WO2018086046A1 - 具有互锁功能的外科手术器械 - Google Patents

具有互锁功能的外科手术器械 Download PDF

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Publication number
WO2018086046A1
WO2018086046A1 PCT/CN2016/105375 CN2016105375W WO2018086046A1 WO 2018086046 A1 WO2018086046 A1 WO 2018086046A1 CN 2016105375 W CN2016105375 W CN 2016105375W WO 2018086046 A1 WO2018086046 A1 WO 2018086046A1
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WO
WIPO (PCT)
Prior art keywords
surgical instrument
assembly
teeth
closure
handle portion
Prior art date
Application number
PCT/CN2016/105375
Other languages
English (en)
French (fr)
Inventor
陈晓强
徐振振
Original Assignee
天津瑞奇外科器械股份有限公司
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
Publication date
Application filed by 天津瑞奇外科器械股份有限公司 filed Critical 天津瑞奇外科器械股份有限公司
Priority to CN201680090504.4A priority Critical patent/CN109963515B/zh
Priority to CN202210592072.4A priority patent/CN115068028A/zh
Priority to EP16921390.7A priority patent/EP3530197B1/en
Priority to PCT/CN2016/105375 priority patent/WO2018086046A1/zh
Publication of WO2018086046A1 publication Critical patent/WO2018086046A1/zh
Priority to US16/407,392 priority patent/US11071542B2/en
Priority to US17/356,594 priority patent/US11497496B2/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
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
    • 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
    • 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
    • A61B2017/00389—Button or wheel for performing multiple functions, e.g. rotation of shaft and end effector
    • A61B2017/00393—Button or wheel for performing multiple functions, e.g. rotation of shaft and end effector with means for switching between functions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B2017/07214—Stapler heads
    • A61B2017/07257—Stapler heads characterised by its anvil
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B2017/07214—Stapler heads
    • A61B2017/07271—Stapler heads characterised by its cartridge
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B2017/07214—Stapler heads
    • A61B2017/07285—Stapler heads characterised by its cutter
    • 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
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
    • 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
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
    • A61B2017/2929—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft with a head rotatable about the longitudinal axis of the shaft
    • 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
    • A61B2017/2946—Locking means

Definitions

  • the present invention relates to the field of medical device technology, and in particular to a surgical instrument having an interlocking function.
  • the surgical instruments under the endoscope have little trauma to the operation of the patient, and the surgical effect is good, which can greatly reduce the pain brought to the surgical patient.
  • the surgical instrument includes an operating handle, an elongated body, and an end effector, the operating handle having a fixed handle for the operator to grip, the distal end of the operating handle (the end near the user when operating is proximal, away from the end of the user) For the distal end) is connected to the end effector via the elongate body.
  • surgical instruments have three functions of bending, rotating and closing, which can adjust the working angle and working position of the end effector.
  • the rotation operation can be performed, and the bending operation cannot be performed when the rotation operation is performed, and the bending operation and the rotation operation are not performed during the closing operation, thereby improving the operability of the surgical medical instrument and avoiding errors.
  • the operation poses an accident risk to the operation.
  • a set of locking components is required in the surgical instrument to enable the surgical instrument to achieve the above three types of locking.
  • the current surgical instrument for locking is mostly damped locking, that is, the damping force provided by the damping module. Locking is achieved to lock the surgical instrument in a functional state.
  • the invention provides a surgical instrument with interlocking function, which has high working stability, thereby improving the safety performance of the surgical instrument.
  • the present invention provides the following technical solutions:
  • a surgical instrument includes an end effector, an elongated body and a handle portion, the two ends of the elongated body being respectively connected with the end effector and the handle portion, the handle portion comprising: a handle housing; and a rotating head disposed on the handle portion a distal end reciprocable along a length of the elongated body; and a locking assembly including at least one sliding tooth and a non-rotating tooth disposed between the rotating head and the handle housing, and The rotary head is axially fixed to reciprocate with the rotary head to selectively cooperate with the rotation preventing tooth, and the sliding tooth is circumferentially locked with the handle housing; A rotating tooth is fixedly mounted to the proximal end of the elongated body.
  • the handle portion further includes a rotating sleeve disposed at a distal end of the handle portion and rigidly coupled to a proximal end of the elongated body; the rotating head being selectively engageable with the The rotating sleeve fits.
  • the sliding teeth are fixedly mounted axially within the rotating head and are rotatable relative to the rotating head.
  • the rotary head is provided with an annular groove that accommodates the circumferential sliding of the sliding teeth.
  • an elongated slot is provided at the distal end of the handle housing of the handle portion to lock the sliding teeth circumferentially.
  • the number of sliding teeth is set to two, three or four, and the circumferential direction is evenly distributed within the rotating head.
  • the anti-rotation teeth are coupled to the elongate body by a keyway and a key embedded in the keyway.
  • teeth are respectively disposed on the rotating sleeve and the rotating head, and the rotating head is selectively engageable with the rotating sleeve through the teeth.
  • the handle portion further includes a bend drive assembly that selectively mates with the bend drive assembly to cause the end effector to bend.
  • the bending drive assembly comprises a bending drive gear assembly, a drive screw and a drive rod assembly; the output of the bending drive gear assembly is rigidly coupled to the drive screw; the drive rod assembly is coupled to the drive screw and the end effector, respectively; Reciprocating along the length of the elongated body to defeat or effectively bend the drive gear assembly.
  • the bending drive gear assembly is a planetary gear set.
  • the handle portion further includes a handle and a closure trigger, wherein the closure trigger is pivotally mounted on the handle housing and coupled to the closure drive assembly disposed within the handle housing for driving the elongated body to reciprocate by closing the drive assembly Move to open or close the end effector.
  • the handle portion further includes a closure lock assembly that mates with the closure drive assembly and that when the closure trigger is closed, the closure lock assembly is moveable distally under the push of the closure drive assembly.
  • the closing lock assembly is provided as a safety piece, and the safety piece is disposed between the rotation preventing tooth and the bending driving gear assembly, and can push the rotation preventing tooth to move to the distal end when the safety piece moves to the distal end; or, when When the slap is moved distally, the rotation preventing teeth and the sliding teeth are pushed to the distal end.
  • the rupture disk and the bending drive gear assembly are provided in a unitary structure.
  • the rupture disk is provided as an annular piece, and the outer diameter of the annular piece is larger than the outer diameter of the rotation preventing tooth.
  • the present invention also provides the following technical solutions:
  • a surgical instrument includes an end effector, an elongated body and a handle portion, the two ends of the elongated body being respectively connected with the end effector and the handle portion, the handle portion comprising: a handle housing; and a rotating head disposed on the handle portion a distal end reciprocable along a length of the elongated body; and a locking assembly including a sliding tooth and a rotation preventing tooth disposed between the rotary head and the handle housing and axially fixed to the rotary head
  • the reciprocating motion of the rotary head can be selectively engaged with the anti-rotation teeth, and the sliding teeth are circumferentially locked with the elongate body; the anti-rotation teeth are fixedly mounted in the handle housing.
  • the sliding tooth is fixedly sleeved at a proximal end of the elongated body, and the distal end of the sliding tooth is provided with a flange to The rotating head is snap-fitted.
  • the proximal end of the sliding tooth is provided with a plurality of teeth that can cooperate with the anti-rotation teeth when the sliding tooth moves toward the proximal end.
  • the anti-rotation tooth is fixedly disposed at a distal end of the handle housing of the handle portion.
  • the handle portion further includes a rotating sleeve disposed at a distal end of the handle portion and rigidly coupled to the elongated body, the rotating head selectively coupled to the rotating sleeve Cooperating, the rotating sleeve and the rotating head are respectively provided with teeth, and the rotating head can selectively cooperate with the rotating sleeve through the teeth.
  • a rotating sleeve disposed at a distal end of the handle portion and rigidly coupled to the elongated body, the rotating head selectively coupled to the rotating sleeve Cooperating, the rotating sleeve and the rotating head are respectively provided with teeth, and the rotating head can selectively cooperate with the rotating sleeve through the teeth.
  • the handle portion further includes a bend drive assembly that selectively mates with the bend drive assembly to cause the end effector to bend.
  • the bending drive assembly comprises a bending drive gear assembly, a drive screw and a drive rod assembly; the output of the bending drive gear assembly is rigidly coupled to the drive screw; the drive rod assembly is coupled to the drive screw and the end effector, respectively; Reciprocating along the length of the elongated body to defeat or effectively bend the drive gear assembly.
  • the bending drive gear assembly is a planetary gear set.
  • the handle portion further includes a handle and a closure trigger, wherein the closure trigger is pivotally mounted on the handle housing and coupled to the closure drive assembly disposed within the handle housing for driving the elongated body to reciprocate by closing the drive assembly Move to open or close the end effector.
  • the handle portion further includes a closure lock assembly that mates with the closure drive assembly and that when the closure trigger is closed, the closure lock assembly is moveable distally under the push of the closure drive assembly.
  • the closure lock assembly is a closure lock tooth disposed on the elongate body, the closure lock tooth being disposed at a proximal end of the sliding tooth.
  • closure locking teeth are aligned with the teeth of the proximal end of the sliding teeth.
  • FIG. 1 is a schematic structural view of a surgical instrument according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural view of a surgical instrument according to an embodiment of the present invention when it is in a rotating station;
  • FIG. 3 is a schematic structural view of a surgical instrument according to an embodiment of the present invention when it is in a bending station;
  • FIG. 4 is a schematic view showing a fitting structure between a driving screw and a driving rod assembly in a surgical instrument according to an embodiment of the present invention
  • FIG. 5 is a schematic view showing a fitting structure between a bending drive gear assembly and a driving screw in a surgical instrument according to an embodiment of the present invention
  • FIG. 6 is a schematic structural view of a sliding tooth in a surgical instrument according to an embodiment of the present invention.
  • Figure 7 is a schematic view showing the cooperation structure between the sliding teeth and the rotating head of the structure shown in Figure 2;
  • Figure 8 is a schematic view showing the cooperation structure between the sliding teeth of the structure shown in Figure 2 and the operating handle housing;
  • FIG. 9 is a partial structural schematic view of a closure drive assembly of a surgical instrument according to an embodiment of the present invention.
  • FIG. 10 is a schematic structural view of a closure driving assembly of a surgical instrument according to an embodiment of the present invention.
  • FIG. 11 is a schematic structural view of a closure driving assembly of a surgical instrument according to an embodiment of the present invention.
  • FIG. 12 is a schematic structural view of a closure locking assembly of a surgical instrument according to an embodiment of the present invention.
  • FIG. 13 is a schematic structural view of a handle portion of a surgical instrument according to another embodiment of the present invention.
  • FIG. 14 is a schematic exploded view of a handle portion of a surgical instrument according to another embodiment of the present invention.
  • Figure 15 is a schematic view showing the cooperation structure between the sliding teeth and the rotating head of the structure shown in Figure 14;
  • 16 is a schematic structural view of a sliding tooth of a surgical instrument according to another embodiment of the present invention.
  • 17 is a schematic structural view of a sliding tooth and a closing lock assembly of a surgical instrument according to another embodiment of the present invention.
  • FIG. 18 is a schematic structural view of a surgical instrument according to another embodiment of the present invention after being closed in a rotating station; FIG.
  • FIG. 19 is a schematic structural view of a surgical instrument according to another embodiment of the present invention, which is closed when the surgical instrument is in a bending station.
  • distal refers to the end of the surgical instrument that is remote from the user when operated
  • proximal refers to the end of the surgical instrument that is adjacent to the user when operated
  • the surgical instrument 50 provides a surgical instrument having an interlocking function.
  • the surgical instrument 50 includes an end effector 10, an elongated body 20, and a handle portion. 30, wherein the proximal end 201 of the elongate body 20 is coupled to the handle portion 30 and the distal end 202 of the elongate body 20 is coupled to the end effector 10.
  • the end effector 10 includes an anvil assembly 110 and a magazine assembly 120 pivotally mounted to the magazine assembly 120;
  • the handle portion 30 includes a handle housing 301, a handle 302, a closure trigger 303, and a firing trigger 304
  • the closure trigger 303 is adapted to drive the anvil assembly 110 relative to the magazine assembly 120 by a closure drive assembly to effect closure and opening of the end effector 10 (described in more detail later);
  • the firing trigger 304 is adapted After the end effector 10 is closed, the staples disposed within the staple assembly 120 are fired to effect suturing of the tissue.
  • the surgical instrument according to any of the embodiments of the present invention has a bending and rotating function, that is, a rotation operation and/or a bending operation of the end effector 10 according to an actual surgical tissue portion during use, thereby better positioning End effector 10 is completed by clamping tissue Cut and suture, or complete the corresponding surgical operation.
  • a bending and rotating function that is, a rotation operation and/or a bending operation of the end effector 10 according to an actual surgical tissue portion during use, thereby better positioning End effector 10 is completed by clamping tissue Cut and suture, or complete the corresponding surgical operation.
  • the surgical instrument according to any embodiment of the present invention is not limited to the linear cutting stapler described in the specification, that is, the surgical instrument according to any embodiment of the present invention is executed at the end.
  • the device 10 is not limited to the structure of the above-mentioned linear cutting stapler, for example, the structure of the anvil assembly 110 and the nail assembly 120.
  • the surgical instrument according to any of the embodiments of the present invention may also be used for the end effector 10
  • the end effector 10 can be a clamp, a scissors, a jaw of a high frequency electrosurgical knife, and the like.
  • the surgical instrument 50 of the above embodiment of the present invention includes a rotary transmission assembly.
  • the rotary transmission assembly includes a rotary sleeve 310 disposed at a distal end of the handle housing 301, the distal end of which is The proximal end of the elongated body housing 200 of the elongate body 20 is fixedly connected circumferentially.
  • the rotating sleeve 310 is rotated, the elongated body housing 200 and the end effector 10 coupled to the distal end of the elongated body housing 200 can be rotated to achieve the rotational function of the surgical instrument 50 of the present embodiment.
  • the rotating sleeve 310 is rigidly connected to the elongated body casing 200.
  • the fixed connection of the rotating sleeve 310 to the elongated body casing 200 may adopt any manner that can achieve a rigid connection, for example, by means of snapping. .
  • the surgical instrument 50 further includes a rotary head 350 disposed on the handle housing 301 and a bending transmission assembly engageable with the rotary head 350, suitable for The end effector 10 performs a bending operation.
  • the bending drive assembly includes a bending drive gear assembly 360, a drive screw 320 coupled to the bending drive gear assembly 360, and is disposed within the elongated body housing 200 and is respectively executed with the drive screw 320 and the end
  • the drive rod assembly 330 is connected to the device 10.
  • the driving screw 320 is provided with two segments of oppositely threaded portions, for example, A first threaded portion 3201 and a second threaded portion 3202 are disposed on the driving screw 320, and the threads on the first threaded portion 3201 and the second threaded portion 3202 are oppositely rotated.
  • the drive rod assembly 330 includes a first drive rod 331a and a second drive rod 331b, wherein the first drive rod 331a is coupled to the first threaded portion 3201 by a first pin 332a, and the second drive rod 331b is coupled to the second shaft 332b by a second pin 332b
  • the threaded portions 3202 are connected, and vice versa.
  • the first driving rod 331a and the second driving rod 331b can be driven to move in opposite directions, thereby causing the end effector 10 disposed at the distal end thereof to bend.
  • the bending drive gear assembly 360 is driven in a manner of a planetary gear set.
  • the bending drive gear assembly 360 includes a sun gear 361, a plurality of planet gears 362, a ring gear 363, and a planet carrier 364.
  • the number of the planet wheels 362 is three, and the ring gear 363 is solid. It is fixedly mounted in the rotary head 350, that is, the ring gear 363 is axially fixed to the rotary head 350 and is rotatable in accordance with the rotation of the rotary head 350.
  • the sun gear 361 is rigidly coupled to the proximal end of the drive screw 320, and the planet carrier 364 is fixedly mounted within the handle housing 301.
  • the rotating sun gear 361 can drive the sun gear 361 to rotate. Since the sun gear 361 is rigidly connected to the proximal end of the driving screw 320, the driving screw 320 also rotates with the rotation of the sun gear 361, so that the first driving rod 331a The second actuator rod 331b is moved in the opposite direction to effect the bending of the end effector 10.
  • the manner in which the end effector 10 is bent is not limited to the manner disclosed in the above embodiments.
  • Another way of achieving the bending of the end effector 10 is disclosed in the Chinese Patent Application Publication No. CN105433989A, the entire disclosure of which is incorporated herein by reference.
  • the proximal end of the rotary sleeve 310 is provided with a plurality of teeth 311.
  • the rotary head 350 can reciprocate along the length direction of the elongated body 20, and
  • a plurality of teeth 351 that cooperate with the teeth 311 at the proximal end of the rotary sleeve 310 are disposed on the inner wall of the distal end of the rotary head 350.
  • the ring gear 363 also moves proximally to engage the plurality of planet gears 362 of the bending drive gear assembly 360, when the rotary head 350 is rotated,
  • the ring gear 363 of the bending drive gear assembly 360 also rotates, thereby effecting the bending of the end effector 10, where the proximal position at which the rotary head 350 is located is also referred to as a turning station.
  • the rotary head 350 when the rotary head 350 is at its proximal end position, that is, the bending station, since the teeth 351 at the distal end of the rotary head 350 are disengaged from the teeth 311 at the proximal end of the rotary sleeve 310, at this time, the rotary rotary head is rotated.
  • the 350 can only perform a bending operation on the end effector 10 and cannot perform a rotation operation.
  • the rotating sleeve 310 or the elongated body 20 is accidentally touched so that the end effector 10 is rotated.
  • the surgical instrument 50 further includes a locking assembly 370 disposed within the rotating head 360, including at least one Sliding teeth 371 and anti-rotation teeth 372 are disposed between the rotating head 350 and the distal end of the handle housing 301.
  • the sliding teeth 371 have a substantially T-shaped configuration including a wing portion 3711 and a fitting portion 3712, and a plurality of lateral teeth 3713 are provided at the bottom of the fitting portion 3712.
  • an elongated slot 3011 extending in the direction of the axis A is provided at the distal end of the handle housing 301, and an engaging portion 3712 adapted to receive the sliding tooth 3014 is formed in the elongated slot of the handle housing 301.
  • the sliding teeth 371 can only be The handle housing 301 is axially displaced and circumferentially locked, i.e., the sliding teeth 371 are only slidable within the elongated slot 3011 of the handle housing 301.
  • an annular groove 352 that can accommodate the wing portion 3711 of the sliding tooth 371 is disposed inside the rotary head 350. As shown in FIG.
  • the axial length of the annular groove 352 is equal to or slightly larger than the wing portion 3711 of the sliding tooth 371.
  • the axial length of the annular groove 352 is axially constrained to the sliding tooth 371 such that the sliding tooth 371 cannot move axially relative to the rotating head 350, i.e., the sliding tooth 371 can be proximally or distally along with the rotating head 350. mobile.
  • the anti-rotation tooth 372 is sleeved at the proximal end of the elongate body housing 200.
  • the anti-rotation tooth 372 and the elongate body housing 200 can be coupled through a keyway and a key embedded in the keyway.
  • the elongated body casing 200 is fixedly coupled, and the rotation preventing teeth 372 are provided with teeth that can be engaged with the lateral teeth 3713 of the engaging portion 3712 of the sliding teeth 371.
  • the lateral teeth 3713 of the sliding teeth 371 are engaged with the rotation preventing teeth 372.
  • the sliding teeth 371 can move with the movement of the rotary head 350 due to the axial limit of the annular groove 352 of the rotary head 350. That is, the sliding teeth 371 move distally along with the rotating head 350 and are disengaged from the rotation preventing teeth 372. At this time, the rotary rotating head 350 will rotate the rotating sleeve 310 and the elongated body 20, and then drive the end effector 10 to rotate.
  • the locking assembly 370 of the surgical instrument 50 can include a plurality of sliding teeth 371, preferably along the distal end of the handle housing 301 The circumferential direction is evenly distributed, and correspondingly, a plurality of elongated slots 3011 are provided at the distal end of the handle housing 301 to accommodate the respective sliding teeth 371, respectively.
  • the number of sliding teeth 371 is set to two, and two corresponding elongated slots 3011 are provided at the distal end of the handle housing 301.
  • a surgical instrument 50 in accordance with an embodiment of the present invention further includes a closure drive assembly including a closure trigger 303, a transmission assembly 380 coupled to the proximal end of the elongate body housing 200, and
  • the lever mechanism 305 has a proximal end pivotally coupled to the closure trigger 303 and a distal end of the linkage 305 pivotally coupled to the transmission assembly 380.
  • the link mechanism 305 includes a first link and a second link (not shown) placed in parallel, respectively, on both sides of the top end of the closing trigger 303 (in the direction shown in FIG. 10).
  • the proximal ends of the transmission assembly 380 are pivotally coupled.
  • the distal end of the drive assembly 380 can be coupled to the proximal end of the elongate body 200 in a variety of ways.
  • the transmission assembly 380 includes a connecting portion 381 adapted to be pivotally coupled to the linkage 305, a connecting plate 382 rigidly coupled to the distal end of the connecting portion 381, the distal end of the connecting plate 382 The end is rigidly coupled to the proximal end of the elongate body housing 200.
  • the connecting plate 382 may be provided in plurality, for example, two connecting plates 382a, 382b (see FIG. 9).
  • a push plate assembly is provided, including a push plate 383 and a plurality of push rods 384.
  • the distal end of the connecting plate 382 is rigidly connected to the push plate 383, and a through hole 365 suitable for the push rod 384 is disposed on the bending gear assembly 360.
  • the push rod 384 can be coupled to the elongated body housing 200 through the bending gear assembly 360 or rigidly coupled to the anti-rotation teeth 372. Since the anti-rotation tooth 372 is fixedly mounted at the proximal end of the elongate body housing 200, a rigid connection of the transmission assembly 380 to the elongate body housing 201 is achieved.
  • closure trigger 303 is closed, and the closure trigger 303 is rotated counterclockwise about its pivot axis to urge the transmission assembly 380 distally through the linkage 305 and further urge the elongated body housing 200 to move distally.
  • the closing of the end effector 10 is achieved.
  • the implementation of the transmission component 380 includes, but is not limited to, the implementations described in the foregoing embodiments, and implementation methods commonly used in mechanical settings by those skilled in the art may also be employed.
  • the connecting plate 382 of the transmission assembly 380 can also adopt the structure of a sleeve, or the structure of a push rod or the like.
  • the surgical instrument 50 in order to further improve the safety of the surgical procedure and avoid the erroneous operation of the surgical instrument, the surgical instrument 50 according to any of the embodiments of the present invention further includes a closure locking assembly, so that the surgical operation is performed on the basis of the above embodiments.
  • the end effector 10 of the instrument 50 is unable to perform a bending operation and/or a rotation operation after closing.
  • a securing piece 390 is further disposed between the anti-rotation tooth 372 and the bending gear assembly 360.
  • the securing piece 390 is provided as an annular piece with a proximal end side and a closed drive.
  • the distal end of the push rod 384 of the drive assembly 380 of the assembly is fixedly coupled so that when the closing operation is performed, the drive assembly 380 of the closed drive assembly moves distally and pushes the rupture disc 390 together to move distally, thereby propelling the rotation
  • the teeth 372 move distally.
  • the outer diameter of the rupture disk 390 is slightly larger than the outer diameter of the rotation preventing tooth 372.
  • the sliding teeth 371 are disengaged from the anti-rotation teeth 372, and the end can be
  • the actuator 10 performs a rotation operation.
  • the transmission assembly 380 of the closing transmission assembly is moved distally and the squeegee 390 is moved distally, so that the rotation preventing teeth 372 are moved together and slid together by the squeegee 390.
  • the teeth 371 are engaged, and the surgical instrument 50 according to any of the embodiments of the present invention is incapable of performing a rotational operation when the end effector 10 is in the closed state.
  • the sliding teeth 371 are engaged with the anti-rotation teeth 372, and the driving gear is bent.
  • the ring gear 363 of the assembly 360 engages with the planet gears 362 to perform a bending operation on the end effector 10.
  • the transmission assembly 380 of the closing transmission assembly is moved distally and drives the securing piece 390 to move distally. Since the outer diameter of the securing piece 390 is slightly larger than the outer diameter of the anti-rotating tooth 372, it is insured.
  • the rotation preventing tooth 372 and the sliding tooth 371 can be moved together to the distal end. Since the sliding tooth 371 is axially fixed to the rotating head 310, when sliding When the teeth 371 are moved distally, the rotating head 310 can be driven to move distally together, so that the ring gear 363 of the bending drive gear assembly 360 is disengaged from the planetary gears 362, and the bending operation function is disabled, thereby realizing the present invention. When the surgical instrument 50 of any of the embodiments is in the closed state of the end effector 10, the bending operation cannot be performed.
  • the rupture disc 390 and the anti-rotation tooth 372 are of unitary construction.
  • FIG. 13 illustrates another implementation of the surgical instrument 50 described in the above embodiments.
  • the surgical instrument 50A includes a rotary head 450 and a rotary sleeve 410 disposed within the rotary head 450, wherein the rotary sleeve 410 is rigidly coupled to the elongated body housing 200 of the elongated body 20, the rotary head 450 is reciprocable relative to the elongated body 20 along its length.
  • the head 453 of the swivel head 450 and the swivel head body can be designed in a component body configuration.
  • a plurality of teeth 411 are disposed at the proximal end of the rotating sleeve 410, and correspondingly, teeth 451 adapted to cooperate with the teeth 411 at the proximal end of the rotating sleeve 410 are disposed on the inner wall of the rotating head 450.
  • the teeth 451 of the rotary head 450 mesh with the teeth 411 of the rotary sleeve 410, and thus, when the rotary head 450 is rotated, the rotary sleeve 410 follows The rotation, and in turn, drives the elongated body 20 and the end effector 10 to rotate.
  • the surgical instrument 50A of the present embodiment employs the same bending transmission assembly as the surgical instrument 50 described in the above embodiments, and therefore, the implementation of the bending operation will not be described again.
  • the rotary head 450 When the rotary head 450 is in its proximal position, ie, the bending station, the teeth 451 of the rotary head 450 are disengaged from the teeth 411 of the rotary sleeve 410 due to the ring gear of the curved drive gear assembly (not shown).
  • the ring gear Fixedly mounted in the rotating head 450, when the rotating head 450 moves toward the proximal end, the ring gear also moves proximally to mesh with the plurality of planet wheels of the bending drive gear assembly, and when the rotating head 450 is rotated, the bending The ring gear of the rotary drive gear assembly also rotates, thereby effecting the bending of the end effector 10.
  • the surgical instrument 50A further includes a locking assembly 470 disposed within the rotating head 450, including a sliding tooth 471 and a stop
  • the rotating tooth 472 is sleeved on the elongated body casing 200 of the elongated body 20, and the rotation preventing tooth 472 is disposed at the distal end of the handle housing 401.
  • the distal end of the sliding tooth 471 is provided with a flange 4711 adapted to be engaged with the distal end of the rotary head 450, that is, axially fixed to the rotary head 450 by means of snap-on and relative to The rotating head 450 rotates circumferentially.
  • the axial fixing of the sliding teeth 471 and the rotating head 450 can also be carried out in other conventional manners, for example, by a slider chute structure or the like.
  • the sliding tooth 471 further includes an annular connecting portion 4712 extending from the flange 4711 to the proximal end, and at least one limiting groove 4713 is disposed on the annular connecting portion 4712, and correspondingly, in the thin
  • the elongated body casing 200 is provided with at least one elongated slot 203, and at least one protrusion 412 is disposed inside the rotating sleeve 410, so that the protrusion 412 of the rotating sleeve 410 penetrates the limiting groove 4712 of the sliding tooth 471 and is elongated.
  • the elongated slot 203 of the body housing 200 effects axially relative movement of the sliding teeth 471, the elongated body housing 200 and the rotating sleeve 410 in the axial direction.
  • the sliding tooth 471 further includes a plurality of teeth 4713 extending proximally by the annular connecting portion 4712 adapted to mate with the anti-rotation teeth 472 disposed at the distal end of the handle housing 401.
  • the sliding teeth 471 are located at the distal end together with the rotating head 450.
  • the tooth 4713 at the proximal end of the sliding tooth 471 is disengaged from the rotation preventing tooth 472, so that when the rotary head 450 is rotated, the rotating sleeve 410, the elongated body 20 and the end effector 10 can be rotated together, and
  • the ring gear 463 is disengaged from the planetary gear 462, and the bending function is disabled.
  • the surgical instrument 50A of the present embodiment adopts the same structure as the closing drive assembly of the surgical instrument 50 described in the above embodiment to achieve the closing/opening of the end effector 10, and the closing lock assembly This is achieved by a closing locking tooth 490 provided on the elongate body housing 200.
  • a closing locking tooth 490 provided on the elongate body housing 200.
  • a plurality of closing locking teeth 490 are provided between the proximal end of the elongated body housing 200 and the sliding teeth 471, the distal end of which is aligned with the proximal end of the teeth 4713 of the sliding teeth 471.
  • the sliding tooth 471 is disengaged from the anti-rotation tooth 472, and the end can be
  • the actuator 10 performs a rotation operation.
  • the closure drive assembly 380 moves distally and urges the elongate body housing 200 of the elongate body 20 to move distally.
  • the closure locking teeth 490 disposed on the elongate body housing 200 are also The distal end is then moved to engage the rotation preventing tooth 472, so that when the surgical instrument 50A of the present embodiment is in the closed state of the end effector 10, as shown in Fig. 18, the rotation operation cannot be performed.
  • the sliding teeth 471 are engaged with the anti-rotation teeth 471, bending the drive gear assembly 460.
  • the ring gear 463 meshes with the planet gears 462 to perform a bending operation on the end effector 10.
  • the closure drive assembly moves distally and causes the elongate body housing 200 of the elongate body 20 to move distally due to the closure of the locking teeth 490 disposed on the elongate body housing 200.
  • the teeth 4713 of the sliding teeth 471 are aligned.
  • the surgical instrument 50A does not limit the number of teeth of the sliding teeth 471, the rotation preventing teeth 472, and the closing locking teeth 490 as long as they can satisfy the above embodiments.
  • the cooperation relationship described in it can be.

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Abstract

一种具有互锁功能的外科手术器械（50，50A），包括末端执行器（10）、细长体（20）以及手柄部分（30）；细长体（20）的两端分别与末端执行器（10）和手柄部分（30）相连接，手柄部分（30）包括：手柄壳体（301，401）；旋转头（350，450），旋转头（350，450）设置在手柄部分（30）的远端，可沿细长体（20）的长度方向往复运动；以及锁止组件（370，470），包括至少一个滑动齿（371，471）和止转齿（372，472），滑动齿（371，471）设置在旋转头（350，450）与手柄壳体（301，401）之间，与旋转头（350，450）轴向固定，可随旋转头（350，450）往复运动以选择性地与止转齿（372，472）相配合，且滑动齿（371，471）与手柄部分（30）周向锁定；止转齿（372，472）固定安装在细长体（20）的近端。各部件之间结构稳定性以及工作稳定性较高，进而能够提高外科手术器械的安全性能。

Description

具有互锁功能的外科手术器械 技术领域
本发明涉及医疗器械技术领域，特别涉及一种具有互锁功能的外科手术器械。
背景技术
腔镜下的外科手术器械对患者的操作创伤小，手术效果好，可大大减少给手术病人带来的痛苦。
外科手术器械包括操作手柄、细长体以及末端执行器，操作手柄具有用于操作者握持的固定手柄，操作手柄的远端(操作时靠近使用者的一端为近端，远离使用者的一端为远端)通过细长体与末端执行器连接。
目前，外科手术器械具有弯转、旋转以及闭合三种功能，能够对末端执行器的作业角度以及作业位置进行调整，为了保证手术时的安全性，其中，需要保证器械在进行弯转操作时不可以进行旋转操作，在进行旋转操作时不可以进行弯转操作，在进行闭合操作时既不可以进行弯转操作又不可以进行旋转操作，进而提高外科医疗器械的可操作性，同时能够避免误操作给手术带来事故的风险。
外科手术器械中需要采用一套锁止组件来使外科手术器械能够实现上述三种锁定，但是，目前外科手术器械用于实现锁定的方式的多为阻尼式锁定，即通过阻尼模块提供的阻尼力实现锁定，进而将外科手术器械锁定在某一功能状态下。
但是，采用阻尼式实现锁定的锁定组件中，当外科手术器械的驱动力超过一定值时，阻尼模块提供的阻尼力将会失效，进而容易因误操作给手术过程带来风险，使外科手术器械的安全性能较低。
发明内容
本发明提供了一种具有互锁功能的外科手术器械，工作稳定性较高，进而能够提高外科手术器械的安全性能。
为达到上述目的，本发明提供以下技术方案：
一种外科手术器械，包括末端执行器、细长体以及手柄部分，细长体的两端分别与末端执行器和手柄部分相连接，手柄部分包括：手柄壳体；旋转头，设置在手柄部分的远端，可沿细长体的长度方向往复运动；以及锁止组件，包括至少一个滑动齿和止转齿，所述滑动齿设置在所述旋转头与所述手柄壳体之间，与所述旋转头轴向固定，可随所述旋转头往复运动以选择性地与所述止转齿相配合，且所述滑动齿与所述手柄壳体周向锁定；所述止 转齿固定安装在所述细长体的近端。
优选地，所述手柄部分还包括旋转套筒，所述旋转套筒设置在所述手柄部分的远端，与所述细长体近端刚性连接；所述旋转头可选择性地与所述旋转套筒相配合。
优选地，滑动齿轴向固定地安装在旋转头内，且可相对于旋转头旋转。
优选地，旋转头设置有可容纳滑动齿周向滑动的环形槽。
优选地，在手柄部分的手柄壳体的远端设置有细长槽，以周向锁定滑动齿。
优选地，滑动齿的个数设置为两个、三个或四个，且周向均匀分布在旋转头内。
优选地，止转齿与细长体通过键槽以及嵌入键槽内的键连接。
优选地，在旋转套筒和旋转头上分别设置有齿，旋转头可选择性地通过齿与旋转套筒相配合。
优选地，手柄部分还包括弯转传动组件，旋转头与弯转传动组件可选择地相配合，以带动末端执行器弯转。
优选地，弯转传动组件包括弯转驱动齿轮组件、驱动螺杆以及驱动杆组件；弯转驱动齿轮组件的输出与驱动螺杆刚性连接；驱动杆组件分别与驱动螺杆和末端执行器相连接；旋转头沿细长体的长度方向往复运动以失效或生效弯转驱动齿轮组件。
优选地，弯转驱动齿轮组件为行星齿轮组。
优选地，手柄部分进一步包括手柄以及闭合扳机，其中，闭合扳机可枢转地安装在手柄壳体上，且与设置在手柄壳体内的闭合驱动组件相连接，通过闭合驱动组件驱动细长体往复运动以打开或闭合末端执行器。
优选地，手柄部分进一步包括闭合锁止组件，与闭合驱动组件刚性配合，当闭合扳机闭合时，闭合锁止组件可在闭合驱动组件的推动下向远端运动。
优选地，闭合锁止组件设置为一保险片，保险片设置在止转齿和弯转驱动齿轮组件之间，当保险片向远端移动时可推动止转齿向远端移动；或者，当保险片向远端移动时可推动止转齿和滑动齿向远端移动。
优选地，保险片与弯转驱动齿轮组件设置为一体结构。
优选地，保险片设置为一环形片，环形片的外径大于止转齿的外径。
为达到上述目的，本发明还提供以下技术方案：
一种外科手术器械，包括末端执行器、细长体以及手柄部分，细长体的两端分别与末端执行器和手柄部分相连接，手柄部分包括：手柄壳体；旋转头，设置在手柄部分的远端，可沿细长体的长度方向往复运动；以及锁止组件，包括滑动齿和止转齿，滑动齿设置在旋转头与所述手柄壳体之间，与旋转头轴向固定，可随旋转头往复运动以选择性地与止转齿相配合，且滑动齿与细长体周向锁定；止转齿固定安装在手柄壳体内。
优选地，滑动齿周向固定地套接在细长体的近端，且滑动齿的远端设置有凸缘，以与 旋转头卡接配合。
优选地，滑动齿的近端设置有多个齿，当滑动齿向近端移动时可与止转齿相配合。
优选地，止转齿固定设置在手柄部分的手柄壳体的远端。
优选地，所述手柄部分还包括旋转套筒，所述旋转套筒设置在所述手柄部分的远端，与所述细长体刚性连接，所述旋转头选择性地与所述旋转套筒相配合，在旋转套筒和旋转头上分别设置有齿，旋转头可选择性地通过齿与旋转套筒相配合。
优选地，手柄部分还包括弯转传动组件，旋转头与弯转传动组件可选择地相配合，以带动末端执行器弯转。
优选地，弯转传动组件包括弯转驱动齿轮组件、驱动螺杆以及驱动杆组件；弯转驱动齿轮组件的输出与驱动螺杆刚性连接；驱动杆组件分别与驱动螺杆和末端执行器相连接；旋转头沿细长体的长度方向往复运动以失效或生效弯转驱动齿轮组件。
优选地，弯转驱动齿轮组件为行星齿轮组。
优选地，手柄部分进一步包括手柄以及闭合扳机，其中，闭合扳机可枢转地安装在手柄壳体上，且与设置在手柄壳体内的闭合驱动组件相连接，通过闭合驱动组件驱动细长体往复运动以打开或闭合末端执行器。
优选地，手柄部分进一步包括闭合锁止组件，与闭合驱动组件刚性配合，当闭合扳机闭合时，闭合锁止组件可在闭合驱动组件的推动下向远端运动。
优选地，闭合锁止组件为设置在细长体上的闭合锁止齿，闭合锁止齿设置在滑动齿的近端。
优选地，闭合锁止齿与滑动齿的近端的齿相对齐。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的外科手术器械的结构示意图；
图2为本发明一种实施例提供的外科手术器械处于旋转工位时的结构示意图；
图3为本发明一种实施例提供的外科手术器械处于弯转工位时的结构示意图；
图4为本发明一种实施例提供的外科手术器械中驱动螺杆与驱动杆组件之间的配合结构示意图；
图5为本发明一种实施例提供的外科手术器械中弯转驱动齿轮组件与驱动螺杆之间配合结构示意图；
图6为本发明一种实施例提供的外科手术器械中滑动齿的结构示意图；
图7为图2所示结构的滑动齿与旋转头之间的配合结构示意图；
图8为图2所示结构的滑动齿与操作手柄壳体之间的配合结构示意图；
图9为本发明一种实施例提供的外科手术器械的闭合驱动组件的局部结构示意图；
图10为本发明一种实施例提供的外科手术器械的闭合驱动组件的结构示意图；
图11为本发明一种实施例提供的外科手术器械的闭合驱动组件的结构示意图；
图12为本发明一种实施例提供的外科手术器械的闭合锁止组件的结构示意图；
图13为本发明另一实施例提供的外科手术器械手柄部分的结构示意图；
图14为本发明另一实施例提供的外科手术器械手柄部分的分解结构示意图；
图15为图14所示结构的滑动齿与旋转头之间的配合结构示意图；
图16为本发明另一实施例提供的外科手术器械的滑动齿的结构示意图；
图17为本发明另一实施例提供的外科手术器械的滑动齿与闭合锁止组件的结构示意图；
图18为本发明另一实施例提供的外科手术器械处于旋转工位时闭合后的结构示意图；
图19为本发明另一实施例提供的外科手术器械处于弯转工位时闭合后的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在本发明各实施例中，“远端”指该外科手术器械被操作时远离使用者的一端，“近端”则指该外科手术器械被操作时靠近使用者的一端。
本发明实施例提供了一种具有互锁功能的外科手术器械，具体地，如图1所示，本发明实施例所述的外科手术器械50包括末端执行器10、细长体20以及手柄部分30，其中，细长体20的近端201与手柄部分30相连接而细长体20的远端202与末端执行器10相连接。末端执行器10包括钉砧组件110和钉匣组件120，钉砧组件110可枢转的安装于钉匣组件120上；手柄部分30包括手柄壳体301、手柄302、闭合扳机303以及击发扳机304，其中，闭合扳机303适于通过闭合驱动组件驱动钉砧组件110使其相对于钉匣组件120枢转，从而实现末端执行器10的闭合和打开(稍后详述)；击发扳机304适于在末端执行器10闭合后击发设置在钉匣组件120内的缝钉从而实现对组织的缝合。本发明任一实施例所述的外科手术器械具有弯转和旋转功能，即能够在使用过程中根据实际手术组织部位对末端执行器10进行旋转操作和/或弯转操作，从而更好地放置末端执行器10以夹持组织完成 切割缝合，或完成相应的手术操作。以下将结合附图对本发明实施例所述的外科手术器械实现弯转操作和/或旋转操作的方式进行详细阐述。
需要指出的是，本发明任一实施例所述的外科手术器械，并不局限于说明书中所描述的直线切割缝合器，即，本发明任一实施例所述的外科手术器械，其末端执行器10并不局限于上述直线切割缝合器的结构，例如，钉砧组件110和钉匣组件120的结构，本发明任一实施例所述的外科手术器械，其末端执行器10还可以是用以完成其他手术操作的器械，例如，末端执行器10可以是夹钳、剪刀、高频电刀的钳口等等。
旋转传动组件
如图1所示，本发明上述实施例所述的外科手术器械50包括旋转传动组件，具体地，所述旋转传动组件包括设置在手柄壳体301远端的旋转套筒310，其远端与细长体20的细长体壳体200的近端周向固定连接。当旋转旋转套筒310时，可带动细长体壳体200以及与细长体壳体200远端相连接的末端执行器10旋转，实现本实施例所述的外科手术器械50的旋转功能。优选地，旋转套筒310与细长体壳体200刚性连接，例如，旋转套筒310与细长体壳体200的固定连接可以采用任意可实现刚性连接的方式，例如，通过卡接的方式。
弯转传动组件
参考图1至图4，本发明任一实施例所述的外科手术器械50还包括设置在手柄壳体301上的旋转头350以及可与旋转头350连接配合的弯转传动组件，适于对末端执行器10进行弯转操作。具体地，所述弯转传动组件包括弯转驱动齿轮组件360、与弯转驱动齿轮组件360相连接的驱动螺杆320，以及设置在细长体壳体200内且分别与驱动螺杆320和末端执行器10相连接的驱动杆组件330。通过旋转旋转头350，可带动弯转驱动齿轮组件360运动，并进而带动末端执行器10弯转。
具体地，作为本发明任一实施例所述的外科手术器械50的弯转传动组件的一种实施方式，如图4所示，驱动螺杆320上设置有两段旋向相反的螺纹部，例如，在驱动螺杆320上设置有第一螺纹部3201和第二螺纹部3202，所述第一螺纹部3201和第二螺纹部3202上的螺纹旋向相反。驱动杆组件330包括第一驱动杆331a和第二驱动杆331b，其中，第一驱动杆331a通过第一销钉332a与第一螺纹部3201相连，第二驱动杆331b通过第二销钉332b与第二螺纹部3202相连接，反之亦可。操作时，通过旋转驱动螺杆320，可带动第一驱动杆331a和第二驱动杆331b反方向运动，从而带动设置在其远端的末端执行器10弯转。
优选地，在上述实施例中，弯转驱动齿轮组件360采用行星齿轮组的方式实现传动。例如，如图5所示，弯转驱动齿轮组件360包括太阳轮361、多个行星轮362、齿圈363以及行星架364。优选地，在本实施例中，行星轮362的数量为3个，并且，齿圈363固 定地安装在旋转头350内，即齿圈363与旋转头350轴向固定并能够随着旋转头350的旋转而转动。进一步地，太阳轮361与驱动螺杆320的近端刚性连接，行星架364固定安装在手柄壳体301内。通过旋转齿圈363可带动太阳轮361旋转，由于太阳轮361与驱动螺杆320的近端为刚性连接，因此，驱动螺杆320也随着太阳轮361的转动而转动，从而使得第一驱动杆331a和第二驱动杆331b反向运动，实现末端执行器10的弯转。
需要指出的时，本发明实施例所述的外科手术器械50，实现末端执行器10弯转的方式并不限于上述实施例所公开的方式。公开号为CN105433989A，发明名称为“外科手术器械的弯转装置及外科手术器械”的中国专利申请文献公开了另一种实现末端执行器10弯转的方式，在此作为引用并入。
为了实现本发明任一实施例所述的外科手术器械旋转操作和弯转操作之间的切换，并且使得该外科手术器械在进行旋转操作时无法进行弯转操作，以及在进行弯转操作时无法进行旋转操作，在上述实施方式的基础上，旋转套筒310的近端设置有多个齿311，如图2所示，旋转头350可沿细长体20的长度方向往复移动，并且，相对应地，在旋转头350远端的内壁上设置有多个与旋转套筒310近端的齿311相配合的齿351(见图7)。如图2所示，当旋转头350位于其远端位置时，旋转头350远端的齿351与旋转套筒310近端的齿311相啮合，因此，当旋转旋转头350时可导致旋转套筒310旋转，进而带动末端执行器10的旋转，此时旋转头350所处于的远端位置也被称为旋转工位。如图3所示，当旋转头350位于其近端位置时，旋转头350远端的齿351与旋转套筒310近端的齿311脱离啮合，由于弯转驱动齿轮组件360的齿圈363固定安装在旋转头350内，当旋转头350向近端移动时，齿圈363也随之向近端移动从而与弯转驱动齿轮组件360多个行星轮362相啮合，当旋转旋转头350时，弯转驱动齿轮组件360的齿圈363也随之旋转，从而实现末端执行器10的弯转，此时旋转头350所处于的近端位置也被称为弯转工位。
基于以上的描述，当旋转头350位于其近端位置，即弯转工位时，由于旋转头350远端的齿351与旋转套筒310近端的齿311脱离啮合，此时，旋转旋转头350仅能对末端执行器10进行弯转操作而不能进行旋转操作。然而，在实际操作时，为了防止使用者的误操作，例如，当将旋转头350置于弯转工位以进行弯转操作时，误碰旋转套筒310或细长体20使得末端执行器10发生旋转，在本发明上述实施例的基础上，如图2或图3所示，外科手术器械50进一步包括锁止组件370，所述锁止组件370设置在旋转头360内，包括至少一个滑动齿371和止转齿372，所述滑动齿371设置在旋转头350和手柄壳体301的远端之间。具体地，如图6所示，滑动齿371大致为T形结构，包括翼部3711和配合部3712，在所述配合部3712的底部设置有多个横向齿3713。相对应地，如图8所示，在手柄壳体301的远端设有沿轴线A方向延伸的细长槽3011，适于容纳滑动齿3014的配合部3712在手柄壳体301的细长槽3011内。由于细长槽3011的作用，使得滑动齿371仅可以 相对手柄壳体301轴向移动，周向锁定，即滑动齿371仅能够在手柄壳体301的细长槽3011内滑动。进一步地，在旋转头350内侧设置有可容纳滑动齿371的翼部3711的环形槽352，如图7所示，例如，环形槽352的轴向长度等于或略大于滑动齿371的翼部3711的轴向长度，由于环形槽352对滑动齿371的轴向限位，使得滑动齿371无法相对于旋转头350轴向运动，即滑动齿371可随着旋转头350一起向近端或远端移动。
止转齿372套接在细长体壳体200的近端，例如，止转齿372与细长体壳体200可通过键槽以及嵌入键槽内的键连接。如图2、图3以及图9所示，与细长体壳体200固定连接，并且止转齿372上设置有能够与滑动齿371的配合部3712的横向齿3713相配合的齿。操作时，当旋转头350被置于弯转工位时，如图3所示，滑动齿371的横向齿3713与止转齿372相啮合。此时，当旋转头350旋转时，由于滑动齿371被周向固定在手柄壳体301的细长槽3011内，因此无法随旋转头350的旋转而旋转，而与之相啮合的止转齿372也无法旋转，从而实现了在进行弯转操作时对旋转操作的锁止。
相应地，当旋转头350向远端移动并置于旋转工位时，如图2所示，滑动齿371由于旋转头350的环形槽352的轴向限位能够随旋转头350的移动而移动，即，滑动齿371随着旋转头350一起向远端移动，并与止转齿372脱离啮合。此时，旋转旋转头350将带动旋转套筒310和细长体20旋转，并进而带动末端执行器10旋转。
作为可替代的实施方式，在上述实施例的基础上，外科手术器械50的锁止组件370可包括多个滑动齿371，优选地，所述多个滑动齿371沿手柄壳体301的远端周向均匀分布，相对应地，在所述手柄壳体301的远端设置有多个细长槽3011适于分别容纳相应的滑动齿371。优选地，滑动齿371的数量设置为两个，且在手柄壳体301的远端设置有两个相对应的细长槽3011。
闭合驱动组件
参考图10，本发明实施例所述的外科手术器械50还包括闭合驱动组件，所述闭合驱动组件包括闭合扳机303、与细长体壳体200的近端相连接的传动组件380，以及连杆机构305，所述连杆机构305的近端与闭合扳机303可枢转连接，连杆机构305的远端与传动组件380可枢转连接。为了进一步保证传动的稳定，优选地，连杆机构305包括平行放置的第一连杆和第二连杆(图中未示出)，分别与闭合扳机303顶端两侧(按图10所示方向)以及传动组件380的近端两侧可枢转连接。
传动组件380的远端可以通过多种方式与细长体200的近端连接。例如，优选地，如图10所示，传动组件380包括适于与连杆机构305枢转连接的连接部381，与连接部381远端刚性连接的连接板382，所述连接板382的远端与细长体壳体200的近端刚性连接。优选地，为了使得传动组件380的传动更加稳定可靠，连接板382可设置为多个，例如，设置两个连接板382a，382b(见图9)。
为了方便传动组件380的远端与细长体壳体201的近端刚性连接，优选地，作为可替代的实施方式，如图11所示，在弯转齿轮组件360和连接板382之间进一步设置有推板组件，包括推板383和多个推杆384，连接板382的远端与推板383刚性连接，在弯转齿轮组件360上设置有适于推杆384通过的通孔365，如图9和图12所示，使得所述推杆384能够穿过所述弯转齿轮组件360与细长体壳体200连接，或者与止转齿372刚性连接。由于止转齿372固定安装在细长体壳体200的近端，从而实现了传动组件380与细长体壳体201的刚性连接。
实际操作时，闭合所述闭合扳机303，闭合扳机303绕其枢转轴逆时针旋转，从而通过连杆机构305推动传动组件380向远端移动，并进一步推动细长体壳体200向远端运动，实现对末端执行器10的闭合。
需要指出的是，传动组件380的实现方式包括但不限于上述实施例所述的实现方式，还可以采用本领域技术人员在机械设置中常用的实现方法。例如，传动组件380的连接板382也可采用套管的结构，或者推杆的结构等。
为了进一步提高手术过程的安全性，避免出现对外科手术器械的误操作，在上述实施方式的基础上，本发明任一实施例所述的外科手术器械50还包括闭合锁止组件，使得外科手术器械50的末端执行器10在闭合以后无法进行弯转操作和/或旋转操作。具体地，如图12所示，止转齿372和弯转齿轮组件360之间还设置有保险片390，优选地，所述保险片390设置为一环形片，其近端一侧与闭合驱动组件的传动组件380的推杆384的远端固定连接，因此，当进行闭合操作时，闭合驱动组件的传动组件380向远端移动，并推动保险片390一起向远端移动，进而推动止转齿372向远端移动。优选地，保险片390的外径稍大于止转齿372的外径。
实际操作时，当外科手术器械50位于其旋转工位，即旋转头310位于其远端位置，且末端执行器10处于打开状态，此时滑动齿371与止转齿372脱离啮合，可以对末端执行器10进行旋转操作。闭合所述闭合扳机303后，闭合传动组件的传动组件380向远端移动并带动保险片390向远端移动，从而在保险片390的推动下使得止转齿372一起向远端移动并与滑动齿371相啮合，实现了本发明任一实施例所述的外科手术器械50处于末端执行器10闭合状态时，无法进行旋转操作。
进一步地，当外科手术器械50位于其弯转工位，即旋转头350位于其近端位置，且末端执行器10处于打开状态，此时滑动齿371与止转齿372啮合，弯转驱动齿轮组件360的齿圈363与行星轮362啮合，可以对末端执行器10进行弯转操作。闭合所述闭合扳机303后，闭合传动组件的传动组件380向远端移动并带动保险片390向远端移动，由于保险片390的外径略大于止转齿372的外径，因此，在保险片390的推动下，可带动止转齿372和滑动齿371一起向远端移动。由于滑动齿371与旋转头310轴向固定，因此当滑动 齿371向远端移动时，能够带动旋转头310一起向远端移动，使得弯转驱动齿轮组件360的齿圈363与行星轮362之间脱离啮合，使弯转操作功能失效，实现了本发明任一实施例所述的外科手术器械50处于末端执行器10闭合状态时，无法进行弯转操作。
作为可替代的实施方式，保险片390和止转齿372为一体结构。
作为可替代的实施方式，图13示出了上述实施例所述的外科手术器械50的另一种实现方式。如图13所示，外科手术器械50A包括旋转头450以及设置在旋转头450内的旋转套筒410，其中，旋转套筒410与细长体20的细长体壳体200刚性连接，旋转头450可相对于细长体20沿其长度方向上往复运动。为了便于安装，优选地，旋转头450的头部453与旋转头本体可设计成分体结构。在旋转套筒410的近端设置有多个齿411，且相应地，在旋转头450的内壁上设置有适于与旋转套筒410近端的齿411相配合的齿451。具体地，当旋转头450位于其远端位置，即旋转工位时，旋转头450的齿451与旋转套筒410的齿411相啮合，因此，当旋转旋转头450时，旋转套筒410随之旋转，并进而带动细长体20以及末端执行器10旋转。本实施例所述的外科手术器械50A采用与上述实施例所述的外科手术器械50相同的弯转传动组件，因此，对于弯转操作的实现方式将不再赘述。当旋转头450位于其近端位置，即弯转工位时，旋转头450的齿451与旋转套筒410的齿411脱离啮合，由于弯转驱动齿轮组件(图中未示出)的齿圈固定安装在旋转头450内，当旋转头450向近端移动时，齿圈也随之向近端移动从而与弯转驱动齿轮组件的多个行星轮相啮合，当旋转旋转头450时，弯转驱动齿轮组件的齿圈也随之旋转，从而实现末端执行器10的弯转。进一步地，在上述实施例的基础上，参考图13和图14，外科手术器械50A进一步包括锁止组件470，所述锁止组件470设置在旋转头450内，包括一个滑动齿471和一个止转齿472，所述滑动齿471套接在细长体20的细长体壳体200上，所述止转齿472设置在手柄壳体401的远端。如图15所示，滑动齿471的远端设置有凸缘4711，适于与旋转头450的远端卡接在一起，即通过卡接的方式，与旋转头450轴向固定且可相对于旋转头450周向旋转。当然，滑动齿471与旋转头450的轴向固定还可以采用其他常用的方式，例如，通过滑块滑槽结构等。
如图13至图17所示，滑动齿471进一步包括从凸缘4711开始向近端延伸的环形连接部4712，且在环形连接部4712上设置有至少一个限位槽4713，相应地，在细长体壳体200上设有至少一个细长槽203，在旋转套筒410内侧设置有至少一个凸起412，使得旋转套筒410的凸起412贯穿滑动齿471的限位槽4712以及细长体壳体200的细长槽203，实现滑动齿471、细长体壳体200和旋转套筒410的周向锁定轴向可相对运动。进一步地，滑动齿471还包括由环形连接部4712向近端延伸的多个齿4713，适于与设置在手柄壳体401远端的止转齿472相配合。
具体地，当旋转头450位于其旋转工位时，滑动齿471与旋转头450一起位于远端位 置，此时，滑动齿471近端的齿4713与止转齿472脱离啮合，使得当旋转旋转头450时，可带动旋转套筒410、细长体20以及末端执行器10一起旋转，并且，此时齿圈463与行星轮462脱离啮合，弯转功能失效。当向近端移动旋转头450将其置于弯转工位时，滑动齿471在旋转头450的带动下一起向近端移动，使得滑动齿471的齿4713与止转齿472啮合，从而使得在旋转旋转头450时，由于滑动齿471被周向固定，无法随旋转头450一起旋转，实现了在进行弯转操作时对旋转操作的锁止。
进一步地，本实施例所述的外科手术器械50A采用与上述实施例所述的外科手术器械50的闭合驱动组件相同的结构来实现对末端执行器10的闭合/打开，并且，闭合锁止组件通过设置在细长体壳体200上的闭合锁止齿490实现。具体地，如图17所示，在细长体壳体200的近端与滑动齿471之间设置有多个闭合锁止齿490，其远端与滑动齿471的齿4713的近端相对齐。
实际操作时，当外科手术器械50A位于其旋转工位，即旋转头450位于其远端位置，且末端执行器10处于打开状态，此时滑动齿471与止转齿472脱离啮合，可以对末端执行器10进行旋转操作。闭合所述闭合扳机303后，闭合驱动组件380向远端移动并推动细长体20的细长体壳体200向远端移动，设置在细长体壳体200上的闭合锁止齿490也随之向远端移动，从而与止转齿472啮合，实现了当本实施例所述的外科手术器械50A处于末端执行器10闭合状态时，如图18所示，无法进行旋转操作。
当外科手术器械50A位于其弯转工位，即旋转头450位于其近端位置，且末端执行器10处于打开状态，此时滑动齿471与止转齿471啮合，弯转驱动齿轮组件460的齿圈463与行星轮462啮合，可以对末端执行器10进行弯转操作。闭合所述闭合扳机303后，闭合驱动组件向远端移动并带动细长体20的细长体壳体200向远端移动，由于设置在细长体壳体200上的闭合锁止齿490与滑动齿471的齿4713对齐，因此，当闭合锁止齿490随细长体壳体200向远端移动时，推动滑动齿471向远端移动，带动旋转头450向远端移动，使齿圈463与行星轮462脱离啮合，同时，闭合锁止齿490与止转齿472啮合，如图19所示，实现了当本实施例所述的外科手术器械50A处于末端执行器10闭合状态时，无法进行弯转与旋转操作。
需要指出的是，本发明实施例所述的外科手术器械50A,未对滑动齿471、止转齿472以及闭合锁止齿490的齿的数量进行限定，只要其相互之间能满足上述实施例中描述的配合关系即可。
上述锁止组件中，各部件之间均是通过机械结构实现的传动连接和配合，其连接稳定性较高。
本领域的技术人员可以对本发明实施例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 (28)

  1. 一种外科手术器械，包括末端执行器、细长体以及手柄部分，所述细长体的两端分别与所述末端执行器和所述手柄部分相连接，其特征在于，所述手柄部分包括：
    手柄壳体；
    旋转头，所述旋转头设置在所述手柄壳体的远端，可沿所述细长体的长度方向往复运动；以及
    锁止组件，包括至少一个滑动齿和止转齿，所述滑动齿设置在所述旋转头与所述手柄壳体之间，与所述旋转头轴向固定，可随所述旋转头往复运动以选择性地与所述止转齿相配合，且所述滑动齿与所述手柄壳体周向锁定；所述止转齿固定安装在所述细长体的近端。
  2. 根据权利要求1所述的外科手术器械，其特征在于，所述手柄部分还包括旋转套筒，所述旋转套筒设置在所述手柄部分的远端，与所述细长体近端刚性连接；所述旋转头可选择性地与所述旋转套筒相配合。
  3. 根据权利要求1所述的外科手术器械，其特征在于，所述滑动齿轴向固定地安装在所述旋转头内，且可相对于所述旋转头旋转。
  4. 根据权利要求3所述的外科手术器械，其特征在于，所述旋转头设置有可容纳所述滑动齿周向滑动的环形槽。
  5. 根据权利要求3所述的外科手术器械，其特征在于，在所述手柄部分的手柄壳体的远端设置有细长槽，以周向锁定所述滑动齿。
  6. 根据权利要求1所述的外科手术器械，其特征在于，所述滑动齿的个数设置为两个、三个或四个，且周向均匀分布在所述旋转头内。
  7. 根据权利要求1所述的外科手术器械，其特征在于，所述止转齿与所述细长体通过键槽以及嵌入键槽内的键连接。
  8. 根据权利要求2所述的外科手术器械，其特征在于，在所述旋转套筒和所述旋转头上分别设置有齿，所述旋转头可选择性地通过所述齿与所述旋转套筒相配合。
  9. 根据权利要求1-8任一所述的外科手术器械，其特征在于，所述手柄部分还包括弯转传动组件，所述旋转头与所述弯转传动组件可选择地相配合，以带动所述末端执行器弯转。
  10. 根据权利要求9所述的外科手术器械，其特征在于，所述弯转传动组件包括弯转驱动齿轮组件、驱动螺杆以及驱动杆组件；所述弯转驱动齿轮组件的输出与所述驱动螺杆刚性连接；所述驱动杆组件分别与所述驱动螺杆和所述末端执行器相连接；所述旋转头沿所述细长体的长度方向往复运动以失效或生效所述弯转驱动齿轮组件。
  11. 根据权利要求10所述的外科手术器械，其特征在于，所述弯转驱动齿轮组件为行 星齿轮组。
  12. 根据权利要求1-11任一所述的外科手术器械，其特征在于，所述手柄部分进一步包括手柄以及闭合扳机，其中，所述闭合扳机可枢转地安装在所述手柄壳体上，且与设置在所述手柄壳体内的闭合驱动组件相连接，通过所述闭合驱动组件驱动所述细长体往复运动以打开或闭合所述末端执行器。
  13. 根据权利要求12所述的外科手术器械，其特征在于，所述手柄部分进一步包括闭合锁止组件，与所述闭合驱动组件刚性配合，当所述闭合扳机闭合时，所述闭合锁止组件可在所述闭合驱动组件的推动下向远端运动。
  14. 根据权利要求13所述的外科手术器械，其特征在于，所述闭合锁止组件设置为一保险片，所述保险片设置在所述止转齿和所述弯转驱动齿轮组件之间，当所述保险片向远端移动时可推动所述止转齿向远端移动；或者，当所述保险片向远端移动时可推动所述止转齿和所述滑动齿向远端移动。
  15. 根据权利要求13所述的外科手术器械，其特征在于，所述保险片与所述弯转驱动齿轮组件设置为一体结构。
  16. 根据权利要求14或15所述的外科手术器械，其特征在于，所述保险片设置为一环形片，所述环形片的外径大于所述止转齿的外径。
  17. 一种外科手术器械，包括末端执行器、细长体以及手柄部分，所述细长体的两端分别与所述末端执行器和所述手柄部分相连接，其特征在于，所述手柄部分包括：
    手柄壳体；
    旋转头，所述旋转头设置在所述手柄壳体的远端，可沿所述细长体的长度方向往复运动；以及
    锁止组件，包括滑动齿和止转齿，所述滑动齿设置在所述旋转头与所述手柄壳体之间，与所述旋转头轴向固定，可随所述旋转头往复运动以选择性地与所述止转齿相配合，且所述滑动齿与所述细长体周向锁定；所述止转齿固定安装在所述手柄壳体内。
  18. 根据权利要求17所述的外科手术器械，其特征在于，所述滑动齿周向固定地套接在所述细长体的近端，且所述滑动齿的远端设置有凸缘，以与所述旋转头卡接配合。
  19. 根据权利要求18所述的外科手术器械，其特征在于，所述滑动齿的近端设置有多个齿，当所述滑动齿向近端移动时可与所述止转齿相配合。
  20. 根据权利要求17所述的外科手术器械，其特征在于，所述止转齿固定设置在所述手柄部分的手柄壳体的远端。
  21. 根据权利要求17所述的外科手术器械，其特征在于，所述手柄部分还包括旋转套筒，所述旋转套筒设置在所述手柄部分的远端，与所述细长体刚性连接，所述旋转头选择性地与所述旋转套筒相配合，在所述旋转套筒和所述旋转头上分别设置有齿，所述旋转 头可选择性地通过所述齿与所述旋转套筒相配合。
  22. 根据权利要求17-21任一所述的外科手术器械，其特征在于，所述手柄部分还包括弯转传动组件，所述旋转头与所述弯转传动组件可选择地相配合，以带动所述末端执行器弯转。
  23. 根据权利要求22所述的外科手术器械，其特征在于，所述弯转传动组件包括弯转驱动齿轮组件、驱动螺杆以及驱动杆组件；所述弯转驱动齿轮组件的输出与所述驱动螺杆刚性连接；所述驱动杆组件分别与所述驱动螺杆和所述末端执行器相连接；所述旋转头沿所述细长体的长度方向往复运动以失效或生效所述弯转驱动齿轮组件。
  24. 根据权利要求23所述的外科手术器械，其特征在于，所述弯转驱动齿轮组件为行星齿轮组。
  25. 根据权利要求17-24任一所述的外科手术器械，其特征在于，所述手柄部分进一步包括手柄以及闭合扳机，其中，所述闭合扳机可枢转地安装在所述手柄壳体上，且与设置在所述手柄壳体内的闭合驱动组件相连接，通过所述闭合驱动组件驱动所述细长体往复运动以打开或闭合所述末端执行器。
  26. 根据权利要求25所述的外科手术器械，其特征在于，所述手柄部分进一步包括闭合锁止组件，与所述闭合驱动组件刚性配合，当所述闭合扳机闭合时，所述闭合锁止组件可在所述闭合驱动组件的推动下向远端运动。
  27. 根据权利要求26所述的外科手术器械，其特征在于，所述闭合锁止组件为设置在所述细长体上的闭合锁止齿，所述闭合锁止齿设置在所述滑动齿的近端。
  28. 根据权利要求27所述的外科手术器械，其特征在于，所述闭合锁止齿与所述滑动齿的近端的齿相对齐。
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US11071542B2 (en) 2021-07-27
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EP3530197C0 (en) 2024-04-03
EP3530197B1 (en) 2024-04-03
CN109963515B (zh) 2022-06-21
EP3530197A4 (en) 2020-01-01
US20210315572A1 (en) 2021-10-14
US20190261981A1 (en) 2019-08-29
US11497496B2 (en) 2022-11-15

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