Summary of the invention
Therefore, in order to solve problems in the prior art, a kind of instrument that can be convenient for dismounting and washing is proposed.
In one aspect of the invention, it proposes convenient for dismounting and washing elongated shaft assembly, includes pedestal and matching firstJaw and the second jaw, first jaw include the first jaw tail and connect its first jaw wrist, second jaw include the second jaw tail andIts second jaw wrist is connected, the pedestal includes the shaft shoulder and the first fixed arm and the second fixed arm for extending to distal end, featureIt is, the first jaw tail and the second jaw tail are sandwiched between the first fixed arm and the second fixed arm, the first jaw tail and the first fixed armThe first revolute pair is constituted, the second jaw tail and the second fixed arm constitute the second revolute pair；First revolute pair and the second revolute pairIt can dismantle repeatedly, reset and sterilize.
In a kind of implementation, first revolute pair and the second revolute pair are underconstrained revolute pair.More specifically, describedFirst revolute pair includes the first outer cylinder, the first inner cylinder and first rotation, first outer cylinder and the first inner cylinderComprising the rotary freedom around the first rotation and along the translation freedoms of the first rotation；Second turnDynamic secondary comprising the second outer cylinder, the second inner cylinder and the second rotation axis, second outer cylinder and the second inner cylinder include to encloseRotary freedom around second rotation axis and the translation freedoms along second rotation axis.
In another scheme, first revolute pair includes that the first outside is secondary and the first inside is secondary, second revolute pairIt is secondary secondary with the second inside comprising the second outside；It includes partial cylinder stationary plane and cut-out feature that first outside is secondary, and described theSecondary one inside includes part cylindrical and narrow body characteristics, and the partial cylinder stationary plane and part cylindrical constitute the first rotationPair, when the first revolute pair, which is rotated to narrow body characteristics and cut-out feature, to align, the first revolute pair can be detached from.
It further include the driving head being sandwiched between the first jaw tail and the second jaw tail, the driving head packet in another schemeThe block containing driving and first is constituted to the first lug and the second lug extended outside block, the first lug and the first jaw tailCam pair, second lug and the second jaw tail constitute the second cam pair；The driving block can be along the axis of elongated shaft assemblyTranslational motion, thus the first cam pair of driving and the sliding of the second cam pair, and then the first revolute pair and the second revolute pair is driven to turnIt is dynamic.
In another scheme, the elongated shaft assembly includes limiting condition, critical state and working condition, and is met followingRelationship: Le1 < Lu1, Lw1≤Le1；Wherein, Lu1 is driving head extreme displacement, and Le1 is driving head critical displacement, and Lw1 is drivingHead work shift.
In another scheme, first jaw, the second jaw, driving head and pedestal meet following relationship: Hj1+Hj2+Hd1+ δ1=Hb1；Wherein, Hj1 is the thickness of the first jaw tail；Hj2 is the thickness of the second jaw tail；Hd1 is the thickness for driving block；Hb1 isThe spacing of the first, the second fixed arm；δ 1 is mismachining tolerance.
In another scheme, first jaw, the second jaw, driving head and pedestal meet following relationship: Hw1+Hj2+ δ 2=Hb1；Wherein, Hw1 is the thickness of the first jaw wrist, and Hj2 is the thickness of the second jaw tail, and δ 2 is mismachining tolerance, and Hb1 is pedestalThe spacing of first fixed arm and the second fixed arm.
In another scheme, the first jaw tail includes the first driven slot of annular, and the driving head includes the first drivingLug, the first driving lug matches the first cam pair of composition with the first driven slot, and meets following geometrical relationship: Lj1 >=Ld1；Wherein Lj1 be the first driven slot slot distal end geometric centroid and the first revolute pair axis along buckling surface most short distanceFrom Ld1 first drives the shortest distance of lug axial line and central axis.
In another implementation, the work subtended angle Awork of the elongated shaft assembly, when 0 °≤Awork≤60 °, theOne jaw wrist is contacted with the second jaw tail always, and the second jaw wrist is contacted with the first jaw tail always, the first jaw wrist and the second jaw wristConfiguration design is at the axial movement track that can avoid the driving head.
In one aspect of the invention, components easy to clean are proposed, include the first jaw, the second jaw and matchingDriving head, first jaw includes the first jaw tail and connects its first jaw wrist, and second jaw includes the second jaw tail and companyIts second jaw wrist is connect, driving head is sandwiched between the first jaw tail and the second jaw tail, and constitutes the first cam pair with the first jaw tailAnd the second cam pair is constituted with the second jaw tail simultaneously.
In a kind of scheme, the first jaw tail includes the first driven slot, and the second jaw tail includes the second driven slot, describedDriving head includes driving block and to the first driving lug extended outside block and the second driving lug, and first driving is convexEar and the first driven slot constitute the first cam pair, and the second driving lug and the second driven slot constitute the second cam pair.
In another scheme, the first driving lug and the first driven slot can produce opposite sliding but cannot take off completelyFrom the second driving lug and the second driven slot can produce opposite sliding but cannot completely disengage.
In another scheme, the first driving lug and driving block are integrally formed, and the distal end of the first driving lug is in external forceEffect is lower to constitute deformable body, and the size of the deformable body is greater than the width dimensions of matched driven slot, to prevent firstLug and the first driven slot is driven to be detached from.
In another scheme, the first driving lug and driving block are integrally formed, the distal end packet of the first driving lugPit containing technique applies external force to technique pit and constitutes deformable body, and the size of the deformable body is greater than matched driven slotWidth dimensions, so that the first driving lug and the first driven slot be prevented to be detached from.
In another scheme, the first jaw tail includes the first driven slot through it, and the second jaw tail includes to run throughIts second driven slot, the driving head include driving block and the first drive hole and the second drive hole through it；First pinNail sequentially passes through first drive hole and the first driven slot constitutes the first cam pair, and the first cam pair can produce relatively slidingIt moves but cannot completely disengage, the second pin sequentially passes through second drive hole and the second driven slot constitutes the second cam pair, instituteStating the second cam pair can produce opposite sliding but cannot completely disengage.
In another scheme, it further includes quiet tube assembly that a kind of elongated shaft assembly, which includes any components above-mentioned, describedQuiet tube assembly includes pedestal and the hollow tube being attached thereto；The pedestal include the shaft shoulder and extend to distal end the first fixed arm andSecond fixed arm；The components are sandwiched between the first fixed arm and the second fixed arm, wherein the first jaw and first is fixedArm constitutes the first revolute pair, and the second jaw and the second fixed arm constitute the second revolute pair.
In a kind of preferred embodiment, disassembly and refitting that first revolute pair and the second revolute pair can be multiple.It is a kind of specificScheme in, first revolute pair includes that the first outside is secondary and the first inside is secondary, and second revolute pair includes the second outsideSecondary and the second inside is secondary；Secondary first outside includes partial cylinder stationary plane and cut-out feature, and first inside pair includesPart cylindrical and narrow body characteristics, the partial cylinder stationary plane and part cylindrical constitute the first revolute pair, when the first rotationWhen pair rotation aligns to narrow body characteristics and cut-out feature, the first revolute pair can be detached from.
In an additional aspect of the present invention, propose that a kind of surgical instrument for Minimally Invasive Surgery, the surgical instrument includeAforementioned any elongated shaft assembly, also comprising the Handleset being attached thereto, the Handleset includes arm pivot post and surrounds itThe first handle and the second handle of rotation；Elongated shaft assembly and Handleset are connected and are constituted fast by wheel set assembly and button assemblyTear structure open, the driving head further includes the drive rod being attached thereto and bar proximal end, and the bar proximal end is connect with the second handle, the first handleIt is rotated with the second handle around arm pivot post, so that catch bar proximal end is mobile, and then pushes driving head edge to move, and then drive first(the second) it is produced relative sliding in cam pair, and then forces first (the second) jaw to rotate around first (the second) revolute pair and open or closeIt closes.
Specific embodiment
Disclosed herein is embodiment of the present invention, it should be understood, however, that disclosed embodiment is only of the inventionExample, the present invention can be realized by different modes.Therefore, this disclosure is not to be construed to be restrictive, andIt is the basis only as claim, and how uses basis of the invention as introduction those skilled in the art.
With reference to Fig. 1, for convenience of stating, the side of subsequent all Proximity operation persons is defined as proximal end, and one far from operatorSide is defined as distal end.Carry out endoscope-assistant surgery when, usually using puncture cannula component (not shown) patient's body wall establish instrument intoThe operation path of patient's body out, various mis instruments, such as instrument 1 can be inserted by the channel that sheath assembly is formedBody cavity.It may be needed in art while use one or more sheath assemblies, and instrument 1 also needs to configure one or more according to operationIt is a to carry out while operating.
A kind of typical hysteroscope hand-held apparatus 1 includes pedestal 30.The structure and group of the pedestal 30 is illustrated in detail in Fig. 1-2At.The pedestal 30 includes the shaft shoulder 31 and extends to the first fixed arm 33 and the second fixed arm 34 of distal end, and described the first, the secondFixed arm forms the installation space 300 that spacing is Hb1.Axis hole 32 runs through the shaft shoulder 31, the first movement basal plane 371 and the first buckling surfaceFirst central axis 37 of 372 substantially vertical intersections, intersection and the axis hole 32 essentially coincides.First fixed arm 33 it is remoteEnd is comprising being the first boss 331 of Hf1 from the first mounting surface 330 towards the height of the first movement extension of basal plane 371；Described secondThe distal end of fixed arm 34 includes the second boss for being Hf2 towards the height that the first movement basal plane 371 extends from the second mounting surface 340341.The mounting surface 330, mounting surface 340 and 371 three of basal plane are substantially parallel.In a kind of scheme, Hf1+Hf2 < Hb1.
In another scheme, the first boss 331, second boss 341 be respectively at the two sides of the buckling surface 372 andIt is asymmetric；The first boss 331, second boss 341 are respectively at the two sides of the basal plane 371 and asymmetry.
In another case, the diameter Cd1 of the axis hole 32, the minimum between the first boss 331 and second boss 341Distance L1, wherein Cd1 < L1.
Fig. 3 depicts another pedestal 30a of the invention.The label of geometry and label phase corresponding in Fig. 1-2 in Fig. 3Together, indicate that the structure of identical label is substantially equivalent.All identical labels indicate its structure substantially etc. in different embodiments hereinafterTogether.The pedestal 30a is similar to the structure of the pedestal 30, and the main distinction is that boss is arranged.Brief, the pedestal 30aComprising including the shaft shoulder 31, axis hole 32, the first movement basal plane 371, the first buckling surface 372, the first fixed arm 33, the second fixed arm34.The distal end of the first fixed arm 33 of pedestal 30a includes the extended from the first mounting surface 330 towards the first movement basal plane 371One boss 331a；The distal end of the second fixed arm 34 of pedestal 30a includes to move basal plane 371 from the second mounting surface 340 towards firstThe second boss 341a of extension.The first boss 331 of the pedestal 30 is substituted, with first boss 331a with first boss 341aThe second boss 341 of the pedestal 30 is substituted, to constitute new pedestal 30a.
In a kind of specific scheme, the first boss 331a includes the first fixed cylindrical portion that cross-sectional diameter is Df1Divide 333a and cross-sectional width for the first narrow body characteristics 334a of Bf1, wherein Bf1 < Df1.In a kind of optional scheme, describedOne cylinder fixed part 333a includes two cylindrical surfaces arranged in opposite directions, and the first narrow body characteristics include two opposite arrangementsTangent plane, however can also be formed narrow containing part cylindrical and part only comprising a tangent plane or special-shaped excision faceThe special-shaped cylindrical body 331a (or being abnormity prism 331a) of body.In a kind of implementation, the second boss 341a includesThe second narrow body characteristics 344a that the second fixed column part 343a and cross-sectional width that cross-sectional diameter is Df2 are Bf2, whereinBf2 < Df2.In a kind of optional scheme, the second cylinder fixed part 343a includes two cylindrical surfaces arranged in opposite directions, andThe second narrow body characteristics 344a includes two tangent planes arranged in opposite directions, however also may include a tangent plane or abnormityExcision face forms the special-shaped cylindrical body 341a (or being abnormity prism 341a) containing the narrow body of part cylindrical and part.
In a kind of preferred scheme, the narrow body characteristics 334a and the buckling surface 372 form included angle A p1, the narrow bodyFeature 344a and the buckling surface 372 form included angle A p2, in a kind of concrete implementation scheme, 0≤Ap1≤45 °, 0≤Ap2≤45°。
Fig. 4-5 depicts another pedestal 30b of the invention.The pedestal 30b is similar to the structure of the pedestal 30, mainlyDifference is that boss is arranged.Brief, the pedestal 30b includes the shaft shoulder 31, and axis hole 32, the first movement basal plane 371, first fastensFace 372, the first fixed arm 33, the second fixed arm 34.The distal end of the first fixed arm 33 of pedestal 30b includes from the first mounting surface330 towards fixed arm sunken inside the first fixation hole 331b；The distal end of the second fixed arm 34 of pedestal 30b includes from the second installationSecond fixation hole 341b of the face 340 towards fixed arm sunken inside.The pedestal 30 is substituted with the first fixation hole 331b firstBoss 331, the second boss 341 of the pedestal 30 is substituted with the second fixation hole 341b, to constitute new pedestal 30b.
Fig. 6 depicts another pedestal 30c of the invention.The pedestal 30c is similar to the structure of the pedestal 30, main regionIt is not the setting of fixation hole.Brief, the pedestal 30c includes the shaft shoulder 31, axis hole 32, the first movement basal plane 371, the first buttonConjunction face 372, the first fixed arm 33, the second fixed arm 34.The distal end of the first fixed arm 33 of pedestal 30c includes from the first mounting surface330 towards fixed arm sunken inside the first fixation hole 331c；The distal end of the second fixed arm 34 of pedestal 30c includes from the second installationSecond fixation hole 341c of the face 340 towards fixed arm sunken inside.The first fixation hole 331c includes the first circle that diameter is Df3Cylinder 333c and width are the first notch 334c of Bf3, and the first fixation hole 331c described in the notch 334c cutaway portion is formedHalf-open mouth structure, Bf3 < Df3.The second fixation hole 341c includes the second cylindrical surface 343c that diameter is Df4 and width isThe second notch 344c of Bf4, the second fixation hole 341c described in the notch 344c cutaway portion, forms half-open mouth structure, Bf4 <Df4.The first fixation hole 331b of the pedestal 30b is substituted, with the first fixation hole 331c containing notch with second containing notchFixation hole 341c substitutes the second fixation hole 341b of the pedestal 30b, to constitute new pedestal 30c.
Fig. 7-8 depicts another pedestal 30d of the invention.The pedestal 30d is similar to the structure of the pedestal 30, mainlyDifference is the setting of fixation hole.Brief, the pedestal 30d includes the shaft shoulder 31, axis hole 32, the first movement basal plane 371, and firstBuckling surface 372, the first fixed arm 33, the second fixed arm 34.The distal end of the first fixed arm 33 of pedestal 30c includes from the first installationThe first boss 331a that face 330 extends towards the first movement basal plane 371；The distal end of the second fixed arm 34 of pedestal 30c include fromSecond fixation hole 341b of second mounting surface 340 towards fixed arm sunken inside.The pedestal is substituted with the second fixation hole 341bThe second boss 341a of 30a, to constitute new pedestal 30d.
Fig. 9-10 depicts another pedestal 30e of the invention.The pedestal 30e is similar to the structure of the pedestal 30, mainDistinguish the setting for being fixation hole.Brief, the pedestal 30e includes the shaft shoulder 31, and axis hole 32, first moves basal plane 371, theOne buckling surface 372, the first fixed arm 33, the second fixed arm 34.The distal end of the first fixed arm 33 of pedestal 30c includes from the first peaceFirst fixation hole 331c of the dress face 330 towards fixed arm sunken inside；The distal end of the second fixed arm 34 of pedestal 30c includes from secondThe second boss 341 that mounting surface 340 extends towards the first movement basal plane 371.The pedestal 30c is substituted with second boss 341The second fixation hole 341c, to constitute new pedestal 30e.
Figure 11-12 depicts another pedestal 30f of the invention, the basic phase of structure of the pedestal 30f and pedestal 30dTogether, difference is only that the first boss 331a of the pedestal 30 and the second fixation hole 341b are respectively at the movement basal plane 371Two sides and positional relationship it is symmetrical (axis co-axial of first boss 331a and the second fixation hole 341b).
Figure 13-15 depicts another pedestal 30g of the invention, the structure proximate of the pedestal 30g and the pedestal 30a.Briefly, the pedestal 30c includes the shaft shoulder 31, and axis hole 32, the first movement basal plane 371, the first buckling surface 372, first is fixedArm 33, the second fixed arm 34, first boss 331a and second boss 341a.The pedestal 30g also includes to be extended to by the shaft shoulder 31The first reinforcement arm 339g that first boss 331a close region and the height being connected with the first fixed arm 33 are Hr1, andSecond boss 341a close region is extended to by the shaft shoulder 31 and the height being connected with the second fixed arm 34 adds for the second of Hr2Strong arm 349g.The first, the second reinforcement arm can largely improve the deformation rigidity of the first, the second fixed arm.One kind is setIn meter scheme, the first reinforcement arm 339g and the second reinforcement arm 349g be respectively at the two sides of first buckling surface 372 andIt is asymmetric.In a kind of specific scheme, Hr1≤0.5*Hb1, Hr2≤0.5*Hb1, this set both can be mentioned largelyThe deformation rigidity of high the first, the second fixed arm, and can simplify the manufacturing process of pedestal 30g, significantly reduce part manufacturingCost.
There are many methods to manufacture for the pedestal 30 (30a, 30b, 30c, 30d, 30e, 30f, 30g), such as uses metal barRemoving material (such as milling bits), perhaps multiple part combination welding perhaps manufacture using 3D printing method or use metal powderIt is injection moulded (abbreviation MIM technique) or metal casting (abbreviation MC technique) or highstrenghtpiston's injection molding (abbreviation IM technique) is rawProduce the pedestal.
Figure 16-23 depicts a kind of typical elongated shaft assembly 2.The elongated shaft assembly includes quiet tube assembly 4, lever groupPart 5 and matched the first jaw 10 and the second jaw 20.
Such as Figure 16, a kind of quiet tube assembly 4 includes aforementioned pedestal 30d and connected hollow tube 40, the hollow tube40 include pipe distal end 41 and pipe proximal end 49 and the tube wall 45 extended therebetween, and the tube wall 45 limits substantially same with the axis hole 32The central through hole 46 of the heart, the pipe distal end 41 are connected with the shaft shoulder 31.Those skilled in the art is to be understood that instituteIt states pedestal and a variety of connection types can be used in the hollow tube 40, including but not limited to weld, be threadedly coupled, glue bonding etc.Deng.Preferably, the shaft shoulder 31 and pipe distal end 41 are welded to connect, and form seamless connection.
With reference to Figure 17-18, a kind of lever component 5 includes driving head 70 and the drive rod 80 that is attached thereto.The driving head70 include the second central axis 71, virtual first transverse plane 711 and the substantially vertical intersection of virtual first vertical plane 712, intersection withSecond central axis 71 essentially coincides.First translational plane 74 and the second translational plane 75 are substantially parallel with the vertical plane 712And the driving block 73 limited with a thickness of Hd1.First driving lug 740 from the translational plane 74 to the block 73 outside prolongStretch height Hp1；Second driving lug 750 is from the translational plane 75 to the 73 outside extended height Hp2 of block.First driving is convex740 geometric centroid of ear is Ld1 at a distance from central axis 71, and the second driving 750 geometric centroid of lug is at a distance from central axis 71Ld2, Ld1 and Ld2 can be equal or different.In a kind of scheme, at the first driving lug 740 and the second driving lug 750Two sides and asymmetry in the vertical plane 712；The first driving lug 740 and the second driving lug 750 are in the crossThe two sides of plane 711 and asymmetry.First translational plane 74 and the second translational plane 75 proximally extend and driving 72 phase of neckHand over, the lug 740 (or lug 750) in the axial direction with driving neck 72 shortest distance Ldx1.
The drive rod 80 includes bar distal end 81 and bar proximal end 89 and the bar part 85 extended therebetween, and the bar proximal end 89 is wrappedAnnular grooving 88 containing substantially vertical drive rod axis, the bar distal end 81 are connected with the driving neck 72, the drivingThe axis of bar 80 is substantially overlapped with second central axis 71.Preferably, driving neck 72 and bar distal end 81 are welded to connect, and are formedSeamless connection.
Figure 19 describes the structure and composition of the first jaw 10.The proximal end of first jaw 10 includes by the first lateral surface 11 and firstThe first jaw tail 13 with a thickness of Hj1 that medial surface 12 limits.First datum hole 14 from first lateral surface 11 to jaw tail 13 insideRecess, and the first driven slot 15 is from first medial surface 12 to 13 inner recess of jaw tail.First jaw wrist 16 and first jawTail 13 is linked to be whole and to distally extending to form the first jaw head 19.First datum hole 14 includes the first cylinder that diameter is Dr1Basal plane 142 and width are the first notch 141 of Br1, and cylinder basal plane 142 described in 141 cutaway portion of notch forms half openingStructure.In a kind of optional scheme, Br1 < Dr1.First driven slot 15 includes the first driven slot that width dimensions are Ss1Proximal openings 151.First driven slot 15 shown in Figure 25 does not extend through the first lateral surface 11, however can also be completely through jaw tail 13；First datum hole 14 shown in Figure 25 can not also be penetrated completely through jaw tail 13 to first medial surface 12.
Figure 20 describes the structure and composition of the second jaw 10.The proximal end of second jaw 20 includes by the second lateral surface 21 and secondThe second jaw tail 23 with a thickness of Hj2 that medial surface 22 limits.Second pilum 24 from second lateral surface 21 to jaw tail outside prolongStretch protrusion, and the second driven slot 25 is from second medial surface 22 to 23 inner recess of jaw tail.Second jaw wrist 26 and described secondJaw tail 23 is linked to be whole and to distally extending to form the second jaw head 29.
The composition and assembly relation of elongated shaft assembly 2 are depicted with reference to Figure 21-23.23 quilt of first jaw tail 13 and the second jaw tailIt is clipped between the first fixed arm 33 of pedestal 30d and the second fixed arm 34, the first mounting surface 330 and 11 phase of the first lateral surfaceMatch, the second mounting surface 340 matches with the second lateral surface 21.The first boss 331a and the first datum hole 14 match compositionOne revolute pair 100；Second fixation hole 341b and the second pilum 24, which match, constitutes the second revolute pair 200.Driving head 70 is sandwiched inBetween first jaw tail and the second jaw tail, wherein the first translational plane 74 matches with the first medial surface 12；Second translational plane 75 andTwo medial surfaces 22 match；First driving lug 740 and the first driven slot 15, which match, constitutes the first cam pair 700；Second drivesDynamic lug 750 and the second driven slot 25, which match, constitutes secondary 800 (not shown)s of the second cam.The driving head 70 can be along axisThe translational motion of line direction forces the first driving lug 740 and the first driven slot 15 to generate relative motion to the first jaw 10 of drivingIt is rotated around the first revolute pair 100；Second driving lug 750 and the second driven slot 25 generate relative motion to the second jaw 20 of drivingIt is rotated around the second revolute pair 200.
In another scheme, first jaw, the second jaw, driving head and pedestal meet following relationship:
Hj1+Hj2+Hd1+ δ 1=Hb1；
Wherein: Hj1 is the thickness of the first jaw tail；Hj2 is the thickness of the second jaw tail；Hd1 is the thickness for driving block；Hb1 isOne, the spacing of the second fixed arm, δ 1 is mismachining tolerance.
Referring now to Figure 21-23, in another design scheme, the elongated shaft assembly 2 includes limiting condition, critical state andThree kinds of states of working condition, the corresponding driving head 70 includes extreme displacement Lu1, critical displacement Le1 and workIt is displaced Lw1 (displacement measurement mode: the first driving lug 740 and the shortest distance of first boss 331a in the axial direction).
Extreme displacement Lu1: when the driving head is in extreme displacement, the first jaw 10 can be rotated around the first revolute pair 100 to be madeThe first cam pair 700 is obtained to be mutually disengaged.That is the first jaw 10 can be rotated around the first revolute pair make the first driving lug 740 and first fromDynamic slot 15 completely disengages, and the shape and size of jaw tail be designed in its rotary course it is mutually not dry with the driving neck 72It relates to, such state is referred to as limiting condition.
Critical displacement Le1: when driving head is in extreme displacement, the first cam pair 700 is in critical state, such critical shapeUnder state, when by the mobile driving head 70 of proximate, then the first cam pair 700 is mutually disengaged (lug 740 and driven slot 15Completely disengage), that is, it is changed into limiting condition；When by distally moving to the near end the driving head 70, then the first cam pair 700 is alwaysContact (lug 740 and driven slot 15 cooperate and constitute the first cam pair), i.e. transformation is in working condition.
Work shift Lw1: when driving head is in work shift, the first revolute pair and the first cam pair remain contact,In working condition, when moving the driving head 70 by proximate, produced relative sliding between the first cam pair 700, fromAnd push the first jaw 10 to rotate around the first revolute pair and open or be closed, Lw1 < Le1.
The elongated shaft assembly 2 quickly can be dismantled and be assembled, and assembly or disassembly during all do not need installation orTiny pin shaft or other tiny separate components are dismantled, therefore can largely improve the efficiency of assembly or disassembly, thusAssembly cost and finished product scrappage is greatly lowered.Driving head 70 is briefly first placed in pedestal 30d by its assembly method,First the second jaw 20 is packed into, adjustment makes the second driving lug 750 match the second cam of composition pair 800 with the second driven slot 25 and makesSecond fixation hole 341b and the second pilum 24, which match, constitutes the second revolute pair 200；Driving head is placed in extreme displacement Lu1 again,First narrow body characteristics 334a is aligned the first notch 141 to be inserted into, rotation makes the first fixed column part 333a and the first cylinder baseThe matching of face 142 constitutes the first revolute pair 100, finally rotates the first jaw 10 and mobile driving head 70, passes through the first driving lug 740Enter the first driven slot 15 by the first driven slot proximal openings 151 and matching constitutes the first cam pair 700.The elongated shaftThe method for dismounting of component 2 is the inverse operation of aforementioned assembly method, and those skilled in the art are readily appreciated that in conjunction with picture and text, therefore no longerIt is described in detail.Additional position-limit mechanism, which can be increased, makes instrument 1 that the displacement of the driving head 70 are limited in work in useIt is displaced Lw1≤Le1, effectively prevent deviating from using middle work jaw.It is simplest, the hollow tube 40 and drive rod are reasonably set80 length dimension, makes elongated shaft assembly 2 and when Handleset is assembled into an entirety, the limit of Handleset ensure Lw1≤Le1.Those skilled in the art, after understanding thought of the invention, other position-limit mechanisms are also to be contemplated that.
Another elongated shaft assembly 2a (not shown) includes pedestal 30e, driving head 70, the first jaw 10a and the second jaw20a.Figure 24 depicts another second jaw 20a, and the second jaw 20a is similar to 20 structure of the second jaw, and difference is only that pilumWith the setting of driven slot, briefly, the second jaw tail 23 of the second jaw 20a include from the second lateral surface 21 to jaw tail outside extendThe second pilum 24a and from the second medial surface 22 to the second driven slot 25a of jaw tail inner recess.The second pilum 24a packetContaining the second narrow body characteristics 241a that the second cylindrical matrix 242a that diameter is Dr4 and width are Br4, Br4 < Dr4.Described secondDriven slot 25a includes the second driven slot proximal openings 251a.Another first jaw 10a (not shown) is close with the first jaw 10Seemingly, difference is only that the setting of datum hole and driven slot, and briefly, the first datum hole 14a of the first jaw 10a does not include first and cutsMouthful, the first driven slot 15a of the first jaw 10a does not include driven slot proximal openings.
The elongated shaft assembly 2a equally includes limiting condition, critical state and working condition.Equally can quickly it dismantleAnd assembly, and do not need to install or remove tiny pin shaft or other tiny separate components during assembly or disassembly.BrieflySay, first driving head 70 is placed in pedestal 30e, is first packed into the first jaw 10, adjustment make the first driving lug 740 and first fromDynamic slot 15a matching, which constitutes the first cam secondary 700a and first boss 331 and the first datum hole 14a is made to match, constitutes the first revolute pair100a；Driving head is placed in extreme displacement again, then the second narrow body characteristics 241a is aligned the second notch 344c insertion, rotation makes theTwo cylindrical matrix 242a and the second cylindrical surface 343c matching constitutes the second revolute pair 200a, finally rotates the second jaw 20 and mobile driveDynamic head 70 makes the second driving lug 750 enter the second driven slot 25 and matching via the second driven slot proximal openings 251aConstitute the second cam secondary 800a.The method for dismounting of the elongated shaft assembly 2a is the inverse operation of aforementioned assembly method, this field skillArt personnel are readily appreciated that in conjunction with picture and text, therefore are no longer described in detail.
Figure 25-30 depicts another elongated shaft assembly 2b of the invention.The elongated shaft assembly 2b includes the first jaw 10b,Second jaw 20b, quiet tube assembly 4b and lever component 5.The quiet tube assembly 4b includes pedestal 30a and the hollow tube being attached thereto40, it is preferred that the shaft shoulder 31 and pipe distal end 41 are welded to connect, and form seamless connection.
Figure 25-26 is detailed to depict the structure and composition of the first jaw 10b and the second jaw 20b.The first jaw 10b(the second jaw 20b) is similar to aforementioned first jaw, 10 (the second jaw 20) structure, and the main distinction is jaw wrist, and datum hole and driven slot are setIt sets.Brief, the first jaw 10b includes the first lateral surface 11, the first medial surface 12, the first jaw tail 13, the first jaw wrist 16 andFirst jaw head 19.First datum hole 14b is from first lateral surface 11 to 13 inner recess of jaw tail, and the first driven slot 15b is by instituteThe first medial surface 12 is stated to 13 inner recess of jaw tail.The first datum hole 14b includes the first cylinder basal plane 142b that diameter is Dr1It is the first notch 141b of Br1 with width, cylinder basal plane 142b described in the notch 141b cutaway portion forms half opening knotStructure.The first driven slot 15b includes the first driven slot distal end 159b and extends to the first driven slot proximal end by slot distal endThe substantially parallel slot side of 151b.The slot proximal end 151b, slot side and slot distal end 159b constitute closed racetrack annularSlot.Although the slot side shown in figure is flat face, it is also possible to bending curve.The first jaw wrist 16b includesFirst supporting surface 17b.
The second jaw 20b includes the second lateral surface 21, the second medial surface 22, the second jaw tail 23, the second jaw wrist 26 and theTwo jaw heads 29.Second datum hole 24b is from second lateral surface 21 to 23 inner recess of jaw tail, and the second driven slot 25b is by describedSecond medial surface 22 is to 23 inner recess of jaw tail.The second datum hole 24b include diameter be Dr2 the second cylinder basal plane 242b andWidth is the second notch 241b of Br2, and cylinder basal plane 242b described in the notch 241b cutaway portion forms half-open mouth structure.The second driven slot 25b includes the second driven slot distal end 259b and extends to the second driven slot proximal end 251b's by slot distal endSubstantially parallel slot side.The slot proximal end 251b, slot side and slot distal end 259b constitute closed racetrack annular groove.It is describedSecond jaw wrist 26b includes the second supporting surface 27b.
Referring now to Figure 27-30, the first jaw 10b, the second jaw 20b are sandwiched in the first fixed arm 33 of the pedestal 30gAnd second between fixed arm 34；Wherein the first lateral surface 11 is matched with the first mounting surface 330, the second lateral surface 21 and described secondMounting surface 340 matches, and the first supporting surface 17b is matched with the second medial surface 22, the second supporting surface 27b and the first medial surface 12Match；First boss 331a and the first datum hole 14b constitutes the first revolute pair 100b, second boss 341a and the second datum hole 24b and constitutesSecond revolute pair 200b.
The driving head 70 is sandwiched between the first jaw tail 13b and the second jaw tail 23b, the first medial surface 12 and the second insideBetween face 22, the driving lug 740 of the first driven skewed slot 15b and first constitutes the first cam secondary 700b；Second driven skewed slot 25b withSecond driving lug 750 constitutes the second cam secondary 800b.Those skilled in the art combine is readily appreciated that its movement and driving aboveRelationship.Briefly, when driving head 70 is moved along axis, the first cam secondary 700b is produced relative sliding, make the first jaw 10b aroundFirst revolute pair 100b rotation is opened or closure.Interaction between driving head 70 and the second jaw 20b is approximate, is no longer described in detail.
The elongated shaft assembly 2b quickly can be dismantled and be assembled, and assembly or disassembly during all do not need installation orDismantle tiny pin shaft or other tiny separate components.The assembly method of a kind of elongated shaft assembly 2b and steps are as follows:
S1, the first jaw, the second jaw and lever component 5 cooperate: the first driving lug 740 being inserted into the first driven slot 15b and is constitutedSecond driving lug 750 is inserted into the second driven slot 25b and constitute the second cam secondary 800b by the first cam secondary 700b, rotation theOne, the second jaw makes the first translational plane 74 match with the first medial surface 12, and the second translational plane 75 matches with the second medial surface 22；
S2 cooperates with pedestal: being fitted into pedestal 30g together with by the component installed in S1 step, make first the first lateral surface 11 withThe matching of first mounting surface 330 and the second lateral surface 21 is matched with the second mounting surface 340, and by the described first 334a pairs of narrow body characteristicsThe neat first notch 141b, while the second narrow body characteristics 344a is aligned the second notch 241b；Then it translates and turnsThe first, the second jaw is moved, so that the fixed column part 333a of the first cylinder basal plane 142b and first is matched and constitutes the first rotationSecondary 100b, the second cylinder basal plane 242b and the second fixed column part 343a, which match, constitutes the second revolute pair 200b (with reference to figure27-30 understands).
In a kind of specific design scheme, the center of circle of the geometric centroid of slot proximal end 151b and the first datum hole 14b are along fasteningThe shortest distance of plane is Lj1, wherein Lj1 > Ld1.Approximately, in elongated shaft assembly 2b, the driving head 70 includes the limitState, three kinds of states of critical state and working condition, the corresponding driving head 70 include extreme displacement Lu2 (the first narrow bodyWhen feature 334a and the first notch 141b are completely disengaged), critical displacement Le2 (the first narrow body characteristics 334a and described firstWhen notch 141b is aligned) and work shift Lw2 (fixation of the first cylinder basal plane 142b and first column part 333a matches compositionFirst revolute pair 100b).
With continued reference to Figure 27-30, in another specific scheme, the size of the first jaw wrist 16b meets following relationship:Hw1+Hj2+ δ 2=Hb1, in which: Hw1 is the thickness of the first jaw wrist 16b, and Hj2 is the thickness of the second jaw tail 23b, and δ 2 is to addWork error, Hb1 are the first fixed arm of pedestal and the spacing of the second fixed arm.
With continued reference to Figure 27-30, in another specific scheme, the size of the second jaw wrist 26b meets following relationship:Hw2+Hj1+ δ 3=Hb1, in which: Hw2 is the thickness of the second jaw wrist 26b, and Hj1 is the thickness of the first jaw tail 13b, and δ is to addWork error, Hb1 are the first fixed arm of pedestal and the spacing of the second fixed arm.
Referring now to Figure 27-30, in another specific scheme, the work subtended angle Awork of the elongated shaft assembly 2b, usual 0 °≤ Awork≤80 °, the configuration design of the first jaw wrist 16b (the first jaw wrist 26b) is in the work subtended angle of elongated shaft assembly 2bWithin the scope of Awork, the first supporting surface 17b is contacted always with the second medial surface 22, the second supporting surface 27b and the first medial surface12 contact always.The configuration design of the first jaw wrist 16b (the second jaw wrist 26) at can avoid the driving head 70 work shapeAxial movement track under state and limiting condition, i.e. elongated shaft assembly 2b are assembling, in work and disassembly process, the first jaw wrist16b (the second jaw wrist 26) is non-interference with driving head 70.
Figure 31-32 depicts a kind of improved lever component 5c.The structure and group of the lever component 5c and lever component 5At approximation.The main distinction is to drive the setting of neck.Briefly, driving neck 72c includes the first locating piece 721 and secondLocating piece 726.In a kind of embodiment, first locating piece 721 includes located lateral face 722 and axial locating surface 723, theTwo locating pieces 726 include located lateral face 727 and axial locating surface 728.
It includes the first jaw tail 13c (the second jaw tail 23c) that Figure 33, which depicts the improved first jaw 10c (the second jaw 20c) of one kind,First jaw tail 13c includes the first jaw tail positioning region 133c to match with 721 shape and size of the first locating piece, the second jaw tail23c includes the second jaw tail positioning region 233c to match with 726 shape and size of the second locating piece.
A kind of improved elongated shaft assembly 2c includes the first jaw 10c, the second jaw 20c, quiet tube assembly 4b (not shown) and dynamicBar assembly 5c.Figure 34 describes the assembling process of elongated shaft assembly 2c, and succinct says: by the first jaw 10c, the second jaw 20c and leverFirst driving lug 740 is first inserted into the first driven slot 15b and constitutes the first cam secondary 700b, second is driven by component 5c cooperationDynamic lug 750, which is inserted into the second driven slot 25b, constitutes the second cam secondary 800b, and the first, the second jaw of rotation makes the first translational plane 74Match with the first medial surface 12, the second translational plane 75 matches with the second medial surface 22, the first jaw tail positioning region 133c andA positioning block 721 matches, and the second jaw tail positioning region 233c is matched with the second locating piece 726；Then three's mated condition is kept, thenIt is fitted into pedestal together, matches the first lateral surface 11 and the second lateral surface 21 and second with the first mounting surface 330Mounting surface 340 matches, and the described first narrow body characteristics 334a is aligned the first notch 141b, while the second narrow body is specialIt levies 344a and is aligned the second notch 241b；Finally translate and rotate the first, the second jaw, make the first cylinder basal plane 142b withFirst fixed column part 333a, which matches, constitutes the fixed cylindrical portion of the first revolute pair 100b, the second cylinder basal plane 242b and secondDivide 343a to match and constitute the second revolute pair 200b, completes assembly.
The setting of first locating piece 721 (the second locating piece 726) provide it is enough pre-fix, can be largelyRaising assembly efficiency, reduce assembly skill demand.Studies have shown that in the case that suitable positioning mechanism is set, unskilled laborPeople or customer (medical staff) pass through simple training, can skilled completion elongated shaft assembly with no difficulty disassembly and refitting.Although the shape for the locating piece described in figure is located lateral face and axial locating surface right angle, a those of ordinary skill holdsEasy other shapes, this is without departing from thought of the invention.First locating piece 721 (the second locating piece 726) is also equipped with enhancingDrive the function of neck intensity.
Those skilled in the art is to be understood that first different (the second) boss, first (the second) datum hole,One (the second) pilum, first (the second) fixation hole, first (the second) notch, the narrow body characteristics of first (the second) are substituted or are tiedIt closes, can produce different design schemes.
The hysteroscope hand-held apparatus of reuse can usually be disassembled into handle and elongated shaft assembly two parts into disassembly, clearlyIt washes, reset and is reused after sterilizing.Sterilization method is usually high-temperature heat sterilization or low-temperature plasma sterilization, however no matter is usedWhich kind of sterilization method, it is necessary to used instrument is thoroughly cleaned up first, it just can be by corresponding sterilization protocolAfter being sterilized, it can just be re-used for operation and use.In operation, head part of apparatus need to operate patient's body tissue, head instrumentMovable joint be easy residual tissue residue, be difficult to be cleaned.In order to solve this problem, the prior art discloses will be thinLong axis component is disassembled into 2 parts, the scheme of 3 parts.However up to the present, it the prior art that has disclosed and has been commercializedMultiplexing hysteroscope hand-held apparatus, first jaw on head is non-dismountable between the second jaw and pedestal.This leads to the first jaw, and secondCradle head between jaw and pedestal is easy residual disease tissue or bacterial virus, it is extremely difficult to be cleaned, so that sterilization processUnreliable, there are the risks of cross-infection.
In conjunction with above, those skilled in the art are readily understood that one of thought of the invention, i.e. the first jaw tail and secondJaw tail is sandwiched between the first fixed arm and the second fixed arm, the first jaw tail and the first fixed arm the first revolute pair of composition, and secondJaw tail and the second fixed arm constitute the second revolute pair, and first revolute pair and the second revolute pair can be dismantled and be reset repeatedly.OneIn kind implementation, for convenience of Client application, depicted herein dismantling and reset repeatedly does not need additional meansManually disassembly and refitting.
In a kind of optional embodiment, the first, the second jaw tail be sandwiched in the first fixed arm and the second fixed arm itBetween, wherein the first jaw tail and the first fixed arm constitute the first underconstrained revolute pair, the second jaw tail and the second fixed arm constitute secondUnderconstrained revolute pair.In a kind of specific embodiment, the first underconstrained revolute pair includes in the first outer cylinder and firstCylinder；The first rotation of the first underconstrained revolute pair is substantially parallel with the buckling surface and big with the movement basal planeIt causes vertical；First outer cylinder and the first inner cylinder include 2 freedom degrees, i.e., certainly around the rotation of the first rotationBy degree and along the translation freedoms of the first rotation.Similarly, in a kind of specific embodiment, described second is owed aboutBeam revolute pair includes the second outer cylinder and the second inner cylinder；The second rotation axis and the button of the second underconstrained revolute pairConjunction face is substantially parallel and substantially vertical with the movement basal plane；Second outer cylinder and the second inner cylinder include 2 freedom degrees,Translation freedoms i.e. around the rotary freedom of second rotation axis and along second rotation axis.
In a kind of specific embodiment, first outer cylinder includes cylinder stationary plane and cut-out feature, and described firstInner cylinder includes part cylindrical and narrow body characteristics, and the partial cylinder stationary plane and part cylindrical constitute the first revolute pair,When the first revolute pair, which is rotated to narrow body characteristics and cut-out feature, to align, the first revolute pair can be detached from.
In an additional aspect of the present invention, propose that a kind of components 3d, the components 3d include the first jaw 10d,Second jaw 20d and lever component 5c.
Such as Figure 35, the structure and composition of the first jaw 10d (the second jaw 20d) and aforementioned first jaw 10c (the second jaw 20c)It is essentially identical.First driven slot 15d includes the first driven slot distal end 159d and extends to the first driven slot proximal end by slot distal endThe substantially parallel slot side of 151d.The slot proximal end 151d, slot side and slot distal end 159d constitute closed racetrack annularSlot.The first driven slot 15d extends transversely through the first jaw tail.Second driven slot 25d include the second driven slot distal end 259d andThe substantially parallel slot side of the second driven slot proximal end 251d is extended to by slot distal end.The slot proximal end 251d, slot side and slotDistal end 259d constitutes closed racetrack annular groove.The second driven slot 25d extends transversely through the second jaw tail.I.e. to run through jaw tailDriven slot substitution the first jaw 10c (the second jaw 20c) in original driven slot 15b (25b) not through jaw tail, constitute new theOne jaw 10d (the second jaw 20d).
As Figure 36-37 depicts the composition and assembly relation of components 3d: the driving block 73 of lever component 5c is pressed from both sidesBetween the second jaw tail 23b of the first jaw tail 13b and the second jaw 20d of the first jaw 10d, the first driving lug 740 insertion firstThe first cam secondary 700d is constituted in driven slot 15d, the second driving lug 750, which is inserted into the second driven slot 25d, constitutes secondCam secondary 800d.In a kind of design scheme, the first cam secondary 700d (the second cam secondary 800d) of the components 3d is justIt is non-dismountable under normal state, i.e., first lug 740 can be slided in the first driven slot 15d but cannot completely disengage first fromDynamic slot 15d (the second lug 750 can slide in the second driven slot 15d but cannot completely disengage the second driven slot 25d).It is realExisting aforementioned first cam secondary (the second cam pair) not only can mutually slide but also there are many inseparable technical solution.Such as Figure 38-40,In a kind of fixed solution, extruding is distally applied to the first driving lug 740, the external force such as percussion make it be deformed body 741, instituteState deformable body 741 size be greater than matched driven slot width dimensions, thus prevent the first driving lug from first fromIt falls off in dynamic slot.Preferably, the first driven slot 15d also includes notch chamfering (or notch depression) 158d to accommodate deformable body741.In another fixed solution as shown in figure 41, the first driving 740 distal end of lug includes technique pit 742e, is applied to it crowdedThe external force such as pressure percussion, make it be deformed body 741e, and the size of the deformable body 741e is greater than the width of matched driven slotSize is spent, to prevent the first driving lug from falling off from the first driven slot.Matched, first driven slot includesDeep gouge 158e or to keep away a region 158e.
Another optional alternative solution (not shown) drives lug 740 with the first drive hole 740f substitution first,With the second drive hole 750f substitution the second driving lug 750, using additional pin by the first driven slot 15d and drive blockThe riveting of body 73, which is got up, constitutes the first cam pair, and riveting pin can slide between the first driven slot but cannot to completely disengage first drivenSlot.Similarly, the second driven slot 25d and the riveting of driving block 73 are got up to constitute the second cam pair using additional pin,Riveting pin can slide between the second driven slot but cannot completely disengage the second driven slot.
In an additional aspect of the present invention, propose that a kind of elongated shaft assembly 2d includes aforementioned components 3d and quiet tube assembly4b.In conjunction with Figure 27, Figure 34 and Figure 37 and suit above, it is readily understood that the assembly or disassembly method of elongated shaft assembly 2d.BrieflySay, after first components 3d is installed, rotation the first, the second jaw make jaw tail positioning region and positioning Block- matching, then put togetherEnter in pedestal 30a, narrow body characteristics and notch alignment, mobile lever component to work shift, then the first revolute pair and the second rotationPair is formed, and the assembly of elongated shaft assembly 2d is completed.The displacement of reverse mobile lever component oversteps the extreme limit when being displaced, the first revolute pairIt mutually falls off with the second revolute pair, so that a kind of elongated shaft assembly 2d component is disassembled into components 3d and quiet tube assembly 4b twoPart, this two parts are easily washable.The elongated shaft assembly of the reuse disclosed compared with the existing technology, it is of the present inventionElongated shaft assembly dismounting is more convenient, cleans without dead angle.
Such as Figure 42, in another design scheme, the quiet tube assembly 4b further includes the insulation being coated on outside hollow tube 40Pipe 451 and the connector 455 for being fixed on insulation pipe end, the pipe proximal end 49 of the hollow tube 40 further includes limiting slot 48.
As Figure 43-44 proposes a kind of reuse Handleset 9 in an additional aspect of the present invention.The HandlesetComprising the first handle 91 and the second handle 92 that arm pivot post 91 connects, first handle and the second handle can be rotated around arm pivot post.TurnWheel assembly 95 includes runner 951, outer sleeve 953 and inner sleeve 955, and outer sleeve 953 is connected with runner 951, inner sleeve 955It is connected with the first handle 91, outer sleeve 953 and inner sleeve 955 constitute third revolute pair and make runner 951 can be relative to the first handleRotation.Button assembly 97 is mounted in the button installation bin 98 of the first handle 91.Button assembly 97 includes latch fitting 972, the latch fitting972 one end is connect with elastic element 971 and its other end is connect with button 974, and latch fitting 972 is limited in peace by fastener 973Binning 98, elastic element 971 drive latch fitting 972 to laterally move to lock position in installation bin 98.
With reference to Figure 42-44, in another aspect of the invention, a kind of hand-held apparatus 1 for Minimally Invasive Surgery is provided, includesAforementioned elongated shaft assembly 2 and Handleset 9, wherein bar proximal end 89 is matched with the second handle 93, and elastic element 971 drives latch fitting 972Lock position is laterally moved in installation bin 98 and is matched with limiting slot 48, and connector 455 matches with runner 951 and by runnerTurning moment is transmitted to elongated shaft assembly.First handle and the second handle are rotated around arm pivot post, so that catch bar proximal end 89 is along axisTo movement, and then driving head is pushed to be axially moveable, and then drive in first (the second) cam pair and produce relative sliding, and then compeledFirst (the second) jaw is rotated around first (the second) revolute pair to open or be closed.
So that 972 transverse shifting of latch fitting is deviateed lock position by 97 compression elastic element 971 of lower button, makes limiting slot 48 and lockPart 972 is detached from, to elongated shaft assembly 2 and Handleset 9 be separated, with reference to above in turn by first (the second) jaw and quiet pipe groupPart separates, thus the easily cleaning elongated shaft assembly without dead angle.
United States Patent (USP) US5489290, US5947996, US6340365, US7931667, US8551077, US8926599 etc.Disclose a variety of elongated shaft assemblies with reuse quickly connecting and disassembly mechanism for handle, slightly adaptability is repaired for these mechanismsChange, the connection being used equally between elongated shaft assembly and multiplexing handle of the invention.Up to the present, Minimally Invasive Surgery instrument fieldIt has disclosed much about the connection type between the elongated shaft assembly and handle of Minimally Invasive Surgery instrument, to its slightly adaptabilityModification, is used equally for the connection of elongated shaft assembly and handle of the invention, not exhaustive herein.The present invention is had shown and describedMany different embodiments and example.One of ordinary skill in the art, in the premise for not departing from the scope of the inventionUnder, by suitably modified adaptive improvement can be made to the method and instrument.Several kinds of amendment schemes are referred, forFor those skilled in the art, other amendment schemes are also to be contemplated that.Therefore the scope of the present invention should be according to additionalClaim, while it being understood not to the structure for being shown and being recorded by specification and attached drawing, the particular content of material or behaviorIt is limited.