wherein: the nail closing rod in the nail closing assembly of the clip applier is sleeved outside the nail feeding rod, the front end of the nail closing rod is fixedly connected with the nail closing pipe, the nail closing pipe is sleeved outside the nail bin, the side wall of the nail bin is provided with a limiting bulge, the side wall of the nail closing pipe is provided with a through hole, the limiting bulge penetrates through the through hole, and the through hole allows the limiting bulge to pass through in a reciprocating mode along the length direction of the through hole.

15. The one-piece, bendable structural hair clip applier of claim 14, wherein: a guide fixing piece is fixedly arranged in the instrument body tube, a fixing hole corresponding to the limiting bulge is formed in the guide fixing piece, and the limiting bulge penetrates through the through hole and is inserted into the fixing hole; the guide fixing piece is separated into two parts from the middle part, and the two parts are buckled to form a cylinder shape during assembly; a gap for reciprocating motion of the nail closing tube is preset between the guide fixing piece and the nail bin.