技术领域technical field
本发明属于医疗器械技术领域，具体涉及一种微创手术设备。The invention belongs to the technical field of medical devices, and in particular relates to minimally invasive surgery equipment.
背景技术Background technique
随着科技的发展，传统的医学外科手术领域有了革命性的进步，产生了微创手术。微创手术在内窥镜和微创手术器械的支撑下，以内窥镜代替外科医生的眼睛，以特定的微创手术器械代替传统的外科手术器械，相比较传统的手术，能够在有限狭窄空间工作，使术者在轻松工作环境工作，减少疲劳更集中精力，减少参加手术人员。但是采用传统的微创手术设备，其视野角度受限；手部颤动对手术影响较大，且手术刀头功能简单，无法满足复杂的手术需求，因此有必要设计一种新型的手术设备来解决上述问题。With the development of science and technology, revolutionary progress has been made in the field of traditional medical surgery, resulting in minimally invasive surgery. Under the support of endoscope and minimally invasive surgical instruments, minimally invasive surgery replaces the eyes of surgeons with endoscopes, and replaces traditional surgical instruments with specific minimally invasive surgical instruments. Work, so that the surgeon can work in a relaxed working environment, reduce fatigue and concentrate more, and reduce the number of surgical personnel. However, with traditional minimally invasive surgical equipment, the field of view is limited; hand tremors have a greater impact on surgery, and the function of the scalpel head is simple, which cannot meet the complex surgical needs. Therefore, it is necessary to design a new type of surgical equipment to solve the problem. above question.
发明内容Contents of the invention
根据以上现有技术的不足，本发明所要解决的技术问题是提出一种微创手术设备，通过基体架中的驱动电机降低了劳动强度，采用手术握把配合手术刀头可以实现精确的切除手术，同时影像装置可以实时的传递影像方便手术操作，解决了传统微创手术工具功能单一的问题，具有手术精度高，使用方便的特点。According to the deficiencies of the prior art above, the technical problem to be solved by the present invention is to propose a minimally invasive surgical equipment, which reduces the labor intensity through the driving motor in the base frame, and can realize precise excision surgery by using the surgical grip and the scalpel head At the same time, the imaging device can transmit images in real time to facilitate surgical operations, which solves the problem of single function of traditional minimally invasive surgical tools, and has the characteristics of high surgical precision and convenient use.
为了解决上述技术问题，本发明采用的技术方案为：一种微创手术设备包括基体架、手术握把、进给控制台、影像装置、手术杆和手术刀头，基体架顶部设有进给控制台，手术杆穿过进给控制台，在进给控制台内设有摩擦轮，摩擦轮与手术杆的外侧壁摩擦接触，手术杆的一端设有手术握把，在手术杆的另一端设有手术刀头，在进给控制台上设有用于实时显示手术刀头前端的图像的影像装置。In order to solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a minimally invasive surgical equipment includes a base frame, a surgical grip, a feeding console, an imaging device, an operating rod and a scalpel head, and the top of the base frame is provided with a feed The console, the operating rod passes through the feeding console, and a friction wheel is arranged in the feeding console, and the friction wheel is in frictional contact with the outer wall of the operating rod. One end of the operating rod is provided with a surgical handle, and the other end of the operating rod A scalpel head is provided, and an image device for real-time displaying the image of the front end of the scalpel head is provided on the feeding console.
作为一种优选的实施方式，所述基体架包括底部支撑台、水平旋转台和竖直旋转台，底部支撑台固定在地面上，水平旋转台底部的水平转动设置在支撑台的顶部，在底部支撑台侧壁分别对称设有第一驱动电机和减速机，减速电机为第一减速机，水平旋转台的底面沿转动轴线水平设有第一齿轮盘，第一驱动电机的顶端设有齿轮，第一驱动电机通过齿轮与第一齿轮盘啮合，第一减速机顶端通过齿轮与第一齿轮盘啮合，水平旋转台的上表面为U形结构，竖直转动台竖直传动设置在水平旋转台内，沿竖直旋转台转动轴线的一端设有第二齿轮盘，在水平旋转台两侧分别设有第二驱动电机和第二减速机，第二减速电机和第二减速机分别通过齿轮与第二齿轮盘啮合，在沿竖直旋转台顶部设有进给控制台。减速机包括机架壳、摩擦瓣、电动伸缩杆和摩擦轴，摩擦轴转动安装在机架壳内，机架壳固定安装在支撑台外侧壁，摩擦轴穿过机架壳，在摩擦轴的两端对称设有两个摩擦瓣，在机架壳与摩擦瓣之间设有电动伸缩杆。影像装置包括显示器、摄像头和镜头擦拭装置，显示器固定在进给控制台上，摄像头固定在手术杆朝向手术刀头的一端，摄像头通过电连接的方式与控制器连接，在摄像头的前端设有镜头擦拭装置。擦拭装置包括滑架、擦拭块、弹性绳、第四拉绳和擦拭按键，滑架有两个，两滑动架分别对称安装在摄像头的两侧，擦拭块两端滑动安装在滑架上，擦拭块的表面与摄像头的镜头接触，在擦拭块与摄像头底部之间设有用于复位的弹性绳，在手术握把上设有擦拭按键，擦拭按键通过第四拉绳与擦拭块连接，擦拭按键为翘板结构，第四拉绳与翘板连接。手术握把包括握架、第一拉环、第二拉环、第三拉环、复位弹簧和压紧扣，握架上设有安装板，手术杆垂直安装在握架的安装板上，手术杆为空心管状结构，在手术杆内设有第一拉绳、第二拉绳和第三拉绳，在握架上分别设有第一拉环、第二拉环和第三拉环，第一拉绳一端穿过安装板固定在第一拉环上，第一拉绳的另一端设有快拆头，第二拉绳一端穿过安装板固定在第二拉环上，第二拉绳的另一端设有快拆头，第三拉绳一端穿过安装板固定在第三拉环上，第三拉绳的另一端设有快拆头，第一拉环、第二拉环和第三拉环分别通过复位弹簧固定在握架上，在安装板的侧壁还设有压紧扣。手术刀头包括头部架、液压缸、剪刀和撑爪，在头部架前端设有撑爪，撑爪有两对称设置的撑开瓣，一个撑开瓣固定在头部架前端，另一个撑开瓣滑动安装在头部架上，活动安装的撑开瓣与头部架之间设有第一顶出弹簧，在活动安装的撑开瓣上设有第一连接线，头部架内朝撑爪方向设有液压缸，液压缸一端设有第二连接线，在液压缸的前端设有剪刀，在剪刀之间设有第二顶出弹簧，剪刀的一侧设有第三连接线。第一连接线的另一端与第一拉绳的快拆接头连接，第二连接线的另一端与第二拉绳的快拆接头连接，第三连接线的另一端与第三拉绳的快拆接头连接。As a preferred embodiment, the base frame includes a bottom support platform, a horizontal rotation platform and a vertical rotation platform, the bottom support platform is fixed on the ground, and the horizontal rotation of the bottom of the horizontal rotation platform is set on the top of the support platform, and at the bottom The side walls of the support table are respectively symmetrically provided with a first drive motor and a reducer, the reducer is the first reducer, the bottom surface of the horizontal rotary table is horizontally provided with a first gear plate along the rotation axis, and a gear is provided on the top of the first drive motor. The first driving motor meshes with the first gear plate through gears, and the top of the first reducer meshes with the first gear plate through gears. The upper surface of the horizontal rotary table is a U-shaped structure, and the vertical transmission of the vertical rotary table is set on the horizontal rotary table. Inside, a second gear plate is provided at one end along the rotation axis of the vertical rotary table, and a second drive motor and a second reducer are respectively provided on both sides of the horizontal rotary table, and the second reducer motor and the second reducer are connected through gears and The second gear plate meshes, and a feed console is provided on the top of the vertical rotary table. The reducer includes a frame shell, a friction flap, an electric telescopic rod and a friction shaft. The friction shaft is rotatably installed in the frame shell, and the frame shell is fixedly installed on the outer wall of the support platform. Two friction flaps are symmetrically arranged at both ends, and an electric telescopic rod is arranged between the frame shell and the friction flaps. The imaging device includes a display, a camera and a lens wiping device. The display is fixed on the feed console, and the camera is fixed at the end of the operating rod facing the scalpel head. Wipe the device. The wiping device includes a sliding frame, a wiping block, an elastic rope, a fourth pull cord and a wiping button. There are two sliding frames, which are symmetrically installed on both sides of the camera respectively. The surface of the block is in contact with the lens of the camera, and an elastic cord for resetting is provided between the wipe block and the bottom of the camera, and a wipe button is provided on the surgical handle, which is connected with the wipe block by the fourth pull cord, and the wipe button is Rocker structure, the fourth stay rope is connected with the rocker. The surgical handle includes a grip frame, a first pull ring, a second pull ring, a third pull ring, a return spring and a compression buckle. The grip frame is provided with a mounting plate, and the operating rod is vertically installed on the mounting plate of the grip frame. It is a hollow tubular structure, and the first pull rope, the second pull rope and the third pull rope are arranged in the operating rod, and the first pull ring, the second pull ring and the third pull ring are respectively arranged on the grip frame. One end of the rope passes through the mounting plate and is fixed on the first pull ring, the other end of the first pull rope is provided with a quick release head, one end of the second pull rope passes through the mounting plate and is fixed on the second pull ring, One end is provided with a quick release head, one end of the third pull cord is fixed on the third pull ring through the mounting plate, the other end of the third pull cord is provided with a quick release head, the first pull ring, the second pull ring and the third pull ring The rings are respectively fixed on the grip frame through return springs, and a compression buckle is also provided on the side wall of the mounting plate. The scalpel head includes a head frame, a hydraulic cylinder, scissors and claws. A claw is arranged at the front end of the head frame. The claws have two symmetrically set opening flaps. One flap is fixed on the front end of the head frame, and the other The opening flap is slidably installed on the head frame, and a first ejection spring is provided between the movable opening flap and the head frame, and a first connecting line is arranged on the movable installation opening flap, inside the head frame There is a hydraulic cylinder facing the claw, one end of the hydraulic cylinder is provided with a second connection line, scissors are provided at the front end of the hydraulic cylinder, a second ejection spring is provided between the scissors, and a third connection line is provided on one side of the scissors . The other end of the first connection line is connected to the quick release joint of the first pull cord, the other end of the second connection line is connected to the quick release joint of the second pull cord, and the other end of the third connection line is connected to the quick release joint of the third pull cord. Disconnect the connector.
本发明有益效果是:本发明通过基体架中的驱动电机降低了劳动强度，采用手术握把配合手术刀头可以实现精确的切除手术，同时影像装置可以实时的传递影像方便手术操作，当镜头污染时，按压擦拭按键会拉动第四拉绳带动擦拭块擦拭摄像头的镜头从而达到清洁效果，当松开擦拭按键后，擦拭块在弹性绳的拉动下复位。第一驱动电机和第二驱动电机用于给手术平台提供辅助力，可以减轻人员的劳动强度，在使用时当手术刀头运动到制定位置时，当前方有阻挡时可以线拉动第一拉环将位置阻挡物拨开，再按压第二拉环将剪刀推出，将剪刀对准患处，按压第三拉环可以实现精确剪切。在撑爪外壁设有压力传感器，压力传感器通过电连接的方式与控制器连接，当压力传感器感受到压力信号时会通过控制器控制减速机闭合，实现减速的效果，防止运动过快造成误伤。The beneficial effect of the present invention is: the present invention has reduced labor intensity through the driving motor in the matrix frame, adopts surgical handle to cooperate with scalpel head and can realize accurate resection operation, and imaging device can transmit image in real time to facilitate surgical operation simultaneously, when lens is polluted When pressing the wiping button, the fourth pull cord will drive the wiping block to wipe the lens of the camera so as to achieve a cleaning effect. When the wiping button is released, the wiping block will reset under the pull of the elastic cord. The first drive motor and the second drive motor are used to provide auxiliary force for the operation platform, which can reduce the labor intensity of the personnel. When the surgical knife head moves to the specified position during use, the first pull ring can be pulled by a line when there is an obstacle in front of it. Remove the position barrier, press the second pull ring to push the scissors out, aim the scissors at the affected area, and press the third pull ring to achieve precise cutting. There is a pressure sensor on the outer wall of the claw. The pressure sensor is electrically connected to the controller. When the pressure sensor senses the pressure signal, it will control the reducer to close through the controller to achieve the effect of deceleration and prevent accidental injury caused by too fast movement.
附图说明Description of drawings
下面对本说明书附图所表达的内容及图中的标记作简要说明：The following is a brief description of the content expressed in the drawings of this specification and the marks in the drawings:
图1是本发明的微创手术设备具体实施方式的结构图；Fig. 1 is the structural diagram of the embodiment of the minimally invasive surgical equipment of the present invention;
图2是本发明的镜头擦拭装置具体实施方式的结构图；Fig. 2 is the structural diagram of the embodiment of lens wiping device of the present invention;
图3是本发明的手术握把具体实施方式的结构图；Fig. 3 is the structural diagram of the embodiment of the surgical grip of the present invention;
图4是本发明的手术刀头具体实施方式的结构图。Fig. 4 is a structural diagram of a specific embodiment of the scalpel head of the present invention.
其中，1、底部支撑台，2、第一驱动电机，3、第一减速机，4、水平旋转台，5、第二驱动电机，6、第二减速机，7、第二齿轮盘，8、竖直旋转台，9、手术握把，10、进给控制台，11、影像装置，12、手术杆，13、手术刀头，111、摄像头，112、弹性绳，113、滑架，114、第四拉绳，115、擦拭按键，901、握架，902、安装板，903、第一拉环，904、第二拉环，905、第三拉环，906、压紧扣，907、第一拉绳，908、第二拉绳，909、第三拉绳，910、快拆接头，911、复位弹簧，131、头部架，132、液压缸，133、剪刀，134、撑爪，135、压力传感器，136、第一连接线，137、第二连接线，138、第三连接线。Among them, 1. The bottom support platform, 2. The first drive motor, 3. The first reducer, 4. The horizontal rotary table, 5. The second drive motor, 6. The second reducer, 7. The second gear plate, 8 . Vertical rotating table, 9. Surgical handle, 10. Feed console, 11. Imaging device, 12. Surgical rod, 13. Scalpel head, 111. Camera, 112. Elastic cord, 113. Sliding frame, 114 , the fourth pull rope, 115, the wiping button, 901, the grip frame, 902, the mounting plate, 903, the first pull ring, 904, the second pull ring, 905, the third pull ring, 906, the compression buckle, 907, The first stay cord, 908, the second stay cord, 909, the third stay cord, 910, quick release joint, 911, return spring, 131, head frame, 132, hydraulic cylinder, 133, scissors, 134, support claw, 135. A pressure sensor. 136. A first connection line. 137. A second connection line. 138. A third connection line.
具体实施方式Detailed ways
下面对照附图，通过对实施例的描述，本发明的具体实施方式如所涉及的各构件的形状、构造、各部分之间的相互位置及连接关系、各部分的作用及工作原理、制造工艺及操作使用方法等，作进一步详细的说明，以帮助本领域技术人员对本发明的发明构思、技术方案有更完整、准确和深入的理解。Referring to the accompanying drawings, through the description of the embodiments, the specific embodiments of the present invention include the shape, structure, mutual position and connection relationship of each part, the function and working principle of each part, and the manufacturing process of the various components involved. And the method of operation and use, etc., are described in further detail to help those skilled in the art have a more complete, accurate and in-depth understanding of the inventive concepts and technical solutions of the present invention.
如图1-4所示，一种微创手术设备包括基体架、手术握把9、进给控制台10、影像装置11、手术杆12和手术刀头13，基体架包括底部支撑台1、水平旋转台4和竖直旋转台8，底部支撑台1固定在地面上，水平旋转台4底部的水平转动设置在支撑台的顶部，在底部支撑台1侧壁分别对称设有第一驱动电机2和减速机，减速电机为第一减速机3，减速机包括机架壳、摩擦瓣、电动伸缩杆和摩擦轴，摩擦轴转动安装在机架壳内，机架壳固定安装在支撑台外侧壁，摩擦轴穿过机架壳，在摩擦轴的两端对称设有两个摩擦瓣，在机架壳与摩擦瓣之间设有电动伸缩杆,电动伸缩杆通过电连接的方式与控制器连接，当电动伸缩杆推进可以带动摩擦瓣与摩擦轴接触从而实现增大摩擦力的效果，在水平旋转台4的底面沿转动轴线水平设有第一齿轮盘，第一驱动电机2的顶端设有齿轮，第一驱动电机2通过齿轮与第一齿轮盘啮合，第一减速机3顶端通过齿轮与第一齿轮盘啮合，第一驱动电机2和第一减速器通过电连接的方式与控制器连接，第一驱动电机2通过驱动齿轮驱动水平旋转台4水平转动，第一减速机3可以起到精确减速的作用。水平旋转台4的上表面为U形结构，竖直转动台竖直传动设置在水平旋转台4内，沿竖直旋转台8转动轴线的一端设有第二齿轮盘7，在水平旋转台4两侧分别设有第二驱动电机5和第二减速机6，第二减速电机和第二减速机6分别通过齿轮与第二齿轮盘7啮合，第一驱动电机2和第二驱动电机5用于给手术平台提供辅助力，在沿竖直旋转台8顶部设有进给控制台10，手术杆12穿过进给控制台10，在进给控制台10内设有摩擦轮，摩擦轮与手术杆12的外侧壁摩擦接触可以增大摩擦力防止运动过快，手术杆12的一端设有手术握把9，在手术杆12的另一端设有手术刀头13，在进给控制台10上设有影像装置11用于实时显示手术刀头13前端的图像。As shown in Fig. 1-4, a kind of minimally invasive surgery equipment comprises base body frame, operation handle 9, feed console 10, imaging device 11, operation bar 12 and scalpel head 13, base body frame includes bottom supporting platform 1, The horizontal rotary table 4 and the vertical rotary table 8, the bottom support table 1 is fixed on the ground, the horizontal rotation of the bottom of the horizontal rotary table 4 is arranged on the top of the support table, and the side walls of the bottom support table 1 are respectively symmetrically provided with first drive motors 2 and the reducer, the reducer motor is the first reducer 3, the reducer includes a frame shell, a friction flap, an electric telescopic rod and a friction shaft, the friction shaft is installed in the frame shell in rotation, and the frame shell is fixedly installed on the outside of the support platform The friction shaft passes through the frame shell, and two friction flaps are symmetrically arranged at both ends of the friction shaft. An electric telescopic rod is arranged between the frame shell and the friction flap, and the electric telescopic rod is electrically connected to the controller. Connected, when the electric telescopic rod advances, it can drive the friction flap to contact the friction shaft so as to achieve the effect of increasing the friction force. The bottom surface of the horizontal rotary table 4 is horizontally provided with a first gear plate along the axis of rotation, and the top of the first drive motor 2 is provided with There are gears, the first drive motor 2 meshes with the first gear plate through the gears, the top of the first reducer 3 meshes with the first gear plate through the gears, and the first drive motor 2 and the first reducer are electrically connected to the controller connected, the first drive motor 2 drives the horizontal rotary table 4 to rotate horizontally through the drive gear, and the first reducer 3 can play the role of precise deceleration. The upper surface of the horizontal rotary table 4 is a U-shaped structure, and the vertical transmission of the vertical rotary table is arranged in the horizontal rotary table 4. One end along the rotation axis of the vertical rotary table 8 is provided with a second gear plate 7, and on the horizontal rotary table 4 The two sides are respectively provided with a second drive motor 5 and a second reducer 6, the second reducer motor and the second reducer 6 mesh with the second gear plate 7 through gears respectively, and the first drive motor 2 and the second drive motor 5 are used In order to provide auxiliary force to the operation platform, a feed console 10 is provided on the top of the vertical rotary table 8, and the operation rod 12 passes through the feed console 10, and a friction wheel is provided in the feed console 10, and the friction wheel and The frictional contact of the lateral wall of the operating rod 12 can increase the frictional force and prevent the movement from being too fast. One end of the operating rod 12 is provided with a surgical handle 9, and the other end of the operating rod 12 is provided with a scalpel head 13. On the feed console 10 An image device 11 is provided on the top for real-time display of the image of the front end of the scalpel head 13 .
影像装置11包括显示器、摄像头111和镜头擦拭装置，显示器固定在进给控制台10上，摄像头111固定在手术杆12朝向手术刀头13的一端设有摄像头111，摄像头111通过电连接的方式与控制器连接，摄像头111可以将手术刀头13位置的画面实时传递到显示器上从而方便使用者进行观察，在手术的过程中摄像头111可能会被异物阻挡，从而导致影像显示不清楚对手术产生影响，在摄像头111的前端设有镜头擦拭装置，所述擦拭装置包括滑架113、擦拭块、弹性绳112、第四拉绳114和擦拭按键115，滑架113有两个，两滑动架分别对称安装在摄像头111的两侧，擦拭块两端滑动安装在滑架113上，擦拭块的表面与摄像头111的镜头接触，在擦拭块与摄像头111底部之间设有用于复位的弹性绳112，在手术握把9上设有擦拭按键115，擦拭按键115通过第四拉绳114与擦拭块连接，擦拭按键115为翘板结构，第四拉绳114与翘板连接，当按压擦拭按键115会拉动第四拉绳114带动擦拭块擦拭摄像头111的镜头从而达到清洁效果，当松开擦拭按键115后，擦拭块在弹性绳112的拉动下复位。Imaging device 11 comprises display, camera 111 and lens wiping device, and display is fixed on the feed console 10, and camera 111 is fixed on operating rod 12 and is provided with camera 111 toward the end of scalpel head 13, and camera 111 is connected with by the mode of electrical connection. The controller is connected, and the camera 111 can transmit the picture of the position of the scalpel head 13 to the display in real time, so that it is convenient for the user to observe. During the operation, the camera 111 may be blocked by foreign objects, resulting in unclear image display and affecting the operation. , the front end of the camera 111 is provided with a lens wiping device, and the wiping device includes a sliding frame 113, a wiping block, an elastic cord 112, a fourth pull cord 114 and a wiping button 115, and there are two sliding frames 113, and the two sliding frames are respectively symmetrical Installed on both sides of the camera 111, the two ends of the wiping block are slidably mounted on the carriage 113, the surface of the wiping block is in contact with the camera lens of the camera 111, and an elastic cord 112 for resetting is arranged between the wiping block and the bottom of the camera 111. The operation handle 9 is provided with a wiping button 115, which is connected with the wiping block by the fourth stay cord 114, the wiping button 115 is a seesaw structure, and the fourth stay cord 114 is connected with the seesaw, when pressing the wiping button 115 will pull The fourth pull cord 114 drives the wiping block to wipe the lens of the camera 111 to achieve a cleaning effect. When the wiping button 115 is released, the wiping block resets under the pull of the elastic cord 112 .
手术握把9包括握架901、第一拉环903、第二拉环904、第三拉环905、复位弹簧911和压紧扣906，握架901上设有安装板902，手术杆12垂直安装在握架901的安装板902上，手术杆12为空心管状结构，在手术杆12内设有第一拉绳907、第二拉绳908和第三拉绳909，在握架901上分别设有第一拉环903、第二拉环904和第三拉环905，第一拉绳907一端穿过安装板902固定在第一拉环903上，第一拉绳907的另一端设有快拆头，第二拉绳908一端穿过安装板902固定在第二拉环904上，第二拉绳908的另一端设有快拆头，第三拉绳909一端穿过安装板902固定在第三拉环905上，第三拉绳909的另一端设有快拆头，第一拉环903、第二拉环904和第三拉环905分别通过复位弹簧911固定在握架901上，拉动对应的拉环可以使得对应的拉绳收缩，优化的在安装板902的侧壁还设有压紧扣906，压紧扣906有三个，分别用于压紧拉绳，当按压住对应的压紧扣906后可以将拉绳固定保持不动。The operation handle 9 comprises a grip frame 901, a first pull ring 903, a second pull ring 904, a third pull ring 905, a back-moving spring 911 and a compression buckle 906, the grip frame 901 is provided with a mounting plate 902, and the operation bar 12 is vertical Installed on the mounting plate 902 of the holding frame 901, the operating rod 12 is a hollow tubular structure, and the first stay cord 907, the second stay cord 908 and the third stay cord 909 are arranged in the operating rod 12. The first pull ring 903, the second pull ring 904 and the third pull ring 905, one end of the first pull rope 907 passes through the mounting plate 902 and is fixed on the first pull ring 903, and the other end of the first pull rope 907 is provided with a quick release One end of the second pull cord 908 passes through the mounting plate 902 and is fixed on the second pull ring 904, the other end of the second pull cord 908 is provided with a quick-release head, and one end of the third pull cord 909 passes through the mounting plate 902 and is fixed on the second pull ring 904. On the three pull rings 905, the other end of the third pull rope 909 is provided with a quick-release head, and the first pull ring 903, the second pull ring 904 and the third pull ring 905 are respectively fixed on the grip frame 901 by a return spring 911, and the corresponding pull The pull ring can make the corresponding pull cord shrink. The optimized side wall of the mounting plate 902 is also provided with a compression buckle 906. There are three compression buckles 906, which are respectively used to compress the pull rope. When pressing the corresponding pressure After fastening 906, the stay cord can be fixed and kept still.
在手术杆12的另一端设有手术刀头13，手术刀头13包括头部架131、液压缸132、剪刀133和撑爪134，在头部架131前端设有撑爪134，撑爪134有两对称设置的撑开瓣，其中一个撑开瓣固定在头部架131前端，另一个撑开瓣滑动安装在头部架131上，活动安装的撑开瓣与头部架131之间设有第一顶出弹簧，第一顶出弹簧顶住撑开瓣使得撑开瓣保持常闭，在活动安装的撑开瓣上设有第一连接线136，第一连接线136的另一端与第一拉绳907的快拆接头910连接，优化的在撑爪134外壁设有压力传感器135，压力传感器135通过电连接的方式与控制器连接，当压力传感器135感受到压力信号时会通过控制器控制减速机闭合，实现减速的效果，防止运动过快造成误伤。在头部架131内朝撑爪134方向设有液压缸132，液压缸132一端设有第二连接线137，第二连接线137的另一端与第二拉绳908的快拆接头910连接，拉动第二连接线137可以使得液压缸132拉伸，在液压缸132的前端设有剪刀133，剪刀133为常开结构，在剪刀133之间设有第二顶出弹簧，剪刀133的一侧设有第三连接线138，第三连接线138的另一端与第三拉绳909的快拆接头910连接，第三拉动第三拉绳909可以实现剪刀133的闭合剪切。在使用时当手术刀头13运动到制定位置时，当前方有阻挡时可以线拉动第一拉环903将位置阻挡物拨开，再按压第二拉环904将剪刀133推出，将剪刀133对准患处，按压第三拉环905可以实现精确剪切。The other end of operating lever 12 is provided with scalpel head 13, and scalpel head 13 comprises head frame 131, hydraulic cylinder 132, scissors 133 and support claw 134, is provided with support claw 134 at head frame 131 front ends, and supports claw 134 There are two symmetrically set apart flaps, one of which is fixed on the front end of the head frame 131, the other is slidably installed on the head frame 131, and a movable valve is installed between the expanded flap and the head frame 131. There is a first ejection spring, and the first ejection spring withstands the stretching flap so that the stretching flap remains normally closed, and the first connecting line 136 is arranged on the stretching flap of the movable installation, and the other end of the first connecting line 136 is connected to the The quick release joint 910 of the first pull cord 907 is connected, and a pressure sensor 135 is optimally provided on the outer wall of the support claw 134. The pressure sensor 135 is connected to the controller through an electrical connection. When the pressure sensor 135 senses a pressure signal, it will pass the control. The device controls the closing of the reducer to achieve the effect of deceleration and prevent accidental injury caused by too fast movement. In the head frame 131, a hydraulic cylinder 132 is provided toward the claw 134. One end of the hydraulic cylinder 132 is provided with a second connection line 137, and the other end of the second connection line 137 is connected to the quick release joint 910 of the second pull cord 908. Pulling the second connection line 137 can make the hydraulic cylinder 132 stretch. The front end of the hydraulic cylinder 132 is provided with scissors 133. The scissors 133 are normally open structures. A second ejection spring is provided between the scissors 133. A third connection line 138 is provided, and the other end of the third connection line 138 is connected to the quick release joint 910 of the third pull cord 909 , and the third pull of the third pull cord 909 can realize the closed cutting of the scissors 133 . When in use, when the scalpel head 13 moves to a specified position, when there is a block in front, the first pull ring 903 can be pulled to remove the position block, and then the second pull ring 904 is pressed to push the scissors 133 out, and the scissors 133 are paired. Accurately cut the affected part by pressing the third pull ring 905.
上面结合附图对本发明进行了示例性描述，显然本发明具体实现并不受上述方式的限制，只要采用了本发明的方法构思和技术方案进行的各种非实质性的改进，或未经改进将本发明的构思和技术方案直接应用于其它场合的，均在本发明的保护范围之内。本发明的保护范围应该以权利要求书所限定的保护范围为准。The present invention has been exemplarily described above in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited by the above methods, as long as various insubstantial improvements are adopted in the method concept and technical solutions of the present invention, or there is no improvement Directly applying the concept and technical solutions of the present invention to other occasions is within the protection scope of the present invention. The protection scope of the present invention should be determined by the protection scope defined in the claims.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810272641.0ACN108567469A (en) | 2018-03-29 | 2018-03-29 | A kind of Minimally Invasive Surgery equipment |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810272641.0ACN108567469A (en) | 2018-03-29 | 2018-03-29 | A kind of Minimally Invasive Surgery equipment |
| Publication Number | Publication Date |
|---|---|
| CN108567469Atrue CN108567469A (en) | 2018-09-25 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810272641.0APendingCN108567469A (en) | 2018-03-29 | 2018-03-29 | A kind of Minimally Invasive Surgery equipment |
| Country | Link |
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| CN (1) | CN108567469A (en) |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication | Application publication date:20180925 |