201235003 六、發明說明：. 【發明所屬之技術領域】 本發明係一種關節式微創手術夾具，尤指一種用於微 創手術的醫療手術器材。 【先前技術】 目前市面上醫院和診所在使用的微創手術夾具主要區 分為機器控制與手動控制兩大類，其中，機器控制的微創 手術爽具成本太貴，因此大部分仍選擇手動控制的微創手 • 術夾具，如美國第US5209747號「微創手術夾具」專利 案其係藉由後端旋轉帶動轉軸’使斜齒輪轉動並驅動前 端的夾子擺動’該微創手術夾具帶動夾子的方式太慢，提 供的自由度僅2個，所以操作靈活度不佳，也不具有燒結 功此，無法提供操作者靈活進行夾取與燒結和止血的功能 〇 另如美國第US5456684號「微創手術夾具」專利案 /微創手術夾具的自由度為2 ’且具有燒結功能，操作上 人矛丨用末糙桿件伸縮而轉動前端夾具上下搖擺，但操作上 。右手操作會不易控制桿件的伸縮動作，因此需要雙手 操作才行’所以操作上仍不夠便利、靈敏。 為由上述可以得知，現有的微創手術夾具的自由度大多 ^個有些會附加燒結功能的設計，但操作上具有不靈 '與不便利的問題。 【發明内容】 本發明之主要目的在於提供一種關節式微創手術爽具 201235003 ，希藉此設計’改善現有的微創手術失具在操作上具有不 靈活與不便利的問題。 為達成前揭目的’本發明所設計之關節式微創手術失 具，包含有： 一外殼，其設有一谷置空間及一柄部’該柄部鄰近該 外殼一端，且該柄部上設有一滑槽； 一萬向接頭’其係設於該外殼相對該柄部的—端，可 受控而上下左右擺動’ δ亥萬向接頭包含有一本體及一轉盤 ’該本體於鄰近外殼的側面上設有二銜接片，並於銜接片 之間分別設置一上凸耳及一下凸耳’該.轉盤組設於該二銜 接片之間’並與該外殼連接，以及該轉盤上設有一左下孔 及一右上孔； 一夾頭，其係設於該萬向接頭相對外殼的一端，該失 頭包括有一第一夾臂及一第二夾臂，該第一失臂、第二失 臂一端樞設於該本體上並可對向開合； 一開合控制模組’其係控制該夾頭開合角度，該開合 控制模組包括有一控制手柄、一角度控制件 '一彈性元件 、一第一導熱線、一第二導熱線、一第一歸位線及一第二 歸位線，該控制手柄一側樞設於該外殼中，另側伸出該外 殼’該角度控制件係設於該控制手柄上，包括有一拉桿部 及一可於滑槽中移動的導桿部，該彈性元件設於該殼體中 ，該第—導熱線一端連接該第一夾臂，另端連接該拉桿部 可拉動第《臂朝下旋轉，該第二導熱線—端連接該第 一夾身另端連接該拉桿部，可拉動第二失臂朝上旋轉， 帚^線^連接該第一夾臂’另端連接該彈性元件 201235003 第二歸位線一端連接該第 可拉動第二夾臂朝下旋轉 ’可拉動第一夾臂朝上旋轉，該 二失臂，另端連接該彈性元件，201235003 VI. Description of the Invention: [Technical Field] The present invention relates to an articular minimally invasive surgical jig, and more particularly to a medical surgical instrument for minimally invasive surgery. [Prior Art] At present, the minimally invasive surgical clamps used in hospitals and clinics on the market are mainly divided into two categories: machine control and manual control. Among them, the machine-controlled minimally invasive surgery is too expensive, so most of them still choose manual control. A minimally invasive hand, such as the U.S. Patent No. 5,209,747, "Minimally Invasive Surgical Fixture" patent, which uses a rear end to rotate the shaft to rotate the helical gear and drive the front end of the clip to swing. Too slow, providing only 2 degrees of freedom, so the flexibility of operation is not good, and there is no sintering function, which can not provide the operator with the function of clamping and sintering and hemostasis flexibly. Another example is USU 5456684 "Minimally invasive surgery" The fixture "patent" / minimally invasive surgical fixture has a degree of freedom of 2 ' and has a sintering function. The upper spear is rotated by the end of the rough rod and the front end clamp is swung up and down, but the operation is performed. Right-handed operation will not easily control the telescopic movement of the lever, so it requires two hands to operate. Therefore, the operation is still not convenient and sensitive. As can be seen from the above, the degree of freedom of the existing minimally invasive surgical jigs is somewhat a design with a sintering function, but the operation has a problem of inconvenience and inconvenience. SUMMARY OF THE INVENTION The main object of the present invention is to provide an articulated minimally invasive surgical device 201235003, which is designed to improve the problem of inflexibility and inconvenience in the operation of existing minimally invasive surgical dislocations. The joint minimally invasive surgical dislocation designed to achieve the foregoing invention includes: a housing having a valley space and a handle portion adjacent to the one end of the housing, and the handle portion is provided a sliding joint; a universal joint 'which is disposed at the end of the outer casing relative to the shank, and is controllable to swing up and down and left and right'. The 亥海 universal joint includes a body and a turntable 'the side of the body adjacent to the outer casing Two upper connecting pieces are arranged, and an upper lug and a lower lug are respectively disposed between the connecting pieces. The turntable is disposed between the two connecting pieces and connected to the outer casing, and the lower left side of the rotating plate is provided a first upper arm and a second upper arm The pivoting control module is configured to control the opening and closing angle of the collet, and the opening and closing control module comprises a control handle, an angle control member, an elastic component, a first heat conducting line, a second heat conducting line, a first a homing line and a second homing line, the control handle side is pivoted in the outer casing, and the other side protrudes from the outer casing. The angle control member is disposed on the control handle, and includes a pull rod portion and a a guiding member for moving in the sliding slot, the elastic member is disposed in the housing, the first heat conducting wire is connected to the first clamping arm at one end, and the other end is connected to the pulling rod portion to pull the arm to rotate downward, the second The heat-conducting wire-end is connected to the first body and the other end is connected to the pull rod portion, and the second lost arm can be pulled upward to rotate, and the first clamp arm is connected to the first clamp arm and the other end is connected to the elastic member 201235003. One end is connected to the first pullable second clamp arm to rotate downwards' to pull the first clamp arm upward to rotate, the two lost arms, the other end is connected to the elastic element,
一擺頭控制模組，其係控制萬向接頭擺動，該擺頭控 制模組包含一具有導槽的座體、一十字桿件、一搖桿、— 錐形彈簧、-上控制線、一下控制線、一左控制線及一右 控制線，該座體係設於該外殼並位於容置空間中，該十字 孝干件係。又於5玄座體上’ i包括有一可於座體中轉動的球體 ’該球體上設有伸出座體的一上控制桿、一下控制桿、一 左控制柃及一右控制桿，該搖桿一端設於該球體上並伸出 該外殼，該錐形彈簧套設於該搖桿上並作為復位之用，該 上，制線—端連接該萬向接頭的上凸彳，另端連接該下控 制# ’該下控制線—端連接該萬向接頭的下凸彳，另端連 接該上控制;^ ’該左控制線_端組設於該萬向接頭的左下 孔另端連接右控制桿，該右控制線一端組設於該萬向接 頭的右上孔，另端連接左控制桿；以及 战加热 0…、棒，其係設於該外殼上並可通電生熱 棒一側連接該第一導熱線與第二導熱線。 上述中，忒關節式微創手術央具的開合 :者可：手握持控制手柄與外殼的柄部，指頭拉動該= :並▼動角度控制件拉動第-、第二導熱線，控制夹頭 閉合角度’該彈性元件的回復力可拉動第―、第二歸位線 而使夾頭打開。 卜，該擺頭控制模組的搖桿提供 «V他π代坑你邛宥便於撥動， 干動十予柃件’並拉動至少一條十字桿件所連接的控A oscillating head control module controls the swing of the universal joint. The oscillating head control module comprises a seat body having a guide groove, a cross bar member, a rocker bar, a conical spring, an upper control line, and a lower The control line, a left control line and a right control line are disposed in the outer casing and located in the accommodating space. And on the 5th seat body, the 'i includes a ball that can rotate in the seat body'. The ball body is provided with an upper lever, a lower control lever, a left control lever and a right control lever protruding from the seat body. One end of the rocker is disposed on the ball and protrudes from the outer casing. The conical spring is sleeved on the rocker and used for resetting. The upper wire end is connected to the upper tenon of the universal joint, and the other end is connected. Connecting the lower control #' the lower control line-end is connected to the lower tenon of the universal joint, and the other end is connected to the upper control; ^ 'the left control line_end is set at the lower left end of the universal joint and the other end is connected Right control lever, one end of the right control line is set in the upper right hole of the universal joint, the other end is connected to the left control rod; and the war heating is 0..., the rod is set on the outer casing and can be energized on the side of the heat generating rod The first heat conducting wire and the second heat conducting wire are connected. In the above, the opening and closing of the ankle joint minimally invasive surgery device: the hand can hold the control handle and the handle of the outer casing, and the finger pulls the =: and the angle control member pulls the first and second heat conduction lines to control The collet closing angle 'the restoring force of the elastic element can pull the first and second homing lines to open the collet. Bu, the rocker of the oscillating head control module provides the control of "V π 代 坑 邛宥 邛宥 邛宥 , , , , , , ’ ’ ’ ’ ’ ’ 并 并 并 并 并 并 并 并 并 并 并 并 并 并
S 5 201235003 制線’拉動的控制線可控制萬向接頭上下左右轉動，搖桿 被撥動關時’錐料簧被壓縮，且錐㈣簧的回復力可 讓搖桿復位“匕外’該加熱棒可通電產生熱能並傳到至該 夾頭’使夾頭具有燒結的功，故該關節式微創手術夾具 利用開合控制模組、擺頭控制模組與萬向接頭的搭配，使 夹頭可執# 3個自由度作動，除了提升夾頭靈活性之外， 操作便利性也提升，該加熱棒讓夾頭具有燒結功用，可利 於微創手術的進行，並減少助手人力與縮短手術時間，進 —步可提南手術成功機率。 【實施方式】 請參閱冑1 _ 3’ $本發明㈣式微創手術夫且之一 較佳實施例，S包含有一外殼10 '一萬向接頭2〇、一爽頭 30、一開合控制模組40、一擺頭控制模組5〇及一加埶 60。 ’、’、 該外殼1〇包括有一基部n及—中空狀的長管部12 ，該基部11内設有一容置空間14,並與該長管部12連 通，該基部11的下方設有一柄部15，該柄部15上設有 一滑槽16,該長管部12的末端處設有二相對的銜接片13 該萬向接頭20係組設於該長管部12的末端處，可受 控而上下左右擺動’該萬向接頭20包含有一本體21及― 轉盤.22，該本體21於鄰近該長管部12的側面上設有二 銜接片211，且銜接片211與銜接片13交錯，該本體21 於銜接片211之間分別設置一上凸耳212及一下凸耳21 3 ’該轉盤22組設於該二銜接片211之間，並與銜接片13 201235003 組接’以及該轉盤22的中央處設有一貫孔223，於貫孔 223外圍設有設有一左下孔221、一右上孔222及二通孔 224，該左下孔221與右上孔222係對角線設置，該二通 孔224位於左下孔221與右上孔222連線的兩側。 該夾頭30係設於該萬向接頭2〇的本 姐厶工 頭30包括有一第一夾臂31及一第二夾臂32,該第一夾 臂31、第二夾臂32 —端樞設於該本體2、上並可對向開S 5 201235003 The line 'pull control line can control the universal joint to rotate up, down, left and right. When the rocker is turned off, the cone spring is compressed, and the return force of the cone (four) spring can reset the rocker. The heating rod can be energized to generate thermal energy and transmitted to the chuck to make the chuck have the sintering work, so the joint minimally invasive surgical clamp utilizes the combination of the opening and closing control module, the swing head control module and the universal joint, so that The chuck can be operated by #3 degrees of freedom. In addition to improving the flexibility of the chuck, the operation convenience is also improved. The heating rod allows the chuck to have a sintering function, which can facilitate the operation of minimally invasive surgery and reduce the manpower and shortening of the assistant. The operation time, the step-by-step can improve the chance of successful operation in the south. [Embodiment] Please refer to 胄1 _ 3' $ (4) minimally invasive surgery and a preferred embodiment, S includes a housing 10 'one million The joint 2〇, a cool head 30, an opening and closing control module 40, a swing head control module 5〇 and a twisting 60. ', ', the outer casing 1 includes a base n and a hollow long tube a portion 12, the receiving portion 14 is provided with an accommodating space 14 The tubular portion 12 is connected to the bottom of the base portion 11. A handle portion 15 is disposed on the bottom portion of the base portion 11. The handle portion 15 is provided with a sliding slot 16 at the end of the long tubular portion 12, and two opposite connecting pieces 13 are disposed. The universal joint 20 is controlled to be swinged up and down and left and right. The universal joint 20 includes a body 21 and a turntable 22. The body 21 is provided on the side adjacent to the long pipe portion 12. The connecting piece 211 is interlaced with the connecting piece 13 , and an upper lug 212 and a lower lug 21 3 ' are respectively disposed between the connecting piece 211 . The turntable 22 is disposed between the two connecting pieces 211 . And the connection piece 13 201235003 is connected to the 'and the center of the turntable 22 is provided with a constant hole 223, and a left lower hole 221, a right upper hole 222 and two second holes 224 are provided in the periphery of the through hole 223. The lower left hole 221 The upper right hole 222 is diagonally disposed, and the two through holes 224 are located on both sides of the line connecting the lower left hole 221 and the upper right hole 222. The chuck 30 is provided on the universal joint 2 a first clamping arm 31 and a second clamping arm 32. The first clamping arm 31 and the second clamping arm 32 are pivotally disposed on the body 2. To be open to
合，該第一夾臂31與第二夾臂32於鄰近樞接處上各設有 二組接孔’該四組接孔錯位。 該開合控制模組40用以控制該夾頭3〇開合角度，該 開合控制模組40包括有一控制手柄41、一角度控制件42 、-m件43、—第—導熱線44、m線的、 一第一歸位線46及一第二歸位線47，該控制手柄41 一 側伸入外成1 〇的谷置空間彳4並樞設於該基部11，該控 制手柄41另側伸出該外殼1〇並與該柄部15間隔一距離 ’該角度控制件42係設於該控制手柄41上，包括有一拉 柃邙421及一可於滑槽）6中移動的導桿部^2，其中， 該角度控制件42的杈桿部421與導桿部似係呈垂直設 置”角度控制件42為呈L型的構件，該彈性元3設 於該殼體中。 7 Μ制模組4Q的第—導熱線44 —端連接該第 …1’另·端連接該杈…21，可拉動第一失臂31 下旋轉，該第二邕舳试 ^ 導…、線45 —端連接該第二夾臂3 連接該拉桿部421，π。 穴碎以另 ..^ 可拉動第二夾臂32朝上旋轉，因此 角度控制件42 — η ·* 冋拉動第一導熱線44與第二導熱線， 201235003 ，使弟一夾臂31、第_类臂 弟—失#以對向靠近，可調整閉合角 义.j另外，6亥第一歸位線46 一端連接該第一夹臂31 ，=料該彈性元件43,可拉動第一爽臂3"月上旋轉 ’該第一歸位線4 7 — *山、έ & #哲 鈿連接ι第二夹臂32，另端連接該 彈性7G件43，可如命_ +辟 拉動弟一夾，32朝下旋轉，受到彈性元 件43的回復力拉叙笛 ^ ^ V, 〇 交刀拉動第一知位線46與第二歸位線47，使 第夾煮31與第-夾臂32對向分離，可調整夾頭30張 開角度’其中n熱線441二導熱線45、第一歸 4線46 ’、第—&位線47藉由組接銷μ插組於 接孔中。 ” 札頭控制楔组5〇係用以控制萬向接頭2Q擺動，該 擺頭控制漁5Q包含-具有導槽的座體51、-十字桿件 52、一搖桿53、一錐形彈簧54、—上控制線55、—下控 制線56 ' -左控制線57及-右控制線58。 該擺頭控制模組50的座體51係設於該外殼1〇的基 部11並位於容置空間14中’該十字桿件52係設於該座 體51上’並套設一墊片59組於該座體^上，該十字桿 件52包括有一可於座體51中轉動的球體521，該球體 521上设有伸出座體51的一上控制桿522、一下控制桿 523、一左控制桿524及一右控制桿525，該搖桿μ 一端 設於該球體521上並伸出塾片59與基部W，以及該搖桿 53上設有一擋片531，該錐形彈簧54套設於該•搖桿上 並作為復位之用，該錐形彈簧54 一端抵接該墊片59，另 端抵接該擋片531。 該上控制線55 —端連接該萬向接頭2〇的上凸耳212 201235003 ，另端連接該下控制桿523，該下控制線56 —端連接該萬 向接頭20的下凸耳213，另端連接該上控制桿522,該左 控制線57 —端組設於該萬向接頭2〇之轉盤22的左下孔 221，另端連接右控制桿525，該右控制線58 一端組設於 該萬向接頭20之轉盤22的右上孔222，另端連接左控制 桿524,其中’上控制線55與下控制線％分別通過轉盤 22上對應的通孔224。 該加熱棒60係設於該外殼j 〇的基部彳彳上，並伸， ㈣置Μ 14中與該第一導熱線44、第二導熱線扑4 觸’該加熱棒60可通電產生熱能並傳導至該第一導熱』 44第一導熱線45，進一步至夾頭3〇。 請㈣圖4至圖7所示，該關節賴料術失具的β 口控制模組40讓择作去"5Γ ^ . _ 眾插作者可一手握持控制手柄41與外達 的柄部15,指頭拉動該控制手柄41，控制手柄41、 動角度控制件42，導桿部422於 二=拉動第一導熱、線44、第二導熱線的，該第_夹后 ^與第二夾臂32受到第一導熱線44與第二導熱線〜 拉動而旋轉，甘您私… ^ 疋轉並帶動連接之第一歸 47,同時該彈性元件43 ，、第一知位勒 力量降低杜 施加於控制手柄41 ^ 二: 牛43的回復力可拉動第-、第二鶴 位線47而使央頭3〇 作者 汗，因此該開合控制模組40讓& 作者T靈活控制夾頭30閉合。 讓知 請參.閱圖8至圖1〇，操作 控制模組50的搖r 53 : 利用一指頭撥動該襬頭 u的搖柃53，若將搖桿53 坪 帶動十字桿件52，十 下撥動’搖桿 十子杯件52的上控制桿522朝榣桿 201235003 處逆時針轉動，下控制桿523亦逆時針轉動並遠離搖桿53 ，連接上控制桿522的下控制線56被拉動，進而拉動萬 向接頭20之本體21朝下轉動（如圖9所示），反之榣桿53 被往上撥動，下控制桿523則拉動上控制線55,使萬向接 頭20的本體21朝上轉動。 請參閱圖11至圖13，若將搖桿53往右撥動，十字 桿件52的左控制桿524朝搖桿53處往外轉動，拉動連接 的右控制線58，右控制線58拉動轉盤22 ,使萬向接頭 2〇的本體21朝右轉動，反之，若搖桿53被往左撥動， 十字桿件52的右控制桿525朝搖桿53處往外轉動，拉動 與右控制桿525連接的左控制線57’左控制線57拉動轉 盤22,進一步讓萬向接頭2〇的本體21朝左轉動，上述 中，搖桿53被撥動的同時，錐形彈簧54被壓縮，且錐形 彈簧54的回復力可讓搖桿53復位。 此外，該加熱棒60具有開關提供操作者操控，該加 熱棒60可通電產生熱能，熱能傳導至第一導熱線私與第 二導熱線45,進一步傳導至該第—夹臂31與第二夹臂32 ’使夾頭30可提供燒結的功用。 综上所述，該關節式微創手術爽具中採用開合控㈣ 組40、擺頭控制模組50與萬向接頭2〇的搭配，讓操作 者可靈活便利地操作’讓夾帛30可順暢地進行3個自由 度的作動，以及加熱棒60提供夾頭3〇燒結功能，因此該 關節式微創手術夹具具有操作便利性優良、夾頭3〇靈活 性佳且兼具燒結功用’可利於胸腔鏡、腹腔鏡等微創手術 中，多自由度的設計可易於在不同角度下夹到目標之外， 201235003 ==燒進一:可減少微創手術的助手人力與 ，传為提日此額"卩式微料術夾具對操作者而言 係為h供手術成功機率的輔助利器。 【圖式簡單說明】 立體:二為意本圖發W式微創手術夾具之-較佳⑽^ 前半=邱為本發明關節式微創手術夾具之—較佳實施例之 半。ί5局C7卩剖面示意圖。The first clamping arm 31 and the second clamping arm 32 are respectively provided with two sets of connecting holes at adjacent pivotal positions. The four sets of connecting holes are misaligned. The opening and closing control module 40 is configured to control the opening and closing angle of the collet 3, and the opening and closing control module 40 includes a control handle 41, an angle control member 42, an -m member 43, and a first heat conduction line 44. The m-line, a first homing line 46 and a second homing line 47, the control handle 41 extends into the outer space 1 and is pivoted to the base 11, and the control handle 41 The outer casing 1 伸出 extends from the outer casing 1 and is spaced apart from the shank 15 by a distance. The angle control member 42 is disposed on the control handle 41 and includes a pull 421 and a guide movable in the chute 6 The rod portion 221, wherein the mast portion 421 of the angle control member 42 and the guide rod portion are arranged vertically, the angle control member 42 is an L-shaped member, and the elastic element 3 is disposed in the housing. The first heat-conducting wire 44 end of the clamping module 4Q is connected to the first...1' and the other end is connected to the 杈...21, and the first arm 31 can be pulled to rotate, the second 邕舳 test..., line 45 - the end of the second clamp arm 3 is connected to the pull rod portion 421, π. The hole is broken by another.. ^ The second clamp arm 32 can be pulled upward, so the angle control member 42 - η · * 冋 pulls A heat-conducting wire 44 and a second heat-conducting wire, 201235003, the brother-armed arm 31, the first-class arm-body-missing # is in the opposite direction, and the closed-angle angle can be adjusted. j. In addition, the first half of the 6-homing line 46 Connecting the first clamping arm 31, the elastic member 43 is pulled, and the first cool arm 3"the month is rotated. The first homing line 4 7 - * mountain, έ &#哲钿连接 ι second clip The arm 32 is connected to the elastic 7G member 43 at the other end, and can be rotated as a _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ The line 46 and the second homing line 47 separate the first clamping cooker 31 from the first clamping arm 32, and can adjust the opening angle of the collet 30. The n hot wire 441 has two heat conducting lines 45 and the first returning four wires 46'. The first & bit line 47 is inserted into the through hole by the set pin μ. ” The head control wedge group 5 is used to control the universal joint 2Q swing, and the swing head control fishing 5Q includes - has a guide groove The base 51, the cross member 52, a rocker 53, a conical spring 54, an upper control line 55, a lower control line 56' - a left control line 57 and a right control line 58. The base 51 of the oscillating head control module 50 is disposed on the base 11 of the housing 1 and is located in the accommodating space 14 'the cross member 52 is attached to the base 51' and sleeved with a spacer 59 The cross member 52 includes a ball 521 rotatable in the base 51. The ball 521 is provided with an upper lever 522 extending from the base 51, a lower lever 523, and a a left control lever 524 and a right control lever 525. One end of the rocker μ is disposed on the ball 521 and extends from the cymbal 59 and the base W, and the rocker 53 is provided with a blocking piece 531. The tapered spring 54 is sleeved. Provided on the rocker and used for resetting, the conical spring 54 abuts the spacer 59 at one end and abuts the blocking piece 531 at the other end. The upper control line 55 is connected at the end to the upper lug 212 201235003 of the universal joint 2〇, and the other end is connected to the lower control rod 523. The lower control line 56 is connected end to the lower lug 213 of the universal joint 20, and The upper control line 522 is connected to the upper control hole 522. The left control line 57 is disposed at the lower left hole 221 of the universal joint 2, and the other end is connected to the right control rod 525. The right control line 58 is disposed at one end. The upper right hole 222 of the turntable 22 of the universal joint 20 is connected to the left control rod 524 at the other end, wherein the upper control line 55 and the lower control line % respectively pass through the corresponding through holes 224 on the turntable 22. The heating rod 60 is disposed on the base 彳彳 of the outer casing j 并 and extends, and the (four) Μ 14 is in contact with the first heat-conducting wire 44 and the second heat-conducting wire rusher. The heating rod 60 can be energized to generate heat energy. Conducted to the first heat conduction 44 first heat conducting line 45, further to the chuck 3〇. Please (4) As shown in Figure 4 to Figure 7, the β-port control module 40 of the joint disengagement is allowed to go to "5Γ ^ . _ The inserter can hold the control handle 41 and the handle of the external handle in one hand. 15, the finger pulls the control handle 41, the control handle 41, the dynamic angle control member 42, the guide rod portion 422 at two = pull the first heat conduction, the line 44, the second heat conduction line, the first folder after the ^ and the second folder The arm 32 is rotated by the first heat-conducting wire 44 and the second heat-conducting wire to be pulled, and the user is in a private position. ^ 疋 并 带 带 连接 连接 , , , , , , , , , , , , , , , , , , , , , , , , The control handle 41 ^ 2: The restoring force of the cow 43 can pull the first and second crane line 47 to make the head 3 〇 author sweat, so the opening and closing control module 40 allows & the author T to flexibly control the chuck 30 closure. Please refer to Fig. 8 to Fig. 1 to operate the control module 50's rocker r 53: use a finger to move the rocker 53 of the swing head u, if the rocker 53 is driven to move the cross member 52, ten The upper lever 522 of the rocker ten cup 52 is turned counterclockwise toward the mast 201235003, the lower lever 523 is also rotated counterclockwise and away from the rocker 53, and the lower control line 56 connected to the upper lever 522 is Pulling, and then pulling the body 21 of the universal joint 20 to rotate downward (as shown in FIG. 9), otherwise the mast 53 is pushed upward, and the lower control rod 523 pulls the upper control line 55 to make the body of the universal joint 20 21 turns upwards. Referring to FIG. 11 to FIG. 13, if the rocker 53 is turned to the right, the left control lever 524 of the cross member 52 is rotated outward toward the rocker 53 to pull the connected right control line 58 and the right control line 58 pulls the turntable 22 , the body 21 of the universal joint 2 turns to the right, and if the rocker 53 is pushed to the left, the right control rod 525 of the cross member 52 rotates outward toward the rocker 53, and the pull is connected with the right control rod 525. The left control line 57' left control line 57 pulls the turntable 22 to further rotate the body 21 of the universal joint 2〇 to the left. In the above, while the rocker 53 is being moved, the conical spring 54 is compressed and tapered. The restoring force of the spring 54 allows the rocker 53 to be reset. In addition, the heating rod 60 has a switch to provide operator control, and the heating rod 60 can be energized to generate thermal energy, and the thermal energy is transmitted to the first heat conducting line and the second heat conducting line 45, and further transmitted to the first clip arm 31 and the second clip. The arm 32' allows the collet 30 to provide the function of sintering. In summary, the joint type minimally invasive surgery is equipped with a combination of the opening and closing control (four) group 40, the oscillating head control module 50 and the universal joint 2 ,, so that the operator can operate the flexible folder conveniently. The three degrees of freedom can be smoothly performed, and the heating rod 60 provides the chuck 3 〇 sintering function, so the joint minimally invasive surgical clamp has excellent operation convenience, good flexibility of the collet 3 兼 and both sintering function It can be used in minimally invasive surgery such as thoracoscopic and laparoscopy. The multi-degree of freedom design can be easily caught outside the target at different angles. 201235003 == Burning one: It can reduce the help of minimally invasive surgery. This amount of "卩-type micro-material fixture" is an auxiliary tool for the operator to have a successful chance of surgery. [Simplified illustration] Stereo: The second is the W-type minimally invasive surgical clamp - preferably (10) ^ The first half = Qiu is the fifth of the preferred embodiment of the inventive minimally invasive surgical clamp. Ί5 Bureau C7卩 cross-section diagram.
後半本發明關節式微創手術夾具之—較佳實施例之 半邛局。卩剖面示意圖。 圖4··為本發明關節式微創手術夾具 前半部側視局部剖㈣意圖。 ㈣貫施例之 圖5 :為本發明„式㈣手術夾具之—較佳實施例之 後+邛側視局部剖面示意圖。 夾頭為本發明關節式微射術夾具之―較佳實施例之 丈頭閉合狀態示意圖。 圖？：為本發明關節式微創手術夾具☆夾頭閉人之一較 佳實施例之後半部作動示意圖。 、之較 圖8:為本發明關節式微創手術失具之一較佳實施例之 剛半部俯視示意圖。 圖9:為本發明關節式微創手術^之—較佳實施例之 夾頭縱向轉向示意圖。 圖10:為本發明關節式微創手術夾具於夾頭縱向轉向 之一較佳實施例之後半部作動示意圖。 圖11:為本發明關節式微創手術爽具之—較佳實施例 201235003 之前半部俯視示意圖。 圖12 :為本發明關節式微創手術夾具之一較佳實施例 之夾頭橫向轉向示意圖。 圖13:為本發明關節式微創手術夾具於夾頭橫向轉向 之一較佳實施例之後半部作動示意圖。 【主要元件符號說明】 1〇外殼 11 基部 12長管部 13 銜接片 14容置空間 15 柄部 16滑槽 20 萬向接頭 21本體 211 銜接片 212上凸耳 213 下凸耳 22轉盤 221 左下孔 222右上孔 223 1貫孔 224通孔 30 夾頭 31第一夾臂 32 第二夾臂 33組接銷 40 開合控制模組 41控制手柄 42 角度控制件 4 21拉桿部 422導桿部 43彈性元件 44 第一導熱線 45第二導熱線 46 第一歸位線 47第二歸位線 50 擺頭控制模組 51庇體 . bZ 十字桿件 521球體 522上控制桿 523下控制桿 524左控制桿The latter half of the present invention is an arterioscopic minimally invasive surgical jig.卩 Schematic diagram. Fig. 4 is a partial cross-sectional view of the front half of the articular minimally invasive surgical clamp of the present invention. (4) Figure 5 of the present invention is a partial cross-sectional view of the preferred embodiment of the present invention after the preferred embodiment of the present invention. The collet is the head of the preferred embodiment of the articular microscopy fixture of the present invention. Schematic diagram of the closed state. Fig.: is a schematic diagram of the second half of the preferred embodiment of the articular minimally invasive surgical clamp ☆ collet closure. Figure 8 is an illustration of the minimally invasive surgery of the present invention. A schematic view of a rigid half of a preferred embodiment of the present invention. Figure 9 is a schematic view of the longitudinal deflection of the collet of the preferred embodiment of the arterioscopic minimally invasive surgery of the present invention. A schematic view of the operation of the rear half of the preferred embodiment of the present invention. Fig. 11 is a top plan view of the first half of the preferred embodiment 201235003 of the articulated minimally invasive surgical device of the present invention. Fig. 12 is an articulated view of the present invention. FIG. 13 is a schematic view showing the operation of the second embodiment of the preferred embodiment of the present invention. No. Description 1 〇 Shell 11 Base 12 Long tube part 13 Adapter piece 14 accommodating space 15 shank 16 chute 20 Universal joint 21 body 211 Attachment piece 212 upper lug 213 Lower lug 22 turntable 221 Lower left hole 222 upper right hole 223 1 through hole 224 through hole 30 chuck 31 first clamp arm 32 second clamp arm 33 set pin 40 opening and closing control module 41 control handle 42 angle control member 4 21 pull rod portion 422 guide portion 43 elastic member 44 A heat-conducting line 45, a second heat-conducting line 46, a first homing line 47, a second homing line 50, a oscillating head control module 51, a body. bZ cross-bar member 521, a ball 522, a control rod 523, a lower control rod 524, a left control lever
12 201235003 525右控制桿 531擋片 5 5上控制線 57左控制線 59墊片 53搖桿 54錐形彈簧 56下控制線 58右控制線 60加熱棒12 201235003 525 Right lever 531 flap 5 5 upper control line 57 left control line 59 spacer 53 rocker 54 conical spring 56 lower control line 58 right control line 60 heating rod
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