Disclosure of Invention
In order to solve the technical problems, the application provides a mechanical transmission type multi-angle surgical instrument, so that an end effector of the laparoscopic surgical instrument can freely rotate, thereby forming a three-dimensional operation space covering at least half sphere, and effectively reducing the operation difficulty of doctors.
The application provides a mechanical transmission type multi-angle surgical instrument which comprises an opening and closing head, a wrist part with one end rotatably connected with the opening and closing head, a rod part with one end rotatably connected with the other end of the wrist part, and a transmission mechanism connected with the other end of the rod part, wherein a handle part and a fingerstall which can rotate relative to the transmission mechanism are arranged below the transmission mechanism; the transmission mechanism comprises a rotating shaft arranged on a transmission bracket, a pitching driving wheel and a torsion rotating wheel are arranged on the rotating shaft, the pitching torsion rotating wheel is rotatably arranged in the center of the rotating shaft, a group of torsion rotating wheels which can synchronously act with the rotating shaft are respectively arranged on the left side and the right side of the pitching torsion rotating wheel, the torsion rotating wheel is connected with the handle part and the fingerstall through a driving device, the handle part drives the torsion rotating wheel to act and drives the opening and closing head to yaw through the driving device when rotating, and the torsion rotating wheel is driven to act and drive the opening and closing head to open and close through the driving device when the fingerstall is opened and closed; a pitching driving arm is arranged on a handle bracket fixedly arranged on the handle part, the pitching driving arm is fixedly connected with the pitching driving wheel, and a pitching rope winds around the pitching driving wheel and is connected to a pitching rope fixing piece on the pitching driving arm.
Preferably, the driving device comprises torsion transmission gears which are respectively and correspondingly connected with the torsion rotating wheels on the left side and the right side and drive the torsion rotating wheels to rotate, the torsion transmission gears are positioned on the left side and the right side of the pitching torsion rotating wheels, the torsion transmission gears comprise two bevel gears which are vertically arranged and meshed, the first bevel gear and the torsion rotating wheels are coaxially arranged on the rotating shaft, and the fingerstall is connected with the second bevel gear and controls the second bevel gear to rotate through opening and closing of the fingerstall.
Preferably, the finger sleeve driving device further comprises a transition gear which is coaxial with the second bevel gear and is fixedly arranged, and a finger sleeve connecting rod with one end connected with the finger sleeve, wherein the other end of the finger sleeve connecting rod, which is far away from the finger sleeve, is fixedly provided with a finger sleeve driving gear which is meshed with the transition gear.
Preferably, the torsion runner is provided with a torsion runner locking block and a torsion runner locking screw which are used for fixedly mounting the torsion runner on the rotating shaft.
Preferably, the tension roller module is used for adjusting the tightness of the cotton rope, the tension roller module is provided with a movable tension roller and an adjusting rotating shaft, the cotton rope is wound on the movable tension roller, and the movable tension roller is rotated by adjusting the adjusting rotating shaft so as to change the tightness of the cotton rope.
Preferably, the wrist is connected with the rod part through a wrist rotating shaft, and two sides of the wrist rotating shaft are respectively provided with a guide wheel; the opening and closing head is a separating clamp, a needle holding clamp, a grasping clamp or a scissors.
Preferably, the finger cuff is connected to the handle portion by a finger cuff connector, the finger cuff being slidably mounted on the finger cuff connector to adjust the distance between the finger cuff and the handle portion.
Preferably, the driving device comprises two first transmission gears respectively matched with the torsion rotating wheel on the left side and the torsion rotating wheel on the right side, and further comprises two right-angle racks respectively positioned on the left side and the right side of the pitching driving wheel, wherein a first rack on one right-angle surface of each right-angle rack is meshed with the first transmission gear, and a second rack on the other right-angle surface is meshed with a second transmission gear connected with the fingerstall.
Preferably, the finger stall is slidably mounted on a second rail connected to the handle portion, and the other end of the second rail remote from the finger stall is mounted on the second transmission gear.
Preferably, the right-angle rack further comprises a first rail fixedly arranged on the bottom plate of the transmission case, and the right-angle rack is slidably arranged on the first rail.
The multi-angle surgical instrument is provided with the left torsion rotating wheel and the right torsion rotating wheel, the torsion rotating wheels are driven by the corresponding driving devices, the handle part drives the torsion rotating wheels to act and drive the opening and closing heads to yaw when rotating, and the torsion rotating wheels are driven by the driving devices to act and drive the opening and closing heads to open and close when the finger sleeve is opened and closed. The pitching driving arm is arranged on the handle bracket and fixedly connected with the pitching driving wheel, and the pitching driving arm and the pitching driving wheel are driven to rotate when the handle part is pitching, so that the wrap angle of the rope on the pitching driving wheel is changed, and the wrist is driven to pitch. The transmission structure enables the end effector of the laparoscopic surgical instrument to freely rotate, thereby forming a three-dimensional operation space covering at least half sphere and effectively reducing the operation difficulty of doctors.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
FIG. 1 is a schematic view of a multi-angle surgical instrument according to an embodiment of the present application;
FIG. 2 is a schematic view of the internal structure of a transmission case in a multi-angle surgical instrument according to an embodiment of the present application;
FIG. 3 is a schematic view of another angle structure in a transmission case of a multi-angle surgical instrument according to an embodiment of the present application;
FIG. 4 is a schematic view of another angle structure in a transmission case of a multi-angle surgical instrument according to an embodiment of the present application;
FIG. 5 is a schematic view of a portion of the inside of a transmission case of a multi-angle surgical instrument according to an embodiment of the present application;
FIG. 6 is a schematic view of a portion of a multi-angle surgical instrument according to an embodiment of the present application in a pitch;
FIG. 7 is a schematic diagram illustrating the yaw operation of a multi-angle surgical instrument according to an embodiment of the present application;
FIG. 8 is a schematic view of a portion of the inside of a transmission case of a multi-angle surgical instrument according to an embodiment of the present application;
FIG. 9 is a schematic view of a torsion wheel in a transmission case of a multi-angle surgical instrument according to an embodiment of the present application;
FIG. 10 is a cross-sectional view of a gear box in a multi-angle surgical instrument provided by an embodiment of the present application;
FIG. 11 is a schematic view of the internal structure of a transmission case in a multi-angle surgical instrument according to an embodiment of the present application;
FIG. 12 is a schematic view of an operation end structure of a multi-angle surgical instrument according to an embodiment of the present application;
FIG. 13 is a schematic view of a portion of a string structure of a multi-angle surgical instrument according to an embodiment of the present application;
FIG. 14 is a schematic view of a multi-angle surgical instrument according to another embodiment of the present application;
Fig. 15 is a schematic structural view of a right-angle rack in a multi-angle surgical instrument according to another embodiment of the present application.
Wherein 1 is an opening and closing head, 101 is a head rotating shaft, 2 is a wrist, 201 is a wrist guide wheel, 202 is a guide wheel, 203 is a wrist rotating shaft, 3 is a rod, 4 is a transmission case, 401 is a pitching driving wheel, 402 is a pitching driving arm, 404 is a pitching cord fixing piece, 411 is a torsion rotating wheel, 4111 is a torsion rotating wheel locking block, 4112 is a torsion rotating wheel locking screw, 412 is a torsion driving gear, 413 is a rotating shaft, 414 is a hollow shaft, 415 is a bearing, 416 is a transition gear, 421 is a finger sleeve gear set, 431 is a tension wheel module, 4311 is a movable tension wheel, 4312 is an adjusting rotating shaft, 5 is a handle, 6 is a finger sleeve, 7 is a finger sleeve connecting piece, 701 is a finger sleeve driving gear, 8 is a cord, 801 is a flexible cord, 802 is a steel tube, 1001 is a right angle rack, 1002 is a first driving gear, 1003 is a first track, 1004 is a second driving gear, and 1005 is a second track.
Detailed Description
In order that the above objects, features and advantages of the application may be more clearly understood, embodiments of the application will be further described below. It should be noted that, without conflict, the embodiments of the present application and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, but the present application may be practiced in other ways than as described herein. It will be apparent that the embodiments in the specification are only some, but not all, embodiments of the application.
Fig. 1 to 15 are views showing a mechanical transmission type multi-angle surgical instrument according to an embodiment of the present application, which comprises an opening and closing head 1, a wrist 2, a rod 3, a transmission mechanism, a handle 5 and a finger stall 6, wherein one end of the wrist 2 is rotatably connected with the opening and closing head 1 through a head rotating shaft 101, the other end is rotatably connected with one end of the rod 3, the transmission mechanism is connected with the other end of the rod 3, and the handle 5 and the finger stall 6 which can rotate relative to the transmission mechanism are installed below the transmission mechanism, so as to control the opening and closing head 1 through rotation. As shown in fig. 1, the transmission mechanism is arranged in the transmission case 4, but it is also possible to omit the transmission case and expose the transmission mechanism.
Referring to fig. 5 and 8 to 10, the transmission mechanism includes a rotary shaft 413 mounted on a transmission bracket, a pitch driving wheel 401 and a torsion wheel 411 are provided on the rotary shaft 413, the pitch torsion wheel 411 is rotatably mounted at the center of the rotary shaft 413, and a set of torsion wheels 411 capable of operating in synchronization with the rotary shaft 413 are provided at both left and right sides thereof, respectively. Referring to fig. 8 to 9, a set of torsion wheels 411 on one side is two torsion wheels 411, and two torsion wheels 411 are installed in opposite directions, and as can be seen from the figure, two slot ends are tightly installed, and two wheel body ends are far away. The torsion runner 411 is connected with the handle part 5 and the finger stall 6 through a driving device, when the handle part 5 rotates, the torsion runner 411 is driven by the driving device to act and drive the opening and closing head 1 to yaw, and when the finger stall 6 is opened and closed, the torsion runner 411 is driven by the driving device to act and drive the opening and closing head 1 to open and close. A pitch drive arm 402 is arranged on a handle bracket fixedly mounted with the handle part 5, the pitch drive arm 402 is fixedly connected with a pitch drive wheel 401, and a pitch rope is connected to a pitch rope fixing piece 404 on the pitch drive arm 402 by the pitch drive wheel 401. When the handle part 5 is pitching, the pitching driving arm 402 and the pitching driving wheel 401 on the handle support are driven to rotate, so that the wrap angle of the rope 8 on the pitching driving wheel 401 is changed, and the pulling of pitching of the wrist 2 is realized.
Referring to fig. 2 to 4 or fig. 6 to 7, the transmission bracket has a U-shaped structure, the U-shaped opening end of the transmission bracket is rotatably mounted with the handle bracket on the handle portion 5 through the rotary shaft 413, and the U-shaped protruding end is connected with the lever portion 3.
In one embodiment of the present application, the driving device includes torsion transmission gears 412 respectively corresponding to the left and right torsion wheels 411 and located at the left and right sides of the pitch torsion wheel 411 to rotate the same, as shown in fig. 10. The torque transmission gear 412 includes two bevel gears, namely a first bevel gear and a second bevel gear, which are vertically arranged and meshed, as shown in fig. 8, wherein the first bevel gear and the torque rotating wheel 411 are coaxially installed on the rotating shaft 412, and the finger stall 6 is connected with the second bevel gear and controls the second bevel gear to rotate through opening and closing of the finger stall 6.
When the user holds the handle part 5 to do pitching motion, the handle part 5 drives the pitching driving arm 402 to rotate around the rotating shaft 413 through the handle support, the pitching cord fixing member 404 drives the cord 8 to change the length of the cord 8 wound on the pitching driving wheel 401, so as to tighten or loosen the cord 8, and further drive the wrist 2 to rotate. In this process, the handle support rotates to drive the torsion transmission gear 412 close to the outer side to rotate around the rotation shaft 413, and the two bevel gears are meshed with each other to further drive the torsion rotation wheel 411 to rotate, so as to drive the rope 8 connected with the opening and closing head 1 to move, and if the linkage is not decoupled, the opening and closing head 1 is caused to rotate under the influence of pitching. To solve this problem, referring to fig. 12, the wrist 2 and the lever 3 are connected by a wrist rotation shaft 203, and one guide wheel 202 is provided on each side of the wrist rotation shaft 203. The control cord of the opening and closing head 1 bypasses the guide wheel 202 (the winding direction is opposite to the two sides), and then the wrist guide wheel 201 introduces the opening and closing head 1 for connection and fixation. During pitching operation, the rotation of the wrist 2 can change the winding length of the control cord of the opening and closing head 1 on the guide wheel 202, and the mutual offset generated during the linkage of the change amount and the torsion rotating wheel 411 eliminates the deflection of the opening and closing head 1 caused by linkage, thereby realizing decoupling.
Specifically, the finger stall driving device further comprises a transition gear 416 which is coaxial with the second bevel gear and is fixedly arranged, and a finger stall connecting rod 7 with one end connected with the finger stall 6, wherein a finger stall driving gear 701 which is meshed with the transition gear 416 is fixedly arranged at the other end of the finger stall connecting rod 7 away from the finger stall 6, as shown in fig. 11. When the handle part 5 is rotated to yaw, the two finger cuffs 6 drive the finger cuff connecting rods 7 to rotate towards the same direction, and at the moment, the finger cuff transmission gear 701 drives the transition gear 416 to rotate and drives the two pliers of the opening and closing head 1 to rotate towards the same direction at the same time, so that yaw movement is realized. The handle 5 is fixed, and when only the finger stall 6 is opened, the finger stall transmission gear 701 drives the transition gear 416 to rotate, but at this time, the two pliers of the opening and closing head 1 rotate towards two directions respectively, so that the opening and closing of the opening and closing head 1 is realized.
Above-mentioned multi-angle surgical instrument, its drive mechanism is based on the mechanical transmission multi-angle surgical instrument of gear and cotton rope 8 for the end effector of laparoscopic surgery instrument can carry out free rotation, thereby has formed the three-dimensional operation space that covers half at least sphere, has effectively reduced doctor's operation degree of difficulty.
In the application, the opening and closing head 1 can be arranged as an operation head of a surgical instrument such as a separating forceps, a needle holder, a grasping forceps or scissors, so that the requirement of multi-degree-of-freedom rotation operation can be met in different surgical operations, and the flexibility and the accuracy of the operation are realized to a greater extent.
In a preferred embodiment, the torsion wheel 411 is provided with a torsion wheel locking block 4111 and a torsion wheel locking screw 4112 for fixedly mounting the torsion wheel 411 on the pivot shaft 413. That is, when the torsion runner 411 is installed, the torsion runner 411 and the revolving shaft 413 can be rotated synchronously by adjusting the torsion runner locking block 4111 and the torsion runner locking screw 4112 to clamp the revolving shaft 413, and the cord 8 can be controlled to pull the opening and closing head 1 to work by driving the revolving shaft 413. In addition, if necessary, the locking screw can be loosened, so that the torsion rotating wheel 411 can rotate relative to the rotating shaft 413, and the tightness of the rope 8 can be adjusted. As shown in fig. 10, taking a single-sided torsion runner 411 as an example, the torsion runner 411, the torsion transmission gear 412 and the hollow shaft 414 are assembled together, and then are mounted on the rotary shaft 413 through two bearings 415, so that the torsion runner 411 and the rotary shaft 413 can rotate at will, and the wrist 2 is not driven to rotate when the opening and closing head 1 is driven. Specifically, the bearing 415 is a deep groove ball bearing.
Referring to fig. 11, the multi-angle surgical instrument further includes a tension roller module 431 for adjusting the tension of the cord 8, wherein a movable tension roller 4311 and an adjusting shaft 4312 are provided on the tension roller module 431, the cord 8 is wound on the movable tension roller 4311, and the tension of the cord 8 is changed by rotating the movable tension roller 4311 through the adjusting shaft 4312. In the present application, two sides of the tensioner module 431 are provided with movable tensioner 4311, and each movable tensioner 4311 is wound with one wire rope 8, and since six wire ropes 8 are preferably provided in the present application, three tensioner modules 431 may be provided to wind six wire ropes 8 on the corresponding movable tensioner 4311, respectively.
The adjustable tensioner module 431 is installed, and the movable tensioner 4311 can be adjusted up and down by adjusting the screw thread of the rotating shaft 4312, so that the aim is that: after the apparatus is used for a long time, due to factors such as gaps of various mechanical structures and rigid deformation of the cord 8, the cord 8 can stretch, so that the clamping force of the opening and closing head 1 is relatively reduced, at this time, the clamping force can be adjusted through the tensioning wheel module 431, so that the service life of the apparatus is prolonged, the service performance of the apparatus is improved, and meanwhile, the operation can be realized by non-professional manufacturers such as doctors through simple operation.
In the embodiment, the adjusting shaft 4312 is in threaded connection, and the movable tensioning wheel 4311 on the nut seat is driven to move up and down by rotating the screw of the adjusting shaft 4312, so that the 8-piece progress of the thread rope is adjusted.
The cord 8 of the present application is threaded through the rod 3 and split by different guide pulleys and connected to the torsion pulley 411. As shown in fig. 13, the string 8 in the rod 3 may be formed by wrapping the flexible string 801 with a steel pipe 802 in a stainless steel structure, or by connecting the flexible string 801 with the steel pipe 802 after cutting, thereby improving rigidity.
In a preferred embodiment, the finger cuff 6 is connected to the handle portion 5 by a finger cuff connector 7, the finger cuff 6 being slidably mounted on the finger cuff connector 7 to adjust the distance between the finger cuff 6 and the handle portion 5. According to doctor's user demand, the size of the hand size of difference, the size of the regulation portion of gripping that should set up that can be fine to improve the use comfort, and under the more fit condition of size, the efficiency of implementing the operation and the precision of operation can both be higher.
In another embodiment of the application, as shown in fig. 14 to 15, the driving means comprises two first transmission gears 1002 respectively cooperating with the left torsion wheel 411 and the right torsion wheel 411, and two right angle racks 1001 respectively located at the left and right sides of the pitch driving wheel 401. In other words, taking the single-sided torsion wheel 411 as an example, a first transmission gear 1002 is installed on one side of the torsion wheel 411 on the left side, and the first transmission gear 1002 and the torsion wheel 411 are coaxially arranged, and vice versa. A first rack on one right angle face of the right angle rack 1001 is meshed with the first transmission gear 1002, and a second rack on the other right angle face is meshed with the second transmission gear 1004 of the connection finger stall 6.
When the handle part 5 is rotated to yaw, the two finger sleeves 6 drive the second transmission gear 1004 to rotate towards the same direction, so as to drive the right-angle rack 1001 and the first transmission gear 1002 to rotate, and then drive the torsion rotating wheel 411 and drive the two pliers of the opening and closing head 1 to rotate towards the direction at the same time, so that yaw movement is realized. And the handle portion 5 is not moved, only when the finger stall 6 is opened, the finger stall 6 drives two second transmission gears 1004, and only rotates towards different directions at this time, so as to drive the right-angle rack 1001 and the first transmission gear 1002 to rotate, further drive the torsion rotating wheel 411 and drive the two pliers to rotate towards two directions respectively, and further realize the opening and closing of the opening and closing head 1.
When the handle part 5 is pitching, the pitching driving arm 402 and the pitching driving wheel 401 on the handle support are driven to rotate, so that the wrap angle of the rope 8 on the pitching driving wheel 401 is changed, and the pulling of pitching of the wrist 2 is realized. And then the surgical instrument is matched with the rotation of the surgical instrument around the shaft of the rod part 3, so that the opening and closing head 1 can be rotated in a large range at any angle, and the operation space and the operation accuracy are greatly improved.
Specifically, the finger cuff 6 is slidably mounted on a second rail 1005 connected to the handle portion 5, and the other end of the second rail 1005 remote from the finger cuff 6 is mounted on a second transmission gear 1004. I.e. the finger cuff 6 can be varied in distance from the handle portion 5 by sliding on the second track 1005 to more closely follow the hand requirements of the physician in use.
In addition, the right-angle rack 1001 is slidably mounted on the first track 1003 so as to move along the first track 1003 under the driving of the second transmission gear 1004, thereby driving the first transmission gear 1002 to rotate.
The multi-angle surgical instrument of the embodiment of the application is provided with the left torsion rotating wheel 411 and the right torsion rotating wheel 411, and the torsion rotating wheel 411 is driven by the corresponding driving device, when the handle part 5 rotates, the torsion rotating wheel 411 is driven by the driving device to act and drive the opening and closing head 1 to yaw, and when the finger sleeve 6 is opened and closed, the torsion rotating wheel 411 is driven by the driving device to act and drive the opening and closing head 1 to open and close. The pitching driving arm 402 is arranged on the handle bracket and fixedly connected with the pitching driving wheel 401, and the pitching driving arm 402 and the pitching driving wheel 401 are driven to rotate when the handle part 5 is pitching, so that the wrap angle of the rope 8 on the pitching driving wheel 401 is changed, and the wrist 2 is driven to pitch. The transmission structure is arranged, so that the end effector of the laparoscopic surgical instrument can freely rotate, a three-dimensional operation space covering at least half spherical surface is formed, the operation difficulty of a doctor is effectively reduced, and the operation accuracy is improved.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is merely an example of an application that would enable one skilled in the art to understand and practice the application. Various modifications to the described embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and features disclosed herein.