CN111035418A - Visual direction-changing operation power device - Google Patents

Abstract

Translated fromChinese

本发明公开了一种可视变向手术动力装置，包括：手柄；刀具，其包括刀杆和刀头，刀杆的后端与手柄连接，刀杆的前端与刀头的后端通过转动连接机构连接，使刀头可以绕转动轴线转动以调节刀头的中心线轴线与刀杆的中心轴线之间的夹角；刀头变向装置，其用于驱动刀头绕转动轴线转动；还包括：摄像组件，其包括摄像头和线缆，摄像头与刀头连接，且随着刀头绕转动轴线的转动而转动，线缆的前端与摄像头连接。本发明的可视变向手术动力装置，通过刀头变向装置同时调节刀头转动角度和摄像头视野角度，因此医师仅需单手握持，降低了医师操作难度；而且，摄像头与刀头相对静止，实现刀头和摄像头同步操作，节省了医师观察时间，使手术安全性大大提高。

The invention discloses a power device for visual direction change operation, comprising: a handle; a cutter, which comprises a cutter bar and a cutter head, the rear end of the cutter bar is connected with the handle, and the front end of the cutter bar and the rear end of the cutter head are connected by rotation The mechanism is connected so that the cutter head can be rotated around the rotation axis to adjust the angle between the center line axis of the cutter head and the central axis of the cutter bar; the cutter head direction changing device is used to drive the cutter head to rotate around the rotation axis; it also includes : a camera assembly, which includes a camera and a cable, the camera is connected with the cutter head, and rotates as the cutter head rotates around the rotation axis, and the front end of the cable is connected with the camera. The visual direction changing operation power device of the present invention adjusts the rotation angle of the cutter head and the viewing angle of the camera simultaneously through the cutter head direction changing device, so the doctor only needs to hold it with one hand, which reduces the difficulty of the doctor's operation; moreover, the camera is opposite to the cutter head Still, the knife head and the camera can be operated synchronously, which saves the doctor's observation time and greatly improves the safety of the operation.

Description

Visual direction-changing operation power device

Technical Field

The invention relates to the technical field of medical instruments, in particular to a visual direction-changing operation power device.

Background

An endoscope is an auxiliary instrument which enters a human body through a natural pore canal or a surgical incision for observation, and is commonly used for diagnosis and treatment of patients. Endoscopes are classified into hard lenses and soft lenses according to hardness. At present, a hard mirror tube needs to be rotated when the angle of a visual field of the hard mirror is adjusted in a human body, the rotating area of the hard mirror tube is large, the side damage to a minimally invasive surgery incision is caused, and the internal space of a human body surgery part limits the whole rotation of the hard mirror tube. The soft lens is not easy to control in bending and rotating when adjusting the view angle in a human body, has low operation accuracy, small rigidity, is difficult to control, cannot be positioned and locked, and is difficult to adjust and maintain the expected view angle.

In endoscopic surgery, a surgical power device is often used in a matched manner for excision therapy, a doctor operates the surgical power device and an endoscope at the same time, and the cooperation of the surgical power device and the endoscope requires abundant instrument operation experience. When in operation, doctors need to see the endoscope in the focus area and need an operation power device which can cut off the focus, for the focus in the specific position area, the doctors usually swing the instruments outside the human body to realize the visual field detection and the change of the cutting treatment angle, the rotation amplitude is large, the internal space of the operation part of the human body is limited, the operation control is not easy, and the stability is poor. Although some endoscope and operation power devices have a planing head, a grinding bit or a rotary cutting head which can change directions, the two directions are asynchronous, and the two heads still need to work in a matching way, so that the operation difficulty is increased.

Disclosure of Invention

In view of the current state of the prior art, the invention provides a visual direction-changing operation power device which can conveniently adjust the visual field angle and the cutter head angle in the endoscopic operation.

In order to solve the technical problem, the invention provides a visual direction-changing surgical power device, which comprises: a handle; the cutter comprises a cutter bar and a cutter head, the rear end of the cutter bar is connected with the handle, the front end of the cutter bar is connected with the rear end of the cutter head through a rotating connecting mechanism, and the cutter head can rotate around a rotating axis to adjust an included angle between the central line axis of the cutter head and the central line of the cutter bar; the tool bit direction changing device is used for driving the tool bit to rotate around the rotating axis; further comprising: the camera shooting assembly comprises a camera and a cable, the camera is connected with the cutter head and rotates along with the rotation of the cutter head around the rotation axis, and the front end of the cable is connected with the camera.

According to the visual direction-changing operation power device, the camera is arranged on the cutter head, and the rotating angle of the cutter head and the visual field angle of the camera are adjusted simultaneously through the cutter head direction-changing device, so that a doctor only needs to hold the device with one hand, and the operation difficulty of the doctor is reduced; moreover, the camera and the cutter head are relatively static, so that synchronous operation of the cutter head and the camera is realized, the observation time of a doctor is saved, and the operation safety is greatly improved. Therefore, the visual direction-changing operation power device provided by the invention combines the endoscope and the operation power system, and solves the problems that the endoscope tube needs to be integrally swung for angle adjustment in the endoscopic operation and the operation instrument is inconvenient and asynchronous to adjust in cooperation with the endoscope tube.

In one embodiment, the tool bit direction changing device comprises an instrument tube, a steering head, a traction member and a traction driving mechanism, the instrument tube is sleeved on the peripheries of the tool bar and the cable, the rear end of the instrument tube is fixed on the handle, the steering head is sleeved on the peripheries of the tool bit and the camera, the rear end of the steering head is rotatably connected with the front end of the instrument tube around the rotating axis, the traction member is arranged in the instrument tube and can move back and forth along the axial direction of the instrument tube, the front end of the traction member is connected with the rear end of the steering head, the traction driving mechanism is arranged on the handle, and the traction driving mechanism is connected with the rear end of the traction member and used for driving the traction member to move back and forth along the axial direction of the instrument tube.

In one embodiment, the camera head includes a mounting member fixed within the steering head, an image sensor and an illuminating member mounted on the mounting member.

In one embodiment, the pull member is tubular and is disposed within the instrument tube, and the knife bar and the cable are received within the pull member.

In one embodiment, the traction piece can rotate between an unlocking position and a locking position relative to the instrument tube, and an unlocking sleeve for driving the traction piece to rotate between the unlocking position and the locking position is arranged on the handle; a locking mechanism is arranged between the front end of the traction piece and the rear end of the steering head, when the traction piece is located at the unlocking position, the locking mechanism allows the rotating head to rotate around the rotating axis, and when the traction piece is located at the locking position, the locking mechanism limits the rotating head to rotate around the rotating axis.

In one embodiment, a front end of the traction piece is provided with a first connecting part, a rear end wall of the steering head on one side of the rotation axis is provided with a second connecting part matched with the first connecting part, and the front end of the traction piece and the rear end of the steering head are connected through the first connecting part and the second connecting part; when the pulling piece is located at the unlocking position, the first connecting portion is combined with the second connecting portion, and when the pulling piece is located at the locking position, the first connecting portion is separated from the second connecting portion.

In one embodiment, the locking mechanism includes a lug extending axially forward from a front face of the puller, the lug being located on the rotational axis when the puller is rotated to the unlocked position, the lug being located to one side of the rotational axis when the puller is rotated to the locked position, and the lug being inserted into the rear end of the steering head.

In one embodiment, the handle includes a fixed sleeve, the fixed sleeve is fixed on the rear end of the instrument tube, the rear end of the traction piece extends out of the rear end of the instrument tube, the unlocking sleeve is fixed on the rear end of the traction piece, the traction driving mechanism includes an adjusting threaded sleeve and an elastic component, the adjusting threaded sleeve is located on the front side of the unlocking sleeve, the adjusting threaded sleeve is sleeved on the fixed sleeve and is in threaded fit with the fixed sleeve, and the elastic component is arranged between the unlocking sleeve and the handle and used for driving the unlocking sleeve to move forward.

In one embodiment, the handle comprises a tube seat located at the rear side of the unlocking sleeve, the rear end of the unlocking sleeve is in plug fit with the front end of the tube seat, a positioning mechanism is arranged between the rear end of the unlocking sleeve and the front end of the tube seat and used for limiting the unlocking sleeve to axially move and allowing the unlocking sleeve to rotate when the pulling piece rotates to the locking position, and limiting the unlocking sleeve to rotate and allowing the unlocking sleeve to axially move when the pulling piece rotates to the unlocking position.

In one embodiment, the handle comprises a tube seat positioned at the rear side of the unlocking sleeve, the rear end of the unlocking sleeve is in plug fit with the front end of the tube seat, the positioning mechanism comprises a locking boss arranged at the rear end of the unlocking sleeve or the front end of the tube seat and a channel which is arranged at the front end of the tube seat or the rear end of the unlocking sleeve and is matched with the locking boss, and the channel comprises a turning channel extending along the circumferential direction and an axial channel extending along the axial direction and communicated with one end of the turning channel; when the traction piece is located at the locking position, the locking boss is located in the rotary groove channel, and when the traction piece rotates to the unlocking position, the locking boss is located in the axial groove channel.

The advantageous effects of the additional features of the present invention will be explained in the detailed description section of the present specification.

Drawings

FIG. 1 is a front view of a visual direction change surgical power unit in an embodiment of the present invention;

FIG. 2 is a partial cross-sectional view of a visual direction changing surgical power plant in an embodiment of the present invention;

FIG. 3 is a perspective view of a visual direction changing surgical power unit in an embodiment of the present invention;

FIG. 4 is an enlarged view of a portion of FIG. 3 at A;

FIG. 5 is a schematic view of the internal structure of a visual direction changing surgical power unit in an embodiment of the present invention;

FIG. 6 is an enlarged partial view of FIG. 5 at B;

FIG. 7 is a schematic perspective view of a steering head;

FIG. 8 is an enlarged, fragmentary view of a visual direction changing surgical power unit in an embodiment of the present invention;

fig. 9 is a perspective view of an unlocking sleeve and a tube seat of the visual direction-changing surgical power device in an embodiment of the invention.

Description of reference numerals: 10. a handle; 11. fixing a sleeve; 12. unlocking the sleeve; 121. locking the boss; 122. a status indicator symbol; 13. adjusting a threaded sleeve; 14. a tube holder; 141. an axial channel; 142. a rotary channel; 143. an up unlock state identifier; 144. a locking state identifier symbol; 15. a spring; 16. a handle body; 20. a cutter bar; 21. an outer cutter tube; 22. an inner cutter tube; 221. a ball head; 23. a drive joint; 40. a cutter head; 41. an outer cutter head; 42. an inner cutter head; 421. a spherical groove; 50. an instrument tube; 51. an inner auxiliary ear; 52. an inner ear hole; 60. a steering head; 61. an outer appendage; 62. an external ear canal; 63. a second connecting portion; 631. transverse opening; 632. erecting a port; 64. a guide groove; 70. a pulling member; 71. a first connection portion; 711. a transverse portion; 712. a vertical portion; 72. a lug; 80. a pin shaft; 90. a pilot screw head; 100. a camera; 101. a mounting member; 102. an image sensor; 103. an illuminating member.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments. It should be noted that, in the following embodiments, features in the embodiments may be combined without conflict.

As shown in fig. 1 and 2, the visual direction-changing surgical power device in one embodiment of the present invention includes ahandle 10, a cutter, a tool bit direction-changing device, and a camera assembly, wherein thehandle 10 is used for a doctor to hold. As an example, thehandle 10 includes ahandle body 16, atube holder 14, and a fixingsleeve 11, thehandle body 16 is three-forked to facilitate grasping, and thetube holder 14 is connected to a front end of thehandle body 16.

The cutter is used for cutting off human tissues and comprises acutter bar 20 and acutter head 40, the rear end of thecutter bar 20 is connected with thehandle 10, the front end of thecutter bar 20 is connected with the rear end of thecutter head 40 through a rotating connecting mechanism, and thecutter head 40 can rotate around a rotating axis X to adjust an included angle between the central line axis of thecutter head 40 and the central axis of thecutter bar 20.

The tool may be a planing tool, a grinding tool, a milling tool, or a drilling tool, and the planing tool is used as an example in the present embodiment. As shown in fig. 1 and 2, thetool bar 20 includes anouter tool tube 21 and aninner tool tube 22, the rear end of theouter tool tube 21 is fixed on thehandle 10, and specifically, the rear end of theouter tool tube 21 passes through the fixingsleeve 11, the unlockingsleeve 12 and the adjustingscrew 13 and is fixed in the inner holes of thetube seat 14 and thehandle body 16. Theinner knife pipe 22 is disposed inside theouter knife pipe 21 and can rotate circumferentially relative to theouter knife pipe 21, the rear end of theinner knife pipe 22 extends out of theouter knife pipe 21 and extends out of the rear end of thehandle 10, and the rear end of theinner knife pipe 22 is connected with a driving joint 23, and the driving joint 23 is used for being connected with an output end of a driving device (not shown in the figure). Theinner knife tube 22 is driven by the driving device to rotate circumferentially relative to theouter knife tube 21.

Thecutter head 40 comprises anouter cutter head 41 and aninner cutter head 42, theinner cutter head 42 is rotatably arranged in theouter cutter head 41, the rear end of theinner cutter head 42 is connected with the front end of theinner cutter tube 22 through a rotating connection mechanism, and therefore theinner cutter head 42 can rotate around a rotation axis X while rotating under the driving of theinner cutter tube 22, and the direction changing is achieved. A cutting window is arranged on the tube wall of theouter cutter head 41 close to the front end, a cutting edge part is arranged at the front end of theinner cutter head 42, the cutting edge part is matched with the cutting window to cut off human tissues extending into the cutting window, and the rear end of theinner cutter head 42 extends out of the rear end of theouter cutter head 41 and is connected with the rotary connecting structure of theinner cutter tube 22.

The rotation connecting mechanism in this embodiment is a ball joint universal joint, which includes aspherical groove 421 provided on the rear end of theinner cutter head 42 and aball 221 provided on the front end of theinner cutter tube 22 and engaged with thespherical groove 421, and theball 221 is snapped into thespherical groove 421 and is rotatably engaged with thespherical groove 421. Alternatively, the rotary connection can also be a ball joint or the like.

The tool bit deviator is used to drive thetool bit 40 to rotate about the axis of rotation X. In one embodiment, the tool bit direction changing device comprises aninstrument tube 50, asteering head 60, atraction piece 70 and a traction driving mechanism, wherein theinstrument tube 50 is sleeved on the periphery of thetool bar 20 and the cable, and the rear end of theinstrument tube 50 is inserted and fixed in the fixingsleeve 11 of thehandle 10. The steeringhead 60 is sleeved on the periphery of thecutter head 40 and thecamera head 100, and the rear end of thesteering head 60 is rotatably connected with the front end of theinstrument tube 50 around the rotating axis X.

There are various ways of connecting the rear end of thesteering head 60 to the front end of theinstrument tube 50, and as one example, as shown in fig. 6, twoinner sub-ears 51 are provided at the front end of theinstrument tube 50 so as to be opposed to each other in the direction of the rotation axis X, and aninner ear hole 52 is provided in theinner sub-ear 51. As shown in fig. 7, twoouter sub-ears 61 are provided at the rear end of thesteering head 60 so as to be opposed to each other in the direction of the rotation axis X, and anouter ear hole 62 is provided in theouter sub-ears 61. As shown in fig. 4, the twoouter sub-ears 61 of thesteering head 60 are respectively located outside the twoinner sub-ears 51 of theinstrument tube 50, the outer ear holes 62 on theouter sub-ears 61 are opposite to the inner ear holes 52 on theinner sub-ears 51, and thepin shaft 80 extending along the rotation axis X passes through the outer ear holes 62 and the inner ear holes 52 to rotatably connect the rear end of thesteering head 60 with the front end of theinstrument tube 50. The rear end of thesteering head 60 and the front end of theinstrument tube 50 may be connected by other rotation pairs, such as a circular hole provided in one of the rear end of thesteering head 60 and the front end of theinstrument tube 50, and a cylinder fitted into the circular hole and rotatably inserted into the circular hole.

The pullingmember 70 is disposed in theinstrument tube 50 and can move back and forth along the axial direction of theinstrument tube 50, and the front end of the pullingmember 70 is connected with the rear end of thesteering head 60. The axial forward and backward movement of the pullingmember 70 drives thesteering head 60 to rotate about the rotation axis X. The front end of the pullingmember 70 is connected to the rear end of thesteering head 60 in various ways, for example, the front end of the pullingmember 70 is connected to the rear end of thesteering head 60 by a steel belt or by a rack and pinion mechanism.

The pullingmember 70 may be linear, rod-shaped or tubular, and for convenience of assembly, the pullingmember 70 in this embodiment is tubular, the pullingmember 70 is received in theinstrument tube 50, and theknife bar 20 and the cable are received in the pullingmember 70.

In one embodiment, theretractor 70 is rotatable relative to theinstrument tube 50 between an unlocked position (the position shown in fig. 3 and 4) and a locked position, the tool bit deviator further comprises an unlockingsleeve 12 disposed on thehandle 10, the unlockingsleeve 12 is fixedly sleeved on the rear end of theretractor 70, and the unlockingsleeve 12 is used for driving theretractor 70 to rotate between the unlocked position and the locked position; a locking mechanism is provided between the front end of thepuller 70 and the rear end of thesteering head 60. When the pullingpiece 70 is positioned at the unlocking position, the locking mechanism allows the rotatinghead 60 to rotate around the rotating axis, and when the pullingpiece 70 is positioned at the locking position, the locking mechanism limits the rotatinghead 60 to rotate around the rotating axis, so that the visual direction-changing operation power device has the direction-changing function and the direction-unchangeable function at the same time, the functions are expanded, and different requirements of doctors are met.

The front end of the pullingmember 70 is provided with a first connectingportion 71, the rear end wall of thesteering head 60 on the side of the rotation axis is provided with a second connectingportion 63 which is engaged with the first connectingportion 71, and the front end of the pullingmember 70 and the rear end of thesteering head 60 are connected through the first connectingportion 71 and the second connectingportion 63. When the pullingmember 70 is located at the unlocking position, the first connectingportion 71 is engaged with the second connectingportion 63, and when the pullingmember 70 is located at the locking position, the first connectingportion 71 is disengaged from the second connectingportion 63. As an example, the first connectingportion 71 is T-shaped (as shown in fig. 6), the first connectingportion 71 includes a transverse portion 711 and a vertical portion 712, the second connectingportion 63 is a T-shaped notch (as shown in fig. 7) provided at the rear end of thesteering head 60, the second connectingportion 63 includes atransverse port 631 extending in the circumferential direction of thesteering head 60 and avertical port 632 extending in the axial direction of thesteering head 60, and the width of thevertical port 632 is smaller than the width of the vertical portion 712. Thus, when theretractor 70 is rotated to the unlocked position, the cross portion 711 snaps into thecross aperture 631 and can rotate within thecross aperture 631.

Preferably, the rear end of thesteering head 60 is provided with two second connectingportions 63, and the two second connectingportions 63 are located on both sides of the rotation axis X, respectively. As shown in fig. 2 and 3, when the pullingmember 70 rotates until the first connectingportion 71 is combined with the second connectingportion 63 on the upper side, the steeringhead 60 can rotate upwards, and when the pullingmember 70 rotates until the first connectingportion 71 is combined with the second connectingportion 63 on the lower side, the steeringhead 60 can rotate downwards, so that the rotation range of thesteering head 60 is greatly increased.

Preferably, aguide groove 64 extending in a circumferential direction is provided on an inner wall of thesteering head 60 between the two second connectingportions 63, and the first connectingportion 71 slides along theguide groove 64 when the pullingmember 70 rotates, so that the first connectingportion 71 rotates smoothly.

The locking mechanism comprises a lug 72 (see fig. 6) extending axially forward from the front face of the pullingmember 70, thelug 72 being located on the axis of rotation X when the pullingmember 70 is rotated to the unlocked position, the position of thelug 72 corresponding to the position of theinner counter lug 51, the steeringhead 60 being free to rotate. When the pullingmember 70 is rotated to the locking position, thelug 72 is positioned on one side of the rotation axis X, the position of thelug 72 is offset from the position of theinner sub-lug 51, and thelug 72 is inserted into the rear end of thesteering head 60 to restrict thesteering head 60 from rotating.

The traction driving mechanism is arranged on thehandle 10, connected with the rear end of thetraction piece 70, and used for driving thetraction piece 70 to move back and forth along the axial direction, so as to drive the steeringhead 60 to rotate around the rotation axis X, and further drive the cutter head and thecamera 100 to synchronously rotate around the rotation axis X.

As shown in fig. 1 and 2, the drawing driving mechanism includes an adjustingscrew 13 and an elastic component, the adjustingscrew 13 is located at the front side of the unlockingsleeve 12, an external thread is provided on the outer peripheral surface of the rear end of the fixedsleeve 11, an internal thread matched with the external thread is provided on the inner wall of the adjustingscrew 13, and the adjustingscrew 13 is connected with the fixedsleeve 11 through the external thread and the internal thread. The elastic member is used to drive the unlockingsleeve 12 forward. In this embodiment, the elastic member is aspring 15, the rear end of the unlockingsleeve 12 is provided with a spring mounting groove, the front end of thespring 15 is mounted in the spring mounting groove, and the rear end is mounted in thetube seat 14.

In one embodiment, the rear end of therelease sleeve 12 is in a plug-in fit with the front end of thebase 14, and a positioning mechanism is provided between the rear end of therelease sleeve 12 and the front end of thebase 14 for limiting the axial movement of therelease sleeve 12 and allowing therelease sleeve 12 to rotate when thepull 70 is rotated to the locked position, and for limiting the rotation of therelease sleeve 12 and allowing the axial movement of therelease sleeve 12 when thepull 70 is rotated to the unlocked position.

In this embodiment, the rear end of therelease sleeve 12 is inserted into the front end of thesocket 14. As shown in fig. 9, the positioning mechanism includes a lockingboss 121 provided on the outer peripheral surface of the rear end of the unlockingsleeve 12 and a groove provided on the inner wall of thesocket 14 to be engaged with the lockingboss 121. The slot includes aspiral slot 142 extending in a circumferential direction and anaxial slot 141 extending in an axial direction and communicating with both ends of thespiral slot 142, respectively, and the lockingprojection 121 is slidable in thespiral slot 142 and theaxial slot 141. Of course, as an alternative, the positions of the lockingprojection 121 and the groove may be reversed, i.e., the lockingprojection 121 is provided on the inner wall of thesocket 14 and the groove is provided on the outer peripheral surface of the rear end of thelock release sleeve 12. The forward end of thesocket 14 is inserted into the rearward end of therelease sleeve 12.

For the doctor's operation, astatus indicator 122 is provided on the outer peripheral surface of the front end of thelock release sleeve 12, and thestatus indicator 122 is located on the same axis as thelock projection 121. The outer circumferential surface of thesocket 14 is provided with a lockingstate identification symbol 144, an upper unlockingstate identification symbol 143, and a lower unlocking state identification symbol (not shown), the unlocking state identification symbol corresponding to the middle position of the turninggroove 142, and the upper unlockingstate identification symbol 143 and the lower unlocking state identification symbol (not shown) corresponding to the positions of the twoaxial grooves 141, respectively.

In one embodiment, the central hole of the unlockingsleeve 12 is a stepped hole, the unlockingsleeve 12 comprises a small hole section with a smaller central hole and a large hole section with a larger central hole, the small hole section is fixedly connected with the pulling member, the large hole section is sleeved on theguide screw head 90 and is in threaded fit with theguide screw head 90, and theguide screw head 90 is in clearance fit with the pulling member. In this way, thepilot screw 90 acts as a circumferential damping for the unlockingsleeve 12, and when the unlockingsleeve 12 is rotated to a certain angle, thepilot screw 90 keeps the unlockingsleeve 12 at that angle, avoiding rotational offset of the unlockingsleeve 12.

The camera assembly is used for collecting image signals and comprises acamera 100 and a cable (not shown in the figure), thecamera 100 is connected with thecutter head 40 and rotates along with the rotation of thecutter head 40, and the front end of the cable is connected with thecamera 100.

According to the visual direction-changing operation power device, thecamera 100 is arranged on thecutter head 40, and the rotation angle of the cutter head and the visual field angle of thecamera 100 are adjusted simultaneously through the cutter head direction-changing device, so that a doctor only needs to hold the device with one hand, and the operation difficulty of the doctor is reduced; moreover, thecamera 100 and the cutter head are relatively static, so that the synchronous operation of the cutter head and thecamera 100 is realized, the observation time of a doctor is saved, and the operation safety is greatly improved. Therefore, the visual direction-changing operation power device disclosed by the invention solves the problems that an endoscope tube needs to be integrally swung for adjusting the angle in an endoscopic operation and the operation instrument is inconvenient to adjust in a matching way by combining the endoscope with the operation power system.

As shown in fig. 8, thecamera head 100 includes a mountingmember 101, animage sensor 102, and an illuminatingmember 103, the mountingmember 101 is fixed in thesteering head 60, and theimage sensor 102 and the illuminatingmember 103 are mounted on the mountingmember 101. Theimage sensor 102 may be a CMOS (Complementary Metal Oxide Semiconductor) or CCD (Charge coupled device) chip, and theilluminator 103 may be an LED illuminator. As an example, the mountingmember 101 has a cylindrical shape, the mountingmember 101 is inserted into the steeringhead 60, the mountingmember 101 and thesteering head 60 are fixed by bonding or welding, an image sensor mounting hole and an illuminating member mounting hole are provided in the mountingmember 101, and theimage sensor 102 and the illuminatingmember 103 are respectively mounted in the image sensor mounting hole and the illuminating member mounting hole. The mountingmember 101 is also provided with a mounting hole extending in the axial direction of thesteering head 60, and thecutter head 40 is inserted into the mounting hole.

The working principle of the visual direction-changing operation power device is as follows:

before operation, the visual direction-changing operation power device is in an initial state, namely the included angle between the central line axis of thesteering head 60 and the central line axis of theinstrument tube 50 is zero, and thetraction piece 70 is located at a locking position, namely the first connectingpart 71 is separated from the second connectingpart 63. Furthermore, the lockingboss 121 of the unlockingsleeve 12 is positioned in the turninggroove 142 of thetube seat 14 to limit the axial movement of the unlockingsleeve 12, and simultaneously, the unlockingsleeve 12 is in threaded connection with theguide screw 90 to limit the radial rotation of the unlockingsleeve 12, and thestate indicator 122 of the unlockingsleeve 12 is opposite to the lockingstate indicator 144 of thetube seat 14.

When a physician inserts thesteering head 60 and theinstrument tube 50 into the human body through the duct, and the physician needs to adjust the visual field angle and the surgical cutting angle of thecamera 100 in the patient, the unlocking is performed first, that is, the unlockingsleeve 12 is rotated by 90 degrees to the left or right by hand, the lockingboss 121 is rotated to the terminal section in thesteering channel 142, that is, positioned in theaxial channel 141, the first connectingpart 71 of the pullingmember 70 is driven to be positioned in the second connectingpart 63 on the upper side or the lower side of thesteering head 60, and thestatus indicator symbol 122 of the unlockingsleeve 12 is opposite to the upper unlockingstatus indicator symbol 143 or the lower unlocking status indicator symbol of thetube socket 14.

After unlocking, the adjustingscrew 13 is rotated, and the adjustingscrew 13 moves backward in the axial direction, so that the lockingboss 121 of the unlockingsleeve 12 enters theaxial groove 141 of thetube seat 14, and the pullingmember 70 is driven to move axially toward the rear end, so that the steeringhead 60 rotates upward or downward around thepin 80.

In the process of adjusting the steering angle, namely when the adjustingscrew sleeve 13 is rotated to enable the unlockingsleeve 12 to axially move towards the rear end, the rear end of the unlockingsleeve 12 is subjected to the reaction force of thecompression spring 15 towards the front side, the front end of the unlockingsleeve 12 is limited by the rear end face of the adjustingscrew sleeve 13, the adjustingscrew sleeve 13 is limited to move forwards by threaded connection between the adjustingscrew sleeve 13 and the fixedsleeve 11, therefore, when the angle is adjusted by rotation is stopped, thespring 15 and the adjustingscrew sleeve 13 lock the axial position of the unlockingsleeve 12, and the adjusting angle is fixed; at this time, the lockingboss 121 enters theaxial groove 141 of thesocket 14, and theaxial groove 141 restricts the circumferential rotation of the lockingboss 121, thereby locking the circumferential rotation of the angularly adjusted unlockingsleeve 12.

The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.

Claims (10)

Translated fromChinese

1.一种可视变向手术动力装置，包括：1. A visual direction changing surgical power device, comprising:手柄；handle;刀具，其包括刀杆和刀头，所述刀杆的后端与所述手柄连接，所述刀杆的前端与所述刀头的后端通过转动连接机构连接，使所述刀头可以绕转动轴线转动以调节所述刀头的中心线轴线与所述刀杆的中心轴线之间的夹角；The cutter includes a cutter bar and a cutter head, the rear end of the cutter bar is connected with the handle, and the front end of the cutter bar and the rear end of the cutter head are connected by a rotating connection mechanism, so that the cutter head can be wound around The rotation axis is rotated to adjust the included angle between the center line axis of the cutter head and the center axis of the cutter bar;刀头变向装置，其用于驱动所述刀头绕所述转动轴线转动；a cutter head direction changing device, which is used for driving the cutter head to rotate around the rotation axis;其特征在于，还包括：It is characterized in that it also includes:摄像组件，其包括摄像头和线缆，所述摄像头与所述刀头连接，且随着所述刀头绕所述转动轴线的转动而转动，所述线缆的前端与所述摄像头连接。The camera assembly includes a camera head and a cable, the camera head is connected with the cutter head, and as the cutter head rotates around the rotation axis, the front end of the cable is connected with the camera head.2.根据权利要求1所述的可视变向手术动力装置，其特征在于，所述刀头变向装置包括器械管、转向头、牵拉件以及牵拉驱动机构，所述器械管套设在所述刀杆和所述线缆的外周，且所述器械管的后端固定在所述手柄上，所述转向头套设在所述刀头和所述摄像头的外周，且所述转向头的后端与所述器械管的前端可绕所述转动轴线转动地连接，所述牵拉件设置在所述器械管内，且可沿所述器械管的轴向方向前后移动，所述牵拉件的前端与所述转向头的后端连接，所述牵拉驱动机构设置在所述手柄上，且所述牵拉驱动机构与所述牵拉件的后端连接，用于驱动所述牵拉件沿所述器械管的轴向前后运动。2 . The power device for visual direction-changing surgery according to claim 1 , wherein the tool head direction-changing device comprises an instrument tube, a steering head, a pulling member and a pulling driving mechanism, and the instrument tube is sleeved. 3 . On the outer periphery of the cutter bar and the cable, and the rear end of the instrument tube is fixed on the handle, the steering head is sleeved on the outer periphery of the cutter head and the camera, and the steering head The rear end of the device tube is rotatably connected with the front end of the instrument tube around the rotation axis, and the pulling member is arranged in the instrument tube and can move back and forth along the axial direction of the instrument tube. The front end of the pulling member is connected with the rear end of the steering head, the pulling driving mechanism is arranged on the handle, and the pulling driving mechanism is connected with the rear end of the pulling member for driving the pulling The pulling member moves back and forth along the axial direction of the instrument tube.3.根据权利要求2所述的可视变向手术动力装置，其特征在于，所述摄像头包括安装件、图像传感器和照明件，所述安装件固定在所述转向头内，所述图像传感器和所述照明件安装在所述安装件上。3 . The power device for visual direction change surgery according to claim 2 , wherein the camera head comprises a mounting part, an image sensor and an illumination part, the mounting part is fixed in the steering head, and the image sensor and the lighting piece is mounted on the mounting piece.4.根据权利要求2所述的可视变向手术动力装置，其特征在于，所述牵拉件为管状，所述牵拉件内套于所述器械管内，所述刀杆和所述线缆容纳于所述牵拉件内。4 . The power device for visual direction change surgery according to claim 2 , wherein the pulling member is tubular, the pulling member is sleeved in the instrument tube, and the knife bar and the wire are 4 . A cable is housed within the puller.5.根据权利要求4所述的可视变向手术动力装置，其特征在于，所述牵拉件可相对于所述器械管在解锁位置与锁止位置之间旋转，所述手柄上设置有用于驱动所述牵拉件在解锁位置与锁止位置之间旋转的解锁套；在所述牵拉件的前端与所述转向头的后端之间设置有锁定机构，当所述牵拉件位于所述解锁位置时，所述锁定机构允许所述转动头绕所述转动轴线转动，当所述牵拉件位于锁止位置时，所述锁定机构限制所述转动头绕所述转动轴线转动。5 . The visual direction-changing surgical power device according to claim 4 , wherein the pulling member is rotatable relative to the instrument tube between an unlocked position and a locked position, and the handle is provided with a useful An unlocking sleeve for driving the pulling member to rotate between the unlocking position and the locking position; a locking mechanism is provided between the front end of the pulling member and the rear end of the steering head, when the pulling member When in the unlocking position, the locking mechanism allows the rotating head to rotate about the rotation axis, and when the pulling member is in the locking position, the locking mechanism restricts the rotating head from rotating about the rotation axis .6.根据权利要求5所述的可视变向手术动力装置，其特征在于，所述牵拉件的前端设置有第一连接部，在所述转动轴线一侧的所述转向头的后端壁上设置有与所述第一连接部配合的第二连接部，所述牵拉件的前端与所述转向头的后端通过所述第一连接部和所述第二连接部连接；当所述牵拉件位于所述解锁位置时，所述第一连接部与所述第二连接部结合，当所述牵拉件位于锁止位置时，所述第一连接部与所述第二连接部脱离。6 . The power device for visual direction change surgery according to claim 5 , wherein the front end of the pulling member is provided with a first connecting part, and the rear end of the steering head on one side of the rotation axis is provided with a first connecting part. 7 . The wall is provided with a second connection part matched with the first connection part, and the front end of the pulling member and the rear end of the steering head are connected through the first connection part and the second connection part; when When the pulling member is at the unlocking position, the first connecting portion is combined with the second connecting portion, and when the pulling member is at the locking position, the first connecting portion is connected with the second connecting portion. The connection part is disengaged.7.根据权利要求5所述的可视变向手术动力装置，其特征在于，所述锁定机构包括自所述牵拉件的前端面沿轴向向前延伸的凸耳，当所述牵拉件转动至所述解锁位置时，所述凸耳位于所述转动轴线上，当所述牵拉件转动至所述锁止位置时，所述凸耳位于所述转动轴线的一侧，且所述凸耳插入所述转向头的后端内。7. The visual direction changing surgical power device according to claim 5, wherein the locking mechanism comprises a lug extending axially forward from the front end face of the pulling member, and when the pulling When the pulling member rotates to the unlocking position, the lug is located on the rotation axis, and when the pulling member rotates to the locking position, the lug is located on one side of the rotation axis, and the The lug is inserted into the rear end of the steering head.8.根据权利要求5所述的可视变向手术动力装置，其特征在于，所述手柄包括固定套，所述固定套固定在所述器械管的后端上，所述牵拉件的后端从所述器械管的后端伸出，所述解锁套固定在所述牵拉件的后端上，所述牵拉驱动机构包括调节螺套和弹性部件，所述调节螺套位于所述解锁套的前侧，所述调节螺套套在所述固定套上且与所述固定套螺纹配合，所述弹性部件设置在所述解锁套与所述手柄之间，用于驱动所述解锁套向前运动。8 . The power device for visual direction change surgery according to claim 5 , wherein the handle comprises a fixing sleeve, the fixing sleeve is fixed on the rear end of the instrument tube, and the rear end of the pulling member The end protrudes from the rear end of the instrument tube, the unlocking sleeve is fixed on the rear end of the pulling member, the pulling driving mechanism includes an adjusting screw sleeve and an elastic part, and the adjusting screw sleeve is located in the On the front side of the unlocking sleeve, the adjusting screw sleeve is sleeved on the fixing sleeve and is threadedly matched with the fixing sleeve, and the elastic member is arranged between the unlocking sleeve and the handle for driving the unlocking sleeve. move forward.9.根据权利要求5所述的可视变向手术动力装置，其特征在于，所述手柄包括位于所述解锁套后侧的管座，所述解锁套的后端与所述管座的前端之间插接配合，且在所述解锁套的后端与所述管座的前端之间设置有定位机构，用于当所述牵拉件转动至锁止位置时，所述定位机构限制所述解锁套轴向移动，允许所述解锁套旋转，当所述牵拉件转动至解锁位置时，所述定位机构限制所述解锁套旋转，允许所述解锁套轴向移动。9 . The power device for visual direction change surgery according to claim 5 , wherein the handle comprises a tube seat located on the rear side of the unlocking sleeve, and the rear end of the unlocking sleeve is connected to the front end of the tube seat. 10 . A positioning mechanism is arranged between the rear end of the unlocking sleeve and the front end of the tube seat, so that when the pulling member rotates to the locking position, the positioning mechanism restricts the The unlocking sleeve moves axially to allow the unlocking sleeve to rotate. When the pulling member rotates to the unlocking position, the positioning mechanism restricts the unlocking sleeve from rotating and allows the unlocking sleeve to move axially.10.根据权利要求9所述的可视变向手术动力装置，其特征在于，所述手柄包括位于所述解锁套后侧的管座，所述解锁套的后端与所述管座的前端插接配合，所述定位机构包括设置在所述解锁套的后端或所述管座的前端上的锁止凸台和设置所述管座的前端或所述解锁套的后端上的与所述锁止凸台配合的槽道，所述槽道包括沿圆周方向延伸的旋向槽道和沿轴向延伸的且与所述旋向槽道的一端连通的轴向槽道；当所述牵拉件位于锁止位置时，所述锁止凸台位于所述旋向槽道内，当所述牵拉件转动至解锁位置时，所述锁止凸台位于所述轴向槽道内。10 . The power device for visual direction change surgery according to claim 9 , wherein the handle comprises a tube seat located on the rear side of the unlocking sleeve, and the rear end of the unlocking sleeve is connected to the front end of the tube seat. 11 . Plug and fit, the positioning mechanism includes a locking boss arranged on the rear end of the unlocking sleeve or the front end of the tube seat, and a locking boss arranged on the front end of the tube seat or the rear end of the unlocking sleeve. The groove matched with the locking boss, the groove includes a circumferential groove extending in the circumferential direction and an axial groove extending in the axial direction and communicating with one end of the rotating groove; When the pulling member is in the locking position, the locking boss is positioned in the rotation channel, and when the pulling member is rotated to the unlocking position, the locking boss is positioned in the axial channel.

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