WO2016041465A1 - Minimally invasive surgical instrument - Google Patents
Minimally invasive surgical instrument Download PDFInfo
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- WO2016041465A1 WO2016041465A1 PCT/CN2015/089404 CN2015089404W WO2016041465A1 WO 2016041465 A1 WO2016041465 A1 WO 2016041465A1 CN 2015089404 W CN2015089404 W CN 2015089404W WO 2016041465 A1 WO2016041465 A1 WO 2016041465A1
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- driving
- minimally invasive
- bending
- surgical instrument
- invasive surgical
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
Definitions
- the present invention relates to a surgical instrument, and more particularly to a flexible minimally invasive surgical instrument.
- minimally invasive surgery techniques With the rapid development of minimally invasive surgery techniques, the number of surgical procedures performed in a minimally invasive manner has also increased significantly.
- the goal of minimally invasive medical technology is to reduce the amount of tissue damage that is not involved during the diagnosis or surgical procedure, thereby reducing patient recovery time and reducing discomfort and harmful side effects.
- the use of minimally invasive surgery techniques can significantly reduce the average length of hospital stay in standard surgery. Therefore, the use of minimally invasive techniques can effectively save a large amount of hospital stay, which can save a lot in hospital accommodation costs. Patient recovery time, patient discomfort, surgical side effects and lost time can also be reduced due to the application of minimally invasive surgery techniques. .
- the Chinese application uses the flexible structure of “wire + snake joint” for bending control.
- the working part of the instrument head is relatively soft because the steel wire cannot provide sufficient rigidity support. Easy to control, leading to surgery The medium device cannot accurately perform the surgeon's intention.
- US6206903 uses the structure of "wire + drive wheel” for bending control, but the structure of the instrument is relatively complicated, the daily maintenance cost is high, the reliability of use is not high, and the life is limited.
- the structure is mostly used for a surgical robot platform, and the bending of the device is controlled by a motor and a program.
- the structure has not been found to be used for a hand-held device, and its popularization has certain limitations.
- the present invention provides a minimally invasive surgical instrument aimed at overcoming the defects of the prior art, which has the characteristics of simple structure, simple operation and maintenance, high work reliability and long service life.
- the minimally invasive surgical instrument includes a working portion and a driving portion for driving the movement of the working portion; the driving portion includes a swing driving portion for driving the working portion to perform a swinging motion; the swing driving portion includes execution a device and a power device, the first end of the actuator is movably connected to the working portion, the second end of the actuator is connected to a power device, and the actuator is driven by the power device to drive the working portion Swing motion.
- the minimally invasive surgical instrument as described above, preferably, the minimally invasive surgical instrument further includes a connecting portion, the connecting portion being a rigid member connecting the working portion and the driving portion, and the connecting portion accommodating the driving portion .
- the swing driving portion further includes a center rod, the center rod is disposed in the connecting portion, and an end portion of the working portion is connected by the bending joint a first end of the center rod;
- the actuator includes a curved link and a curved push rod, the curved push rod is sleeved on the center rod, and the first end of the curved link is pivotally connected to the working portion
- the second end of the curved link is pivotally coupled to the first end of the curved push rod, and the second end of the curved push rod is coupled to the power unit.
- the power device includes a bending wheel and a curved push tube, the bending wheel is sleeved on the center rod, and the first end of the bending tube is a second end of the curved push rod is fixedly connected, the second end of the curved push tube is The bending wheel is screwed, and the axial direction of the thread between the bending push tube and the bending wheel is parallel to the axial direction of the center rod.
- both ends of the curved connecting rod are provided with connecting members, and the two connecting members are eccentrically arranged with each other.
- the working portion comprises a jaw and a jaw base, the jaw comprising two jaw assemblies, two of the jaw assemblies and the jaw holder
- the pivot joint is pivotally connected to the end of the jaw base.
- the driving portion further includes: a rotational driving portion for driving the working portion to perform a rotational motion.
- the rotational driving portion and the oscillating driving portion are disposed coaxially.
- the driving portion further includes: an opening and closing driving portion for driving the working portion to perform an opening and closing motion.
- the connecting portion is provided with a sealing means near the end of the working portion.
- the swinging movement of the working part is completed by setting the executing device and the power device related to the oscillating motion, thereby overcoming the swaying control defect existing in the conventional surgical instrument, and having a simple structure and operation It is easy to maintain, reliable in operation and long in life.
- the minimally invasive surgical instrument provided by the invention has the following advantages: it compensates for the operation difficulty caused by the lack of freedom of the instrument in the existing laparoscopic surgery; reduces the operation difficulty of the single-port laparoscopic surgery, and expands the indications for the operation; Improves the service life and reliability of the instrument, reduces the cost of using flexible instruments; the working part can be fixed at any position within the yaw range.
- FIG. 1 is an overall structural view of a preferred embodiment of a minimally invasive surgical instrument of the present invention.
- Figure 2 is an exploded view of the part of Figure 1.
- Figure 3 is an exploded view of the clamp head of Figure 2.
- Figure 4 is a preferred connection structure of the working portion and the connecting portion of Figure 2.
- Figure 5 is a cross-sectional view of a portion of the components of Figure 2.
- Figure 6 is a cross-sectional view of the component of Figure 2 associated with the oscillating motion.
- Figure 8 is a cross-sectional view of the component of Figure 2 associated with rotational motion.
- Figure 9 is a cross-sectional view of the component of Figure 2 associated with the opening and closing motion.
- Figure 10 is a detailed view of a portion of the components associated with the oscillating motion, wherein: (a) is a schematic view of the caliper seat; (b) and (c) are views of two angles of the center rod forward; (d) and (e) are views of the two angles of the curved link; (f) and (g) are views of the two angles of the front of the outer tube; (h) and (i) are respectively two of the curved push rods. Angle view.
- Figure 11 is a detailed view of a part of the component related to the rotational motion, wherein: (a) is a structural view of the curved runner; (b) is a structural view of the outer tube followed by; and (c) is a structural view of the large runner; (d) is a structural view of the rotary positioning flange.
- the minimally invasive surgical instrument of the present invention includes a working portion and a driving portion for driving the working portion for corresponding movement.
- the driving portion may include a swing driving portion for driving the working portion to perform a swinging motion; the swing driving portion includes an executing device and a power device, and the first end of the executing device and the working portion
- the movable connection is connected to the second end of the actuator device, and the actuator device drives the working portion to perform a swinging motion under the driving of the power device.
- the working portion may comprise a jaw 1 and a jaw holder 3, the jaw 1 comprising two jaw assemblies, the two jaws passing between the jaw assembly 3 and the jaw holder 3
- the club head pin 2 is pivotally connected.
- the minimally invasive surgical instrument provided by the present invention overcomes the oscillating control defect existing in the conventional surgical instrument by providing an actuator and a power device related to the oscillating motion to complete the oscillating motion of the working portion.
- the utility model has the advantages of simple structure, simple operation and maintenance, strong work reliability and long service life.
- the minimally invasive surgical instrument may further include a connecting portion which is a rigid member for connecting the working portion and the driving portion, and the connecting portion may accommodate relevant parts in the driving portion,
- the connecting portion can be realized by a rigid pipe.
- the oscillating drive portion further includes a center rod 6 that is bored in the connecting portion, and an end portion of the working portion is coupled to the first end of the center rod 6 by a bending joint 5, A relative rotation between the working portion and the center rod 6 is possible about the bending joint 5, even if the working portion performs a corresponding oscillating motion.
- the bending joint 5 can be attached to the end of the jaw base 3.
- the executing device may include a bending link 9 and a bending push rod 10, the bending push rod 10 is sleeved on the center rod 6, and the first end of the bending link 9 and the working portion pivot A shaft is coupled, a second end of the curved link 9 is pivotally coupled to the first end of the curved push rod 10, and a second end of the curved push rod 10 is coupled to the power unit.
- the bending push rod 10 drives the bending link 9 to move, and finally drives the The working portion is rotated about the bending joint 5.
- the power device can be realized by the bending of the bending wheel 14 and the bending push tube 11 , and the bending wheel 14 can be sleeved on the center rod 6 , the first end of the bending push tube 11 A second end of the curved push rod 10 can be fixedly coupled to the curved push rod 14 , and the curved push tube 11 is screwed between the curved push tube 11 and the curved turn 14
- the axial direction of the thread is parallel to the axial direction of the center rod 6.
- the bending push tube 11 can pull or push the bending push rod 10 along the axial direction of the center rod 6 under the action of the thread.
- the oscillating drive power unit can include a bending wheel 14, a bending propeller screw 13, and a bending push tube 11. Threaded connection between the bending wheel 14 and the bending propeller 13 is achieved by screwing.
- the bending push only screw 13 and the bending push tube 11 are screwed, and the bending push tube 11 and the bending push rod 10 can be connected by a fixed connection (such as welding).
- the transmission mechanism is designed to push the bending push rod 10 when the bending wheel 14 is rotated, thereby driving the clamping head base 3 to pivot, and the handles 27, 28 provide thrust to the center rod 6, thereby realizing the opening and closing of the clamping head 1.
- the mechanism consisting of the center rod front 4 and the clamp head 7 moves around the outer tube front 15 to realize the swing of the jaw 1.
- the thread can be set as a self-locking thread, which itself has self-locking property, can fix the relative position between the bending wheel 14 and the bending propeller screw 13, and ensure accurate positioning of the device.
- the screw device in the rotary drive portion and the swing drive portion can be provided with an angle setting device to ensure accurate rotation and swing angle during the operation, thereby ensuring accurate positioning during the operation.
- both ends of the bending link 9 are provided with connecting members, and the two connecting members are eccentrically arranged with each other.
- the eccentric setting can ensure that the working part swings flexibly and is not easy to be stuck, which affects the operation reliability of the instrument and ensures the operation time and effect.
- the function of the driving portion is not limited to the oscillating motion of the driving working portion.
- the working portion can be driven by various other structural settings.
- the driving portion may further include a rotation driving portion for driving the working portion to perform a rotational motion, and for The driving part is driven to open and close the driving part of the opening and closing motion.
- the rotation driving portion and the swing driving portion are disposed coaxially, that is, the rotation driving portion and the swing driving portion are disposed on a straight line, and the executing device of the rotating driving portion is disposed in the connecting portion, and the executing device of the swing driving portion can be Set to the set relationship, the rotary drive and the swing drive are set in a straight line or near the setting, which can facilitate the operator to operate quickly, ensure the accuracy of the operation and save the operation time.
- the connecting portion is provided with a sealing device near the end of the working portion, which can prevent body fluid from flowing into the device during the operation, causing unnecessary trouble.
- the minimally invasive surgical instrument comprises a working part, a connecting part and a driving part
- the connecting part is a rigid part, connects the working part and the driving part, and can accommodate the driving part
- the driving part is divided into three parts: opening and closing driving
- the driving part of the driving is made to open and close;
- the rotating driving part drives the working part to perform a rotating motion;
- the oscillating driving part drives the working part to perform a swinging motion.
- the rotary drive and the oscillating drive are arranged on a straight line or in the vicinity, which makes it easy for the operator to operate quickly, ensuring the accuracy of the operation and saving the operation time.
- the working part is mainly the clamp head 1;
- the connecting part is mainly the outer tube 16;
- the opening and closing driving part is mainly a small handle 27, and the kneading small handle 27 drives the clamp head 1 to perform opening and closing movement;
- the power unit of the rotary driving part is mainly a large rotating wheel 22, and the rotating large rotating wheel 22 can drive the clamping head 1 to perform a rotary motion;
- the powering device of the swinging driving part is mainly a bending wheel 14, and the rotating bending wheel 14 can drive the clamping head 1 Do swing exercises.
- the jaw 1 has two components, the components being pivotally connected and pivotally connected to the jaw base 3 by a jaw pin 2.
- the center rod front 4 passes through the corresponding hole of the jaw base 3, and the center rod is connected with the 4 cylindrical bosses in the semi-closed waist circular groove of the clamp head assembly.
- the clamp pin 2 can also be simultaneously passed through the waist circular groove on the head base 3, the waist circular groove on the clamp head assembly, and the corresponding hole on the center rod front joint 4.
- the center rod bending joint 5 is pivotally coupled to the center rod front joint 4 and the center rod 6, respectively.
- the outer tube 16 is fixedly connected to the outer tube front joint 15, such as welding, and the curved push rod 10 is fixedly connected with the curved push tube 11, such as welding, and passes through the corresponding hole of the outer tube front 15 .
- the bending link 9 is pivotally coupled to the jaw base 3 and the curved push rod 10.
- the large runner 22 is loaded into the first bearing 20 and is fitted with a large runner blind cover 19 (shaft retaining ring), and the large runner 22 is fixedly coupled to the large runner blind cover 19, such as welding.
- Bending wheel 14 The outer ring of the first bearing 20 is inserted into the outer end of the curved runner end cover 21, and the bending runner is fixedly coupled to the curved runner end cover 21, such as welding, so that the bending runner 14 can only be rotated about the large revolving wheel 22 by the connection.
- the above structure can also be realized by closely fitting the large inner ring sleeve with the large rotating wheel 22, and the large rotating wheel 22 and the bending rotating wheel 14 are assembled by fixing screws, so that the curved rotating wheel 14 can only be wound around the large rotating wheel 22 Rotate.
- the curved propulsion screw 13 is threadedly engaged with the bending reel 14.
- the outer tube 16 and the outer tube rear 18 are fixedly connected, such as welded, while passing through the large wheel 22, the curved wheel 14, and the curved propeller 13 corresponding holes.
- the outer tube rear 18 and the large revolver 22 are fixed by a large reel outer tube followed by a fixing screw 17.
- the push screw fixing screw 12 passes through the waist circular groove on the outer tube 16 to fix the bending push tube 10 to the curved push screw 13.
- the rotary positioning flange 23 is tightly engaged with the large handle 28 and fixedly connected, such as welding, and the rotary positioning flange 23 is mounted as a bearing housing into the bearing group consisting of the second bearing 24 and the third bearing 25, and the bearing set is loaded into the large runner 22.
- the large wheel fixing nut 26 and the large wheel 22 are screwed to fix the large wheel 22 and the large handle 28.
- the threaded end of the center rod 6 passes through the corresponding hole of the large handle 28, and the center rod spring 7 is fitted into the large handle 28, and the center rod 6 is screwed tightly with the center rod 8 and the small handle 27 is engaged with the corresponding groove of the center rod rear 8 .
- the other end of the center rod 6 passes through the corresponding hole of the curved push rod 10.
- the above structure can also be realized by fitting the fixing screw of the large wheel 22 into the corresponding position of the large handle 28 and cooperating with the gap, and the rotating positioning flange 23 is closely matched with the large handle 28 and fixedly connected (such as welding).
- the utility model is used for screwing the fixing nut of the large wheel and the inner sleeve of the large wheel to fix the large wheel 22, and the ball end of the center rod 6 can pass through the corresponding hole of the large handle 28, and the small handle 27 Corresponding groove
- the design of the swinging structure ensures the flexibility of the working part under the premise of ensuring the rigidity of the whole surgical device, and the range is large, the device structure, the operation is simple, the work is reliable, and the maintenance is convenient.
- the outer tube rear 18 is located within the large wheel 22, and the large wheel 22 and the outer tube rear 18 are closely mated, while the outer tubes of the large wheel are post-fixed to each other by two screws 17.
- the outer tube is connected to the rear 18 and can be welded to one end of the outer tube 16, for example.
- the push screw fixing screws 12 are sequentially passed through the curved push screw 13 and the upper round groove of the outer tube 16, and screwed into the curved push tube 11.
- the outer tube 16 is fixedly connected to the outer tube front joint 15, such as welding.
- the curved push tube 11 is tightly coupled or fixedly connected to the curved push rod 10, such as welding.
- the front end of the curved push rod 10 is disposed in the accommodating space of the outer tube front joint 15, and one end of the curved connecting rod 9 and the front end of the curved push rod 10 are movable.
- the other end is movably connected to the clamp base 3, and one end of the clamp base 3 is movably connected to the outer tube front joint 15, and the curved link 9 is offset from one side of the central shaft.
- the rotary drive and the oscillating drive are arranged in a straight line or in the vicinity, which can facilitate the rapid operation of the minimally invasive surgery operator, ensure the precision of minimally invasive surgery operation, and save the operation time of minimally invasive surgery.
- the center rod 6 is disposed in the inner cavity of the curved push tube 11 , and one end is screwed to the rear of the center rod 8 , and the small handle 27 is disposed on the center rod and is connected to the groove; or the ball end of the center rod can be disposed on the small handle 27 .
- the other end of the center rod 6 is movably connected to the bending joint 5, and the bending joint 5 is also movably connected to the center rod front 3.
- the center rod front joint 4 is disposed in the clamp head base 3, and the clamp head 1 and the center rod front joint 4 are movably connected; or the clamp head base 4, the clamp head 1 and the center rod front joint 4 can be pinned by the clamp head pin.
- the small handle is kneaded.
- the small handle 27 rotates counterclockwise about the pivot, and the small handle 27 pushes the center rod and the rear 8 moves to compress the center rod spring 7 while driving the center rod.
- the center rod 6, the center rod bending joint 5, the center rod front joint 4 move forward, and the cylindrical boss on the front rod 4 of the center rod moves in the inclined groove on the clamp head, driving the clamp head assembly 1 around the clamp head pin 2 Rotate to achieve the closure of the jaws 1.
- the center rod spring 7 pushes the center rod back and connects it 8, and the jaw 1 opens, and drives the small handle back to the original position.
- a circumferential groove is formed on the outer diameter of the front rod 4 of the center rod for placing an O-ring to prevent liquid from flowing into the instrument to form blood stains;
- the clamp head 3 when assembled, the clamp head 1 is placed on the clamp head base 3, and the clamp pin 2 is passed through the corresponding hole of the clamp head and the clamp head seat to make the two are riveted.
- the clamp pin can also be used to simultaneously pass through the waist groove of the clamp head and the clamp head, so that when the clamp pin is moved up and down along the central axis direction, the clamp head is opened and closed. When the jaw pin moves up to contact the slot, it no longer moves, limiting the maximum angle at which the jaw jaws open.
- the center rod is connected with a cylindrical boss in the semi-closed waist circular groove of the clamp head, so that when the center rod is moved up and down along the central axis direction, the clamp head is opened and closed.
- the bending link 9, the bending link 9 has a hole and a shaft at the left and right ends, respectively, and the vertical distance of the center of the circle can be set to 0.15-0.5 mm, preferably 0.3 m.
- the eccentric setting can ensure that the working part swings flexibly and is not easy to be stuck, which affects the operation reliability of the instrument and ensures the operation time and effect.
- the front end of the outer tube front 15 is pivotally connected with the clamp base 3, and the corresponding passage of the curved push rod is cut.
- the front end of the curved push rod 10 is cut into a fan-shaped column shape, the center is penetrated by a circular hole, passes through the center rod 6, and the rear end is connected to the curved push tube 11.
- the large wheel 22, the first bearing 20 is inserted into the shoulder position of the large wheel 22, and the large wheel cover 19 is fixedly connected to the large wheel as a circumferential ring to realize the central axis direction of the first bearing 20. Displacement. Hole A is inserted into the large wheel fixing screw to fix the outer tube and then connected.
- the bending wheel 14, the first bearing 20 and the bending wheel end cover 21 are sequentially loaded into the bending wheel 14, and the bending wheel is fixedly connected with the bending wheel end cover to realize the displacement of the central axis direction defining the bending wheel.
- the outer tube is connected behind the 18, in which the a hole is matched with the corresponding hole of the large wheel, the b hole is placed into the spring and the steel ball, and the rotary positioning flange 23 is rotated and positioned.
- a plurality of spherical grooves are uniformly distributed on the circumference of the rotating positioning flange 23, and a corresponding hole is matched with the outer tube to realize a limit of 360°/N angle per rotation of the large rotating wheel, and a prompt sound may be preferably attached.
- the bearing material can be selected from bearing steel such as GCR15; carbon steel; stainless steel such as 440, 304, 316; ceramics such as ZRO2 zirconia, SI 3N4 silicon nitride, SIC silicon carbide, Al2O3 alumina; plastics such as PA nylon, PP poly Propylene, POM polyoxymethylene, PEEK polyether ether ketone, PVDF polydifluoroethylene, PTFE polytetrafluoroethylene, UPE polyethylene, PVC polyvinyl chloride.
- the device may preferably be fabricated entirely of a rigid material, the structural arrangement of which ensures that the jaws can resist the bouncing of the body tissue during the procedure.
- the cooperation relationship between the rotating device and the swinging device ensures that the yaw angle of the nipper does not change when the large rotating wheel is rotated.
- the device can also be combined with a numerical control device for an electronic surgical operation device.
- the swinging movement of the working part is completed by setting the executing device and the power device related to the oscillating motion, thereby overcoming the swaying control defect existing in the conventional surgical instrument, and having a simple structure and operation It is easy to maintain, reliable in operation and long in life.
- the minimally invasive surgical instrument provided by the invention has the following advantages: it compensates for the operation difficulty caused by the lack of freedom of the instrument in the existing laparoscopic surgery; reduces the operation difficulty of the single-port laparoscopic surgery, and expands the indications for the operation; Improves the service life and reliability of the instrument, reduces the cost of using flexible instruments; the working part can be fixed at any position within the yaw range.
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Abstract
A minimally invasive surgical instrument. The instrument comprises working portions (1, 3) and driving portions (9, 10, 11, 14, 22, 27) used for driving the working portions (1, 3) to move. The driving portions (9, 10, 11, 14, 22, 27) comprise swing driving portions (9, 10, 11, 14) used for driving the working portions (1, 3) to swing. The swing driving portions (9, 10, 11, 14) comprise actuation devices (9, 10) and power devices (11, 14). A first end of the actuation device (9) is movably connected to the working portion (3). A second end of the actuation device (10) is connected to the power device (11). The actuation devices (9, 10) drive the working portions (1, 3) to swing under the driving of the power devices (11, 14). By means of the minimally invasive surgical instrument, the actuation devices (9, 10) and the power devices (11, 14) related to a swing motion are arranged to complete the swing motion of the working portions (1, 3), so as to overcome the defects of conventional surgical instruments in swing control. The minimally invasive surgical instrument has the characteristics of simple structure, easy and convenient operation and maintenance, high working reliability and long service life.
Description
本发明涉及一种手术器械,特别是涉及一种可弯曲的微创外科手术器械。The present invention relates to a surgical instrument, and more particularly to a flexible minimally invasive surgical instrument.
随着微创手术技术的快速发展,以微创的方式执行的外科手术数量也在大幅增加。微创医疗技术的目的是减少诊断或手术过程期间无关组织受损量,从而减少病人的恢复时间,减少不适感和有害副作用。同时,使用微创手术技术也可以大幅缩短标准外科手术的平均住院时间。因此,采用微创技术可有效地节省大量的住院时间,仅在医院住宿成本上就能节省很多,病人恢复时间、病人的不适、手术副作用以及误工时间也可因微创手术技术的应用而减少。With the rapid development of minimally invasive surgery techniques, the number of surgical procedures performed in a minimally invasive manner has also increased significantly. The goal of minimally invasive medical technology is to reduce the amount of tissue damage that is not involved during the diagnosis or surgical procedure, thereby reducing patient recovery time and reducing discomfort and harmful side effects. At the same time, the use of minimally invasive surgery techniques can significantly reduce the average length of hospital stay in standard surgery. Therefore, the use of minimally invasive techniques can effectively save a large amount of hospital stay, which can save a lot in hospital accommodation costs. Patient recovery time, patient discomfort, surgical side effects and lost time can also be reduced due to the application of minimally invasive surgery techniques. .
随着技术的不断发展,微创手术已经由传统的四孔法逐渐向单孔法手术过渡,对患者的损伤也越来越小,术后的感染率也得到了大幅下降。然而,不管是四孔法腔镜手术还是单孔法手术,都存在着由于器械本身的原因使手术无法顺利进行的情况。With the continuous development of technology, minimally invasive surgery has gradually transitioned from the traditional four-hole method to single-hole surgery, and the damage to patients has become smaller and smaller, and the postoperative infection rate has also been greatly reduced. However, whether it is a four-hole laparoscopic surgery or a single-hole surgery, there is a case that the operation cannot be performed smoothly due to the device itself.
目前,对于手术中常用的是0°和30°腹腔镜,手术过程中的视野比较有限。而现有的腹腔镜器械通常是直型的,且都是刚性的,本身所具有的自由度较少,因此容易在手术操作中互相影响。为解决这一问题,市场上推出了一些具有多自由度的柔性器械,虽然在一定程度上可以缓解腔镜手术所面临的困难,但是现有的多自由度器械仍然存在器械的成本高、结构较为复杂、维修保养困难的缺陷,更重要的是,现有器械的可弯曲部分一般过于柔软,术中易出现非正常弯曲而导致器械超出视野范围等问题。At present, for the 0° and 30° laparoscopy commonly used in surgery, the visual field during surgery is limited. While existing laparoscopic instruments are generally straight and rigid, they have less freedom and are therefore susceptible to interaction during surgical procedures. In order to solve this problem, some flexible instruments with multiple degrees of freedom have been introduced on the market. Although the difficulties faced by laparoscopic surgery can be alleviated to some extent, the existing multi-degree-of-freedom instruments still have high cost and structure. More complicated, difficult to maintain and repair, more importantly, the bendable part of the existing equipment is generally too soft, and it is prone to abnormal bending during the operation, which causes the instrument to exceed the field of view.
中国申请(申请号200920202713.0)采用“钢丝+蛇骨关节”的柔性结构进行弯曲控制,当器械处于直型状态时,由于钢丝无法提供足够的刚性支持,因此器械头端工作部分相对比较软,不容易控制,导致手术
中器械无法准确地执行术者的意图。The Chinese application (application number 200920202713.0) uses the flexible structure of “wire + snake joint” for bending control. When the instrument is in the straight state, the working part of the instrument head is relatively soft because the steel wire cannot provide sufficient rigidity support. Easy to control, leading to surgery
The medium device cannot accurately perform the surgeon's intention.
美国申请(US6206903)采用“钢丝+传动轮”的结构进行弯曲控制,但器械的结构比较复杂,日常保养成本很高,使用可靠性不高、寿命有限。另外,目前该结构多用于手术机器人平台,依靠电机和程序对器械的弯曲进行控制,尚未发现该结构用于手持器械,其推广普及具有一定的局限性。The US application (US6206903) uses the structure of "wire + drive wheel" for bending control, but the structure of the instrument is relatively complicated, the daily maintenance cost is high, the reliability of use is not high, and the life is limited. In addition, at present, the structure is mostly used for a surgical robot platform, and the bending of the device is controlled by a motor and a program. The structure has not been found to be used for a hand-held device, and its popularization has certain limitations.
发明内容Summary of the invention
有鉴于此,本发明提供了一种微创外科手术器械,旨在克服现有技术的缺陷,其具有结构简单,操作、维护简便,工作可靠性强和寿命长等特点。In view of this, the present invention provides a minimally invasive surgical instrument aimed at overcoming the defects of the prior art, which has the characteristics of simple structure, simple operation and maintenance, high work reliability and long service life.
本发明所提供的微创外科手术器械包括工作部分、以及用于驱动工作部分运动的驱动部分;所述驱动部分包括用于驱动工作部分做摆动运动的摆动驱动部;所述摆动驱动部包括执行装置和动力装置,所述执行装置的第一端与所述工作部分活动连接,所述执行装置的第二端与动力装置连接,所述执行装置在所述动力装置的驱动下带动工作部分做摆动运动。The minimally invasive surgical instrument provided by the present invention includes a working portion and a driving portion for driving the movement of the working portion; the driving portion includes a swing driving portion for driving the working portion to perform a swinging motion; the swing driving portion includes execution a device and a power device, the first end of the actuator is movably connected to the working portion, the second end of the actuator is connected to a power device, and the actuator is driven by the power device to drive the working portion Swing motion.
如上所述的微创外科手术器械,优选地,所述微创外科手术器械还包括连接部分,连接部分为刚性构件,连接工作部分和驱动部分,并且所述连接部分中容纳有驱动部分的零件。The minimally invasive surgical instrument as described above, preferably, the minimally invasive surgical instrument further includes a connecting portion, the connecting portion being a rigid member connecting the working portion and the driving portion, and the connecting portion accommodating the driving portion .
如上所述的微创外科手术器械,优选地,所述摆动驱动部还包括中心杆,所述中心杆穿设在所述连接部分中,所述工作部分的端部通过弯曲关节连接在所述中心杆的第一端;所述执行装置包括弯曲连杆和弯曲推杆,所述弯曲推杆套设在所述中心杆上,所述弯曲连杆第一端与所述工作部分枢轴连接,所述弯曲连杆的第二端与所述弯曲推杆的第一端枢轴连接,所述弯曲推杆的第二端与所述动力装置连接。In the minimally invasive surgical instrument as described above, preferably, the swing driving portion further includes a center rod, the center rod is disposed in the connecting portion, and an end portion of the working portion is connected by the bending joint a first end of the center rod; the actuator includes a curved link and a curved push rod, the curved push rod is sleeved on the center rod, and the first end of the curved link is pivotally connected to the working portion The second end of the curved link is pivotally coupled to the first end of the curved push rod, and the second end of the curved push rod is coupled to the power unit.
如上所述的微创外科手术器械,优选地,所述动力装置包括弯曲转轮和弯曲推管,所述弯曲转轮套设在所述中心杆上,所述弯曲推管的第一端与所述弯曲推杆的第二端固定连接,所述弯曲推管的第二端与所述
弯曲转轮螺纹连接,所述弯曲推管与所述弯曲转轮之间的螺纹的轴向与所述中心杆的轴向平行。In the minimally invasive surgical instrument as described above, preferably, the power device includes a bending wheel and a curved push tube, the bending wheel is sleeved on the center rod, and the first end of the bending tube is a second end of the curved push rod is fixedly connected, the second end of the curved push tube is
The bending wheel is screwed, and the axial direction of the thread between the bending push tube and the bending wheel is parallel to the axial direction of the center rod.
如上所述的微创外科手术器械,优选地,所述弯曲连杆的两端均设有连接件,两连接件互为偏心设置。In the minimally invasive surgical instrument as described above, preferably, both ends of the curved connecting rod are provided with connecting members, and the two connecting members are eccentrically arranged with each other.
如上所述的微创外科手术器械,优选地,所述工作部分包括钳头和钳头座,所述钳头包括两个钳头组件,两个所述钳头组件与所述钳头座之间通过杆头销钉枢轴连接,所述弯曲关节连接在所述钳头座的端部。In a minimally invasive surgical instrument as described above, preferably, the working portion comprises a jaw and a jaw base, the jaw comprising two jaw assemblies, two of the jaw assemblies and the jaw holder The pivot joint is pivotally connected to the end of the jaw base.
如上所述的微创外科手术器械,优选地,所述驱动部分还包括:用于驱动工作部分做旋转运动的旋转驱动部。In the minimally invasive surgical instrument as described above, preferably, the driving portion further includes: a rotational driving portion for driving the working portion to perform a rotational motion.
如上所述的微创外科手术器械,优选地,所述旋转驱动部和摆动驱动部共轴设置。In the minimally invasive surgical instrument as described above, preferably, the rotational driving portion and the oscillating driving portion are disposed coaxially.
如上所述的微创外科手术器械,优选地,所述驱动部分还包括:用于驱动工作部分做开合运动的开合驱动部。In the minimally invasive surgical instrument as described above, preferably, the driving portion further includes: an opening and closing driving portion for driving the working portion to perform an opening and closing motion.
如上所述的微创外科手术器械,优选地,所述连接部分靠近工作部分的端部设置有密封装置。In the minimally invasive surgical instrument as described above, preferably, the connecting portion is provided with a sealing means near the end of the working portion.
采用本发明的微创外科手术器械,通过设置与摆动运动相关的执行装置和动力装置,以完成工作部分的摆动运动,从而克服传统的手术器械中所存在的摆动控制缺陷,具有结构简单,操作、维护简便,工作可靠性强和寿命长等特点。本发明所提供的微创外科手术器械具有以下优点:弥补了现有腔镜手术中由于器械自由度不足导致的操作困难;降低了单孔腔镜手术的操作难度,扩大了手术的适应症;提高了器械的使用寿命和可靠性,降低了使用可弯曲器械的成本;工作部位能在偏摆范围内任意位置实现固定。By adopting the minimally invasive surgical instrument of the present invention, the swinging movement of the working part is completed by setting the executing device and the power device related to the oscillating motion, thereby overcoming the swaying control defect existing in the conventional surgical instrument, and having a simple structure and operation It is easy to maintain, reliable in operation and long in life. The minimally invasive surgical instrument provided by the invention has the following advantages: it compensates for the operation difficulty caused by the lack of freedom of the instrument in the existing laparoscopic surgery; reduces the operation difficulty of the single-port laparoscopic surgery, and expands the indications for the operation; Improves the service life and reliability of the instrument, reduces the cost of using flexible instruments; the working part can be fixed at any position within the yaw range.
下面将通过附图详细描述本发明中优选实施例,将有助于理解本发明的目的和优点,其中:DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
图1是本发明的微创外科手术器械优选实施例的整体结构图。1 is an overall structural view of a preferred embodiment of a minimally invasive surgical instrument of the present invention.
图2是图1的零件爆炸图。
Figure 2 is an exploded view of the part of Figure 1.
图3是图2中钳头的爆炸图。Figure 3 is an exploded view of the clamp head of Figure 2.
图4图2中工作部分与连接部分的一种优选的连接结构。Figure 4 is a preferred connection structure of the working portion and the connecting portion of Figure 2.
图5是图2中部分部件的剖视图。Figure 5 is a cross-sectional view of a portion of the components of Figure 2.
图6是图2中与摆动运动相关的部件的剖视图。Figure 6 is a cross-sectional view of the component of Figure 2 associated with the oscillating motion.
图7中(a)、(b)和(c)分别是钳头摆动运动中的三种状态。(a), (b), and (c) in Fig. 7 are three states in the oscillating motion of the nipper, respectively.
图8是图2中与转动运动相关的部件的剖视图。Figure 8 is a cross-sectional view of the component of Figure 2 associated with rotational motion.
图9是图2中与开合运动相关的部件的剖视图。Figure 9 is a cross-sectional view of the component of Figure 2 associated with the opening and closing motion.
图10是与摆动运动相关的部分部件的细节图,其中:(a)是钳头座的示意图;(b)和(c)分别是中心杆前接的两个角度的视图;(d)和(e)分别是弯曲连杆的两个角度的视图;(f)和(g)分别是外管前接的两个角度的视图;(h)和(i)分别是弯曲推杆的两个角度的视图。Figure 10 is a detailed view of a portion of the components associated with the oscillating motion, wherein: (a) is a schematic view of the caliper seat; (b) and (c) are views of two angles of the center rod forward; (d) and (e) are views of the two angles of the curved link; (f) and (g) are views of the two angles of the front of the outer tube; (h) and (i) are respectively two of the curved push rods. Angle view.
图11是与旋转运动相关的部分部件的细节图,其中:(a)是弯曲转轮的结构图;(b)是外管后接的结构图;(c)是大转轮的结构图;(d)是旋转定位法兰的结构图。Figure 11 is a detailed view of a part of the component related to the rotational motion, wherein: (a) is a structural view of the curved runner; (b) is a structural view of the outer tube followed by; and (c) is a structural view of the large runner; (d) is a structural view of the rotary positioning flange.
附图标记说明:Description of the reference signs:
1钳头 2钳头销钉 3钳头座1 clamp head 2 clamp head pin 3 clamp head seat
4中心杆前接 5弯曲关节 6中心杆4 center rod front 5 bending joint 6 center rod
7中心杆弹簧 8中心杆后接 9弯曲连杆7 center rod spring 8 center rod rear 9 bending link
10弯曲推杆 11弯曲推管 12推进螺杆固定螺钉10 bending push rod 11 bending push tube 12 push screw fixing screw
13弯曲推进螺杆 14弯曲转轮 15外管前接13 bending propeller screw 14 bending runner 15 outer tube front
16外管 17大转轮固定螺钉 18外管后接16 outer tube 17 large wheel fixing screw 18 outer tube rear
19大转轮闷盖 20第一轴承 21弯曲转轮端盖19 large wheel cover 20 first bearing 21 curved wheel end cover
22大转轮 23旋转定位法兰 24第二轴承22 large runner 23 rotary positioning flange 24 second bearing
25第三轴承 26大转轮固定螺套 27小手柄25 third bearing 26 large wheel fixing screw sleeve 27 small handle
28大手柄28 large handles
下面结合实施例对本发明进行详细说明。其中相同的零部件用相同
的附图标记表示。需要说明的是,下面描述中使用的词语“前”、“后”、“左”、“右”、“上”和“下”指的是附图中的方向,词语“内”和“外”分别指的是朝向或远离特定部件几何中心的方向。The invention will now be described in detail in connection with the embodiments. Where the same parts are the same
The reference numerals are indicated. It should be noted that the words "front", "back", "left", "right", "upper" and "lower" used in the following description refer to the directions in the drawings, the words "inside" and "outside" "Respectively refers to the direction toward or away from the geometric center of a particular component.
如图1-11所示,本发明所提供的微创外科手术器械包括:工作部分和驱动部分,所述驱动部分用于驱动工作部分进行相应的运动。在具体实施过程中,所述驱动部分可以包括用于驱动工作部分做摆动运动的摆动驱动部;所述摆动驱动部包括执行装置和动力装置,所述执行装置的第一端与所述工作部分活动连接,所述执行装置的第二端与动力装置连接,所述执行装置在所述动力装置的驱动下带动工作部分做摆动运动。在具体实施例中,所述工作部分可以包括钳头1和钳头座3,所述钳头1包括两个钳头组件,两个所述钳头组件与所述钳头座3之间通过杆头销钉2枢轴连接。As shown in Figures 1-11, the minimally invasive surgical instrument of the present invention includes a working portion and a driving portion for driving the working portion for corresponding movement. In a specific implementation process, the driving portion may include a swing driving portion for driving the working portion to perform a swinging motion; the swing driving portion includes an executing device and a power device, and the first end of the executing device and the working portion The movable connection is connected to the second end of the actuator device, and the actuator device drives the working portion to perform a swinging motion under the driving of the power device. In a particular embodiment, the working portion may comprise a jaw 1 and a jaw holder 3, the jaw 1 comprising two jaw assemblies, the two jaws passing between the jaw assembly 3 and the jaw holder 3 The club head pin 2 is pivotally connected.
总体而言,本发明所提供的微创外科手术器械通过设置与摆动运动相关的执行装置和动力装置,以完成工作部分的摆动运动,从而克服传统的手术器械中所存在的摆动控制缺陷,具有结构简单,操作、维护简便,工作可靠性强和寿命长等特点。In general, the minimally invasive surgical instrument provided by the present invention overcomes the oscillating control defect existing in the conventional surgical instrument by providing an actuator and a power device related to the oscillating motion to complete the oscillating motion of the working portion. The utility model has the advantages of simple structure, simple operation and maintenance, strong work reliability and long service life.
在一个优选实施例中,所述微创外科手术器械还可以包括连接部分,连接部分为刚性构件,用于连接工作部分和驱动部分,并且所述连接部分中可以容纳驱动部分中的相关零件,例如:所述连接部分可以通过刚性的管材来实现。所述摆动驱动部还包括中心杆6,所述中心杆6穿设在所述连接部分中,所述工作部分的端部通过弯曲关节5连接在所述中心杆6的第一端,使所述工作部分与所述中心杆6之间可以绕所述弯曲关节5进行相对转动,即使所述工作部分进行相应的摆动运动。例如:可以将弯曲关节5连接在所述钳头座3的端部。In a preferred embodiment, the minimally invasive surgical instrument may further include a connecting portion which is a rigid member for connecting the working portion and the driving portion, and the connecting portion may accommodate relevant parts in the driving portion, For example, the connecting portion can be realized by a rigid pipe. The oscillating drive portion further includes a center rod 6 that is bored in the connecting portion, and an end portion of the working portion is coupled to the first end of the center rod 6 by a bending joint 5, A relative rotation between the working portion and the center rod 6 is possible about the bending joint 5, even if the working portion performs a corresponding oscillating motion. For example, the bending joint 5 can be attached to the end of the jaw base 3.
具体地,所述执行装置可以包括弯曲连杆9和弯曲推杆10,所述弯曲推杆10套设在所述中心杆6上,所述弯曲连杆9第一端与所述工作部分枢轴连接,所述弯曲连杆9的第二端与所述弯曲推杆10的第一端枢轴连接,所述弯曲推杆10的第二端与所述动力装置连接。在所述动力装置的驱动下,所述弯曲推杆10带动所述弯曲连杆9进行运动,最终带动所
述工作部分绕所述弯曲关节5进行转动。Specifically, the executing device may include a bending link 9 and a bending push rod 10, the bending push rod 10 is sleeved on the center rod 6, and the first end of the bending link 9 and the working portion pivot A shaft is coupled, a second end of the curved link 9 is pivotally coupled to the first end of the curved push rod 10, and a second end of the curved push rod 10 is coupled to the power unit. Under the driving of the power device, the bending push rod 10 drives the bending link 9 to move, and finally drives the
The working portion is rotated about the bending joint 5.
优选地,所述动力装置可以通过弯曲转轮14和弯曲推管11相互配合来实现,所述弯曲转轮14可以套设再所述中心杆6上,所述弯曲推管11的第一端可以与所述弯曲推杆10的第二端固定连接,所述弯曲推管11的第二端与所述弯曲转轮14螺纹连接,所述弯曲推管11与所述弯曲转轮14之间的螺纹的轴向与所述中心杆6的轴向平行。当转动弯曲转轮14时,在螺纹的作用下,弯曲推管11可以沿着所述中心杆6的轴向对弯曲推杆10进行拉动或推动。在图中的具体实施例中,可以通过下述方式实现:摆动驱动部动力装置可以包括弯曲转轮14、弯曲推进螺杆13和弯曲推管11。弯曲转轮14与弯曲推进螺杆13之间通过螺纹连接实现螺纹传动,弯曲推仅螺杆13与弯曲推管11使用螺丝连接,弯曲推管11与弯曲推杆10可以通过固定连接(如焊接)实现,从而形成相应的传动机构。这种传动机构的设计可以实现在转动弯曲转轮14时推动弯曲推杆10,从而带动钳头座3绕枢轴转动,手柄27、28对中心杆6提供推力,实现钳头1的开合;旋转弯曲转轮14,通过螺纹传动为弯曲推进螺杆13、弯曲推管11、弯曲推杆10提供推力,从而驱动弯曲连杆9并带动设置在钳头座3上的中心杆弯曲关节5、中心杆前接4及钳头7组成的机构绕外管前接15运动,实现钳头1的摆动。螺纹可以设置为自锁螺纹,其本身具有自锁性,可以固定住弯曲转轮14和弯曲推进螺杆13之间的相对位置,保证装置定位的准确。此外,旋转驱动部和摆动驱动部中的螺旋装置可以带有角度设定装置,可以保证手术过程中,旋转和摆动角度精确,从而保证手术过程中定位准确。Preferably, the power device can be realized by the bending of the bending wheel 14 and the bending push tube 11 , and the bending wheel 14 can be sleeved on the center rod 6 , the first end of the bending push tube 11 A second end of the curved push rod 10 can be fixedly coupled to the curved push rod 14 , and the curved push tube 11 is screwed between the curved push tube 11 and the curved turn 14 The axial direction of the thread is parallel to the axial direction of the center rod 6. When the bending wheel 14 is rotated, the bending push tube 11 can pull or push the bending push rod 10 along the axial direction of the center rod 6 under the action of the thread. In a specific embodiment of the drawings, it can be achieved that the oscillating drive power unit can include a bending wheel 14, a bending propeller screw 13, and a bending push tube 11. Threaded connection between the bending wheel 14 and the bending propeller 13 is achieved by screwing. The bending push only screw 13 and the bending push tube 11 are screwed, and the bending push tube 11 and the bending push rod 10 can be connected by a fixed connection (such as welding). Thereby forming a corresponding transmission mechanism. The transmission mechanism is designed to push the bending push rod 10 when the bending wheel 14 is rotated, thereby driving the clamping head base 3 to pivot, and the handles 27, 28 provide thrust to the center rod 6, thereby realizing the opening and closing of the clamping head 1. Rotating the bending wheel 14, providing a thrust for the bending propeller screw 13, the bending push tube 11, and the bending push rod 10 by screwing, thereby driving the bending link 9 and driving the center rod bending joint 5 disposed on the jaw base 3, The mechanism consisting of the center rod front 4 and the clamp head 7 moves around the outer tube front 15 to realize the swing of the jaw 1. The thread can be set as a self-locking thread, which itself has self-locking property, can fix the relative position between the bending wheel 14 and the bending propeller screw 13, and ensure accurate positioning of the device. In addition, the screw device in the rotary drive portion and the swing drive portion can be provided with an angle setting device to ensure accurate rotation and swing angle during the operation, thereby ensuring accurate positioning during the operation.
优选地,所述弯曲连杆9的两端均设有连接件,两连接件互为偏心设置。该偏心设置可以保证工作部摆动灵活不易发生卡死等现象,影响器械操作可靠性,保证手术时间和效果。Preferably, both ends of the bending link 9 are provided with connecting members, and the two connecting members are eccentrically arranged with each other. The eccentric setting can ensure that the working part swings flexibly and is not easy to be stuck, which affects the operation reliability of the instrument and ensures the operation time and effect.
对于本发明所提供的微创外科手术器械,所述驱动部分的功能并不仅仅局限于驱动工作部分做摆动运动,如上实施例中所述,还可以通过各种其它结构设置来驱动工作部分做其它相应的运动。例如:所述驱动部分还可以包括用于驱动工作部分做旋转运动的旋转驱动部,以及用于
驱动工作部分做开合运动的开合驱动部。优选地,所述旋转驱动部和摆动驱动部共轴设置,即将旋转驱动部和摆动驱动部设置在一条直线上,旋转驱动部的执行装置设置于连接部分内,与摆动驱动部的执行装置可以设置为套设关系,旋转驱动和摆动驱动设置在一条直线上或就近设置,可以方便操作者就近快速进行操作,保证手术操作精度,节约操作时间。For the minimally invasive surgical instrument provided by the present invention, the function of the driving portion is not limited to the oscillating motion of the driving working portion. As described in the above embodiment, the working portion can be driven by various other structural settings. Other corresponding sports. For example, the driving portion may further include a rotation driving portion for driving the working portion to perform a rotational motion, and for
The driving part is driven to open and close the driving part of the opening and closing motion. Preferably, the rotation driving portion and the swing driving portion are disposed coaxially, that is, the rotation driving portion and the swing driving portion are disposed on a straight line, and the executing device of the rotating driving portion is disposed in the connecting portion, and the executing device of the swing driving portion can be Set to the set relationship, the rotary drive and the swing drive are set in a straight line or near the setting, which can facilitate the operator to operate quickly, ensure the accuracy of the operation and save the operation time.
优选地,所述连接部分靠近工作部分的端部设置有密封装置,可以防止手术过程中体液流入器械中,造成不必要的麻烦。Preferably, the connecting portion is provided with a sealing device near the end of the working portion, which can prevent body fluid from flowing into the device during the operation, causing unnecessary trouble.
下面对图中所示出的实施例中的部件和结构进行具体和详细的描述。本发明所提供的微创手术器械包括工作部分、连接部分和驱动部分,连接部分为刚性构件,连接工作部分和驱动部分,且可以容纳驱动部分零件,驱动部分分为三个部分:开合驱动部驱动工作部分做开合运动;旋转驱动部驱动工作部分做旋转运动;摆动驱动部驱动工作部分做摆动运动。旋转驱动和摆动驱动设置在一条直线上或就近设置,可以方便操作者就近快速进行操作,保证手术操作精度,节约操作时间。The components and structures in the embodiments shown in the drawings are specifically and in detail described below. The minimally invasive surgical instrument provided by the invention comprises a working part, a connecting part and a driving part, the connecting part is a rigid part, connects the working part and the driving part, and can accommodate the driving part, the driving part is divided into three parts: opening and closing driving The driving part of the driving is made to open and close; the rotating driving part drives the working part to perform a rotating motion; the oscillating driving part drives the working part to perform a swinging motion. The rotary drive and the oscillating drive are arranged on a straight line or in the vicinity, which makes it easy for the operator to operate quickly, ensuring the accuracy of the operation and saving the operation time.
参见图1-4,本实施例中,工作部分主要为钳头1;连接部分主要为外管16;开合驱动部主要为小手柄27,捏合小手柄27驱动钳头1做开合运动;旋转驱动部的动力装置主要为大转轮22,旋转大转轮22可以驱动钳头1做旋转运动;摆动驱动部的动力装置主要为弯曲转轮14,旋转弯曲转轮14可以驱动钳头1做摆动运动。Referring to FIG. 1-4, in this embodiment, the working part is mainly the clamp head 1; the connecting part is mainly the outer tube 16; the opening and closing driving part is mainly a small handle 27, and the kneading small handle 27 drives the clamp head 1 to perform opening and closing movement; The power unit of the rotary driving part is mainly a large rotating wheel 22, and the rotating large rotating wheel 22 can drive the clamping head 1 to perform a rotary motion; the powering device of the swinging driving part is mainly a bending wheel 14, and the rotating bending wheel 14 can drive the clamping head 1 Do swing exercises.
钳头1具有两个组件,组件之间枢轴连接,并与钳头座3枢轴连接通过钳头销钉2固定。中心杆前接4穿过钳头座3对应孔,中心杆前接4圆柱形凸台装入钳头1组件半封闭腰圆槽内。在具体应用过程中,也可以将钳头销钉2同时穿过杆头座3上的腰圆槽、钳头1组件上的腰圆槽、以及中心杆前接4上的对应孔来实现。中心杆弯曲关节5分别与中心杆前接4和中心杆6枢轴连接。外管16与外管前接15固定连接,如焊接,弯曲推杆10与弯曲推管11固定连接,如焊接,并穿过外管前接15对应孔。弯曲连杆9与钳头座3和弯曲推杆10枢轴连接。The jaw 1 has two components, the components being pivotally connected and pivotally connected to the jaw base 3 by a jaw pin 2. The center rod front 4 passes through the corresponding hole of the jaw base 3, and the center rod is connected with the 4 cylindrical bosses in the semi-closed waist circular groove of the clamp head assembly. In a specific application process, the clamp pin 2 can also be simultaneously passed through the waist circular groove on the head base 3, the waist circular groove on the clamp head assembly, and the corresponding hole on the center rod front joint 4. The center rod bending joint 5 is pivotally coupled to the center rod front joint 4 and the center rod 6, respectively. The outer tube 16 is fixedly connected to the outer tube front joint 15, such as welding, and the curved push rod 10 is fixedly connected with the curved push tube 11, such as welding, and passes through the corresponding hole of the outer tube front 15 . The bending link 9 is pivotally coupled to the jaw base 3 and the curved push rod 10.
参见图2-5,大转轮22装入第一轴承20,并套上大转轮闷盖19(轴挡圈),大转轮22与大转轮闷盖19固定连接,如焊接。弯曲转轮14装
入第一轴承20外圈,并装入弯曲转轮端盖21,弯曲转轮与弯曲转轮端盖21固定连接,如焊接,使弯曲转轮14只可以通过连接绕大转轮22旋转。上述结构还可以通过以下方式实现:将大转轮内套与大转轮22紧密配合,大转轮22和弯曲转轮14通过固定螺钉进行装配,使弯曲转轮14只可以绕大转轮22旋转。Referring to Figures 2-5, the large runner 22 is loaded into the first bearing 20 and is fitted with a large runner blind cover 19 (shaft retaining ring), and the large runner 22 is fixedly coupled to the large runner blind cover 19, such as welding. Bending wheel 14
The outer ring of the first bearing 20 is inserted into the outer end of the curved runner end cover 21, and the bending runner is fixedly coupled to the curved runner end cover 21, such as welding, so that the bending runner 14 can only be rotated about the large revolving wheel 22 by the connection. The above structure can also be realized by closely fitting the large inner ring sleeve with the large rotating wheel 22, and the large rotating wheel 22 and the bending rotating wheel 14 are assembled by fixing screws, so that the curved rotating wheel 14 can only be wound around the large rotating wheel 22 Rotate.
弯曲推进螺杆13与弯曲转轮14螺纹配合。外管16和外管后接18为固定连接,如焊接,同时通过大转轮22、弯曲转轮14、弯曲推进螺杆13对应孔。外管后接18与大转轮22通过大转轮外管后接固定螺钉17固定。推进螺杆固定螺钉12穿过外管16上的腰圆槽将弯曲推管10与弯曲推进螺杆13固定。旋转定位法兰23与大手柄28紧配合,并固定连接,如焊接,旋转定位法兰23作为轴承座装入由第二轴承24和第三轴承25组成的轴承组,轴承组装入大转轮22,大转轮固定螺套26与大转轮22螺纹旋紧后固定住大转轮22与大手柄28。中心杆6螺纹端穿过大手柄28对应孔,将中心杆弹簧7装入大手柄28,中心杆6与中心杆后接8螺纹旋紧,小手柄27与中心杆后接8对应槽配合。中心杆6另一端穿过弯曲推杆10对应孔。上述结构还可以通过以下方式实现:将大转轮22的固定螺套装入大手柄28的对应位置并间隙配合,将旋转定位法兰23与大手柄28紧密配合,并固定连接(如焊接),用于将大转轮的固定螺套与大转轮的内套螺纹旋紧后固定住大转轮22,中心杆6的球头端可以穿过大手柄28的对应孔,并与小手柄27的对应槽进行配合The curved propulsion screw 13 is threadedly engaged with the bending reel 14. The outer tube 16 and the outer tube rear 18 are fixedly connected, such as welded, while passing through the large wheel 22, the curved wheel 14, and the curved propeller 13 corresponding holes. The outer tube rear 18 and the large revolver 22 are fixed by a large reel outer tube followed by a fixing screw 17. The push screw fixing screw 12 passes through the waist circular groove on the outer tube 16 to fix the bending push tube 10 to the curved push screw 13. The rotary positioning flange 23 is tightly engaged with the large handle 28 and fixedly connected, such as welding, and the rotary positioning flange 23 is mounted as a bearing housing into the bearing group consisting of the second bearing 24 and the third bearing 25, and the bearing set is loaded into the large runner 22. The large wheel fixing nut 26 and the large wheel 22 are screwed to fix the large wheel 22 and the large handle 28. The threaded end of the center rod 6 passes through the corresponding hole of the large handle 28, and the center rod spring 7 is fitted into the large handle 28, and the center rod 6 is screwed tightly with the center rod 8 and the small handle 27 is engaged with the corresponding groove of the center rod rear 8 . The other end of the center rod 6 passes through the corresponding hole of the curved push rod 10. The above structure can also be realized by fitting the fixing screw of the large wheel 22 into the corresponding position of the large handle 28 and cooperating with the gap, and the rotating positioning flange 23 is closely matched with the large handle 28 and fixedly connected (such as welding). The utility model is used for screwing the fixing nut of the large wheel and the inner sleeve of the large wheel to fix the large wheel 22, and the ball end of the center rod 6 can pass through the corresponding hole of the large handle 28, and the small handle 27 Corresponding groove
参见图2、图6和图7,当顺时针转动弯曲转轮14,将弯曲推进螺杆13外推,带动弯曲推管11向前延伸,使得弯曲推杆10作用于弯曲连杆9,钳头座3经由弯曲连杆9带动发生偏摆。Referring to FIG. 2, FIG. 6, and FIG. 7, when the bending wheel 14 is rotated clockwise, the bending propeller 13 is pushed outward, and the bending push tube 11 is driven to extend forward, so that the bending push rod 10 acts on the bending link 9, the clamping head The seat 3 is biased by the bending link 9.
当逆时针转动弯曲转轮14,将弯曲推进螺杆13内收,带动弯曲推管11向大手柄28方向运动,使得弯曲推杆10向后拉动弯曲连杆9,钳头座3经由弯曲连杆9带动发生相反方向偏摆。When the bending wheel 14 is rotated counterclockwise, the bending propeller 13 is retracted, and the bending push tube 11 is moved toward the large handle 28, so that the bending push rod 10 pulls the bending link 9 backward, and the clamping head 3 passes the bending link. 9 drives the yaw in the opposite direction.
该种摆动结构的设计在保证了整个手术装置的刚性的前提下,使得工作部的摆动灵活,范围较大,装置结构、操作简单,工作可靠,维护方便。
The design of the swinging structure ensures the flexibility of the working part under the premise of ensuring the rigidity of the whole surgical device, and the range is large, the device structure, the operation is simple, the work is reliable, and the maintenance is convenient.
参见图2和图8,外管后接18位于大转轮22内,大转轮22和外管后接18紧密配合,同时通过两个螺钉17将大转轮的外管后接相互固定。外管后接18固定设置,例如可以焊接于外管16的一端。推进螺杆固定螺钉12依次穿过弯曲推进螺杆13以及外管16上腰圆槽,拧入弯曲推管11。Referring to Figures 2 and 8, the outer tube rear 18 is located within the large wheel 22, and the large wheel 22 and the outer tube rear 18 are closely mated, while the outer tubes of the large wheel are post-fixed to each other by two screws 17. The outer tube is connected to the rear 18 and can be welded to one end of the outer tube 16, for example. The push screw fixing screws 12 are sequentially passed through the curved push screw 13 and the upper round groove of the outer tube 16, and screwed into the curved push tube 11.
外管16与外管前接15固定连接,如焊接。弯曲推管11与弯曲推杆10紧配合或固定连接,如焊接,弯曲推杆10前端设于外管前接15的容置空间内,弯曲连杆9的一端与弯曲推杆10的前端活动连接,另一端活动连接于钳头座3,钳头座3的一端与外管前接15活动连接,弯曲连杆9偏置于中心轴的一侧。The outer tube 16 is fixedly connected to the outer tube front joint 15, such as welding. The curved push tube 11 is tightly coupled or fixedly connected to the curved push rod 10, such as welding. The front end of the curved push rod 10 is disposed in the accommodating space of the outer tube front joint 15, and one end of the curved connecting rod 9 and the front end of the curved push rod 10 are movable. The other end is movably connected to the clamp base 3, and one end of the clamp base 3 is movably connected to the outer tube front joint 15, and the curved link 9 is offset from one side of the central shaft.
转动大转轮22,外管后接18、外管16、外管前接15随之转动,外管上的腰圆槽带动弯曲组件一起旋转,但并不改变钳头1的摆动角度。Rotating the large wheel 22, the outer tube rear 18, the outer tube 16, and the outer tube front 15 rotate accordingly, and the waist circular groove on the outer tube drives the bending assembly to rotate together, but does not change the swing angle of the jaw 1.
该旋转驱动和摆动驱动设置在一条直线上或就近设置,可以方便微创手术操作者就近快速进行操作,对保证微创手术操作精度,节约微创手术操作时间。The rotary drive and the oscillating drive are arranged in a straight line or in the vicinity, which can facilitate the rapid operation of the minimally invasive surgery operator, ensure the precision of minimally invasive surgery operation, and save the operation time of minimally invasive surgery.
中心杆6设于弯曲推管11内腔,一端与中心杆后接8螺纹连接,小手柄27设于中心杆后接凹槽;或者可以将中心杆的球头端设置与小手柄27上。中心杆6的另一端与弯曲关节5活动连接,弯曲关节5还与中心杆前接3活动连接。中心杆前接4设于钳头座3内,钳头1和中心杆前接4活动连接;或者可以通过钳头销钉将钳头座4、钳头1和中心杆前接4进行销接。The center rod 6 is disposed in the inner cavity of the curved push tube 11 , and one end is screwed to the rear of the center rod 8 , and the small handle 27 is disposed on the center rod and is connected to the groove; or the ball end of the center rod can be disposed on the small handle 27 . The other end of the center rod 6 is movably connected to the bending joint 5, and the bending joint 5 is also movably connected to the center rod front 3. The center rod front joint 4 is disposed in the clamp head base 3, and the clamp head 1 and the center rod front joint 4 are movably connected; or the clamp head base 4, the clamp head 1 and the center rod front joint 4 can be pinned by the clamp head pin.
参见图9,捏合小手柄,当外力作用于小手柄27时,小手柄27绕枢轴逆时针转动,小手柄27推动中心杆后接8移动使中心杆弹簧7被压缩,同时驱使中心杆后接8、中心杆6、中心杆弯曲关节5、中心杆前接4向前移动,中心杆前接4上的圆柱凸台在钳头上斜槽中移动,驱使钳头1组件绕钳头销钉2转动,实现钳头1闭合。松开小手柄27,中心杆弹簧7反向推动中心杆后接8,钳头1张开,并驱使小手柄恢复原位。Referring to Fig. 9, the small handle is kneaded. When an external force acts on the small handle 27, the small handle 27 rotates counterclockwise about the pivot, and the small handle 27 pushes the center rod and the rear 8 moves to compress the center rod spring 7 while driving the center rod. 8. The center rod 6, the center rod bending joint 5, the center rod front joint 4 move forward, and the cylindrical boss on the front rod 4 of the center rod moves in the inclined groove on the clamp head, driving the clamp head assembly 1 around the clamp head pin 2 Rotate to achieve the closure of the jaws 1. Loosen the small handle 27, the center rod spring 7 pushes the center rod back and connects it 8, and the jaw 1 opens, and drives the small handle back to the original position.
如图2和图10所示,对摆动运动相关的重点零件的优选实施例做出如下说明:
As shown in Figures 2 and 10, a preferred embodiment of the key component related to the oscillating motion is explained as follows:
中心杆前接4的外径上开一绕圆周的凹槽,用于放置O型圈,起到阻液作用,防止血液流至器械内形成血污;A circumferential groove is formed on the outer diameter of the front rod 4 of the center rod for placing an O-ring to prevent liquid from flowing into the instrument to form blood stains;
钳头座3,装配时,钳头1安置于钳头座3上,使用钳头销钉2穿过钳头与钳头座对应孔,使两者活动铆接。在具体实现时,也可以使用钳头销钉同时穿过钳头座、钳头上的腰圆槽,实现当沿着中心轴方向,上下移动钳头销钉时,钳头开合。当钳头销钉向上移动至与槽接触时,不再移动,限制了钳头钳口打开的最大角度。The clamp head 3, when assembled, the clamp head 1 is placed on the clamp head base 3, and the clamp pin 2 is passed through the corresponding hole of the clamp head and the clamp head seat to make the two are riveted. In the specific implementation, the clamp pin can also be used to simultaneously pass through the waist groove of the clamp head and the clamp head, so that when the clamp pin is moved up and down along the central axis direction, the clamp head is opened and closed. When the jaw pin moves up to contact the slot, it no longer moves, limiting the maximum angle at which the jaw jaws open.
中心杆前接上圆柱凸台设于钳头半封闭腰圆槽内,使得当沿着中心轴方向上下移动中心杆前接时,钳头开合。The center rod is connected with a cylindrical boss in the semi-closed waist circular groove of the clamp head, so that when the center rod is moved up and down along the central axis direction, the clamp head is opened and closed.
弯曲连杆9,弯曲连杆9上左右两端分别有一个孔和一个轴,它们圆心的垂直方向距离可以设置为0.15-0.5mm,优选为0.3m。该偏心设置可以保证工作部摆动灵活不易发生卡死等现象,影响器械操作可靠性,保证手术时间和效果。The bending link 9, the bending link 9 has a hole and a shaft at the left and right ends, respectively, and the vertical distance of the center of the circle can be set to 0.15-0.5 mm, preferably 0.3 m. The eccentric setting can ensure that the working part swings flexibly and is not easy to be stuck, which affects the operation reliability of the instrument and ensures the operation time and effect.
外管前接15前端与钳头座3枢轴连接,并削与弯曲推杆对应通道。The front end of the outer tube front 15 is pivotally connected with the clamp base 3, and the corresponding passage of the curved push rod is cut.
弯曲推杆10前端被削成扇形柱状,中心被圆孔贯通,穿过中心杆6,后端接弯曲推管11。The front end of the curved push rod 10 is cut into a fan-shaped column shape, the center is penetrated by a circular hole, passes through the center rod 6, and the rear end is connected to the curved push tube 11.
参见图2和图11,对旋转部分重点零件做出如下说明:Referring to Figures 2 and 11, the following parts of the rotating part are described as follows:
大转轮22,第一轴承20被装入大转轮22上轴肩位置,并将大转轮闷盖19作为周挡圈与大转轮固定连接,实现限定第一轴承20的中心轴方向的位移。孔A插入大转轮固定螺钉固定外管后接。The large wheel 22, the first bearing 20 is inserted into the shoulder position of the large wheel 22, and the large wheel cover 19 is fixedly connected to the large wheel as a circumferential ring to realize the central axis direction of the first bearing 20. Displacement. Hole A is inserted into the large wheel fixing screw to fix the outer tube and then connected.
弯曲转轮14,第一轴承20与弯曲转轮端盖21依次装入弯曲转轮14,弯曲转轮与弯曲转轮端盖固定连接,实现限定弯曲转轮的中心轴方向的位移。The bending wheel 14, the first bearing 20 and the bending wheel end cover 21 are sequentially loaded into the bending wheel 14, and the bending wheel is fixedly connected with the bending wheel end cover to realize the displacement of the central axis direction defining the bending wheel.
外管后接18,图中a孔与大转轮对应孔配合,b孔放入弹簧和钢珠,与旋转定位法兰23实现旋转定位。The outer tube is connected behind the 18, in which the a hole is matched with the corresponding hole of the large wheel, the b hole is placed into the spring and the steel ball, and the rotary positioning flange 23 is rotated and positioned.
旋转定位法兰23上饶圆周均布了多个球形凹槽,与外管后接对应孔配合实现大转轮每旋转360°/N角有一个限位,并可以优选地附有提示音。A plurality of spherical grooves are uniformly distributed on the circumference of the rotating positioning flange 23, and a corresponding hole is matched with the outer tube to realize a limit of 360°/N angle per rotation of the large rotating wheel, and a prompt sound may be preferably attached.
关于本发明的轴承,例如:大转轮以及弯曲转轮都通过轴承支撑,
降低转动过程中的摩擦,并保证其回转精度。轴承材质可选取轴承钢如GCR15;碳钢;不锈钢,如440,304,316;陶瓷,如ZRO2氧化锆,SI 3N4氮化硅,SIC碳化硅,Al2O3氧化铝;塑料,如PA尼龙,PP聚丙烯,POM聚甲醛,PEEK聚醚醚酮,PVDF聚二氟乙烯,PTFE聚四氟乙烯,UPE聚乙烯,PVC聚氯乙烯。Regarding the bearing of the present invention, for example, a large runner and a curved runner are supported by bearings,
Reduce the friction during the rotation and ensure its rotation accuracy. The bearing material can be selected from bearing steel such as GCR15; carbon steel; stainless steel such as 440, 304, 316; ceramics such as ZRO2 zirconia, SI 3N4 silicon nitride, SIC silicon carbide, Al2O3 alumina; plastics such as PA nylon, PP poly Propylene, POM polyoxymethylene, PEEK polyether ether ketone, PVDF polydifluoroethylene, PTFE polytetrafluoroethylene, UPE polyethylene, PVC polyvinyl chloride.
本装置优选地可以整体采用刚性材料制造,其结构设置保证了在手术过程中钳头可以抵住体内组织避免被弹开。旋转装置和摆动装置之间的配合关系可以保证在旋转大转轮时,钳头偏摆角度不变。The device may preferably be fabricated entirely of a rigid material, the structural arrangement of which ensures that the jaws can resist the bouncing of the body tissue during the procedure. The cooperation relationship between the rotating device and the swinging device ensures that the yaw angle of the nipper does not change when the large rotating wheel is rotated.
本装置除了应用于手动微创手术操作装置,还可以结合数控设备用于电子手术操作装置。In addition to being applied to a manual minimally invasive surgical operation device, the device can also be combined with a numerical control device for an electronic surgical operation device.
采用本发明的微创外科手术器械,通过设置与摆动运动相关的执行装置和动力装置,以完成工作部分的摆动运动,从而克服传统的手术器械中所存在的摆动控制缺陷,具有结构简单,操作、维护简便,工作可靠性强和寿命长等特点。本发明所提供的微创外科手术器械具有以下优点:弥补了现有腔镜手术中由于器械自由度不足导致的操作困难;降低了单孔腔镜手术的操作难度,扩大了手术的适应症;提高了器械的使用寿命和可靠性,降低了使用可弯曲器械的成本;工作部位能在偏摆范围内任意位置实现固定。By adopting the minimally invasive surgical instrument of the present invention, the swinging movement of the working part is completed by setting the executing device and the power device related to the oscillating motion, thereby overcoming the swaying control defect existing in the conventional surgical instrument, and having a simple structure and operation It is easy to maintain, reliable in operation and long in life. The minimally invasive surgical instrument provided by the invention has the following advantages: it compensates for the operation difficulty caused by the lack of freedom of the instrument in the existing laparoscopic surgery; reduces the operation difficulty of the single-port laparoscopic surgery, and expands the indications for the operation; Improves the service life and reliability of the instrument, reduces the cost of using flexible instruments; the working part can be fixed at any position within the yaw range.
最后应说明的是:以上实施例仅用以说明本发明的技术方案,而非对其限制;尽管参照前述实施例对本发明进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。
It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not limited thereto; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that The technical solutions described in the foregoing embodiments are modified, or some of the technical features are equivalently replaced; and the modifications or substitutions do not deviate from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
- 一种微创外科手术器械,包括工作部分、以及用于驱动工作部分运动的驱动部分;A minimally invasive surgical instrument includes a working portion and a driving portion for driving the movement of the working portion;其特征在于,所述驱动部分包括用于驱动工作部分做摆动运动的摆动驱动部;Characterizing in that the driving portion includes a swing driving portion for driving the working portion to perform a swinging motion;所述摆动驱动部包括执行装置和动力装置,所述执行装置的第一端与所述工作部分活动连接,所述执行装置的第二端与动力装置连接,所述执行装置在所述动力装置的驱动下带动工作部分做摆动运动。The oscillating drive portion includes an actuator device and a power device, the first end of the actuator device is movably coupled to the working portion, the second end of the actuator device is coupled to a power device, and the actuator device is at the power device The driving part drives the working part to do the swinging motion.
- 根据权利要求1所述的微创外科手术器械,其特征在于,所述微创外科手术器械还包括连接部分,连接部分为刚性构件,连接工作部分和驱动部分,并且所述连接部分中容纳有驱动部分的零件。The minimally invasive surgical instrument according to claim 1, wherein the minimally invasive surgical instrument further comprises a connecting portion, the connecting portion being a rigid member connecting the working portion and the driving portion, and the connecting portion is accommodated therein Drive parts of the part.
- 根据权利要求2所述的微创外科手术器械,其特征在于,所述摆动驱动部还包括中心杆,所述中心杆穿设在所述连接部分中,所述工作部分的端部通过弯曲关节连接在所述中心杆的第一端;The minimally invasive surgical instrument according to claim 2, wherein the swing driving portion further comprises a center rod, the center rod is bored in the connecting portion, and an end portion of the working portion passes through a curved joint Connected to the first end of the center rod;所述执行装置包括弯曲连杆和弯曲推杆,所述弯曲推杆套设在所述中心杆上,所述弯曲连杆第一端与所述工作部分枢轴连接,所述弯曲连杆的第二端与所述弯曲推杆的第一端枢轴连接,所述弯曲推杆的第二端与所述动力装置连接。The actuating device comprises a bending link and a bending push rod, the bending push rod is sleeved on the center rod, the first end of the bending link is pivotally connected with the working portion, and the bending link is The second end is pivotally coupled to the first end of the curved push rod, and the second end of the curved push rod is coupled to the power unit.
- 根据权利要求3所述的微创外科手术器械,其特征在于,所述动力装置包括弯曲转轮和弯曲推管,所述弯曲转轮套设在所述中心杆上,所述弯曲推管的第一端与所述弯曲推杆的第二端固定连接,所述弯曲推管的第二端与所述弯曲转轮螺纹连接,所述弯曲推管与所述弯曲转轮之间的螺纹的轴向与所述中心杆的轴向平行。The minimally invasive surgical instrument according to claim 3, wherein said power device comprises a bending wheel and a curved push tube, said bending wheel being sleeved on said center rod, said curved push tube a first end is fixedly coupled to the second end of the curved push rod, a second end of the curved push tube is threadedly coupled to the bending wheel, and a thread between the curved push tube and the curved wheel The axial direction is parallel to the axial direction of the center rod.
- 根据权利要求3所述的微创外科手术器械,其特征在于,所述弯曲连杆的两端均设有连接件,两连接件互为偏心设置。The minimally invasive surgical instrument according to claim 3, wherein both ends of the bending link are provided with connecting members, and the two connecting members are eccentrically arranged with each other.
- 根据权利要求3所述的微创外科手术器械,其特征在于,所述工作部分包括钳头和钳头座,所述钳头包括两个钳头组件,两个所述钳头组件与所述钳头座之间通过杆头销钉枢轴连接,所述弯曲关节连接在所 述钳头座的端部。The minimally invasive surgical instrument of claim 3, wherein the working portion comprises a jaw and a jaw base, the jaw comprising two jaw assemblies, two of the jaw assemblies and The jaw seats are pivotally connected by a head pin, and the curved joint is connected The end of the clamp head.
- 根据权利要求1-6中任意一项所述的微创外科手术器械,其特征在于,所述驱动部分还包括:用于驱动工作部分做旋转运动的旋转驱动部。The minimally invasive surgical instrument according to any one of claims 1 to 6, wherein the driving portion further comprises: a rotational driving portion for driving the working portion to perform a rotational motion.
- 根据权利要求7所述的微创外科手术器械,其特征在于,所述旋转驱动部和摆动驱动部共轴设置。The minimally invasive surgical instrument according to claim 7, wherein the rotation driving portion and the swing driving portion are disposed coaxially.
- 根据权利要求7所述的微创外科手术器械,其特征在于,所述驱动部分还包括:用于驱动工作部分做开合运动的开合驱动部。The minimally invasive surgical instrument according to claim 7, wherein the driving portion further comprises: an opening and closing driving portion for driving the working portion to perform an opening and closing motion.
- 根据权利要求1-6中任意一项所述的微创外科手术器械,其特征在于,所述连接部分靠近工作部分的端部设置有密封装置。 The minimally invasive surgical instrument according to any one of claims 1 to 6, wherein the connecting portion is provided with a sealing means near the end of the working portion.
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CN201410467876.7 | 2014-09-15 | ||
CN201410467876 | 2014-09-15 |
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WO2016041465A1 true WO2016041465A1 (en) | 2016-03-24 |
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PCT/CN2015/089404 WO2016041465A1 (en) | 2014-09-15 | 2015-09-11 | Minimally invasive surgical instrument |
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CN108236501A (en) * | 2017-01-03 | 2018-07-03 | 杭州广德医疗器械有限公司 | One kind can turn double-pole electric coagulation forceps |
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Also Published As
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CN205041453U (en) | 2016-02-24 |
CN105411664B (en) | 2018-04-06 |
CN105411664A (en) | 2016-03-23 |
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