CN221997975U - A multi-degree-of-freedom surgical instrument for minimally invasive surgery - Google Patents
A multi-degree-of-freedom surgical instrument for minimally invasive surgery Download PDFInfo
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- CN221997975U CN221997975U CN202420787388.3U CN202420787388U CN221997975U CN 221997975 U CN221997975 U CN 221997975U CN 202420787388 U CN202420787388 U CN 202420787388U CN 221997975 U CN221997975 U CN 221997975U
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Abstract
The utility model discloses a multi-degree-of-freedom surgical instrument for minimally invasive surgery, which comprises a handle, wherein a connecting seat is arranged at one end of the handle, an opening is formed in the other side of the outer surface of the connecting seat, a horizontal rotating block is arranged on the inner side of the opening, vertical shafts are fixedly arranged on the upper end face and the lower end face of the horizontal rotating block, a cavity A is formed below the inside of the connecting seat, a base is arranged at the other end of the horizontal rotating block, a connecting rod is arranged at the other end of the base, a U-shaped seat is fixedly connected with the other end of the connecting rod, a vertical rotating block is arranged on the inner side of the U-shaped seat, pin shafts are arranged on the front end face and the rear end face of the vertical rotating block, and a cavity B is formed in the front of the inside of the U-shaped seat. The utility model can fix the rotated angle by arranging the rotary locking mechanism, improves the use stability, and is convenient for disassembling and assembling the executing part and replacing or sterilizing the executing part.
Description
Technical Field
The utility model relates to the technical field of medical instruments, in particular to a multi-degree-of-freedom surgical instrument for minimally invasive surgery.
Background
Minimally invasive endoscopic surgery is a procedure that is performed primarily through endoscopes and various minimally invasive surgical instruments. Minimally invasive endoscopic surgery is widely applied in clinical work due to the advantages of small wound, less damage, short rehabilitation period and the like, and even replaces the traditional surgery in some diseases to become a main means of treatment. Currently, endoscopic surgical modes are widely applied in various surgical fields, and the technology is mature.
At present, the traditional medical hand-held minimally invasive surgical instrument is mainly of a rigid structure, is inconvenient to use in the surgical process, is easy to cause interference among instruments when a plurality of instruments are used simultaneously, and is often required to be moved by a large angle to achieve corresponding angles or relative rotation operations in the surgical operation, but is easy to cause injury to patients and is also unfavorable for doctors to operate.
The prior art CN211704708U is provided with a flexible section, a rigid section and a bending driving mechanism, wherein the flexible section realizes bidirectional bending in a plane or reciprocating bending with one degree of freedom through the reverse movement of a first driving tendon and a second driving tendon in the bending driving mechanism, so that the technical problem is solved, but the device cannot fix the rotated angle when in use, is inconvenient to detach an executing part and is inconvenient to disinfect the executing part; therefore, the existing requirements are not met, and a multi-degree-of-freedom surgical instrument for minimally invasive surgery is provided.
Disclosure of utility model
The utility model aims to provide a multi-degree-of-freedom surgical instrument for minimally invasive surgery, which solves the problems that the device provided in the background art cannot fix the rotated angle, is inconvenient to detach an executing part, is inconvenient to sterilize and the like during use.
In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a multi freedom surgical instrument for minimally invasive surgery, includes the handle, the connecting seat is installed to the one end of handle, the opposite side of connecting seat surface is provided with the opening, the open-ended inboard is provided with the horizontal rotatory piece, the equal fixed mounting of up and down terminal surface of horizontal rotatory piece has the vertical axis, the below of connecting seat inside is provided with cavity A, the base is installed to the other end of horizontal rotatory piece, the connecting rod is installed to the other end of base, the other end fixedly connected with U-shaped seat of connecting rod, the inboard of U-shaped seat is provided with vertical rotatory piece, the round pin axle is all installed to the front and back terminal surface of vertical rotatory piece, the place ahead of U-shaped seat inside is provided with cavity B, cavity A and cavity B's inboard all are provided with rotatory locking mechanism, one side of vertical rotatory piece surface is provided with the mounting groove, one side of mounting groove is provided with the movable chamber, the inboard of mounting groove is provided with the mount pad, the front and back terminal surface of mount pad all is provided with the draw-in groove, the mount pad with the other end of vertical rotatory piece through reverse removal joint mechanism swing joint, the mount pad is carried out.
Preferably, the rotary locking mechanism comprises a short shaft, a gear is sleeved on the outer surface of the short shaft, an electric push rod is arranged on one side of the gear, a limiting plate is fixedly connected to one end, close to the gear, of the electric push rod, and the limiting plate is matched with the gear.
Preferably, a motor A is installed above the inside of the connecting seat through a motor cavity A, the output end of the motor A is connected with the upper end face of one of the vertical shafts through a rotating shaft A, and the lower end face of the other vertical shaft is fixedly connected with the upper end face of one of the short shafts.
Preferably, a motor B is installed at the rear of the U-shaped seat through a motor cavity B, the output end of the motor B is fixedly connected with the rear end face of one pin shaft through a rotating shaft B, and the front end face of the other pin shaft is fixedly connected with the rear end face of the other short shaft.
Preferably, the reverse movement clamping mechanism comprises a connecting shaft, threaded rods are arranged on the front end face and the rear end face of the connecting shaft, threaded plates are sleeved on the outer surfaces of the threaded rods, the threaded directions of the threaded rods are opposite, an L-shaped plate is arranged on one side of the outer surface of the threaded plates, a clamping block is fixedly connected to the other end of the L-shaped plate, and the clamping block is matched with the clamping groove.
Preferably, a motor C is installed at the rear of the movable cavity through a motor cavity C, the output end of the motor C is fixedly connected with the rear end face of one threaded rod through a rotating shaft C, and the front end face of the other threaded rod is rotatably connected with the inner wall of the movable cavity through a bearing.
Preferably, the movable cavity is connected with the mounting groove through two movable grooves.
Compared with the prior art, the utility model has the beneficial effects that:
1. According to the utility model, the rotation locking mechanism is arranged, when the horizontal rotating block is required to rotate, the switch of the motor A is turned on, the motor A works to drive the vertical shaft to rotate, so that the horizontal rotating block is driven to rotate back and forth, the rotation of the vertical shaft simultaneously drives the short shaft to rotate, the gear rotates, after the motor A rotates to a proper position, the switch of the motor A is turned off, the switch of the corresponding electric push rod is turned on, the electric push rod works to drive the limiting plate to move towards the direction close to the gear, the limiting plate can be clamped into two adjacent saw teeth of the gear to limit the gear, and the vertical rotating block can be limited after rotating;
2. According to the utility model, the mounting groove, the mounting seat, the reverse movement clamping mechanism and the clamping groove are arranged, when the executing part is required to be replaced or disinfected, the switch of the motor C can be controlled, the motor C works to drive the threaded rod to rotate, the two threaded plates simultaneously move in the directions away from each other, the L-shaped plates are driven to move in the directions away from each other, the clamping block leaves the inner side of the clamping groove, the limit of the mounting seat is released, and the mounting seat can be detached from the inner side of the mounting groove, so that the executing part can be replaced or disinfected.
Drawings
FIG. 1 is a schematic view of the overall structure of the present utility model;
FIG. 2 is a front cross-sectional view of the entire present utility model;
FIG. 3 is a schematic view of a partial structure of the rotation lock mechanism of the present utility model;
FIG. 4 is a top cross-sectional view of the U-shaped seat of the present utility model;
fig. 5 is a schematic view of a partial structure of the reverse movement clamping mechanism of the present utility model.
In the figure: 1. a handle; 2. a connecting seat; 3. a horizontal rotation block; 4. a base; 5. a connecting rod; 6. a U-shaped seat; 7. an execution unit; 8. a rotation locking mechanism; 801. a short shaft; 802. a limiting plate; 803. an electric push rod; 804. a gear; 9. a motor A; 10. a vertical axis; 11. a cavity A; 12. a cavity B; 13. a motor B; 14. a pin shaft; 15. a vertical rotating block; 16. a reverse movement clamping mechanism; 1601. a threaded rod; 1602. a thread plate; 1603. a connecting shaft; 1604. an L-shaped plate; 1605. a clamping block; 17. a movable groove; 18. a mounting base; 19. a clamping groove; 20. a mounting groove; 21. a movable chamber.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments.
The electric push rod 803 (model LBP 40), motor A9 (model YS 7134), motor B13 (model 68 KTYZ) and motor C (model 68 KTYZ) of the present utility model are all available commercially or custom-made.
Referring to fig. 1 to 5, an embodiment of the present utility model provides: the utility model provides a multi freedom surgical instrument for minimally invasive surgery, including handle 1, connecting seat 2 is installed to one end of handle 1, the opposite side of connecting seat 2 surface is provided with the opening, the open-ended inboard is provided with horizontal rotatory piece 3, the upper and lower terminal surface of horizontal rotatory piece 3 is all fixed mounting has vertical axle 10, the below of connecting seat 2 inside is provided with cavity A11, base 4 is installed to the other end of horizontal rotatory piece 3, connecting rod 5 is installed to the other end of base 4, the other end fixedly connected with U-shaped seat 6 of connecting rod 5, the inboard of U-shaped seat 6 is provided with vertical rotatory piece 15, round pin axle 14 is all installed to the front and back terminal surface of vertical rotatory piece 15, the place ahead in U-shaped seat 6 is provided with cavity B12, cavity A11 and the inboard of cavity B12 all are provided with rotatory locking mechanism 8, one side of vertical rotatory piece 15 surface is provided with mounting groove 20, one side of mounting groove 20 is provided with movable cavity 21, the inboard of mounting groove 20 is provided with mount pad 18, the front and back terminal surface of mount pad 18 all is provided with draw-in groove 19, mount pad 18 and vertical rotatory piece 15 are through reverse removal joint mechanism 16 movable connection's the other end of mount pad 18.
Further, the rotation locking mechanism 8 comprises a short shaft 801, a gear 804 is sleeved on the outer surface of the short shaft 801, an electric push rod 803 is arranged on one side of the gear 804, a limiting plate 802 is fixedly connected to one end, close to the gear 804, of the electric push rod 803, and the limiting plate 802 is matched with the gear 804.
Through adopting above-mentioned technical scheme, limiting plate 802 can block into gear 804 two adjacent sawtooth, carries out the spacing to gear 804.
Further, a motor A9 is installed above the inside of the connecting seat 2 through a motor cavity A, the output end of the motor A9 is connected with the upper end face of one of the vertical shafts 10 through a rotating shaft A, and the lower end face of the other vertical shaft 10 is fixedly connected with the upper end face of one of the short shafts 801.
By adopting the technical scheme, the motor A9 can drive the vertical shaft 10 to rotate when working, thereby driving the short shaft 801 to rotate.
Further, a motor B13 is installed at the rear of the U-shaped seat 6 through a motor cavity B, the output end of the motor B13 is fixedly connected with the rear end face of one pin 14 through a rotating shaft B, and the front end face of the other pin 14 is fixedly connected with the rear end face of the other short shaft 801.
By adopting the technical scheme, the motor B13 can drive the pin shaft 14 to rotate when working, thereby driving the short shaft 801 to rotate.
Further, the reverse movement clamping mechanism 16 comprises a connecting shaft 1603, the front end face and the rear end face of the connecting shaft 1603 are respectively provided with a threaded rod 1601, the outer surfaces of the threaded rods 1601 are sleeved with threaded plates 1602, the threaded directions of the two threaded rods 1601 are opposite, one side of the outer surfaces of the threaded plates 1602 is provided with an L-shaped plate 1604, the other end of the L-shaped plate 1604 is fixedly connected with a clamping block 1605, and the clamping block 1605 is matched with the clamping groove 19.
By adopting the above technical scheme, the two screw plates 1602 can move towards or away from each other simultaneously, and the clamping block 1605 can be clamped into the inner side of the clamping groove 19.
Further, a motor C is mounted at the rear of the movable cavity 21 through a motor cavity C, an output end of the motor C is fixedly connected with a rear end face of one of the threaded rods 1601 through a rotating shaft C, and a front end face of the other threaded rod 1601 is rotatably connected with an inner wall of the movable cavity 21 through a bearing.
Through adopting above-mentioned technical scheme, motor C work can drive pivot C and rotate to drive threaded rod 1601 rotation, improve threaded rod 1601 pivoted stability.
Further, the movable chamber 21 is connected with the mounting groove 20 through two movable grooves 17.
By adopting the above technical scheme, the reverse movement clamping mechanism 16 moves inside the movable cavity 21, and the L-shaped plate 1604 moves inside the movable groove 17.
When the multi-degree-of-freedom surgical instrument for minimally invasive surgery is used, by arranging the rotary locking mechanism 8, when the horizontal rotary block 3 is required to rotate, the switch of the motor A9 is turned on, the motor A9 works to drive the vertical shaft 10 to rotate so as to drive the horizontal rotary block 3 to rotate back and forth, at the moment, the rotation of the vertical shaft 10 simultaneously drives the short shaft 801 to rotate, the gear 804 rotates to a proper position, the switch of the motor A9 is turned off, the switch of the corresponding electric push rod 803 is turned on, the electric push rod 803 works to drive the limiting plate 802 to move towards the direction close to the gear 804, the limiting plate 802 can be clamped into two adjacent saw teeth of the gear 804 to limit the gear 804, and similarly, the vertical rotary block 15 can be limited after rotating, through being provided with mounting groove 20, mount pad 18, reverse removal joint mechanism 16, draw-in groove 19, when needs change or disinfect to executive component 7, can pass through the switch of control motor C, motor C work drives threaded rod 1601 and rotates, two screw thread boards 1602 simultaneously move to the direction that keeps away from each other, drive L shaped plate 1604 and move to the direction that keeps away from each other, fixture block 1605 leaves the inboard of draw-in groove 19, release the spacing to mount pad 18, can pull down mount pad 18 from the mounting groove 20 inboard, thereby can change or disinfect to executive component 7, this utility model can fix the angle after the rotation through being provided with rotatory locking mechanical system 8, improve stability in use, and conveniently dismantle executive component 7, conveniently change or disinfect it.
It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present utility model may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202420787388.3U CN221997975U (en) | 2024-04-16 | 2024-04-16 | A multi-degree-of-freedom surgical instrument for minimally invasive surgery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202420787388.3U CN221997975U (en) | 2024-04-16 | 2024-04-16 | A multi-degree-of-freedom surgical instrument for minimally invasive surgery |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221997975U true CN221997975U (en) | 2024-11-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202420787388.3U Active CN221997975U (en) | 2024-04-16 | 2024-04-16 | A multi-degree-of-freedom surgical instrument for minimally invasive surgery |
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| Country | Link |
|---|---|
| CN (1) | CN221997975U (en) |
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- 2024-04-16 CN CN202420787388.3U patent/CN221997975U/en active Active
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