WO2022160716A1 - Surgical instrument - Google Patents

Abstract

A surgical instrument, comprising a bending unit and an actuation unit. The bending unit comprises a frame portion, an actuator base (1) hinged to a first end of the frame portion, and a bending operation portion. The actuation unit comprises an actuator provided at a first end of the actuator base (1), a piston (3) which can be axially movably provided in the actuator base (1), and a meshing operation portion; the meshing operation portion enables the piston (3) to move axially inside the actuator base (1) to open and close the actuator; the meshing operation portion is connected to the piston (3) by means of a first connecting rod (4), the two ends of the first connecting rod (4) are respectively hinged to the meshing operation portion and the piston (3), and a bending groove (18) for bending the first connecting rod (4) is provided on one side of the actuator base (1). The surgical instrument may implement effective control of the meshing operation portion on the actuator in a state where the actuator base (1) is bent with respect to the frame portion, thereby improving control accuracy and practicability of the surgical instrument.

Description

Translated fromChinese

手术器械Surgical Instruments技术领域technical field

本发明涉及医疗器械领域，具体地涉及一种手术器械。The invention relates to the field of medical instruments, in particular to a surgical instrument.

背景技术Background technique

外科手术使用各种类型的医疗器械来执行微创外科手术程序，从而从最大程度上减小对患者健康组织的损伤。这种医疗器械通常称为腹腔镜手术器械，或腹腔镜电极。这种手术器械主要由可供操作者握持的手柄，一个通常在30cm-50cm的细长杆，以及一个可以活动的端部执行器(如外科手术刀、剪刀、镊子、抓取器具，烧灼工具等等)。Surgery uses various types of medical instruments to perform minimally invasive surgical procedures that minimize damage to a patient's healthy tissue. Such medical devices are often referred to as laparoscopic surgical instruments, or laparoscopic electrodes. This surgical instrument mainly consists of a handle for the operator to hold, an elongated rod usually 30cm-50cm, and a movable end effector (such as a scalpel, scissors, forceps, grasping implements, cautery tools, etc.).

单孔腹腔镜手术因其只需在患者腹部开一个孔，相对于多孔腹腔镜手术对患者造成伤害少，术后恢复快，但同时也对器械有了更高要求。因单孔腹腔镜手术中所有腹腔镜器械从一个孔进入，造成多个器械间的干涉，以及使用过程中自由度不够的问题，无法完成一些动作。Compared with multi-hole laparoscopic surgery, single-port laparoscopic surgery only needs to open a hole in the patient's abdomen, causing less damage to the patient and quicker postoperative recovery, but it also has higher requirements for instruments. In single-port laparoscopic surgery, all laparoscopic instruments enter from one hole, resulting in interference between multiple instruments and insufficient freedom during use, so some actions cannot be completed.

现有的手术器械虽然可以弯曲，但其弯曲所需要的空间由转弯半径决定。此外，现有的手术器械因采用的是多关节腕结构，导致其长度较长，转弯半径大，导致某些位置无法到达。另外，现有技术中在执行器转弯情况下对于执行器的控制力不够有效。Although existing surgical instruments can be bent, the space required for bending is determined by the turning radius. In addition, the existing surgical instruments adopt a multi-joint wrist structure, resulting in a long length and a large turning radius, which makes certain positions inaccessible. In addition, in the prior art, the control force for the actuator is not effective enough when the actuator turns.

发明内容SUMMARY OF THE INVENTION

本发明的目的是为了克服现有技术存在的执行器在弯转的状态下无法进行有效控制问题。The purpose of the present invention is to overcome the problem existing in the prior art that the actuator cannot be effectively controlled in a turning state.

为了实现上述目的，本发明一方面提供一种手术器械，包括弯转单元和执行单元，所述弯转单元包括机架部、通过弯转销轴铰接于所述机架部 的第一端的执行座和用于弯转所述执行座的弯转操作部；所述执行单元包括设置在所述执行座的第一端的执行器、可轴向移动地设置在所述执行座内部的活塞和啮合操作部，所述啮合操作部使所述活塞在所述执行座内部轴向移动以开闭所述执行器；所述啮合操作部通过第一连杆与所述活塞相连，所述第一连杆的两端分别铰接于所述啮合操作部和所述活塞，所述执行座的一侧设置有用于所述第一连杆弯转的弯转槽。In order to achieve the above object, one aspect of the present invention provides a surgical instrument, which includes a bending unit and an execution unit, the bending unit includes a frame part, and a bending pin is hinged to the first end of the frame part. An execution seat and a turning operation part for turning the execution seat; the execution unit includes an actuator arranged at the first end of the execution seat, and a piston arranged in an axially movable manner inside the execution seat and a meshing operation part, the meshing operation part makes the piston move axially inside the actuator seat to open and close the actuator; the meshing operation part is connected with the piston through a first connecting rod, and the first Two ends of a connecting rod are respectively hinged to the engaging operation part and the piston, and one side of the execution seat is provided with a turning groove for turning the first connecting rod.

可选地，所述弯转操作部和所述啮合操作部均可轴向移动地设置在所述机架部内部，在所述机架部内部轴向移动所述弯转操作部以使得所述执行座弯转于所述机架部，在所述机架部内部轴向移动所述啮合操作部以使得所述执行器开闭。Optionally, both the turning operation part and the meshing operation part are arranged inside the frame part so as to be axially movable, and the turning operation part is axially moved inside the frame part so that all the The actuator seat is bent on the frame portion, and the engaging operation portion is axially moved inside the frame portion to make the actuator open and close.

可选地，所述第一连杆通过活塞销与所述活塞铰接，所述执行座上设置有用于所述活塞销穿过的第三滑槽，所述第一连杆通过啮合销与所述啮合操作部铰接，所述机架部上设置有用于所述啮合销穿过的第四滑槽。Optionally, the first connecting rod is hinged with the piston through a piston pin, the execution seat is provided with a third chute for the piston pin to pass through, and the first connecting rod is connected to the piston through a meshing pin. The engaging operation part is hinged, and the frame part is provided with a fourth sliding groove for the engaging pin to pass through.

可选地，所述机架部包括第一连接座和第一空心管，所述执行座通过所述第一连接座与所述第一空心管相连，所述弯转操作部通过推拉销轴与所述执行座相连，所述弯转操作部包括轴向可移动地穿设在所述第一空心管内部的弯转拉杆，在所述第一空心管内轴向移动所述弯转拉杆使得所述执行座弯转于所述第一连接座。Optionally, the frame part includes a first connection seat and a first hollow tube, the execution seat is connected with the first hollow tube through the first connection seat, and the bending operation part is connected by a push-pull pin shaft. Connected with the execution seat, the bending operation part includes a bending pull rod axially movably penetrated inside the first hollow tube, and axially moving the bending pull rod in the first hollow tube makes the bending pull rod axially move. The execution seat is bent on the first connection seat.

可选地，所述弯转操作部包括依次连接的第二连杆、第二连接座和所述弯转拉杆，所述第二连杆两端分别铰接于所述执行座和所述第二连接座，所述第二连杆通过所述推拉销轴与所述执行座铰接，所述第二连接座轴向可移动地穿设在所述第一连接座内。Optionally, the bending operation part includes a second connecting rod, a second connecting seat and the bending pull rod connected in sequence, and both ends of the second connecting rod are hinged to the execution seat and the second connecting rod respectively. A connection seat, the second connecting rod is hinged with the execution seat through the push-pull pin shaft, and the second connection seat is axially movably penetrated in the first connection seat.

可选地，所述啮合操作部包括第三连接座和轴向可移动地穿设在第一空心管内部的啮合拉杆，所述第三连接座与所述第一连杆铰接，所述第三连接座轴向可移动地穿设在所述第一连接座内。Optionally, the engaging operation part includes a third connecting seat and an engaging pull rod axially movably penetrated inside the first hollow tube, the third connecting seat is hinged with the first connecting rod, and the first connecting rod is hinged. Three connecting seats are axially movably penetrated in the first connecting seat.

可选地，所述弯转拉杆为空心管，所述啮合拉杆轴向可移动地穿设在 所述弯转拉杆内，所述弯转拉杆轴向可移动地穿设在所述第一空心管内。Optionally, the bending pull rod is a hollow tube, the engaging pull rod is axially movably passed through the bending pull rod, and the bending pull rod is axially movably passed through the first hollow tube. inside the tube.

可选地，所述执行器包括第一执行器和第二执行器，所述第一执行器和所述第二执行器上均设置有用于装设钳口销的钳口孔，所述第一执行器和所述第二执行器上分别设置有用于滑动销插入的第一滑槽，所述滑动销在所述第一滑槽内滑动以带动所述第一执行器和所述第二执行器的开闭，所述活塞上设置有所述滑动销。Optionally, the actuator includes a first actuator and a second actuator, and both the first actuator and the second actuator are provided with jaw holes for installing jaw pins, and the first actuator and the second actuator are provided with jaw holes for installing jaw pins. An actuator and the second actuator are respectively provided with a first chute for insertion of a sliding pin, and the sliding pin slides in the first chute to drive the first actuator and the second actuator For the opening and closing of the actuator, the sliding pin is provided on the piston.

可选地，所述第一执行器和所述第二执行器的结合端插入所述执行座的第一端，所述执行座的第一端设置有用于所述钳口销穿过的第一销孔和用于所述滑动销穿设的第二滑槽。Optionally, the combined end of the first actuator and the second actuator is inserted into the first end of the actuator seat, and the first end of the actuator seat is provided with a first end for the jaw pin to pass through. a pin hole and a second chute for the sliding pin to pass through.

可选地，所述手术器械包括用于操控所述啮合操作部和所述弯转操作部的操作机构。Optionally, the surgical instrument includes an operating mechanism for manipulating the engaging operating portion and the bending operating portion.

本发明所述的手术器械，利用铰接方式实现执行器的弯转，在执行器弯转一定角度的前提下，可以有效减小转弯半径，在执行座内轴向移动活塞以实现控制执行器开闭，此外，执行座上设置有用于第一连杆弯转的弯转槽，可以在执行座相对于机架部弯转的状态下实现啮合操作部对执行器的有效控制，由此，提高了手术器械的控制精准度和实用性。The surgical instrument of the present invention realizes the turning of the actuator by means of articulation. On the premise that the actuator is turned at a certain angle, the turning radius can be effectively reduced, and the piston can be moved axially in the actuator seat to control the opening of the actuator. In addition, the actuator seat is provided with a turning groove for the first link to turn, which can realize the effective control of the actuator by the engaging operation part when the actuator seat is turned relative to the frame part, thereby improving the The control accuracy and practicability of surgical instruments are improved.

附图说明Description of drawings

图1是本发明优选实施方式的手术器械的爆炸结构示意图；1 is a schematic diagram of an explosion structure of a surgical instrument according to a preferred embodiment of the present invention;

图2是图1所示的手术器械的安装结构示意图；Fig. 2 is the installation structure schematic diagram of the surgical instrument shown in Fig. 1;

图3是图1所示的手术器械的执行座的立体结构示意图；FIG. 3 is a schematic three-dimensional structural diagram of the execution seat of the surgical instrument shown in FIG. 1;

图4是图1所示的手术器械的第一连接座的立体结构示意图。FIG. 4 is a schematic three-dimensional structural diagram of the first connecting seat of the surgical instrument shown in FIG. 1 .

具体实施方式Detailed ways

以下结合附图对本发明的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本发明，并不用于限制本发 明。The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention, but not to limit the present invention.

本发明提供一种手术器械，包括弯转单元和执行单元，弯转单元包括机架部、通过弯转销轴铰接于机架部的第一端的执行座1和用于弯转执行座1的弯转操作部；执行单元包括设置在执行座1的第一端的执行器、可轴向移动地设置在执行座1内部的活塞3和啮合操作部，啮合操作部使活塞3在执行座1内部轴向移动以开闭执行器；啮合操作部通过第一连杆4与活塞3相连，第一连杆4的两端分别铰接于啮合操作部和活塞3，执行座1的一侧设置有用于第一连杆4弯转的弯转槽18。The present invention provides a surgical instrument, including a bending unit and an execution unit. The bending unit includes a frame part, anexecution base 1 hinged to the first end of the frame part through a bending pin, and anexecution base 1 for bending The turning operation part; the execution unit includes an actuator arranged at the first end of theexecution seat 1, apiston 3 arranged in theexecution seat 1 in an axially movable manner, and a meshing operation part, and the meshing operation part makes thepiston 3 in theexecution seat 1. Internal axial movement to open and close the actuator; the meshing operation part is connected with thepiston 3 through the first connectingrod 4, the two ends of the first connectingrod 4 are hinged to the meshing operation part and thepiston 3 respectively, and one side of theexecution seat 1 is provided There is aturning slot 18 for thefirst link 4 to turn.

本发明所述的手术器械，利用铰接方式实现执行器的弯转，在执行器弯转一定角度的前提下，可以有效减小转弯半径，在执行座内轴向移动活塞可实现控制执行器的开闭，此外，执行座上设置有用于第一连杆弯转的弯转槽，可以在执行座相对于机架部弯转的状态下，实现啮合操作部对执行器的有效控制，由此，提高了手术器械的控制精准度和实用性。The surgical instrument of the present invention realizes the turning of the actuator by means of articulation. Under the premise that the actuator is turned at a certain angle, the turning radius can be effectively reduced, and the axial movement of the piston in the actuator seat can control the turning radius of the actuator. Opening and closing, in addition, the actuator seat is provided with a turning slot for the first link to turn, which can realize the effective control of the actuator by the engagement operation part when the actuator seat is turned relative to the frame part. , which improves the control accuracy and practicability of surgical instruments.

弯转操作部和啮合操作部均可轴向移动地设置在机架部内部，在机架部内部轴向移动弯转操作部，以使得执行座1弯转于机架部，在机架部内部轴向移动啮合操作部，以使得执行器开闭。手术器械是一种较为精密的器械，需要探入病人病灶进行操作，由此，手术器械的结构运转基本在机架内部完成，这样，避免外露的其他结构影响手术操作，同时也避免器械边角外露而割伤病人，此外，还能够避免器械边角外露以造成感染，提高了手术器械的安全性、可靠性和实用性。Both the bending operation part and the meshing operation part are arranged inside the frame part so as to be axially movable, and the bending operation part is axially moved inside the frame part, so that theexecution seat 1 is bent on the frame part, and the bending operation part is axially moved in the frame part. The inner axial movement engages the operating portion to open and close the actuator. Surgical instruments are relatively precise instruments that need to be probed into the patient's lesions for operation. Therefore, the structural operation of the surgical instruments is basically completed inside the frame, so as to avoid other exposed structures from affecting the surgical operation, and also to avoid the corners of the instruments. In addition, the exposure of the edge and corner of the instrument to cause infection can be avoided, and the safety, reliability and practicability of the surgical instrument are improved.

第一连杆4可通过活塞销与活塞3铰接，执行座1上可设置有用于活塞销穿过的第三滑槽19，第一连杆4可通过啮合销与啮合操作部铰接，机架部上可设置有用于啮合销穿过的第四滑槽22。如图1、2和3所示，第一连杆4的状态基本由活塞销和啮合销的位置决定，第三滑槽19可用于限定活塞销的运动轨迹，第四滑槽22可用于限定啮合销的运动轨迹，通过执行座1、机架部上的第三滑槽19、第四滑槽22可以精确控制第一连杆4的活 动，从而通过活塞3精确控制执行器，提高手术器械的精确度和实用性。第四滑槽22开设的目的是为了限制第一连杆4的运动轨迹，限制第一连杆4运动轨迹的方式包括但不限于上述方式。例如，第四滑槽22可以设置为如图所示的通孔槽，也可以设置在第一连接座2内壁上的盲孔槽，或者第一连杆4也可通过其他方式实现运动轨迹的限制。The first connectingrod 4 can be hinged with thepiston 3 through the piston pin, theexecution seat 1 can be provided with athird chute 19 for the piston pin to pass through, the first connectingrod 4 can be hinged with the engaging operation part through the engaging pin, and the frame Afourth chute 22 for the engaging pin to pass through may be provided on the portion. As shown in Figures 1, 2 and 3, the state of the first connectingrod 4 is basically determined by the positions of the piston pin and the meshing pin, the third slidinggroove 19 can be used to define the movement track of the piston pin, and the fourthsliding groove 22 can be used to define The movement track of the meshing pin can precisely control the movement of the first connectingrod 4 through theactuator seat 1, thethird chute 19 and thefourth chute 22 on the frame part, so that the actuator can be precisely controlled by thepiston 3, and the surgical instrument is improved. accuracy and practicality. The purpose of opening thefourth chute 22 is to limit the movement trajectory of thefirst link 4 , and the methods for restricting the movement trajectory of thefirst link 4 include but are not limited to the above-mentioned methods. For example, thefourth chute 22 can be set as a through hole slot as shown in the figure, or can be set as a blind hole slot on the inner wall of the first connectingseat 2, or thefirst link 4 can also realize the movement trajectory in other ways. limit.

机架部可包括第一连接座2和第一空心管8，执行座1可通过第一连接座2与第一空心管8相连，弯转操作部可通过推拉销轴与执行座1相连，弯转操作部可包括轴向可移动地穿设在所述第一空心管8内部的弯转拉杆9，在第一空心管8内轴向移动弯转拉杆9，以使得执行座1弯转于第一连接座2。The frame part can include afirst connection seat 2 and a first hollow tube 8, theexecution seat 1 can be connected with the first hollow tube 8 through thefirst connection seat 2, and the bending operation part can be connected with theexecution seat 1 through a push-pull pin shaft, The bending operation part may include a bending pull rod 9 axially movably penetrated inside the first hollow tube 8 , and the bending pull rod 9 is axially moved in the first hollow tube 8 to make theexecution seat 1 bend on the first connectingseat 2 .

如图1、2、4所示，第四滑槽22可设置在第一连接座2上，机架部可包含两段状的第一连接座2和第一空心管8；因为需要设置第四滑槽22且需要与执行座1铰接等，第一连接座2的外形结构较为复杂，而第一空心管8为手术器械的主体部件，用于控制手术器械的长度，所以设置为圆滑的长管状，空心管状的内部用于安装弯转拉杆9，分体式设计的第一连接座2和第一空心管8便于制作。执行座1上可设置有用于弯转销轴插入的第一弯转销轴孔20，机架部的第一连接座2上可设置有用于弯转销轴插入的第二弯转销轴孔23。As shown in Figures 1, 2 and 4, thefourth chute 22 can be arranged on the first connectingseat 2, and the frame part can include the first connectingseat 2 and the first hollow tube 8 in two segments; The foursliding grooves 22 need to be hinged with theexecution seat 1, etc. The shape and structure of thefirst connection seat 2 is relatively complex, and the first hollow tube 8 is the main part of the surgical instrument and is used to control the length of the surgical instrument, so it is set to be smooth The long tubular, hollow tubular interior is used to install the bending pull rod 9, and the split design of the first connectingseat 2 and the first hollow tube 8 is convenient for fabrication. Theexecution seat 1 may be provided with a firstbending pin hole 20 for insertion of the bending pin, and the first connectingseat 2 of the frame part may be provided with a second bending pin hole for insertion of the bending pin twenty three.

弯转操作部可包括依次连接的第二连杆5、第二连接座6和弯转拉杆9，第二连杆5两端可分别铰接于执行座1和第二连接座6，第二连杆5可通过推拉销轴与执行座1铰接，第二连接座6轴向可移动地穿设在第一连接座2内。The bending operation part may include a second connectingrod 5, a second connectingseat 6 and a bending pull rod 9 which are connected in sequence. Therod 5 can be hinged with theexecution seat 1 through a push-pull pin, and thesecond connection seat 6 is axially movably inserted in thefirst connection seat 2 .

如图1和图4所示，推拉销轴可设置在第一推拉销轴孔21内，弯转拉杆9可通过第二连接座6、第二连杆5与执行座1连接，第二连杆5可以避免执行座1弯转造成弯转拉杆9的径向移动，避免手术器械卡顿，提高了手术器械的实用性。第二连接座6、弯转拉杆9的分体式设计可适应于第一 连接座2、第一空心管8的分体式设计，弯转拉杆9轴向可移动地设置在第一空心管8内，第二连接座6轴向可移动地设置在第一连接座2内。As shown in FIG. 1 and FIG. 4 , the push-pull pin shaft can be arranged in the first push-pullpin shaft hole 21 , and the bending pull rod 9 can be connected to theexecution base 1 through thesecond connection seat 6 and the second connectingrod 5 , and the second connection Therod 5 can avoid the radial movement of the bending pull rod 9 caused by the bending of theexecution seat 1, avoid the jam of the surgical instrument, and improve the practicability of the surgical instrument. The split design of the second connectingseat 6 and the bending pull rod 9 can be adapted to the split design of the first connectingseat 2 and the first hollow tube 8 , and the bending pull rod 9 is axially movably arranged in the first hollow tube 8 , the second connectingseat 6 is axially movably arranged in the first connectingseat 2 .

如图1所示，执行座1与机架部的铰接点可设置在执行座1的径向中部，这样设置便于执行座1的弯转，同时避免执行座1弯转时候发生较大的径向偏移；执行座1与第二连杆5的铰接点可设置在执行座1的径向外侧部，便于弯转拉杆9以较小的力便可以推拉执行座1并使其弯转，由于执行座1与第二连杆5的铰接点可设置在执行座1的径向外侧部，第二连接座6可设置为与第一推拉销轴孔21内位置相适应的弯转状，以避免第二连接座6在轴向移动时出现卡顿。第二连杆5可设置为两个外侧相连的圆筒状，第一连接座2上可设置有凸轮部25，第二连杆5可弯转地抵设于凸轮部25的外表面，以辅助执行座1的弯转。第二连接座凹槽26可设置为用于第二连接座6穿设。As shown in FIG. 1 , the hinge point between theactuator seat 1 and the frame part can be set in the radial middle of theactuator seat 1, which facilitates the bending of theactuator seat 1 and avoids the large diameter of theactuator seat 1 when it is turned. The hinge point of theactuator seat 1 and the second connectingrod 5 can be set on the radial outer part of theactuator seat 1, so that the bending rod 9 can push and pull theactuator seat 1 and make it bend with a small force. Since the hinge point of theactuator seat 1 and the second connectingrod 5 can be arranged on the radially outer side of theactuator seat 1, thesecond connection seat 6 can be arranged in a curved shape adapted to the position in the first push-pullpin shaft hole 21, In order to avoid jamming of the second connectingseat 6 when it moves axially. The secondconnecting rod 5 can be set in a cylindrical shape with two outer sides connected together, the first connectingbase 2 can be provided with acam portion 25, and the second connectingrod 5 can be bent against the outer surface of thecam portion 25, so as to Assist the turning of theexecutive seat 1. The second connectingseat groove 26 can be provided for the second connectingseat 6 to pass through.

啮合操作部可包括第三连接座7和轴向可移动地穿设在第一空心管8内部的啮合拉杆10，第三连接座7与所述第一连杆4铰接，第三连接座7轴向可移动地穿设在第一连接座2内。啮合操作部可为分体式设计，第三连接座7可与啮合拉杆10固定连接，第三连接座7、啮合拉杆10的分体式设计可适应于第一连接座2、第一空心管8的分体式设计。The engaging operation part may include a third connectingseat 7 and an engagingrod 10 axially movably penetrated inside the first hollow tube 8 . The third connectingseat 7 is hinged with the first connectingrod 4 , and the third connectingseat 7 Axially movable through the first connectingseat 2 . The meshing operation part can be of a separate design, thethird connection seat 7 can be fixedly connected with the meshingrod 10 , and the split design of thethird connection base 7 and the meshingrod 10 can be adapted to thefirst connection base 2 and the first hollow tube 8 . Split design.

如图1和图2所示，啮合拉杆10可为圆杆，第三连接座7可设置在第三连接座凹槽24内。第三连接座7可轴向移动地设置在第三连接座凹槽24内，以使得第三连接座7与第二连接座6在径向上保持相对位置的同时，可各自的轴向移动并互不干扰。第一连接座2上可设置有第二连接座开槽，第一连杆4可以在第二连接座开槽中弯转设置。As shown in FIG. 1 and FIG. 2 , the engagingrod 10 can be a round rod, and the third connectingseat 7 can be arranged in thegroove 24 of the third connecting seat. The third connectingseat 7 is axially movably arranged in the third connectingseat groove 24, so that while the third connectingseat 7 and the second connectingseat 6 maintain their relative positions in the radial direction, they can move axially and respectively. Do not interfere with each other. The first connectingseat 2 may be provided with a second connecting seat slot, and the first connectingrod 4 may be bent in the second connecting seat slot.

弯转拉杆9可为空心管，啮合拉杆10轴向可移动地穿设在弯转拉杆9内，弯转拉杆9轴向可移动地穿设在第一空心管8内。如图1所示，第一空心管8、弯转拉杆9和啮合拉杆10均可为圆管状，且为从外向内依次套接的关系。上述设置的目的是为了让啮合拉杆10和弯转拉杆9均能在第一 空心管8内做轴向抽拉运动，且啮合拉杆10和弯转拉杆9在轴向运动中互不干涉，在实现上述目的的情况下，本申请的第一空心管8、弯转拉杆9和啮合拉杆10包括但是不限于上述形式，例如，弯转拉杆9和啮合拉杆10可设置为半圆形杆，两个半圆形杆相贴形成圆形管穿设于第一空心管8中。The bending pull rod 9 can be a hollow tube, the engagingpull rod 10 is axially movably inserted in the bending pull rod 9 , and the bending pull rod 9 is axially movably passed through the first hollow tube 8 . As shown in FIG. 1 , the first hollow tube 8 , the bending pull rod 9 and the engagingpull rod 10 can all be in the shape of a circular tube, and are in a sleeved relationship from outside to inside. The purpose of the above-mentioned setting is to allow themeshing pull rod 10 and the bending pull rod 9 to do axial pulling movement in the first hollow tube 8, and the meshingpull rod 10 and the bending pull rod 9 do not interfere with each other in the axial movement. In the case of achieving the above purpose, the first hollow tube 8, the bending pull rod 9 and the engagingpull rod 10 of the present application include but are not limited to the above-mentioned forms. The semicircular rods are attached to form a circular tube which is passed through the first hollow tube 8 .

执行器可包括第一执行器14和第二执行器15，第一执行器14和第二执行器15上均可设置有用于装设钳口销的钳口孔13，第一执行器14和第二执行器15上可分别设置有用于滑动销12插入的第一滑槽11，滑动销12在第一滑槽11内可滑动以带动第一执行器14和所述第二执行器15的开闭，活塞3上可设置有滑动销12。The actuator may include afirst actuator 14 and asecond actuator 15, and both thefirst actuator 14 and thesecond actuator 15 are provided with a jaw hole 13 for installing a jaw pin, thefirst actuator 14 and Thesecond actuators 15 may be respectively provided with first sliding grooves 11 for inserting the sliding pins 12 . The sliding pins 12 are slidable in the first sliding grooves 11 to drive thefirst actuator 14 and thesecond actuator 15 . For opening and closing, a sliding pin 12 may be provided on thepiston 3 .

控制第一执行器14和第二执行器15的开闭可以夹住物体，本申请的执行器包括但不限于夹镊物体，例如，执行器也可以为剪裁类执行器。如图1和图2所示，向左推弯转拉杆9可以使得执行座1相对于机架部向下弯转，向右拽拉弯转拉杆9可以使得执行座1相对于机架部向上弯转；向左推啮合拉杆10可以使得活塞3向左移动，滑动销12也向左移动，使得执行器张开，向右拉啮合拉杆10可以使得活塞3向右移动，滑动销12也向右移动，使得执行器闭合。Controlling the opening and closing of thefirst actuator 14 and thesecond actuator 15 can clamp objects. The actuators in the present application include but are not limited to tweezers. For example, the actuators can also be tailoring actuators. As shown in Figures 1 and 2, pushing the bending rod 9 to the left can make theexecution seat 1 bend downward relative to the frame part, and pulling the bending rod 9 to the right can make theexecution seat 1 turn upward relative to the frame part Bending; pushing the engagingrod 10 to the left can make thepiston 3 move to the left, and the sliding pin 12 also moves to the left, so that the actuator is opened, and pulling the engagingrod 10 to the right can make thepiston 3 move to the right, and the sliding pin 12 also moves to the right. Move to the right to close the actuator.

第一执行器14和第二执行器15的结合端可插入执行座1的第一端，执行座1的第一端可设置有用于钳口销穿过的第一销孔16和用于滑动销12穿设的第二滑槽17。第一执行器14和第二执行器15的端部插入执行座1的第一端，以实现执行器的稳定运行，而执行座1上设置的第一销孔16和用于滑动销12穿设的第二滑槽17可便于滑动销12的稳定滑动，以实现执行器的稳定操作。The combined end of thefirst actuator 14 and thesecond actuator 15 can be inserted into the first end of theactuator seat 1, and the first end of theactuator seat 1 can be provided with afirst pin hole 16 for the jaw pin to pass through and for sliding Thesecond chute 17 through which the pin 12 passes. The ends of thefirst actuator 14 and thesecond actuator 15 are inserted into the first end of theactuator seat 1 to realize the stable operation of the actuators, while the first pin holes 16 provided on theactuator seat 1 and the holes for the sliding pins 12 to pass through. The provided second slidinggroove 17 can facilitate the stable sliding of the sliding pin 12, so as to realize the stable operation of the actuator.

手术器械可包括用于操控啮合操作部和弯转操作部的操作机构。现有手术一般通过医生操刀实现对执行器的控制，医生通过控制便于手持的操作机构来控制操作部，进而控制执行器；另外一些手术需要的精度极高，需要电脑的精确操控，电脑通过控制操作机构来控制操作部，进而控制执 行器进行手术。The surgical instrument may include an operating mechanism for manipulating the engaging and bending operating portions. Existing surgeries generally realize the control of the actuator through the doctor's operation. The doctor controls the operating part and then controls the actuator by controlling the operating mechanism that is easy to hold. Other surgeries require extremely high precision and require precise control by the computer. Control the operating mechanism to control the operating part, and then control the actuator to perform surgery.

以上结合附图详细描述了本发明的优选实施方式，但是，本发明并不限于此。在本发明的技术构思范围内，可以对本发明的技术方案进行多种简单变型。包括各个具体技术特征以任何合适的方式进行组合。为了避免不必要的重复，本发明对各种可能的组合方式不再另行说明。但这些简单变型和组合同样应当视为本发明所公开的内容，均属于本发明的保护范围。The preferred embodiments of the present invention have been described above in detail with reference to the accompanying drawings, however, the present invention is not limited thereto. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention. Include individual specific technical features combined in any suitable manner. In order to avoid unnecessary repetition, the present invention will not describe various possible combinations. However, these simple modifications and combinations should also be regarded as the contents disclosed in the present invention, and all belong to the protection scope of the present invention.

Claims (10)

Translated fromChinese

一种手术器械，其特征在于，包括：A surgical instrument, comprising:弯转单元，所述弯转单元包括机架部、通过弯转销轴铰接于所述机架部的第一端的执行座(1)和用于弯转所述执行座(1)的弯转操作部；A turning unit, the turning unit comprises a frame part, an executive seat (1) hinged to the first end of the frame part through a turning pin shaft, and a bend for turning the executive seat (1) Turn the operation department;执行单元，所述执行单元包括设置在所述执行座(1)的第一端的执行器、可轴向移动地设置在所述执行座(1)内部的活塞(3)和啮合操作部，所述啮合操作部使所述活塞(3)在所述执行座(1)内部轴向移动以开闭所述执行器；An execution unit, the execution unit comprises an actuator arranged at the first end of the execution seat (1), a piston (3) and an engaging operation part arranged in the interior of the execution seat (1) movably in the axial direction, The engaging operation part makes the piston (3) axially move inside the actuator seat (1) to open and close the actuator;所述啮合操作部通过第一连杆(4)与所述活塞(3)相连，所述第一连杆(4)的两端分别铰接于所述啮合操作部和所述活塞(3)，所述执行座(1)的一侧设置有用于所述第一连杆(4)弯转的弯转槽(18)。The meshing operation part is connected with the piston (3) through a first connecting rod (4), and both ends of the first connecting rod (4) are hinged to the meshing operation part and the piston (3), respectively, One side of the actuator seat (1) is provided with a turning groove (18) for turning the first connecting rod (4).根据权利要求1所述的手术器械，其特征在于，所述弯转操作部和所述啮合操作部均可轴向移动地设置在所述机架部内部，在所述机架部内部轴向移动所述弯转操作部以使得所述执行座(1)弯转于所述机架部，在所述机架部内部轴向移动所述啮合操作部以使得所述执行器开闭。The surgical instrument according to claim 1, wherein both the bending operation part and the engaging operation part are disposed inside the frame part so as to be axially movable, and the axial direction inside the frame part is axially movable. The turning operation part is moved so that the actuator seat (1) is bent on the frame part, and the engaging operation part is axially moved inside the frame part to make the actuator open and close.根据权利要求2所述的手术器械，其特征在于，所述第一连杆(4)通过活塞销与所述活塞(3)铰接，所述执行座(1)上设置有用于所述活塞销穿过的第三滑槽(19)，所述第一连杆(4)通过啮合销与所述啮合操作部铰接，所述机架部上设置有用于所述啮合销穿过的第四滑槽(22)。The surgical instrument according to claim 2, characterized in that, the first connecting rod (4) is hinged with the piston (3) through a piston pin, and the actuator seat (1) is provided with a piston pin for the piston pin. The third sliding slot (19) passing through, the first link (4) is hinged with the engaging operation part through the engaging pin, and the frame part is provided with a fourth sliding groove for the engaging pin to pass through. slot (22).根据权利要求2所述的手术器械，其特征在于，所述机架部包括第一连接座(2)和第一空心管(8)，所述执行座(1)通过所述第一连接座(2)与所述第一空心管(8)相连，所述弯转操作部通过推拉销轴与所述 执行座(1)相连，所述弯转操作部包括轴向可移动地穿设在所述第一空心管(8)内部的弯转拉杆(9)，在所述第一空心管(8)内轴向移动所述弯转拉杆(9)使得所述执行座(1)弯转于所述第一连接座(2)。The surgical instrument according to claim 2, wherein the frame part comprises a first connection seat (2) and a first hollow tube (8), and the execution seat (1) passes through the first connection seat (2) Connected to the first hollow tube (8), the bending operation part is connected to the execution seat (1) through a push-pull pin shaft, and the bending operation part comprises an axially movable through A bending pull rod (9) inside the first hollow tube (8), axially moving the bending pull rod (9) in the first hollow tube (8) to make the actuator seat (1) bend on the first connecting seat (2).根据权利要求4所述的手术器械，其特征在于，所述弯转操作部包括依次连接的第二连杆(5)、第二连接座(6)和所述弯转拉杆(9)，所述第二连杆(5)两端分别铰接于所述执行座(1)和所述第二连接座(6)，所述第二连杆(5)通过所述推拉销轴与所述执行座(1)铰接，所述第二连接座(6)轴向可移动地穿设在所述第一连接座(2)内。The surgical instrument according to claim 4, characterized in that, the bending operation part comprises a second connecting rod (5), a second connecting seat (6) and the bending pull rod (9) connected in sequence, so Both ends of the second connecting rod (5) are hinged to the execution seat (1) and the second connecting seat (6), respectively, and the second connecting rod (5) is connected to the execution seat through the push-pull pin shaft. The seat (1) is hinged, and the second connecting seat (6) is axially movably penetrated in the first connecting seat (2).根据权利要求5所述的手术器械，其特征在于，所述啮合操作部包括第三连接座(7)和轴向可移动地穿设在第一空心管(8)内部的啮合拉杆(10)，所述第三连接座(7)与所述第一连杆(4)铰接，所述第三连接座(7)轴向可移动地穿设在所述第一连接座(2)内。The surgical instrument according to claim 5, characterized in that the engaging operation part comprises a third connecting seat (7) and an engaging rod (10) axially movably penetrated inside the first hollow tube (8) , the third connecting seat (7) is hinged with the first connecting rod (4), and the third connecting seat (7) is axially movably penetrated in the first connecting seat (2).根据权利要求6所述的手术器械，其特征在于，所述弯转拉杆(9)为空心管，所述啮合拉杆(10)轴向可移动地穿设在所述弯转拉杆(9)内，所述弯转拉杆(9)轴向可移动地穿设在所述第一空心管(8)内。The surgical instrument according to claim 6, wherein the bending pull rod (9) is a hollow tube, and the engaging pull rod (10) is axially movably penetrated in the bending pull rod (9) , the bending pull rod (9) is axially movably penetrated in the first hollow tube (8).根据权利要求1所述的手术器械，其特征在于，所述执行器包括第一执行器(14)和第二执行器(15)，所述第一执行器(14)和所述第二执行器(15)上均设置有用于装设钳口销的钳口孔(13)，所述第一执行器(14)和所述第二执行器(15)上分别设置有用于滑动销(12)插入的第一滑槽(11)，所述滑动销(12)在所述第一滑槽(11)内滑动以带动所述第一执行器(14)和所述第二执行器(15)的开闭，所述活塞(3)上设置有所述滑动销(12)。The surgical instrument according to claim 1, wherein the actuator comprises a first actuator (14) and a second actuator (15), the first actuator (14) and the second actuator Both the actuators (15) are provided with jaw holes (13) for installing jaw pins, and the first actuator (14) and the second actuator (15) are respectively provided with sliding pins (12) ) into the first chute (11), the sliding pin (12) slides in the first chute (11) to drive the first actuator (14) and the second actuator (15) ) opening and closing, the piston (3) is provided with the sliding pin (12).根据权利要求8所述的手术器械，其特征在于，所述第一执行器(14)和所述第二执行器(15)的结合端插入所述执行座(1)的第一端，所述执行座(1)的第一端设置有用于所述钳口销穿过的第一销孔(16)和用于所述滑动销(12)穿设的第二滑槽(17)。The surgical instrument according to claim 8, wherein the combined end of the first actuator (14) and the second actuator (15) is inserted into the first end of the actuator seat (1), so The first end of the actuator seat (1) is provided with a first pin hole (16) for the jaw pin to pass through and a second sliding slot (17) for the sliding pin (12) to pass through.根据权利要求1-9任意一项所述的手术器械，其特征在于，所述手术器械包括用于操控所述啮合操作部和所述弯转操作部的操作机构。The surgical instrument according to any one of claims 1-9, characterized in that, the surgical instrument comprises an operating mechanism for operating the engaging operation part and the bending operation part.

Images