CN219835654U - Special angle noninvasive pliers for robotic surgery - Google Patents
Special angle noninvasive pliers for robotic surgery Download PDFInfo
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- CN219835654U CN219835654U CN202321361405.9U CN202321361405U CN219835654U CN 219835654 U CN219835654 U CN 219835654U CN 202321361405 U CN202321361405 U CN 202321361405U CN 219835654 U CN219835654 U CN 219835654U
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- connecting part
- forceps
- handle
- invasive
- mounting seat
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- 238000002432 robotic surgery Methods 0.000 title claims abstract description 12
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 11
- 239000010959 steel Substances 0.000 claims abstract description 11
- 210000002409 epiglottis Anatomy 0.000 abstract description 11
- 210000003026 hypopharynx Anatomy 0.000 abstract description 6
- 210000001519 tissue Anatomy 0.000 abstract description 6
- 210000003128 head Anatomy 0.000 description 14
- 210000000214 mouth Anatomy 0.000 description 9
- 206010028980 Neoplasm Diseases 0.000 description 7
- 238000005452 bending Methods 0.000 description 2
- 206010057444 Oropharyngeal neoplasm Diseases 0.000 description 1
- 206010052428 Wound Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 230000002427 irreversible effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 210000003300 oropharynx Anatomy 0.000 description 1
- 201000006958 oropharynx cancer Diseases 0.000 description 1
- 210000002741 palatine tonsil Anatomy 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000002271 resection Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
Landscapes
- Surgical Instruments (AREA)
Abstract
The utility model discloses a special angle noninvasive clamp for robotic surgery, which comprises a handle, a clamp body and a clamp head; the handle comprises a left handle and a right handle which are hinged in a crossed manner; the pliers body comprises a first connecting part, a second connecting part and a third connecting part, wherein the first connecting part extends forwards, the second connecting part extends forwards and downwards, the third connecting part extends leftwards, and the left end of the third connecting part is tilted upwards; the forceps head comprises a mounting seat and two non-invasive forceps which are arranged oppositely, the mounting seat is rotationally arranged at the left end of the third connecting part, the non-invasive forceps are rotationally arranged on the mounting seat, movable steel wires are arranged in the forceps body and are respectively connected with the non-invasive forceps and a right handle, and the right handle is rotationally used for pulling the steel wires to drive the non-invasive forceps to open and close. The device can conveniently reach the hypopharynx, the tongue root and the epiglottis, can flexibly grasp and pull tissues, has no any obstruction to the movement of the mechanical arm, provides enough operation space for an assistant, and is convenient for operation by matching with the mechanical arm of a robot.
Description
Technical Field
The utility model relates to the technical field of medical auxiliary appliances, in particular to a special angle noninvasive clamp special for robotic surgery.
Background
In the technical field of ear, nose, throat and neck surgery, the excision of oropharynx and parapharyngeal gap tumors by using a da vinci surgical robot has become a gold standard for minimally invasive excision of the existing oropharynx cancer and parapharyngeal gap tumors, so that satisfactory survival rate can be obtained by accurately cutting off the tumors, huge wounds caused by traditional operations such as mandibular incision and the like can be avoided, damage to peripheral important blood vessels and nerves is reduced, and the life quality of patients after operation is obviously improved.
For tumors in hypopharynx, tongue root and epiglottis, patients have the clinical need for minimally invasive and precise tumor resection. However, in practical operation, since the tumor is located deep in the laryngeal cavity, the existing mouth gag such as tonsil Davis mouth gag cannot well expose the surgical cavity. The existing solution is to expose the operation cavity by using the epiglottis laryngoscope, the robot endoscope arm observes from the lateral surface (outside the cavity) of the epiglottis laryngoscope by utilizing the angular advantage of the endoscope, and one robot operation arm stretches into the cavity of the epiglottis laryngoscope to operate, but because of the limitation of the oral cavity space, two operation arms can not reach the operation cavity at the same time, so that an assistant is required to use thinner instruments in the operation, stretch into the operation cavity from the lateral surface, grasp and pull tumors or surrounding tissues, and cooperate with the robot operation arm to perform operation.
The existing grasping traction apparatus has a simple structure, the handle and the traction head are positioned on the same side, the whole body is linear or curved with a simple head, but the existing grasping traction apparatus is not applicable to robotic surgery, and the main defects are as follows: 1. because of the special structures of the oral cavity and the laryngeal cavity, most of the existing grasping and pulling apparatuses cannot well reach the hypopharynx, the tongue root and the epiglottis; 2. even though individual instruments can reach the hypopharynx, the tongue root and the epiglottis, because the handles and the heads of the existing grasping and pulling devices are basically located in the same plane, in practical operation, the hands of an assistant must be located right above the oral cavity of a patient, in robotic surgery, the addition of the hands of the assistant can greatly obstruct the movement of the robotic operation arm due to the fact that the epiglottis supporting laryngoscope, the robotic endoscope arm and one of the robotic operation arms are right above the oral cavity of the patient, and meanwhile, the operation space of the assistant is very small, so that the operation is very inconvenient, and therefore, the optimization and improvement are needed.
Disclosure of Invention
The present utility model aims to solve at least one of the technical problems existing in the prior art. Therefore, one object of the present utility model is to provide a special angle non-invasive forceps for robotic surgery.
The technical scheme of the utility model is as follows: the special angle noninvasive pliers for the robotic surgery are characterized by comprising a handle, a pliers body and pliers heads;
the handle comprises a left handle and a right handle which are hinged in a crossed manner;
the pliers body is arranged on the left side of the left handle and comprises a first connecting part, a second connecting part and a third connecting part, wherein the first connecting part is fixedly connected with the handle, the first connecting part extends forwards, the second connecting part is connected with the front end of the first connecting part, the second connecting part extends forwards and downwards, the third connecting part is connected with the lower end of the second connecting part, and the third connecting part extends leftwards and the left end of the third connecting part is tilted upwards;
the forceps head comprises a mounting seat and two non-invasive forceps which are oppositely arranged, the mounting seat is rotationally arranged at the left end of the third connecting portion, the non-invasive forceps are rotationally arranged on the mounting seat, movable steel wires are arranged in the forceps body and respectively connected with the non-invasive forceps and the right handle, and the right handle is rotationally used for pulling the steel wires to drive the non-invasive forceps to open and close.
Compared with the prior art, the utility model has the following beneficial effects:
the device can conveniently reach the hypopharynx, the tongue root and the epiglottis, can flexibly grasp and pull tissues, has no any obstruction to the movement of the mechanical arm, provides enough operation space for an assistant, and is convenient for operation by matching with the mechanical arm of a robot.
Additional aspects and advantages of the utility model will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model.
Drawings
For a clearer description of embodiments of the utility model or of solutions in the prior art, the drawings that are required to be used in the description of the embodiments or of the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the utility model, and that other drawings can be obtained, without the inventive effort, by a person skilled in the art from these drawings:
FIG. 1 is a perspective view of the front side view of the present utility model;
FIG. 2 is a perspective view of the front side view of the present utility model;
FIG. 3 is a perspective view of the binding clip portion of the present utility model;
fig. 4 is a perspective view of the handle portion of the present utility model.
The reference numerals are as follows:
1. a handle; 11. a left handle; 12. a right handle; 2. a clamp body; 21. a first connection portion; 22. a second connecting portion; 23. a third connecting portion; 3. a clamp head; 31. a mounting base; 32. a non-invasive forceps; 4. and (3) a steel wire.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected or detachably connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.
A special angle non-invasive forceps 32 for robotic surgery as shown in fig. 1-4, comprising a handle 1, a forceps body 2 and a forceps head 3.
The handle 1 comprises a left handle 11 and a right handle 12 which are hinged in a crossed manner, the clamp body 2 is arranged at the left side of the left handle 11, the clamp body 2 comprises a first connecting part 21, a second connecting part 22 and a third connecting part 23, the first connecting part 21 is fixedly connected with the handle, the first connecting part 21 extends forwards, the second connecting part 22 is connected with the front end of the first connecting part 21, the second connecting part 22 extends forwards and downwards, the third connecting part 23 is connected with the lower end of the second connecting part 22, and the third connecting part 23 extends leftwards and the left end of the third connecting part is tilted upwards; the forceps head 3 comprises a mounting seat 31 and two non-invasive forceps 32 which are arranged oppositely, the mounting seat 31 is rotationally arranged at the left end of the third connecting portion 23, the non-invasive forceps 32 is rotationally arranged on the mounting seat 31, movable steel wires 4 are arranged in the forceps body 2, the steel wires 4 are respectively connected with the non-invasive forceps 32 and the right handle 12, and the right handle 12 is rotationally used for pulling the steel wires 4 to drive the non-invasive forceps 32 to open and close.
It should be noted that, in the description herein, the positional relationship indicated by "upper", "lower", "front", "rear", "left", "right", etc. is based on the positional relationship shown in fig. 1 of the drawings, and is merely for convenience of describing the present utility model and simplifying the description, and does not indicate or imply that the apparatus or element in question must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.
Specifically, according to the anatomical features of the oral cavity and the laryngeal cavity, the present solution designs the forceps body 2 into a special bending structure, as shown in fig. 1, the forceps body 2 includes a first connecting portion 21, a second connecting portion 22 and a third connecting portion 23, the first connecting portion 21 extends forward, the second connecting portion 22 is connected with the front end of the first connecting portion 21, the second connecting portion 22 extends forward and downward, so that the first connecting portion 21 and the second connecting portion 22 form a V-shaped structure, meanwhile, the third connecting portion 23 is connected with the lower end of the second connecting portion 22, the third connecting portion 23 extends leftwards and the left end is tilted upwards, and the third connecting portion 23 and the second connecting portion 22 also form a V-shaped structure, so that the forceps body 2 forms a three-dimensional bending structure formed by combining two V-shapes in different directions, thereby, the handles 1 and the forceps heads 3 can be staggered, not only can easily reach the lower part, the tongue root part, the epiglottis part and the like through the oral cavity, but also can prevent the user from having a larger operating space on the lateral surface of the oral cavity when the handles 1 are operated, and the user can not operate the machine.
In a further specific arrangement, the first connecting portion 21 extends forward for a length of 1-2cm, the second connecting portion 22 extends forward and downward for a length of 4-8cm, the third connecting portion 23 extends leftward for a length of 8-15cm, and the third connecting portion 23 is slightly tilted upward with a small tilting width.
For the clamp head 3, as shown in fig. 3, the clamp head 3 is rotatably mounted on the third connecting portion 23, and the clamp head 3 can rotate 360 degrees so as to flexibly adjust the position thereof according to the actual operation condition, and the two noninvasive clamps 32 on the clamp head 3 are opened and closed by rotating the right handle 12 to draw the steel wire 4. The non-invasive forceps 32 on the forceps head 3 are provided with non-invasive teeth, which are common in surgical instruments, can firmly grasp human tissues without irreversible damage to the tissues, and the shape of the non-invasive forceps 32 can be designed according to requirements, such as a circle, an ellipse, a triangle, other shapes and the like.
In summary, the device can conveniently reach the hypopharynx, the tongue root and the epiglottis, can flexibly grasp and pull tissues, has no obstruction to the movement of the mechanical arm, provides enough operation space for an assistant, and is convenient for operation by matching with the mechanical arm of the robot.
While embodiments of the present utility model have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the utility model, the scope of which is defined by the claims and their equivalents.
Claims (3)
1. The special angle noninvasive pliers for the robotic surgery are characterized by comprising a handle, a pliers body and pliers heads;
the handle comprises a left handle and a right handle which are hinged in a crossed manner;
the pliers body is arranged on the left side of the left handle and comprises a first connecting part, a second connecting part and a third connecting part, wherein the first connecting part is fixedly connected with the handle, the first connecting part extends forwards, the second connecting part is connected with the front end of the first connecting part, the second connecting part extends forwards and downwards, the third connecting part is connected with the lower end of the second connecting part, and the third connecting part extends leftwards and the left end of the third connecting part is tilted upwards;
the forceps head comprises a mounting seat and two non-invasive forceps which are oppositely arranged, the mounting seat is rotationally arranged at the left end of the third connecting portion, the non-invasive forceps are rotationally arranged on the mounting seat, movable steel wires are arranged in the forceps body and respectively connected with the non-invasive forceps and the right handle, and the right handle is rotationally used for pulling the steel wires to drive the non-invasive forceps to open and close.
2. The special angle non-invasive forceps for robotic surgery according to claim 1, wherein the first connecting portion extends forward for a length of 1-2cm, the second connecting portion extends forward and downward for a length of 4-8cm, and the third connecting portion extends leftward for a length of 8-15cm.
3. The special angle non-invasive forceps for robotic surgery according to claim 1, wherein the shape of the non-invasive forceps is not limited to circular, oval or triangular.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321361405.9U CN219835654U (en) | 2023-05-31 | 2023-05-31 | Special angle noninvasive pliers for robotic surgery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321361405.9U CN219835654U (en) | 2023-05-31 | 2023-05-31 | Special angle noninvasive pliers for robotic surgery |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219835654U true CN219835654U (en) | 2023-10-17 |
Family
ID=88301591
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321361405.9U Active CN219835654U (en) | 2023-05-31 | 2023-05-31 | Special angle noninvasive pliers for robotic surgery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219835654U (en) |
-
2023
- 2023-05-31 CN CN202321361405.9U patent/CN219835654U/en active Active
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