CN217566139U

CN217566139U - Electric endoscopic surgical instrument and transmission mechanism thereof

Info

Publication number: CN217566139U
Application number: CN202221110081.7U
Authority: CN
Inventors: 张旭波; 薛人峰; 徐通
Original assignee: Suzhou Ouchang Medical Technology Co ltd
Current assignee: Suzhou Ouchang Medical Technology Co ltd
Priority date: 2022-05-10
Filing date: 2022-05-10
Publication date: 2022-10-14
Anticipated expiration: 2032-05-10

Abstract

The utility model discloses an electronic laparoscopic surgery apparatus and drive mechanism thereof, drive mechanism include that snake bone beat mechanism and binding clip open and shut the mechanism, snake bone beat mechanism is realized by the bevel gear subassembly and the steel wire winding wheel bidirectional rotation of two sets of orthoses, binding clip open and shut the mechanism and realize by lead screw and slider reciprocating motion. The deflection of the snake bone along the upper direction, the lower direction, the left direction and the right direction is realized through two groups of orthogonal bevel gear assemblies and steel wire winding wheels, so that the binding clip is driven to bend along different directions, and the opening and closing of the binding clip are realized through a screw rod sliding block mechanism. The degree of freedom increases and drive mechanism's simple structure, and two-way winding has two steel wires on every steel wire winding wheel, and the beat of four directions can be realized to two steel wire winding wheels totally four steel wires, and the part number is few, and the assembly is more simple. The electric transmission mode is adopted, so that the fingers of a doctor do not need to exert force all the time, and the fatigue of the doctor is reduced.

Description

Electric endoscopic surgical instrument and transmission mechanism thereof

Technical Field

The utility model belongs to the technical field of medical instrument, concretely relates to electronic laparoscopic surgery apparatus and drive mechanism thereof.

Background

In current minimally invasive laparoscopic surgery, there are generally two forms: one is that the doctor performs the operation by holding various minimally invasive instruments; one is to perform a master-slave surgical robotic operation similar to the da vinci surgical robot. The second machine is large in size and high in price, and cannot be suitable for large middle and small hospitals. The traditional laparoscopic surgery instrument has the problems of insufficient freedom, insufficient dexterity during use and long operation time, and the hands of doctors are tired. Aiming at the problems, the invention reduces the operation fatigue degree of doctors and increases the flexibility of the instrument by electrically holding the instrument by hand, thereby solving a part of defects of the traditional endoscopic surgery.

The advent of powered hand-held instruments has addressed these problems, and since powered hand-held instruments have been late, it has been a problem for engineers to achieve more freedom through simple gearing.

SUMMERY OF THE UTILITY MODEL

To the technical problem that exists, the utility model provides an electronic laparoscopic surgery apparatus and drive mechanism thereof realizes each direction beat and the binding clip of apparatus binding clip to open and shut with the help of three driving motor, and transmission structure is simpler, easily lightweight design.

The technical scheme of the utility model is that:

an object of the utility model is to provide an electronic laparoscopic surgery instrument's drive mechanism, open and shut the mechanism including snake bone beat mechanism and binding clip, snake bone beat mechanism is realized by the bevel gear subassembly and the steel wire winding wheel both-way rotation of two sets of orthorhombic, the binding clip is opened and shut the mechanism and is realized by lead screw and slider reciprocating motion.

Preferably, the snake bone deflection mechanism comprises:

the deflection driving assembly comprises two independent bevel gear assemblies and two first driving pieces for driving the two bevel gear assemblies to rotate respectively, and any one bevel gear assembly comprises two bevel gears which are arranged orthogonally and are in meshing transmission;

any one steel wire winding wheel is arranged on a rotating shaft of a bevel gear at the transmission tail end of the corresponding bevel gear assembly, two steel wires are wound on any one steel wire winding wheel in a bidirectional mode, and the other ends of the two steel wires extend along the axial direction of the instrument rod and are connected with a snake bone at one end, far away from the steel wire winding wheel, of the instrument rod;

four steel wires on the two steel wire winding wheels are arranged in the instrument rod in a cross shape at intervals in a pairwise opposite mode, and when any one first driving piece rotates forwards or reversely, one steel wire in the same rotating direction as the rotating direction on the corresponding steel wire winding wheel is tightened, and the other steel wire is loosened.

Preferably, the wire winding wheel includes:

the wheel body is suitable for being connected with the rotating shaft of the bevel gear at the transmission tail end of the corresponding bevel gear assembly, and the outer peripheral wall of the wheel body is provided with a steel wire groove for winding a steel wire;

the baffle is arranged on the outer side of the steel wire groove on the side back to the steel wire outlet on the wheel body;

and the fastening piece is used for connecting the baffle plate and the wheel body so as to fix the baffle plate on the wheel body.

Preferably, the wire winding wheel further comprises:

the positioning piece is arranged on the axial upper end face of the steel wire winding wheel and protrudes upwards to extend, and the baffle plate is provided with a positioning hole matched with the positioning piece.

Preferably, the baffle is L-shaped, and includes an arc-shaped baffle portion located on the periphery of the steel wire groove of the corresponding steel wire winding wheel and a connecting portion flush with the axial upper end face of the corresponding steel wire winding wheel, the fastening member is connected to the connecting portion, and the positioning hole is opened in the connecting portion.

Preferably, two sets of bevel gear subassembly are installed on one and are the installation base of the style of calligraphy of falling L, and two steel wire winding wheels are located side by side and interval the fixed plate is shared to the pivot of two steel wire winding wheels in the top of installation base.

Preferably, the forceps head opening and closing mechanism includes:

the sliding block fixing seat is suitable for being fixedly connected with the mounting base, and a fixing groove for the nut sliding block to slide in a reciprocating mode is formed in the sliding block fixing seat;

the axis of the screw rod is parallel to the axis of the instrument rod, and two ends of the screw rod are suitable for being rotatably arranged on the installation seats fixed at two ends of the fixing groove;

the nut sliding block is in threaded fit with the screw rod, and a fixing hole for mounting a push-pull rod connected with the forceps head is formed in the end face, facing the instrument rod, of the nut sliding block;

the second driving piece is arranged at one end of the screw rod, which is back to the instrument rod, and is suitable for being connected with the screw rod through a quick adapter;

the screw rod is driven to rotate by the second driving piece so as to drive the nut sliding block to linearly reciprocate along the screw rod and drive the push-pull rod to reciprocate so as to pull the tong head to perform opening and closing actions.

Preferably, the side walls of the two sides of the fixing groove are provided with sliding grooves extending along the sliding direction of the nut sliding block, the two side walls of the nut sliding block are respectively provided with sliding shafts protruding outwards and extending, and the two sliding shafts are in one-to-one corresponding sliding fit in the two sliding grooves.

Preferably, a sensor for monitoring the stroke of the push-pull rod is arranged on one end of the lead screw facing the instrument rod.

Another object of the utility model is to provide an electronic laparoscopic surgery apparatus, include above-mentioned arbitrary drive mechanism.

Compared with the prior art, the utility model has the advantages that:

the utility model discloses an electronic laparoscopic surgery apparatus realizes the beat of snake bone along four directions on the upper and lower, left and right through the bevel gear subassembly of two sets of orthogonals and steel wire winding wheel to drive the binding clip along the not equidirectional bending, realize opening and shutting of binding clip through lead screw slider mechanism. The degree of freedom increases and drive mechanism's simple structure, and two-way winding has two steel wires on every steel wire winding wheel, and the beat of four directions can be realized to two steel wire winding wheels totally four steel wires, and the part number is few, and the assembly is more simple. The electric transmission mode is adopted, so that the fingers of a doctor do not need to exert force all the time, and the fatigue of the doctor is reduced.

Drawings

The invention will be further described with reference to the following drawings and examples:

FIG. 1 is a schematic structural diagram of a transmission mechanism (first driving member and second driving member are omitted) and an instrument rod and a forceps head of an electric endoscopic surgical instrument according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of the housing of FIG. 1 with the transmission mechanism omitted;

FIG. 3 is a schematic structural view of one set of bevel gear assembly (including the first rotating joint) and the wire winding wheel of the transmission mechanism of the electric endoscopic surgical instrument according to the embodiment of the present invention;

FIG. 4 is a schematic structural view of one of the wire winding wheels of the electric endoscopic surgical instrument according to the embodiment of the present invention;

FIG. 5 is a schematic structural view of the forceps head opening and closing mechanism of the transmission mechanism of the electric endoscopic surgical instrument according to the embodiment of the present invention;

fig. 6 is a schematic structural view of an electric endoscopic surgical instrument (including a transmission mechanism) according to an embodiment of the present invention.

Wherein: 1. a quick adapter; 11. a first adapter; 12 a second adapter; 2. a transmission mechanism; 21. a snake bone deflection mechanism; 210. mounting a base; 211. a bevel gear; 2111. a rotating shaft; 212. a wire winding wheel; 2121. a wheel body; 2122. a baffle plate; 2123. a fastener; 2124. a positioning member; 2125. a steel wire groove; 213. a fixing plate; 22. a tong head opening and closing mechanism; 221. a sliding block fixing seat; 2211. a fixing groove; 2212. a chute; 2213. a mounting base; 222. a screw rod; 2221. the tail end of the screw rod; 223. a nut slider; 2231. a fixing hole; 224. a slide shaft; 3. an instrument stem; 31. snake bone; 32. a push-pull rod; 4. a binding clip; 100. a front end portion; 200. a rear end portion.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings. It should be understood that the description is intended for purposes of illustration only and is not intended to limit the scope of the present disclosure. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

The embodiment is as follows:

it should be noted that if the embodiment of the present invention relates to a directional indication (such as up, down, first, second, front, back, 8230; \8230;) in this embodiment, the directional indication is only used to explain the relative relationship between the components, the motion situation, etc. in a specific posture, and if the specific posture is changed, the directional indication is changed accordingly.

In addition, if the present invention relates to the description of "first", "second", etc., such description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying that relative importance may implicitly indicate the number of technical features indicated, whereby the feature defined as "first", "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solution combination is contradictory or cannot be realized, the technical solution combination should not be considered to exist, and is not within the protection scope of the present invention.

Referring to fig. 1 to 6, a transmission mechanism 2 of an electric endoscopic surgical instrument according to an embodiment of the present invention includes two parts, namely a snake bone deflection mechanism 21 and a forceps head opening and closing mechanism 22. The snake bone deflection mechanism 21 is realized by two groups of orthogonal bevel gear components and steel wire winding wheels 212 which rotate in two directions, and the tong head opening and closing mechanism 22 is realized by the reciprocating motion of a screw rod and a sliding block.

Specifically, as shown in fig. 2 and 3, the snake bone deflection mechanism 21 comprises a deflection driving assembly and two wire winding wheels 212. Wherein, the beat drive assembly includes two sets of independent bevel gear subassemblies and two first driving pieces (not shown, the embodiment of the utility model is the motor) that drive two sets of bevel gear subassemblies respectively, and two sets of bevel gear subassemblies constitute by two orthogamies and meshing driven bevel gear 211 (the embodiment of the utility model is that the axis of one bevel gear 211 is parallel to the axis of apparatus pole 3 also is as the horizontal setting shown in fig. 2, and the axis of another bevel gear 211 is perpendicular to the axis of apparatus pole also is as the vertical setting shown in fig. 2). The two wire winding wheels 212 are respectively installed on the rotation shafts 2111 of the bevel gears 211 (i.e., the bevel gears 211 whose axes are longitudinally arranged as shown in fig. 2) at the driving ends of the corresponding bevel gear assemblies. Two steel wires (not shown) are wound around the outer circumferential wall of each wire winding wheel 212, the two steel wires are wound around the wire winding wheel 211 in two directions, that is, in opposite directions, and the other ends of the two steel wires extend in the axial direction of the instrument shaft 3 and are connected to the snake bone 31 (the specific structure is not described and limited in detail, and refer to the conventional snake-joint toy) on the end of the instrument shaft 3 far from the wire winding wheel 212. Four steel wires on the two steel wire winding wheels 212 are arranged in the instrument rod 3 in a cross shape in a group opposite to each other at intervals, so that the deflection of the snake bone 31 in the upper, lower, left and right directions can be realized to realize the bending in different directions. Preferably, the first drive member is connected to the corresponding bevel gear assembly by a quick-change adapter 1 (herein described as first adapter 11 for ease of distinction) to facilitate assembly and disassembly. When any one of the first driving members rotates forward or reversely, one of the wires wound on the corresponding wire winding wheel 212 in the same direction as the rotating direction is tightened and the other wire is loosened.

According to some embodiments of the present invention, as shown in fig. 4, the wire winding wheel 212 includes a wheel body 2121, a retaining plate 2122, and a fastening member 2123. The wheel body 2121 is adapted to be connected to the rotating shaft 2111 of the bevel gear 211 at the transmission end of the corresponding set of bevel gear assemblies, and a steel wire groove 2125 for winding a steel wire is formed on the outer circumferential wall of the wheel body 2121. The stop 2122 is disposed outside the wire groove 2125 on a side facing away from the wire outlet of the wheel body 2121 (i.e., a side away from the instrument bar 3). Fasteners 2123 (preferably screws in this embodiment) are used to couple the shroud 2122 to the wheel body 2121 to secure the shroud 2122 to the wheel body 2121. The stop 2122 is provided to prevent the loose steel wires from falling off the steel wire grooves 2125. As shown in fig. 4, the cover 2122 is L-shaped, and the cover 2122 includes an arc-shaped blocking portion and a connecting portion, the arc-shaped blocking portion is located outside the wire groove 2125 and blocks the wire in the wire groove 2125 to prevent the wire from falling from the wire groove 2125 when the wire is loosened. The connecting portion is flat and semicircular, and is pressed against the axial upper end surface of the wheel body 2121 and fixedly connected thereto by a fastener 2123. Preferably, in order to facilitate the installation of the baffle 2122, a positioning element 2124 (preferably, a positioning pin) protruding upwards is further disposed on the axial upper end surface of the wheel body 2121, the baffle 2122 is specifically provided with a matching positioning hole (not shown) on the connecting portion, and the positioning element 2124 is matched with the positioning hole, so that the baffle 2122 can be installed quickly, and the installation efficiency is improved.

According to some embodiments of the present invention, as shown in fig. 2 and 3, two bevel gear assemblies are installed on a mounting base 210 in an inverted L shape, two steel wire winding wheels 212 are installed above the mounting base 210 side by side at intervals, and the rotating shafts of the two steel wire winding wheels 212 (coaxial with the rotating shaft 2111 of the bevel gear 211 at the end of the corresponding bevel gear assembly transmission) are fixed by a fixing plate 213.

According to some embodiments of the present invention, as shown in fig. 5, the binding clip opening and closing mechanism 22 includes a slider fixing seat 221, a lead screw 222, a nut slider 223, and a second driving member (not shown). The slider fixing seat 221 is fixedly connected to the mounting base 210, and the slider fixing seat 221 is provided with a fixing groove 2211 for the nut slider 223 to slide back and forth, that is, the slider fixing seat 221 is U-shaped. The axis of the screw rod 222 is parallel to the axis of the instrument bar 3 and both ends of the screw rod 222 are adapted to be rotatably mounted on the mounting seats 2213 fixed to both ends of the fixing groove 2211, i.e., the front and rear ends as shown in fig. 5. The nut slider 223 is screwed on the screw rod 222, and an end surface of the nut slider 223 facing the instrument rod 3, that is, the front end surface of the nut slider 223 shown in fig. 5 is provided with a fixing hole 2231 for installing one end of the push-pull rod 32, and the other end of the push-pull rod 32 is connected with the forceps head 4, and the forceps head 4 includes two openable forceps head bodies (not shown). The second driving member (in this embodiment, a motor) is disposed at an end of the screw rod 222 facing away from the instrument rod 3 and is adapted to be connected to the screw rod 222 through a quick-change adapter 1 (for convenience of distinction, the second adapter is described herein). The screw rod 222 is driven by the second driving member to rotate so as to drive the nut block 223 to reciprocate linearly along the screw rod 222 and drive the push-pull rod 32 to reciprocate so as to pull the tong head 4 to open and close. In a preferred embodiment, sliding grooves 2212 extending along the sliding direction of the nut slider 223 are formed on the side walls of the two sides of the fixing groove 2211, sliding shafts 224 extending outward are respectively disposed on the two side walls of the nut slider 223, and the two sliding shafts 224 are slidably fitted in the two sliding grooves 2212 in a one-to-one correspondence manner.

In order to accurately calculate the degree of jaw closure, according to some preferred embodiments of the present invention, a sensor (e.g., an encoder) (not shown) for monitoring the stroke of the push-pull rod 32 is provided on one end of the screw 222 facing the instrument rod 3, i.e., the screw end 2221.

Referring to fig. 1-6, embodiments of the present invention further provide an electric laparoscopic surgical instrument comprising a front portion 100 and a rear portion 200, the rear portion 200 comprising a handle having a first drive member and a second drive member as described in the previous embodiments disposed therein. The nose part 100 comprises the transmission mechanism 2 (excluding the first and second drivers), the quick-change adaptor 1 and the instrument shaft 3 and the jaw 4 of the above-described embodiment.

It should be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.

Claims

1. A transmission mechanism of an electric endoscopic surgical instrument is characterized by comprising a snake bone deflection mechanism and a tong head opening and closing mechanism, wherein the snake bone deflection mechanism is realized by two groups of orthogonal bevel gear assemblies and steel wire winding wheels in bidirectional rotation, and the tong head opening and closing mechanism is realized by a screw rod and a sliding block in reciprocating motion.

2. The transmission mechanism of the electric endoscopic surgical instrument as claimed in claim 1, wherein the snake bone deflection mechanism comprises:

the deflection driving assembly comprises two groups of independent bevel gear assemblies and two first driving pieces for respectively driving the two groups of bevel gear assemblies to rotate, and any one group of bevel gear assembly comprises two bevel gears which are orthogonally arranged and are in meshing transmission;

when any one first driving part rotates forwards or reversely, one steel wire on the corresponding steel wire winding wheel in the same winding direction as the rotating direction is tightened, and the other steel wire is loosened.

3. The drive mechanism for motorized laparoscopic surgical instruments according to claim 2, wherein said wire winding wheel comprises:

4. The transmission mechanism of electric endoscopic surgical instrument according to claim 3, wherein the wire winding wheel further comprises:

5. The transmission mechanism of the electric endoscopic surgical instrument as claimed in claim 4, wherein the baffle is L-shaped and comprises an arc-shaped baffle part positioned on the periphery of the steel wire groove of the corresponding steel wire winding wheel and a connecting part which is flat with the axial upper end surface of the corresponding steel wire winding wheel, the fastening piece is connected to the connecting part, and the positioning hole is opened on the connecting part.

6. The transmission mechanism of electric endoscopic surgical instrument as claimed in claim 4, wherein two bevel gear assemblies are installed on a mounting base in an inverted L shape, two steel wire winding wheels are installed side by side and spaced above the mounting base, and the rotating shafts of the two steel wire winding wheels share a fixing plate.

7. The transmission mechanism of the electric endoscopic surgical instrument as recited in claim 6, wherein the forceps head opening and closing mechanism comprises:

the sliding block fixing seat is suitable for being fixedly connected with the mounting base, and is provided with a fixing groove for the nut sliding block to slide in a reciprocating manner;

the screw rod is driven to rotate by the second driving piece to drive the nut sliding block to linearly reciprocate along the screw rod and drive the push-pull rod to reciprocate so as to pull the tong head to open and close.

8. The transmission mechanism of electric endoscopic surgical instrument as claimed in claim 7, wherein the side walls of the two sides of the fixing groove are provided with sliding grooves extending along the sliding direction of the nut slider, the two side walls of the nut slider are respectively provided with sliding shafts protruding outwards, and the two sliding shafts are in one-to-one sliding fit in the two sliding grooves.

9. The transmission mechanism of electric endoscopic surgical instruments according to claim 7 or 8, wherein a sensor for monitoring the stroke of the push-pull rod is disposed on one end of the screw rod facing the instrument rod.

10. An electrically powered laparoscopic surgical instrument, comprising a drive mechanism as claimed in any one of claims 1 to 9.