WO2017045148A1 - 一种动作执行装置及超声外科手术器械 - Google Patents

一种动作执行装置及超声外科手术器械 Download PDF

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Publication number
WO2017045148A1
WO2017045148A1 PCT/CN2015/089703 CN2015089703W WO2017045148A1 WO 2017045148 A1 WO2017045148 A1 WO 2017045148A1 CN 2015089703 W CN2015089703 W CN 2015089703W WO 2017045148 A1 WO2017045148 A1 WO 2017045148A1
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WO
WIPO (PCT)
Prior art keywords
trigger
link
assembly
surgical instrument
ultrasonic surgical
Prior art date
Application number
PCT/CN2015/089703
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English (en)
French (fr)
Inventor
博普瑞·吉恩
Original Assignee
瑞奇外科器械(中国)有限公司
华外医疗器械(上海)有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Application filed by 瑞奇外科器械(中国)有限公司, 华外医疗器械(上海)有限公司 filed Critical 瑞奇外科器械(中国)有限公司
Priority to EP15903838.9A priority Critical patent/EP3351200B1/en
Priority to EP21173383.7A priority patent/EP3881789A1/en
Priority to CN201580080978.6A priority patent/CN107920856B/zh
Priority to PCT/CN2015/089703 priority patent/WO2017045148A1/zh
Priority to ES15903838T priority patent/ES2886014T3/es
Publication of WO2017045148A1 publication Critical patent/WO2017045148A1/zh
Priority to US15/923,632 priority patent/US11006972B2/en
Priority to US17/321,761 priority patent/US11980384B2/en

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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
    • A61B17/32—Surgical cutting instruments
    • A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
    • A61B17/320092—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00371—Multiple actuation, e.g. pushing of two buttons, or two working tips becoming operational
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00371—Multiple actuation, e.g. pushing of two buttons, or two working tips becoming operational
    • A61B2017/00384—Actuation of one tool by pushing two buttons simultaneously
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A61B2017/2912—Handles transmission of forces to actuating rod or piston
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A61B2017/2912—Handles transmission of forces to actuating rod or piston
    • A61B2017/2913—Handles transmission of forces to actuating rod or piston cams or guiding means
    • A61B2017/2916—Handles transmission of forces to actuating rod or piston cams or guiding means pins in guiding slots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A61B2017/2912—Handles transmission of forces to actuating rod or piston
    • A61B2017/2919—Handles transmission of forces to actuating rod or piston details of linkages or pivot points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A61B2017/2925—Pistol grips
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32—Surgical cutting instruments
    • A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
    • A61B17/320092—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw
    • A61B2017/320094—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw additional movable means performing clamping operation

Definitions

  • the present invention relates to the technical field of medical devices, and more particularly to an action performing device and an ultrasonic surgical instrument.
  • the ultrasonic surgical system due to its good hemostatic effect and small damage to tissue, has been widely used in open surgery and laparoscopic surgery.
  • the ultrasonic surgical system includes a main body, an ultrasonic transducer, an ultrasonic surgical instrument, a foot switch, and other accessories, and the working principle is that the ultrasonic transducer is outputted to the ultrasonic transducer through the main body to the ultrasonic transducer, and the ultrasonic transducer is used.
  • the electrical energy is converted into mechanical energy and output to an ultrasonic surgical instrument, and the ultrasonic surgical instrument further amplifies the vibration to mechanically vibrate, so that water vapor in the tissue cells, protein hydrogen bond breakage, cell disintegration, tissue is cut or coagulated, thereby Achieve the purpose of cutting tissue and stopping bleeding.
  • the prior art ultrasonic surgical instrument includes a hand piece, a cutter head, and a clamping device, wherein the hand piece includes a trigger, and the user controls the location by holding the hand piece by hand and pulling the trigger with a finger
  • the jaws of the distal end of the ultrasonic surgical instrument are opened and closed to support, grasp, separate, and fix the tissue or blood vessel, thereby enabling the cutter head of the ultrasonic surgical instrument to cut the clamped combination or blood vessel. Or closed.
  • the handpiece includes only one trigger, and the doctor drives the distally located clamping arm to pivot and close the tissue by pulling the trigger to close and clamp the tissue, because the force is pressed by a single trigger. Providing that the hand piece and the doctor's palm do not feel the magnitude of the trigger transmission force.
  • the maximum clamping force is constant, so that the doctor cannot adjust the gripping force with the condition of the gripping tissue during use.
  • the invention provides an action performing device and an ultrasonic surgical instrument for improving the sensing effect of the doctor to obtain the clamping force of the jaw and improving the cutting effect of the ultrasonic surgical instrument.
  • the invention provides an action execution device, comprising:
  • first trigger assembly and a second trigger assembly are movable
  • the first trigger assembly includes a first trigger
  • the second trigger assembly includes a second trigger
  • the first trigger and the first trigger The second trigger can move independently of each other;
  • a drive member coupled to the first trigger assembly and the second trigger assembly, respectively;
  • the first trigger assembly and the second trigger assembly are respectively adapted to different mechanical gains.
  • the mechanical gain value of the second trigger assembly is determined by the position of the first trigger assembly.
  • the first trigger assembly includes a first trigger and a first gain mechanism
  • the second trigger assembly includes a second trigger and a second gain mechanism, the second trigger assembly having a mechanical gain value by the first The position of the trigger is determined.
  • a force biasing member is further included, the force biasing member being adapted to block movement of the second trigger assembly when a force acting on the drive member does not exceed a predetermined value.
  • the first trigger and the second trigger do not move independently of one another during a portion of their motion.
  • the first trigger assembly is coupled to the second trigger assembly by a sliding mechanism.
  • an eccentric mechanism is further included, the first trigger assembly driving the drive member to move by the eccentric mechanism.
  • the first trigger is connected to the driving component through a first link
  • the second The trigger is coupled to the drive member and the first link by a second link.
  • an angle between the first link and the second link is less than 180 degrees.
  • an angle between the first link and the second link is 60 degrees to 180 degrees.
  • An ultrasonic surgical instrument comprising the motion performing device of any of the above.
  • the method further comprises:
  • Handpiece suitable for the user to hold by hand
  • a jaw assembly that is coupled to the drive member by an elongate body adapted to grip tissue.
  • the ultrasonic surgical instrument has a longitudinal axis about which the jaw assembly is rotatable relative to the handpiece.
  • the first trigger and the second trigger are respectively located on two sides of the hand piece, and the user is in contact with the first trigger and the second trigger respectively when being held by a hand.
  • the first trigger and the second trigger are respectively located on two sides of the hand piece, and the user only contacts the first trigger when holding by hand.
  • the second trigger assembly is further configured to feed back the force of the driving component to the user.
  • the rotational direction of the second trigger is opposite to the direction of rotation of the first trigger during a portion of the first trigger movement process.
  • the rotational direction of the second trigger is the same as the direction of rotation of the first trigger during a portion of the first trigger movement process.
  • An action execution device comprising:
  • first trigger assembly and a second trigger assembly are movable
  • the first trigger assembly includes a first trigger
  • the second trigger assembly includes a second trigger
  • the first trigger and/or the second trigger are relatively independently movable during a portion of their motion
  • the second trigger assembly being coupled to the drive member by the first link.
  • a second link is further included, and the second trigger is coupled to the first link by the second link.
  • the second trigger assembly is coupled to the first link by a sliding mechanism.
  • the second trigger assembly is coupled to the first link by a third link.
  • the second trigger assembly is coupled to the first link by a cam mechanism.
  • a force biasing member is further included, the force biasing member being adapted to block movement of the second trigger assembly when a force acting on the drive member does not exceed a predetermined value.
  • the angle between the first link and the second link changes with the movement of the second trigger.
  • an eccentric mechanism is further included, the first trigger assembly driving the drive member to move by the eccentric mechanism.
  • An ultrasonic surgical instrument comprising the motion-executing device of any of the above.
  • the method further comprises:
  • Handpiece suitable for the user to hold by hand
  • a jaw assembly that is coupled to the drive member by an elongate body adapted to grip tissue.
  • the ultrasonic surgical instrument has a longitudinal axis about which the jaw assembly is rotatable relative to the handpiece.
  • the first trigger and the second trigger are respectively located on two sides of the hand piece, and the user is in contact with the first trigger and the second trigger respectively when being held by a hand.
  • the first trigger and the second trigger are respectively located on two sides of the hand piece, and the user only contacts the first trigger when holding by hand.
  • the second trigger is further for feeding back the force of the driving component to the hand.
  • the rotational direction of the second trigger is opposite to the direction of rotation of the first trigger during a portion of the first trigger movement process.
  • the rotational direction of the second trigger is the same as the direction of rotation of the first trigger during a portion of the first trigger movement process.
  • the motion performing device provided in the above technical solution is provided with a mechanical gain mechanism for feeding back the jaw clamping force and a second trigger for feeding back the clamping force of the jaw to the operator, and in use,
  • the second trigger can feed the clamping force of the jaw more directly and accurately to the user. Therefore, the user can perceive the clamping force of the jaws, and the user can adjust the clamping force of the jaws according to the magnitude of the feedback force, and avoid damage to the patient's tissue caused by excessive clamping force.
  • the double trigger the user can adjust the clamping force of the jaw assembly according to the actual condition of the clamped tissue or blood vessel, thereby increasing the applicable range of the ultrasonic surgical instrument.
  • FIG. 1 is a schematic view of an ultrasonic surgical instrument according to an embodiment of the present invention
  • FIG. 2 is a schematic structural view of an ultrasonic surgical instrument according to an embodiment of the present invention.
  • FIG. 3 is a free state diagram of an ultrasonic surgical instrument according to an embodiment of the present invention.
  • FIG. 4 is a state diagram of a jaw assembly of an ultrasonic surgical instrument according to an embodiment of the present invention.
  • FIG. 5 is a state diagram of a second trigger movement of the ultrasonic surgical instrument according to an embodiment of the present invention.
  • FIG. 6 is a free state diagram of an ultrasonic surgical instrument according to another embodiment of the present invention.
  • FIG. 7 is a state diagram of a jaw assembly of an ultrasonic surgical instrument according to another embodiment of the present invention.
  • FIG. 8 is a state diagram of a second trigger movement of an ultrasonic surgical instrument according to another embodiment of the present invention.
  • FIG. 9 is a view showing a free state of an ultrasonic surgical instrument according to still another embodiment of the present invention.
  • FIG. 10 is a view showing a state in which a jaw assembly of an ultrasonic surgical instrument is closed according to still another embodiment of the present invention.
  • FIG. 11 is a state diagram of the second trigger movement of the ultrasonic surgical instrument according to still another embodiment of the present invention.
  • distal refers to a portion or component of a device that is further from the user (doctor)
  • proximal refers to A part or part of a user (doctor) that is closer.
  • Embodiments of the present invention provide an action performing device, and an ultrasonic surgical instrument using the action performing device.
  • the action execution device includes:
  • the first trigger assembly and the second trigger assembly, the first trigger assembly and the second trigger assembly are movable;
  • the first trigger assembly includes a first trigger 4,
  • the second trigger assembly includes a second trigger 5, and, at the first trigger 4 And/or a portion of the second trigger 5 movement process, the first trigger 4 and the second trigger 5 move independently of each other;
  • the driving component 9 is respectively connected to the first trigger component and the second trigger component;
  • first trigger component and the second trigger component respectively apply different mechanical gains.
  • the first trigger assembly includes a first trigger 4 and a first mechanical gain mechanism
  • the second trigger assembly includes a second trigger 5 and a second mechanical gain mechanism
  • the first trigger 4 and the second trigger 5 are rotated, and the force transmission of the first trigger 4 and the second trigger 5 is transmitted through the first mechanical gain mechanism and the second mechanical gain mechanism, respectively.
  • the first mechanical gain mechanism is coupled to the first trigger 4 and is adapted to transmit the force exerted on the first trigger 4 to the drive member 9.
  • the second mechanical gain mechanism is coupled to the second trigger 5 and is adapted to transmit a force applied to the second trigger 5 to the drive member 9 such that the first trigger 4 and the second trigger 5 are provided when subjected to less force
  • the large force to the drive member 9 increases the output force of the entire motion actuator.
  • the mechanical gain mechanism is applied to The transmission of the force on the first trigger 4 or the second trigger 5 is not limited to amplifying the force. According to different requirements, the mechanical gain mechanism can also be designed to reduce or equivalent the force.
  • the mechanical gain value of the second trigger assembly is controlled by the position of the first trigger 4.
  • the term "mechanical gain value” refers to the ratio of the output force of a mechanical structure to the input force applied to the mechanical structure.
  • the lever structure is the most common mechanical gain mechanism, and its mechanical gain value is the ratio of the force output at one end of the lever to the force value applied at the other end.
  • an ultrasonic surgical instrument includes a handpiece 1, an elongated body 2, and a jaw assembly 3.
  • the handpiece 1 includes a handpiece body 11 and a handle 12, wherein the handle 12 is stationary.
  • the instrument has a longitudinal axis C around which the jaw assembly 3 and the elongate body 2 are rotatable relative to the handpiece 1.
  • the positions of the first trigger 4 and the second trigger 5 can be differently set according to requirements. For example, as shown in FIG.
  • the first trigger 4 and the second trigger 5 are respectively located on two sides of the hand piece 1, specifically, It is located on both sides of the handle 12 of the hand piece 1 and is in contact with the first trigger 4 and the second trigger 5 respectively when the user holds the hand, for example, the finger of the hand and the mouth of the tiger respectively with the first trigger 4 and the Two triggers 5 are in contact.
  • the first trigger 4 is disposed on one side of the handle 12 of the handpiece 1 and the second trigger 5 is disposed in the handle 12 of the handpiece 1, as shown in Figures 9-11, when the user holds the instrument by hand. The user's hand is only in contact with the first trigger 4.
  • the action performing device further includes a rotating shaft 10, a first link 8 and a second link 7, wherein the first link 8 and the second link 7 are connected by the rotating shaft 10.
  • the distal end of the first link 8 is connected to the sliding component of the ultrasonic surgical instrument, and the proximal end of the second link 7 is connected to the second trigger 5, and the rotating shaft 10 is pressed against the first trigger 4, And when the first trigger 4 rotates, the first trigger 4 pushes the rotating shaft 10, the first connecting rod 8 pushes the driving part 9 and/or the second connecting rod 7 to push the second trigger 5; or, when the second trigger 5 rotates, the first The second trigger 5 pushes the second link 7, and the first link 8 pushes the drive member 9.
  • the driving member 9 is for controlling the jaws provided at the distal end of the ultrasonic surgical instrument through the elongated body 2 The opening and closing of the assembly 3.
  • a sliding member such as a slide rail is provided on the handpiece body 11, and the driving member 9 is slidably fitted on the slide rail.
  • the drive member 9 can slide in the horizontal direction along the slide rail, and as it slides distally of the instrument, the drive member 9 pushes the jaw assembly 3 closed as it approaches the instrument When sliding, the drive member 9 pulls the jaw assembly 3 apart.
  • the elongate body includes an inner cannula and an outer cannula through which the drive member 9 drives the distal jaw assembly 3 to open and close.
  • the action performing device further has a force biasing member 6 which functions to prevent the second trigger 5 from rotating, specifically, when the force acting on the driving member 9 is not When the set limit is exceeded, the force biasing member 6 blocks the second link 7 from moving proximally, thereby blocking the movement of the second trigger 5. That is, when the rotation of the shaft 10 is caused by the rotation of the first trigger 4 in the direction indicated by the arrow A, the movement of the shaft 10 will cause the second link 7 to move toward the proximal end.
  • a force biasing member 6 which functions to prevent the second trigger 5 from rotating, specifically, when the force acting on the driving member 9 is not When the set limit is exceeded, the force biasing member 6 blocks the second link 7 from moving proximally, thereby blocking the movement of the second trigger 5. That is, when the rotation of the shaft 10 is caused by the rotation of the first trigger 4 in the direction indicated by the arrow A, the movement of the shaft 10 will cause the second link 7 to move toward the proximal end.
  • the force biasing member 6 will provide a counter force to counteract the force transmitted to the second trigger 5, thereby preventing the second trigger 5 from rotating to remain stationary; when the force transmitted to the second trigger 5 is greater than the force biasing member 6 can provide When the reverse force is applied, the second trigger 5 starts to move.
  • the force biasing member 6 can adopt a compression spring, a tension spring, a torsion spring, and an elastic member capable of providing an elastic reverse force, and the specific deformation manner according to the compression spring, the tension spring, or the torsion spring can be specifically set. It is only necessary to ensure that the above-mentioned pressure spring, tension spring or torsion spring can provide a certain reverse force when the force on the second link 7 is transmitted to the second trigger 5.
  • the compression spring As an example, it is disposed in the handpiece body 11, and both ends of the compression spring are respectively pressed against the proximal side wall of the handpiece body 11 and the proximal end of the second link 7. When the second link 7 is stressed, a reverse force can be provided by the compression spring to restrict the movement of the second trigger 5.
  • FIG. 3 shows the free state of the ultrasonic surgical instrument described in the above embodiment, in which the jaw assembly 3 is opened and the motion performing device is also in a free, unstressed state.
  • the first trigger 4 is pulled in the direction indicated by the arrow A.
  • the first trigger 4 rotates around the first rotating shaft 41, and the first trigger 4 drives the rotating shaft 10 to slide upward.
  • the first connecting rod 8 and the second The angle between the links 7 becomes large. Since the force biasing member 6 limits the movement of the proximal end of the second link 7, it is pushed when the rotating shaft 10 slides upward.
  • the first link 8 is moved distally to move the drive member 9 distally to close the jaw assembly 3.
  • the state of the ultrasonic surgical instrument of the present embodiment is as shown in FIG.
  • the movement of the second trigger 5 is limited by the force biasing member 6, for example, a compression spring, such that the first link 8 pushes the drive member 9 to the distal end and is further driven
  • the jaw assembly 3 is closed.
  • the first trigger 4 is further pulled in the direction indicated by the arrow A, when it is transmitted to the second link 7 through the first trigger 4, the rotating shaft 10 and the driving member 9.
  • the second trigger 5 rotates about the second rotating shaft 51 in the direction indicated by the arrow B in FIG. 5, and the pressure is pressed against the tiger's mouth.
  • the second trigger 5 transmits the feedback force to the tiger's mouth, and the user can sense the clamping force of the jaw assembly through the force of the tiger's mouth.
  • the user can apply a force to the second trigger 5 through the tiger's mouth of the palm thereof, and the force further pushes the first link 8 and the driving member 9 to the closed state through the second trigger 5, the second link 7, and the rotating shaft 10.
  • the jaw assembly 3 further applies a clamping force.
  • the action performing device described in the above embodiment can transmit the resultant force of the two triggers to the jaw assembly 3, thereby increasing the clamping force of the jaw assembly 3. Therefore, compared with the effect of a trigger push, with the action performing device described in the above embodiment, the user can increase the force applied to the jaw assembly 3 by pressing the two triggers, so that the jaw assembly 3 can be applied. In the larger force range, the application range of ultrasonic surgical instruments is improved.
  • the angle between the first link 8 and the second link 7 is less than 180 clips, and when the first trigger 4 and/or the second trigger 5 rotates, the first link The angle between the 8 and the second link 7 is gradually increased, and the maximum angle of the included angle is less than 180°. That is, when the first trigger 4 and the second trigger 5 are moved to the maximum stroke, the angle between the first link 8 and the second link 7 is less than 180°.
  • the angle between the first link 8 and the second link 7 is between 60° and 150°.
  • any angle between 60° and 150° is between 60° and 150°.
  • the angle between the first link 8 and the second link 7 is less than 180°, such as 175°, 170°.
  • the length of the first link 8 is smaller than the length of the second link 7, so that the first trigger 4 and the second trigger 5 can give the first link 8 more horizontal points when the force is pushed by the rotating shaft 10. The force pushes the sliding of the driving member 9.
  • the action performing device further includes an eccentric mechanism, and the first trigger 4 drives the mechanical gain mechanism to move by the eccentric mechanism.
  • the eccentric mechanism is disposed on the first trigger 4, and the rotation of the first trigger 4 drives the eccentric mechanism to rotate, thereby achieving the purpose of pushing the mechanical gain mechanism.
  • the first trigger 4 is provided with a groove structure that cooperates with the user's finger.
  • the second trigger 5 has an arc-shaped structure that cooperates with the tiger's mouth of the user's palm, so that the user's fingers and the tiger's mouth can exert a comfortable force.
  • the number of the grooves is three.
  • the first trigger assembly is coupled to the second trigger assembly by a sliding mechanism.
  • the first trigger 4 is provided with a long waist hole 42 which, as shown in FIG. 2, is located within the long waist hole 42 and is slidable within the long waist hole 42. It can be seen from the comparison of FIG. 3 and FIG.
  • the first trigger 4 that when the first trigger 4 is not stressed, and when the first trigger 4 is stressed, the position of the rotating shaft 10 at the long waist hole 42 is different, and the rotating shaft 10 and the first trigger 4 are The contact position changes with the rotation of the first trigger 4 and the second trigger 5, but the rotation shaft 10 is always located in the long waist hole 42 in any case, thereby ensuring the rotation of the first trigger 4 and the first trigger
  • the first trigger 4 is provided with a recovery compression spring (helping the first trigger 4 to return to the initial state)
  • the first link 8 and the second link 7 can be restored to the initial position by the long waist hole 42.
  • the first trigger 4 is coupled to one end of the third link 13, and the other end of the third link 13 is coupled to the first link 8 and the second link 7, respectively.
  • the other end of the second link 7 is connected to the second trigger 5, and the other end of the first link 8 is connected to the driving member 9.
  • a sliding member such as a slide rail is provided on the handpiece body 11, and the driving member 9 is slidably fitted on the slide rail.
  • the drive member 9 can be horizontal along the slide rails.
  • a force biasing member 6, such as a compression spring, is further provided on the motion performing device of the present embodiment.
  • One end of the force biasing member 6 is pressed against the proximal side wall of the handpiece body 11, and the other end is pressed against the proximal end of the second link 7.
  • the force biasing member 6 functions the same as the force biasing member 6 described in the above embodiment, and will not be described again.
  • FIG. 6 shows a free state of the ultrasonic surgical instrument according to the above embodiment, wherein the action performing device includes a first link 8, a second link 7, and a third link 13; the first link 8 One ends of the second link 7 and the third link 13 are connected together, and the other end of the first link 8 is connected to the sliding mechanism, that is, a slider that is mounted on the slide rail and connected to the driving member 9, The proximal end of the second link 7 is coupled to the second trigger 5, and the other end of the third link 13 is coupled to the first trigger 4. When the first trigger 4 moves, the third link 13 is pushed to move. As shown in FIGS. 6 and 7, the three links are arranged in a Y-shape.
  • Triggering the first trigger 4 in the direction indicated by arrow A causes the jaw assembly 3 at the distal end of the ultrasonic surgical instrument to be closed, as shown in Figure 7, due to the force transmitted to the second trigger 5 through the second link 7 Exceeding the reverse force of the force biasing member 6, the second trigger 5 does not move with the movement of the first trigger 4.
  • the first trigger 4 drives the third link 13 to move upward and pushes the first link 8 to move distally, thereby driving the driving member 9 to move distally, thereby controlling the closing of the jaw assembly 3.
  • the force is biased
  • the component 6 is compressed such that the second link 7 drives the second trigger 5 to rotate about the second spindle 51 in the direction indicated by arrow B.
  • the second trigger 5 which is pressed against the tiger's mouth, transmits the feedback force to the tiger's mouth.
  • the force of the tiger's mouth can sense the clamping force of the jaw assembly.
  • the user can apply a force to the second trigger 5 through the tiger's mouth of the palm thereof, and the force further pushes the first link 8 and the driving member 9 through the second trigger 5 and the second link 7 to the closed jaw.
  • the assembly 3 further applies a clamping force.
  • the first link 8, the second link 7, and the third link 13 in the above embodiment may constitute an eccentric mechanism as a whole, that is, the rotating shaft 10 can pass the first in the process of moving upward.
  • a straight line formed by a link 8 and a second link 7, or an angle formed between the first link 8 and the second link 7 continues to increase during the movement of the entire action performing device, And can exceed 180°.
  • the structure of the action performing device is substantially similar to that in the above embodiment, the only difference being the setting of the second trigger 5.
  • the second trigger 5 is disposed within the handpiece body 11, and the second trigger 5 is provided with a recess in which a force biasing member 6, such as a compression spring, is disposed.
  • a stopper (not shown) is disposed on the handpiece body 11, and one end of the force biasing member 6 is pressed against the stopper of the handpiece body 11 and the other end is mortgaged in the groove of the second trigger 5.
  • Figure 9 shows the free state of the ultrasonic surgical instrument of the above embodiment, with the first trigger 4 being pulled in the direction indicated by arrow A to close the jaw assembly 3 at the distal end of the ultrasonic surgical instrument, as shown in Figure 10. It is shown that since the force transmitted to the second trigger 5 through the second link 7 has not exceeded the reverse force of the force biasing member 6, the second trigger 5 does not move with the movement of the first trigger 4. At this time, the first trigger 4 drives the third link 13 to move upward and pushes the first link 8 to move distally, thereby driving the driving member 9 to move distally, thereby controlling the closing of the jaw assembly 3.
  • the force transmitted to the second trigger 5 through the second link 7 exceeds the reverse force preset by the force biasing member 6, the force is biased Part 6 was Compression, such that the second link 7 drives the second trigger 5 to rotate about the second axis of rotation 51 in the direction indicated by arrow B.
  • the first trigger 4 is further provided with a protrusion 43 which is further buckled when the protrusion 42 on the first trigger 4 abuts against the side of the second trigger 5.
  • the protrusion 43 will drive the second trigger 5 to rotate counterclockwise about the second rotating shaft 51, thereby pushing the driving member 9 to the distal end by the second link 7, the first link 8, thereby After the jaw assembly 3 is closed, a force is further applied to the jaw assembly 3 to increase the amount of closing force therebetween.
  • the second trigger 5 is coupled to the first link 8 by a cam mechanism, i.e., the first trigger 4 is coupled to the second link 7 by a cam mechanism. Specifically, when the first trigger 4 rotates, the cam mechanism is pushed to rotate, and the rotation of the first link 8 is pushed by the rotation of the cam mechanism, thereby pushing the driving member 9 to move.
  • a mechanical gain mechanism for feeding back the jaw clamping force and a second trigger 5 for feeding back the clamping force of the jaw to the operator are provided, which in use can be passed through the second trigger 5
  • the clamping force of the jaws is more directly and accurately fed back to the user. Therefore, the user can perceive the clamping force of the jaws, and the user can adjust the clamping force of the jaws according to the magnitude of the feedback force, and avoid damage to the patient's tissue caused by excessive clamping force.
  • the user can adjust the clamping force of the jaw assembly 3 according to the actual condition of the clamped tissue or blood vessel, thereby increasing the applicable range of the ultrasonic surgical instrument.

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Abstract

一种动作执行装置及超声外科手术器械，该动作执行装置包括：均可运动的第一扳机组件和第二扳机组件，所述第一扳机组件包括第一扳机（4），所述第二扳机组件包括第二扳机（5），并且，在所述第一扳机（4）和/或第二扳机（5）运动过程的一部分内，所述第一扳机（4）与所述第二扳机（5）相互独立运动；驱动部件（9），分别与所述第一扳机组件和所述第二扳机组件相连接；以及第一扳机组件和第二扳机组件分别适用不同的机械增益。该动作执行装置通过第二扳机组件能够将钳口的夹持力更加直接、准确地反馈给使用者，此外使用者能够根据所夹持组织或血管的实际情况，调整夹持力的大小，增大了超声外科手术器械的适用范围。

Description

一种动作执行装置及超声外科手术器械 技术领域
本发明涉及到医疗器械的技术领域，尤其涉及到一种动作执行装置及超声外科手术器械。
背景技术
超声外科手术系统，因其具有良好的止血效果，对组织伤害小等特点，现在已被广泛的应用于开放式手术以及腔镜外科手术中。目前超声外科手术系统包括主机、超声换能器、超声外科手术器械、脚踏开关以及其他附件，其工作原理是通过主机向超声换能器输出振动系统谐振频率下的电能，由超声换能器将电能转变为机械能并输出到超声外科手术器械，超声外科手术器械对此振动进一步放大进行机械振动，使组织细胞内水汽化、蛋白氢键断裂、细胞崩解、组织被切开或凝血，从而达到切割组织和止血的目的。
现有技术中的超声外科手术器械，包括手持件、刀头、夹持装置，其中，所述手持件包括一个扳机，使用者通过用手握住手持件并用手指扣动扳机，来控制位于所述超声外科手术器械远端的夹钳张开和闭合，以实现对组织或者血管的加持、抓持、分离、固定，从而使得超声外科手术器械的刀头能够对夹持的组合或血管进行切割或闭合。
在外科手术中，医生通常需要准确的知晓其通过超声外科手术器械作用在组织上夹持力的大小，这是因为压力过大容易损伤组织，而压力太小又无法起到有效的切割作用。现有技术中的超声外科手术器械，手持件仅包括一个扳机，医生通过扣动扳机来驱动位于远端的夹持臂绕枢轴旋转以闭合并夹紧组织，由于力以单个扳机按压的方式提供，手持件与医生的手掌并不能很好的感受扳机传递力的大小状况。此外，通过按压单个扳机来控制位于远端的夹持装置闭合以夹紧组织，最大夹持力为恒定，因而使用时医生无法随夹持组织的状况调整夹持力的大小。
发明内容
本发明提供了一种动作执行装置及超声外科手术器械，用以改善医生获取钳口夹持力的感知效果，同时提高超声外科手术器械的切割效果。
本发明提供了一种动作执行装置，包括：
第一扳机组件和第二扳机组件，所述第一扳机组件和所述第二扳机组件均可运动；
所述第一扳机组件包括第一扳机，所述第二扳机组件包括第二扳机，并且，在所述第一扳机和/或第二扳机运动过程的一部分内，所述第一扳机与所述第二扳机可相互独立运动；
驱动部件，所述驱动部件分别与所述第一扳机组件和所述第二扳机组件相连接；以及
所述第一扳机组件和所述第二扳机组件分别适用不同的机械增益。
优选地，所述第二扳机组件的机械增益值由所述第一扳机组件的位置确定。
优选地，所述第一扳机组件包括第一扳机和第一增益机构，所述第二扳机组件包括第二扳机和第二增益机构，所述第二扳机组件的机械增益值由所述第一扳机的位置确定。
优选地，还包括力偏置部件，当作用在所述驱动部件上的力未超过预设值时，所述力偏置部件适于阻挡所述第二扳机组件的运动。
优选地，所述第一扳机和所述第二扳机在其运动过程的一部分内不相互独立运动。
优选地，所述第一扳机组件通过滑动机构与所述第二扳机组件相连接。
优选地，还包括偏心机构，所述第一扳机组件通过所述偏心机构驱动所述驱动部件运动。
优选地，所述第一扳机通过第一连杆与所述驱动部件相连接，所述第二 扳机通过第二连杆与所述驱动部件和所述第一连杆相连接。
优选地，所述第一连杆与所述第二连杆之间的夹角为小于180度。
优选地，所述第一连杆与所述第二连杆之间的夹角为60度～180度。
一种超声外科手术器械，包括上述任一项所述的动作执行装置。
优选地，还包括：
手持件，适于使用者用手握持；
钳口组件，所述钳口组件通过细长体与所述驱动部件相连接，适于夹持组织。
优选地，所述超声外科手术器械具有一条纵轴，所述钳口组件可绕所述纵轴相对于所述手持件旋转。
优选地，所述第一扳机及第二扳机分别位于所述手持件的两侧，且使用者在用手握持时，分别与所述第一扳机和所述第二扳机相接触。
优选地，所述第一扳机及第二扳机分别位于所述手持件的两侧，且使用者在用手握持时，仅与所述第一扳机接触。
优选地，所述第二扳机组件还用于将所述驱动部件的力反馈给使用者。
优选地，在第一扳机运动过程的一部分内，所述第二扳机的转动方向与所述第一扳机的转动方向相反。
优选地，在第一扳机运动过程的一部分内，所述第二扳机的转动方向与所述第一扳机的转动方向相同。
一种动作执行装置，包括：
第一扳机组件和第二扳机组件，所述第一扳机组件和所述第二扳机组件均可运动；
所述第一扳机组件包括第一扳机，所述第二扳机组件包括第二扳机，并且，所述第一扳机和/或所述第二扳机在其运动过程的一部分内可相对独立运动；
驱动部件，分别与所述第一扳机组件和所述第二扳机组件相连接；以及
第一连杆，所述第二扳机组件通过所述第一连杆与所述驱动部件相连接。
优选地，还包括第二连杆，所述第二扳机通过所述第二连杆与所述第一连杆相连接。
优选地，所述第二扳机组件通过滑动机构与所述第一连杆相连接。
优选地，所述第二扳机组件通过第三连杆与所述第一连杆相连接。
优选地，所述第二扳机组件通过凸轮机构与所述第一连杆相连接。
优选地，还包括力偏置部件，当作用在所述驱动部件上的力未超过预设值时，所述力偏置部件适于阻挡所述第二扳机组件的运动。
优选地，所述第一连杆与所述第二连杆之间的角度随所述第二扳机的运动而改变。
优选地，还包括偏心机构，所述第一扳机组件通过所述偏心机构驱动所述驱动部件运动。
一种超声外科手术器械，包括如上述任一项所述的动作执行装置。
优选地，还包括：
手持件，适于使用者用手握持；
钳口组件，所述钳口组件通过细长体与所述驱动部件相连接，适于夹持组织。
优选地，所述超声外科手术器械具有一条纵轴，所述钳口组件可绕所述纵轴相对于所述手持件旋转。
优选地，所述第一扳机及第二扳机分别位于所述手持件的两侧，且使用者在用手握持时，分别与所述第一扳机和所述第二扳机相接触。
优选地，所述第一扳机及第二扳机分别位于所述手持件的两侧，且使用者在用手握持时，仅与所述第一扳机接触。
优选地，所述第二扳机还用于将所述驱动部件的力反馈到所述手上。
优选地，在第一扳机运动过程的一部分内，所述第二扳机的转动方向与所述第一扳机的转动方向相反。
优选地，在第一扳机运动过程的一部分内，所述第二扳机的转动方向与所述第一扳机的转动方向相同。
在上述技术方案中提供的动作执行装置，设置了用于反馈钳口夹持力的机械增益机构以及用于将钳口的夹持力反馈给操作者的第二扳机，在使用时，通过第二扳机能够将钳口的夹持力更加直接、准确地反馈给使用者。从而使得使用者能够感知到钳口的夹持力的大小，方便了使用者根据反馈的力的大小调整钳口的夹持力，避免夹持力过大对患者组织造成的损害。此外，通过双扳机的设置，使得使用者能够根据所夹持组织或血管的实际情况，调整钳口组件夹持力的大小，增大了超声外科手术器械的适用范围。
附图说明
图1为本发明实施例提供的超声外科手术器械的示意图；
图2为本发明实施例提供的超声外科手术器械的结构示意图；
图3为本发明实施例提供的超声外科手术器械的自由状态图；
图4为本发明实施例提供的超声外科手术器械的钳口组件闭合时的状态图；
图5为本发明实施例提供的超声外科手术器械的第二扳机运动后的状态图；
图6为本发明另一实施例提供的超声外科手术器械的自由状态图；
图7为本发明另一实施例提供的超声外科手术器械的钳口组件闭合时的状态图；
图8为本发明另一实施例提供的超声外科手术器械的第二扳机运动后的状态图；
图9为本发明再一实施例提供的超声外科手术器械的自由状态图；
图10为本发明再一实施例提供的超声外科手术器械的钳口组件闭合时的状态图；
图11本发明再一实施例提供的超声外科手术器械的第二扳机运动后的状态图。
附图标记：
1-手持件、2-细长体、3-钳口组件、4-第一扳机、5-第二扳机、6-偏置部件、7-第二连杆、8-第一连杆、9-驱动部件、10-转轴、11手持件本体、12-手柄、13-第三连杆、41-第一转轴、42-长腰孔、43-凸起、51-第二转轴。
具体实施方式
以下结合附图对本发明的具体实施例进行详细说明，这里使用的术语“远端”指的是离使用者(医生)较远的器械的部分或部件，而术语“近端”指的是离使用者(医生)较近的部分或部件。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本发明，并不用于限制本发明。
本发明实施例提供了一种动作执行装置，以及采用该动作执行装置的超声外科手术器械。如图2-5所示，该动作执行装置包括：
第一扳机组件和第二扳机组件，第一扳机组件和第二扳机组件均可运动；第一扳机组件包括第一扳机4，第二扳机组件包括第二扳机5，并且，在第一扳机4和/或第二扳机5运动过程的一部分内，第一扳机4与第二扳机5相互独立运动；
驱动部件9，驱动部件9分别与第一扳机组件和第二扳机组件相连接；
且第一扳机组件和第二扳机组件分别适用不同的机械增益。
具体地，第一扳机组件包括第一扳机4和第一机械增益机构，第二扳机组件包括第二扳机5和第二机械增益机构。
在上述实施例中，通过采用能够转动的第一扳机4及第二扳机5，并且分别通过第一机械增益机构和第二机械增益机构，将第一扳机4及第二扳机5的受力传递给驱动部件9。具体地，第一机械增益机构与第一扳机4连接，适于将施加在第一扳机4上的力传递给驱动部件9。第二机械增益机构与第二扳机5连接，适于将施加在第二扳机5上的力传递给驱动部件9，从而使得第一扳机4和第二扳机5在受到较小力时，可提供给驱动部件9较大的力，提高了整个动作执行装置的输出力。需要注意的是，通过机械增益机构对施加在 第一扳机4或第二扳机5上的力的传递，不局限于将力进行放大，根据不同的要求，机械增益机构亦可设计成对力进行缩小或等值传递。
进一步地，第二扳机组件的机械增益值由第一扳机4的位置控制。术语“机械增益值”是指一个机械结构的输出力与施加在该机械结构上的输入力的比值。例如，杠杆结构是最常见的机械增益机构，而其机械增益值是指杠杆一端输出的力值与施加在另一端输入的力值的比值。接下来，将结合具体的结构进行描述。
作为本发明的优选实施例，参考图1，一种超声外科手术器械，包括手持件1、细长体2和钳口组件3。手持件1包括手持件本体11和手柄12，其中，手柄12固定不动。此外，该器械具有一条纵轴C，钳口组件3以及细长体2能够绕该纵轴C相对于手持件1旋转。第一扳机4及第二扳机5的位置可以根据需要进行不同的设置，例如，如图2-8所示，第一扳机4及第二扳机5分别位于手持件1的两侧，具体地，位于手持件1的手柄12的两侧，且在使用者用手握持时，分别与第一扳机4和第二扳机5相接触，例如，手的手指与虎口分别与第一扳机4和第二扳机5相接触。或者，第一扳机4设置在手持件1的手柄12的一侧，而第二扳机5设置在手持件1的手柄12内，如图9-11所示，当使用者用手握持器械时，使用者的手仅与第一扳机4接触。
通过不同的机械增益机构，可得到第一扳机4和第二扳机5在分别受力时输出不同增益的力，且第二扳机组件的机械增益值由第一扳机组件的位置确定。具体地，参考图2，动作执行装置进一步包括转轴10、第一连杆8和第二连杆7，其中，第一连杆8和第二连杆7通过转轴10相连接。第一连杆8的远端与超声外科手术器械内滑动装配的驱动部件9相连接，第二连杆7的近端与第二扳机5相连接，转轴10抵压在第一扳机4上，并在第一扳机4转动时，第一扳机4推动转轴10，第一连杆8推动驱动部件9和/或第二连杆7推动第二扳机5；或者，第二扳机5转动时，第二扳机5推动第二连杆7，第一连杆8推动驱动部件9。
驱动部件9用于通过细长体2控制设置在超声外科手术器械远端的钳口 组件3的张开及闭合。具体地，在手持件本体11上设置有滑动部件，例如，滑轨，驱动部件9滑动装配在滑轨上。如图2、图3和图4所示，驱动部件9可以沿滑轨在水平方向上滑动，当其向器械远侧滑动时，驱动部件9推动钳口组件3闭合，当其向器械近侧滑动时，驱动部件9拉动钳口组件3张开。具体地，细长体包括内套管和外套管，驱动部件9通过该内套管和外套管来驱动远端的钳口组件3张开和闭合。
优选地，上述实施例所述的动作执行装置还具有一个力偏置部件6，该力偏置部件6的作用是阻止第二扳机5转动，具体地，当作用在驱动部件9上的力未超过设定的限值时，力偏置部件6阻挡第二连杆7向近端运动，从而阻挡第二扳机5运动。即当由于第一扳机4沿箭头A所指示的方向转动导致转轴10向上运动时，由于转轴10的运动将导致第二连杆7出现向近端运动的趋势，此时，该力偏置部件6将提供一个反向力抵消传递到第二扳机5的力，进而阻止第二扳机5转动，使其保持不动；当传递到第二扳机5的力大于该力偏置部件6所能够提供的反向力时，第二扳机5才开始运动。具体地，该力偏置部件6可以采用压簧、拉簧、扭簧以及能够提供弹性反向力的弹性部件，在具体设置时，可以根据压簧、拉簧或者扭簧等的具体形变方式设置，只需保证在第二连杆7上的力传递给第二扳机5时，上述压簧、拉簧或者扭簧能够提供一定的反向力即可。以压簧为例，设置在手持件本体11内，该压簧的两端分别抵压在手持件本体11的近端侧壁和第二连杆7的近端。当第二连杆7受力时，可以通过该压簧提供一个反向力，从而限制第二扳机5运动。
接下来，将结合上述实施例所述的超声外科手术器械所处的不同状态，来详细描述上述实施例所述的动作执行装置的连接关系和受力运动情况。首先，图3示出了上述实施例所述的超声外科手术器械的自由状态，此时钳口组件3张开，动作执行装置亦处于自由非受力状态。参考图4，沿箭头A所指示的方向扣动第一扳机4，第一扳机4绕第一转轴41转动，第一扳机4带动转轴10向上滑动，此时，第一连杆8及第二连杆7之间的夹角变大。由于力偏置部件6限制了第二连杆7近端的运动，使得当转轴10向上滑动时推动 第一连杆8向远端运动，从而带动驱动部件9向远端运动，以闭合钳口组件3。
当钳口组件3完全闭合时，本实施例所述的超声外科手术器械的状态如图4所示。结合图3和图4可以看出，由于力偏置部件6，例如，压簧，限制了第二扳机5的运动，从而使得第一连杆8推动驱动部件9向远端滑动，并进一步驱动钳口组件3闭合。
在钳口组件3闭合后，如图5所示，进一步沿箭头A指示的方向扣动第一扳机4，当通过第一扳机4、转轴10和驱动部件9传递到第二连杆7上的力超过了该力偏置部件6所能够提供的最大反向力时，第二扳机5绕第二旋转轴51按照图5中箭头B所指示的方向转动，此时抵压在虎口上的第二扳机5将反馈过来的力传递给虎口，使用者通过虎口的受力情况便能够感知钳口组件的夹持力的情况。进一步地，使用者可以通过其手掌的虎口向第二扳机5施加力，该力通过第二扳机5、第二连杆7和转轴10进一步推动第一连杆8和驱动部件9向已闭合的钳口组件3进一步施加夹持力。通过同时按压第一扳机4及第二扳机5，上述实施例所述的动作执行装置能够将两个扳机的合力传递给钳口组件3，从而提高钳口组件3的夹持力。因此，与一个扳机推动的效果相比，采用上述实施例所述的动作执行装置，使用者能够通过按压两个扳机来增大施加到钳口组件3上的力，使得钳口组件3可以适用于更大的受力范围，提高了超声外科手术器械的适用范围。
在上述连杆之间具体设置时，第一连杆8及第二连杆7之间的夹角小于180夹，并在第一扳机4和/或第二扳机5转动时，第一连杆8与第二连杆7之间的夹角逐渐增大，夹角的最大角度小于180°。即在第一扳机4和第二扳机5运动到最大行程时，第一连杆8及第二连杆7之间的夹角小于180°。作为一种优选的方案，较佳的，在第一扳机4及第二扳机5均未受力时，第一连杆8与第二连杆7之间的夹角介于60°至150°之间，即60°、70°、80°、90°、100°、110°、120°、130°、140°、150°等任意介于60°与150°之间的角度。在第一扳机4和第二扳机5位于最大行程处时，第一连杆8与第二连杆7之间的夹角小于180°，如175°、170°。
优选的，第一连杆8的长度小于第二连杆7的长度，从而使得第一扳机4及第二扳机5在受力推动转轴10时，能够给第一连杆8更多的水平分力来推动驱动部件9的滑动。
作为可替代的实施例，该动作执行装置还包括偏心机构，第一扳机4通过偏心机构带动机械增益机构运动。具体的，偏心机构设置在第一扳机4上，通过第一扳机4的转动，带动偏心机构转动，从而实现推动机械增益机构运动的目的。
此外，为了提高人机效果，较佳的，第一扳机4上设置有与使用者手指相配合的凹槽结构。第二扳机5具有与使用者手掌的虎口相配合的弧形结构，使得使用者的手指及虎口能够有舒服施加力。优选地，如图2所示，该凹槽的个数为三个。
为了提高整个动作执行装置的结构稳定性，作为一种优选的方案，第一扳机组件通过滑动机构与第二扳机组件相连接。例如，第一扳机4上设置有长腰孔42，如图2所示，转轴10位于长腰孔42内并可在长腰孔42内滑动。通过图3、图4的对比可以看出，第一扳机4未受力时，和第一扳机4受力时，转轴10位于长腰孔42的位置不同，并且转轴10与第一扳机4的接触位置随着第一扳机4及第二扳机5的转动发生改变，但无论如何变动，转轴10始终位于长腰孔42内，从而保证了在第一扳机4受力发生转动，以及第一扳机4上的力消失后回到初始状态时，均能够保证转轴10与第一扳机4之间的连接，并且，在第一扳机4上设置有恢复压簧(帮助第一扳机4恢复到初始状态位置的压簧)时，如扭簧，通过长腰孔42可以帮助第一连杆8及第二连杆7恢复到初始位置。
作为可替代的实施例，如图6所示，第一扳机4与第三连杆13的一端相连接，第三连杆13的另一端分别与第一连杆8和第二连杆7相连接，第二连杆7的另一端与第二扳机5相连接，第一连杆8的另一端与驱动部件9相连接。优选地，在手持件本体11上设置有滑动部件，例如，滑轨，驱动部件9滑动装配在滑轨上。如图2、图3和图4所示，驱动部件9可以沿滑轨在水平 方向上滑动，当其向器械远侧滑动时，驱动部件9推动钳口组件3闭合，当其向器械近侧滑动时，驱动部件9拉动钳口组件3张开。按照图6中箭头A所指示的方向扣动第一扳机4，该第一扳机4绕第一转轴41转动，从而推动第三连杆13运动，进而带动第一连杆8运动，推动驱动部件9运动。优选地，在本实施例所述的动作执行装置上还设置有力偏置部件6，例如，压簧。该力偏置部件6的一端抵压在手持件本体11的近端侧壁，另一端抵压在第二连杆7的近端。该力偏置部件6的作用与上述实施例中所述的力偏置部件6相同，这里不再赘述。
类似地，接下来将参考附图并结合上述实施例所述的超声外科手术器械所处的不同状态，来详细描述上述实施例所述的动作执行装置的连接关系和受力运动情况。
首先，图6示出了上述实施例所述的超声外科手术器械的自由状态，其中，动作执行装置包括第一连杆8、第二连杆7以及第三连杆13；第一连杆8、第二连杆7及第三连杆13的一个端部连接在一起，且第一连杆8的另一端与滑动机构连接，即装配在滑轨上并与驱动部件9连接的滑块，第二连杆7的近端与第二扳机5连接，第三连杆13的另一端与第一扳机4连接。在第一扳机4运动时，推动第三连杆13运动，如图6、图7所示，三个连杆呈Y字形方式排列。
沿箭头A指示的方向扣动第一扳机4使位于超声外科手术器械远端的钳口组件3闭合，如图7所示，由于通过第二连杆7传递到第二扳机5上的力尚未超过力偏置部件6的反向作用力，第二扳机5不随第一扳机4的运动而运动。此时，第一扳机4带动第三连杆13向上运动，并推动第一连杆8向远侧运动，从而带动驱动部件9向远侧运动，由此控制钳口组件3的闭合。
进一步扣动第一扳机4，如图8所示，当通过第二连杆7传递到第二扳机5上的力超过了力偏置部件6预先设定的反向作用力，该力偏置部件6被压缩，从而使得第二连杆7驱动第二扳机5绕第二转轴51沿箭头B所指示的方向旋转。此时抵压在虎口上的第二扳机5将反馈过来的力传递给虎口，使用者通 过虎口的受力情况便能够感知钳口组件的夹持力的情况。进一步地，使用者可以通过其手掌的虎口向第二扳机5施加力，该力通过第二扳机5和第二连杆7进一步推动第一连杆8和驱动部件9从而向已闭合的钳口组件3进一步施加夹持力。通过同时按压第一扳机4及第二扳机5，上述实施例所述的动作执行装置能够将两个扳机的合力传递给钳口组件3，从而提高钳口组件3的夹持力。
作为可替代的实施例，上述实施例中的第一连杆8、第二连杆7以及第三连杆13可在整体上构成偏心机构，即转轴10在向上运动的过程中，能够越过第一连杆8和第二连杆7所形成的直线，或者说，在整个动作执行装置的运动过程中，第一连杆8和第二连杆7之间所形成的夹角持续增大，并且能够超过180°。
作为可替代的实施例，如图9、图10和图11所示，在本实施例中，动作执行装置的结构与上述实施例中的结构大体相似，唯一的区别在于第二扳机5的设置位置不同，为了方便描述，本实施例中与上述实施例中的结构相同的部分不再赘述，仅对本实施例中的第二扳机5进行详细的描述。从图9中可以看出，第二扳机5设置在了手持件本体11内，第二扳机5上设置有凹槽，该凹槽内设置了力偏置部件6，例如，压簧。在手持件本体11上设置有挡块(图中未示出)，该力偏置部件6的一端抵压在手持件本体11的挡块上，另一端抵押在第二扳机5的凹槽的一个侧壁。
图9示出了上述实施例所述的超声外科手术器械的自由状态，沿箭头A指示的方向扣动第一扳机4使位于超声外科手术器械远端的钳口组件3闭合，如图10所示，由于通过第二连杆7传递到第二扳机5上的力尚未超过力偏置部件6的反向作用力，第二扳机5不随第一扳机4的运动而运动。此时，第一扳机4带动第三连杆13向上运动，并推动第一连杆8向远侧运动，从而带动驱动部件9向远侧运动，由此控制钳口组件3的闭合。
进一步扣动第一扳机4，如图11所示，当通过第二连杆7传递到第二扳机5上的力超过了力偏置部件6预先设定的反向作用力，该力偏置部件6被 压缩，从而使得第二连杆7驱动第二扳机5绕第二旋转轴51沿箭头B所指示的方向旋转。从图9、图10和图11上可以看出，在第一扳机4上还设置有凸起43，当第一扳机4上的凸起42与第二扳机5的一侧相抵时，进一步扣动第一扳机4，该凸起43将驱动第二扳机5绕第二旋转轴51逆时针旋转，从而通过第二连杆7、第一连杆8推动驱动部件9向远端运动，从而在钳口组件3闭合后，进一步向钳口组件3施加力，以增大其间闭合力的大小。
作为可替代的实施例，在上述实施例的基础上，第二扳机5通过凸轮机构与第一连杆8相连接，即第一扳机4通过凸轮机构与第二连杆7相连接。具体的，在第一扳机4转动时，推动该凸轮机构转动，通过该凸轮机构转动推动第一连杆8运动，进而推动驱动部件9运动。
在上述实施例中，设置了用于反馈钳口夹持力的机械增益机构以及用于将钳口的夹持力反馈给操作者的第二扳机5，在使用时，通过第二扳机5能够将钳口的夹持力更加直接、准确地反馈给使用者。从而使得使用者能够感知到钳口的夹持力的大小，方便了使用者根据反馈的力的大小调整钳口的夹持力，避免夹持力过大对患者组织造成的损害。此外，通过双扳机的设置，使得使用者能够根据所夹持组织或血管的实际情况，调整钳口组件3夹持力的大小，增大了超声外科手术器械的适用范围。
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。

Claims (34)

  1. 一种动作执行装置，其特征在于，包括：
    第一扳机组件和第二扳机组件，所述第一扳机组件和所述第二扳机组件均可运动；
    所述第一扳机组件包括第一扳机，所述第二扳机组件包括第二扳机，并且，在所述第一扳机和/或第二扳机运动过程的一部分内，所述第一扳机与所述第二扳机可相互独立运动；
    驱动部件，所述驱动部件分别与所述第一扳机组件和所述第二扳机组件相连接；以及
    所述第一扳机组件和所述第二扳机组件分别适用不同的机械增益。
  2. 根据权利要求1所述的动作执行装置，其特征在于，所述第二扳机组件的机械增益值由所述第一扳机组件的位置确定。
  3. 根据权利要求1或2所述的动作执行装置，其特征在于，所述第一扳机组件包括第一扳机和第一增益机构，所述第二扳机组件包括第二扳机和第二增益机构，所述第二扳机组件的机械增益值由所述第一扳机的位置确定。
  4. 根据权利要求1-3任一项所述的动作执行装置，其特征在于，还包括力偏置部件，当作用在所述驱动部件上的力未超过预设值时，所述力偏置部件适于阻挡所述第二扳机组件的运动。
  5. 根据权利要求1-4任一项所述的动作执行装置，其特征在于，所述第一扳机和所述第二扳机在其运动过程的一部分内不相互独立运动。
  6. 根据权利要求1-5任一项所述的动作执行装置，其特征在于，所述第一扳机组件通过滑动机构与所述第二扳机组件相连接。
  7. 根据权利要求1-6任一项所述的动作执行装置，其特征在于，还包括偏心机构，所述第一扳机组件通过所述偏心机构驱动所述驱动部件运动。
  8. 根据权利要求1-6任一项所述的动作执行装置，其特征在于，所述第一扳机通过第一连杆与所述驱动部件相连接，所述第二扳机通过第二连杆与 所述驱动部件和所述第一连杆相连接。
  9. 根据权利要求8所述的动作执行装置，其特征在于，所述第一连杆与所述第二连杆之间的夹角为小于180度。
  10. 根据权利要求9所述的动作执行装置，其特征在于，所述第一连杆与所述第二连杆之间的夹角为60度～180度。
  11. 一种超声外科手术器械，其特征在于，包括如权利要求1-10任一项所述的动作执行装置。
  12. 根据权利要求11所述的超声外科手术器械，其特征在于，还包括：
    手持件，适于使用者用手握持；
    钳口组件，所述钳口组件通过细长体与所述驱动部件相连接，适于夹持组织。
  13. 根据权利要求12所述的超声外科手术器械，其特征在于，所述超声外科手术器械具有一条纵轴，所述钳口组件可绕所述纵轴相对于所述手持件旋转。
  14. 根据权利要求12或13所述的超声外科手术器械，其特征在于，所述第一扳机及第二扳机分别位于所述手持件的两侧，且使用者在用手握持时，分别与所述第一扳机和所述第二扳机相接触。
  15. 根据权利要求12或13所述的超声外科手术器械，其特征在于，所述第一扳机及第二扳机分别位于所述手持件的两侧，且使用者在用手握持时，仅与所述第一扳机接触。
  16. 根据权利要求14所述的超声外科手术器械，其特征在于，所述第二扳机组件还用于将所述驱动部件的力反馈给使用者。
  17. 根据权利要求11-16任一项所述的超声外科手术器械，其特征在于，在第一扳机运动过程的一部分内，所述第二扳机的转动方向与所述第一扳机的转动方向相反。
  18. 根据权利要求11-16任一项所述的超声外科手术器械，其特征在于，在第一扳机运动过程的一部分内，所述第二扳机的转动方向与所述第一扳机 的转动方向相同。
  19. 一种动作执行装置，其特征在于，包括：
    第一扳机组件和第二扳机组件，所述第一扳机组件和所述第二扳机组件均可运动；
    所述第一扳机组件包括第一扳机，所述第二扳机组件包括第二扳机，并且，所述第一扳机和/或所述第二扳机在其运动过程的一部分内可相对独立运动；
    驱动部件，分别与所述第一扳机组件和所述第二扳机组件相连接；以及
    第一连杆，所述第二扳机组件通过所述第一连杆与所述驱动部件相连接。
  20. 根据权利要求19所述的动作执行装置，其特征在于，还包括第二连杆，所述第二扳机通过所述第二连杆与所述第一连杆相连接。
  21. 根据权利要求19或20所述的动作执行装置，其特征在于，所述第二扳机组件通过滑动机构与所述第一连杆相连接。
  22. 根据权利要求19或20所述的动作执行装置，其特征在于，所述第二扳机组件通过第三连杆与所述第一连杆相连接。
  23. 根据权利要求19或20所述的动作执行装置，其特征在于，所述第二扳机组件通过凸轮机构与所述第一连杆相连接。
  24. 根据权利要求19-23任一项所述的动作执行装置，其特征在于，还包括力偏置部件，当作用在所述驱动部件上的力未超过预设值时，所述力偏置部件适于阻挡所述第二扳机组件的运动。
  25. 根据权利要求19-24任一项所述的动作执行装置，其特征在于，所述第一连杆与所述第二连杆之间的角度随所述第二扳机的运动而改变。
  26. 根据权利要求19-25任一项所述的动作执行装置，其特征在于，还包括偏心机构，所述第一扳机组件通过所述偏心机构驱动所述驱动部件运动。
  27. 一种超声外科手术器械，其特征在于，包括如权利要求19-26任一项所述的动作执行装置。
  28. 根据权利要求27所述的超声外科手术器械，其特征在于，还包括：
    手持件，适于使用者用手握持；
    钳口组件，所述钳口组件通过细长体与所述驱动部件相连接，适于夹持组织。
  29. 根据权利要求28所述的超声外科手术器械，其特征在于，所述超声外科手术器械具有一条纵轴，所述钳口组件可绕所述纵轴相对于所述手持件旋转。
  30. 根据权利要求28或29所述的超声外科手术器械，其特征在于，所述第一扳机及第二扳机分别位于所述手持件的两侧，且使用者在用手握持时，分别与所述第一扳机和所述第二扳机相接触。
  31. 根据权利要求28或29所述的超声外科手术器械，其特征在于，所述第一扳机及第二扳机分别位于所述手持件的两侧，且使用者在用手握持时，仅与所述第一扳机接触。
  32. 根据权利要求30所述的超声外科手术器械，其特征在于，所述第二扳机还用于将所述驱动部件的力反馈到所述手上。
  33. 根据权利要求27-32任一项所述的超声外科手术器械，其特征在于，在第一扳机运动过程的一部分内，所述第二扳机的转动方向与所述第一扳机的转动方向相反。
  34. 根据权利要求27-32任一项所述的超声外科手术器械，其特征在于，在第一扳机运动过程的一部分内，所述第二扳机的转动方向与所述第一扳机的转动方向相同。
PCT/CN2015/089703 2015-09-16 2015-09-16 一种动作执行装置及超声外科手术器械 WO2017045148A1 (zh)

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CN201580080978.6A CN107920856B (zh) 2015-09-16 2015-09-16 一种动作执行装置及超声外科手术器械
PCT/CN2015/089703 WO2017045148A1 (zh) 2015-09-16 2015-09-16 一种动作执行装置及超声外科手术器械
ES15903838T ES2886014T3 (es) 2015-09-16 2015-09-16 Aparato de ejecución de acciones e instrumento quirúrgico ultrasónico
US15/923,632 US11006972B2 (en) 2015-09-16 2018-03-16 Actuation mechanism and ultrasonic surgical instrument
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US20210267624A1 (en) 2021-09-02
US20180199958A1 (en) 2018-07-19
EP3351200A4 (en) 2018-10-24
CN107920856A (zh) 2018-04-17
US11980384B2 (en) 2024-05-14
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CN107920856B (zh) 2020-11-10
EP3351200A1 (en) 2018-07-25

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