CN105411664B - Micro-wound surgical operation apparatus - Google Patents
Micro-wound surgical operation apparatus Download PDFInfo
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- CN105411664B CN105411664B CN201510578453.7A CN201510578453A CN105411664B CN 105411664 B CN105411664 B CN 105411664B CN 201510578453 A CN201510578453 A CN 201510578453A CN 105411664 B CN105411664 B CN 105411664B
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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- Surgical Instruments (AREA)
Abstract
The invention discloses a kind of micro-wound surgical operation apparatus.The micro-wound surgical operation apparatus includes working portion and the drive part for driving working portion to move；The drive part includes being used for the wobble drive portion for driving working portion to do oscillating motion；The wobble drive portion includes performs device and power set, the first end of the performs device is flexibly connected with the working portion, second end of the performs device is connected with power set, and the performs device moves working portion in the driving lower band of the power set and does oscillating motion.Using the micro-wound surgical operation apparatus of the present invention, by setting the performs device related to oscillating motion and power set, to complete the oscillating motion of working portion, so as to overcome the weave control defect in the presence of traditional operating theater instruments, with simple in construction, operation, easy maintenance, functional reliability is strong and the features such as long lifespan.
Description
Technical field
The present invention relates to a kind of operating theater instruments, more particularly to a kind of flexible micro-wound surgical operation apparatus.
Background technology
With the fast development of Minimally Invasive Surgery technology, the surgical operation quantity performed in a manner of minimally invasive is also significantly increasing
Add.The purpose of minimally invasive medical technology is extraneous tissue amount of damage during reducing diagnosis or surgical procedure, so as to reduce the extensive of patient
The multiple time, reduce sense of discomfort and harmful side effect.Meanwhile it can also significantly shorten standard surgical using Minimally Invasive Surgery technology
Average stay.Therefore, the substantial amounts of hospital stays can be effectively saved using minimal invasive techniques, only in hospital's lodging cost
Many with regard to that can save, patient's recovery time, the discomfort of patient, surgery side effect and time of delaying work also can be because of Minimally Invasive Surgery technologies
Application and reduce.
With the continuous development of technology, Minimally Invasive Surgery is right via four traditional hole methods gradually to single-hole method operation transition
The damage of patient is also less and less, and postoperative infection rate is also declined to a great extent.However, either four hole method endoscope-assistant surgeries are also
It is single-hole method operation, all there is the situation for making operation not to be smoothed out due to apparatus itself.
At present, it is 0 ° and 30 ° of laparoscopes for what is commonly used in operation, the visual field in surgical procedure is than relatively limited.It is and existing
Laparoscopic instrument be typically straight type, and be all rigid, the free degree possessed by itself is less, therefore is easily grasped in operation
Interacted in work.To solve this problem, in the market, which is proposed some, has multivariant flexible instrument, although certain
The difficulty that endoscope-assistant surgery is faced can be alleviated in degree, but existing multiple degrees of freedom apparatus still has the cost of apparatus
High, the defects of structure is complex, maintenance is difficult, it is often more important that, the bendable portion of existing apparatus is generally too soft
It is soft, the problems such as easily there are abnormal curvatures in art and cause apparatus to exceed field range.
China's application (application number 200920202713.0) carries out bending control using the flexible structure of " steel wire+snake Bones and joints "
System, when apparatus is in straight type state, because steel wire can not provide enough rigid supports, therefore apparatus head end working portion phase
To softer, it is not easy to control, cause apparatus in operation can not perform the intention of patient exactly.
U. S. application (US6206903) carries out bending control, but the structure ratio of apparatus using the structure of " steel wire+drive "
More complicated, operational maintenance cost is very high, and use reliability is not high, restricted lifetime.In addition, the structure is used for surgical machine at present
People's platform, it is controlled by the bending of motor and program to apparatus, not yet finds that the structure is used for hand-held apparatus, its popularization is general
And there is certain limitation.
The content of the invention
In view of this, the invention provides a kind of micro-wound surgical operation apparatus, it is intended to which the defects of overcoming prior art, it has
There are simple in construction, operation, an easy maintenance, functional reliability is strong and the features such as long lifespan.
Micro-wound surgical operation apparatus provided by the present invention includes working portion and for driving working portion motion
Drive part；The drive part includes being used for the wobble drive portion for driving working portion to do oscillating motion；The wobble drive
Portion includes performs device and power set, and the first end of the performs device is flexibly connected with the working portion, the execution
Second end of device is connected with power set, and the performs device is moved working portion in the driving lower band of the power set and put
Dynamic motion.
Micro-wound surgical operation apparatus as described above, it is preferable that the micro-wound surgical operation apparatus also includes coupling part,
Coupling part is rigid member, connects working portion and drive part, and accommodate drive part in the coupling part
Part.
Micro-wound surgical operation apparatus as described above, it is preferable that the wobble drive portion also includes center-pole, the center
Bar is located in the coupling part, and the end of the working portion is connected to the first of the center-pole by bending joint
End；The performs device includes bent connecting rod and bending push rod, and the bending push rod is set on the center-pole, the bending
Connecting rod first end and the working portion are pivotally connected, the second end of the bent connecting rod and the first end pivot of the bending push rod
Axis connection, the second end of the bending push rod are connected with the power set.
Micro-wound surgical operation apparatus as described above, it is preferable that the power set include bending runner and bending ejector sleeve,
The bending runner is set on the center-pole, and the first end of the bending ejector sleeve and the second end of the bending push rod are fixed
Connection, it is described bending ejector sleeve the second end with it is described bending runner be threadedly coupled, it is described bending ejector sleeve and it is described bend runner it
Between screw thread axial direction and the center-pole it is axially in parallel.
Micro-wound surgical operation apparatus as described above, it is preferable that the both ends of the bent connecting rod are equipped with connector, and two connect
Fitting is mutually set for the eccentric.
Micro-wound surgical operation apparatus as described above, it is preferable that the working portion includes binding clip and binding clip seat, the pincers
Head includes two binding clip components, pivotally connected by head pin between two binding clip components and the binding clip seat, described
Bending joint is connected to the end of the binding clip seat.
Micro-wound surgical operation apparatus as described above, it is preferable that the drive part also includes：For driving working portion
The rotary driving part to rotate.
Micro-wound surgical operation apparatus as described above, it is preferable that the coaxial setting of the rotary driving part and wobble drive portion.
Micro-wound surgical operation apparatus as described above, it is preferable that the drive part also includes：For driving working portion
Do the folding drive division of open and close movement.
Micro-wound surgical operation apparatus as described above, it is preferable that end set of the coupling part close to working portion
There is sealing device.
Using the micro-wound surgical operation apparatus of the present invention, by setting the performs device related to oscillating motion and power to fill
Put, to complete the oscillating motion of working portion, so as to overcome the weave control defect in the presence of traditional operating theater instruments, have
Simple in construction, operation, easy maintenance, functional reliability is strong and the features such as long lifespan.Micro-wound surgical operation provided by the present invention
Apparatus has advantages below：It compensate in existing endoscope-assistant surgery due to operating difficulties caused by apparatus free degree deficiency；Reduce
The operation difficulty of single hole endoscope-assistant surgery, expand the indication of operation；The service life and reliability of apparatus are improved, is reduced
Use the cost of flexible apparatus；Working position can realize fixation in optional position in the range of beat.
Brief description of the drawings
Preferred embodiment in the present invention will be described in detail by accompanying drawing below, it will help understand the purpose of the present invention and excellent
Point, wherein:
Fig. 1 is the overall structure figure of the micro-wound surgical operation apparatus preferred embodiment of the present invention.
Fig. 2 is Fig. 1 part explosive view.
Fig. 3 is the explosive view of binding clip in Fig. 2.
A kind of preferable attachment structure of working portion and coupling part in Fig. 4 Fig. 2.
Fig. 5 is the sectional view of section components in Fig. 2.
Fig. 6 is the sectional view of part related to oscillating motion in Fig. 2.
(a), (b) and (c) is three kinds of states in binding clip oscillating motion respectively in Fig. 7.
Fig. 8 is the sectional view of part related to rotational motion in Fig. 2.
Fig. 9 is the sectional view of part related to open and close movement in Fig. 2.
Figure 10 is the detail view of the section components related to oscillating motion, wherein：(a) be binding clip seat schematic diagram；(b) and
(c) be respectively two angles connect before center-pole view；(d) and (e) is the view of two angles of bent connecting rod respectively；
(f) and (g) is the view of two angles connect before outer tube respectively；(h) and (i) is regarding for two angles of bending push rod respectively
Figure.
Figure 11 is the detail view of the section components related to rotary motion, wherein：(a) be bend runner structure chart；(b)
It is the structure chart that outer tube is followed by；(c) be great wheel structure chart；(d) be rotational positioning flange structure chart.
Description of reference numerals：
The binding clip seat of 1 binding clip, 2 binding clip pin 3
The center-pole of 5 bending joint 6 is connect before 4 center-poles
The center-pole of 7 center-pole spring 8 is followed by 9 bent connecting rods
10 bending push rods 11 bend the augering screw fixing screws of ejector sleeve 12
13 bending augering screws 14 connect before bending the outer tube of runner 15
The outer tube of 16 outer tube, 17 great wheel fixing screws 18 is followed by
The clutch shaft bearing 21 of 19 great wheel boring cover 20 bends wheel cover
The second bearing of 22 great wheel, 23 rotational positioning flange 24
The great wheel of 25 3rd bearing 26 fixes the miniature lever of swivel nut 27
28 big handles
Embodiment
With reference to embodiment, the present invention is described in detail.Wherein identical parts identical reference table
Show.It should be noted that the word "front", "rear", "left", "right", the "up" and "down" that are used below in description refer to accompanying drawing
In direction, word " interior " and " outer " are referred respectively to towards or away from the direction of particular elements geometric center.
As shown in figs. 1-11, micro-wound surgical operation apparatus provided by the present invention includes：Working portion and drive part, institute
Drive part is stated to be used to drive working portion to be moved accordingly.In specific implementation process, the drive part can wrap
Include the wobble drive portion for driving working portion to do oscillating motion；The wobble drive portion includes performs device and power fills
Put, the first end of the performs device is flexibly connected with the working portion, the second end of the performs device and power set
Connection, the performs device move working portion in the driving lower band of the power set and do oscillating motion.In a particular embodiment,
The working portion can include binding clip 1 and binding clip seat 3, and the binding clip 1 includes two binding clip components, two binding clip components
It is pivotally connected by head pin 2 between the binding clip seat 3.
In general, micro-wound surgical operation apparatus provided by the present invention related to oscillating motion performs dress by setting
Put and power set, to complete the oscillating motion of working portion, so as to overcome the swing control in the presence of traditional operating theater instruments
Defect processed, has simple in construction, operation, an easy maintenance, and functional reliability is strong and the features such as long lifespan.
In a preferred embodiment, the micro-wound surgical operation apparatus can also include coupling part, and coupling part is
Rigid member, the phase in drive part can be accommodated for connecting working portion and drive part, and in the coupling part
Part is closed, such as：The coupling part can be realized by rigid tubing.The wobble drive portion also includes center-pole 6,
The center-pole 6 is located in the coupling part, and the end of the working portion is connected to the center by bending joint 5
The first end of bar 6, make to be relatively rotated around the bending joint 5 between the working portion and the center-pole 6, i.e.,
The working portion is set to carry out corresponding oscillating motion.Such as：Bending joint 5 can be connected to the end of the binding clip seat 3.
Specifically, the performs device can include bent connecting rod 9 and bending push rod 10, and the bending push rod 10 is set in
On the center-pole 6, the first end of bent connecting rod 9 and the working portion are pivotally connected, the second end of the bent connecting rod 9
Pivotally connected with the first end of the bending push rod 10, the second end of the bending push rod 10 is connected with the power set.
Under the driving of the power set, the bending push rod 10 drives the bent connecting rod 9 to be moved, and finally drives the work
Part is rotated around the bending joint 5.
Preferably, the power set can cooperate to realize by bending runner 14 and bending ejector sleeve 11, described
Bending runner 14 can be arranged again on the center-pole 6, and the first end of the bending ejector sleeve 11 can be with the bending push rod 10
The second end be fixedly connected, it is described bending ejector sleeve 11 the second end with it is described bend runner 14 be threadedly coupled, the bending ejector sleeve
The axial direction of screw thread between 11 and the bending runner 14 is axially in parallel with the center-pole 6.When rotation bending runner 14,
In the presence of screw thread, bending ejector sleeve 11 can axially being pulled or being promoted to bending push rod 10 along the center-pole 6.
In specific embodiment in figure, it can be accomplished in the following manner：Wobble drive portion power set can include bending runner
14th, augering screw 13 and bending ejector sleeve 11 are bent.Realization is connected through a screw thread between bending runner 14 and bending augering screw 13
Screw-driven, bending push away only screw rod 13 and use screw connection with bending ejector sleeve 11, and bending ejector sleeve 11 can lead to bending push rod 10
Cross to be fixedly connected and realized (as welded), so as to form corresponding transmission mechanism.The design of this transmission mechanism, which can be realized, to be turned
Bending push rod 10 is promoted during dynamic bending runner 14, so as to drive binding clip seat 3 to pivot, 27,28 pairs of center-poles 6 of handle provide
Thrust, realize the folding of binding clip 1；Rotoflector runner 14, by screw-driven for bending augering screw 13, bending ejector sleeve 11,
Bend push rod 10 provide thrust, so as to drive bent connecting rod 9 and drive be arranged on binding clip seat 3 center-pole bending joint 5, in
Connect before core bar 4 and binding clip 7 form mechanism 15 motions are connect before outer tube, realize the swing of binding clip 1.Screw thread could be arranged to self-locking
Screw thread, itself has self-locking performance, can fix bending runner 14 and bend the relative position between augering screw 13, ensure
Device positions accurate.In addition, the screw in rotary driving part and wobble drive portion can carry angle setting device, can
To ensure in surgical procedure, rotation and swing angle are accurate, so as to ensure accurate positioning in surgical procedure.
Preferably, the both ends of the bent connecting rod 9 are equipped with connector, and two connectors are mutually set for the eccentric.The bias is set
Putting can ensure that work department flexible swinging is not susceptible to phenomena such as stuck, influence instrumentation reliability, ensure operating time and
Effect.
For micro-wound surgical operation apparatus provided by the present invention, the function of the drive part is not limited only to drive
Dynamic working portion does oscillating motion, is performed as described above described in example, can also drive work department by various other structure settings
Divide and do other corresponding motions.Such as：The drive part can also include being used to drive the rotation that working portion rotates
Turn drive division, and for driving working portion to do the folding drive division of open and close movement.Preferably, the rotary driving part and pendulum
The coaxial setting of dynamic drive division, i.e., rotary driving part and wobble drive portion are set point-blank, the execution of rotary driving part
Device is arranged in coupling part, could be arranged to be arranged relation, rotation driving and swing with the performs device in wobble drive portion
Driving is set and point-blank or nearby set, and operator can be facilitated quickly to be operated nearby, ensures operation technique essence
Degree, save the operating time.
Preferably, there is sealing device the coupling part close to the end set of working portion, can prevent surgical procedure
Middle body fluid is flowed into apparatus, causes unnecessary trouble.
Specific and detailed description is carried out to the part in the embodiment shown in figure and structure below.The present invention is carried
The Minimally Invasive Surgery apparatus of confession includes working portion, coupling part and drive part, and coupling part is rigid member, connects work department
Point and drive part, and drive part part can be accommodated, drive part is divided into three parts：Folding drive division drives work department
Divide and do open and close movement；Rotary driving part driving working portion rotates；Wobble drive portion driving working portion does swing fortune
It is dynamic.Rotation driving and wobble drive, which are set, point-blank or nearby to be set, and operator can be facilitated quickly to be grasped nearby
Make, ensure operation technique precision, save the operating time.
Referring to Fig. 1-4, in the present embodiment, working portion is mainly binding clip 1；Coupling part is mainly outer tube 16；Folding is driven
Dynamic portion is mainly miniature lever 27, mediates miniature lever 27 and drives binding clip 1 to do open and close movement；The power set of rotary driving part are mainly
Great wheel 22, rotation great wheel 22 can drive binding clip 1 to rotate；The power set in wobble drive portion, which are predominantly bent, to be turned
Wheel 14, rotoflector runner 14 can drive binding clip 1 to do oscillating motion.
Binding clip 1 has two components, pivotally connected between component, and pivotally connected solid by binding clip pin 2 with binding clip seat 3
It is fixed.4 are connect before center-pole and passes through the corresponding aperture of binding clip seat 3,4 cylindrical bosses are connect before center-pole and load the semiclosed oval of the component of binding clip 1
In groove., can also be by binding clip pin 2 also cross on the oval groove on head seat 3, the component of binding clip 1 during concrete application
Oval groove and center-pole before connect the corresponding aperture on 4 to realize.Center-pole bending joint 5 respectively with connect before center-pole 4 and in
Core bar 6 is pivotally connected.Outer tube 16 is fixedly connected with connecing 15 before outer tube, is such as welded, and bending push rod 10 is fixed with bending ejector sleeve 11 to be connected
Connect, such as weld, and 15 corresponding apertures are connect before passing through outer tube.Bent connecting rod 9 and binding clip seat 3 and bending push rod 10 are pivotally connected.
Referring to Fig. 2-5, great wheel 22 loads clutch shaft bearing 20, and puts great wheel boring cover 19 (shaft retaining ring), great wheel 22
It is fixedly connected with great wheel boring cover 19, such as welds.Bend runner 14 and load the outer ring of clutch shaft bearing 20, and load bending wheel cover
21, bending runner is fixedly connected with bending wheel cover 21, is such as welded, and makes bending runner 14 may only be by connecting around great wheel
22 rotations.Said structure can also be accomplished by the following way：Great wheel inner sleeve and great wheel 22 are fitted close, great wheel 22
Assembled with bending runner 14 by fixing screws, bending runner 14 is rotated around great wheel 22.
Augering screw 13 is bent with bending runner 14 screw thread to coordinate.Outer tube 16 is followed by 18 to be fixedly connected with outer tube, such as welds
Connect, while pass through great wheel 22, bending runner 14, the bending corresponding aperture of augering screw 13.Outer tube is followed by 18 and passed through with great wheel 22
Great wheel outer tube is followed by fixing screws 17 and fixed.Augering screw fixing screws 12 will bend ejector sleeve through the oval groove on outer tube 16
10 fix with bending augering screw 13.Rotational positioning flange 23 and the big tight fit of handle 28, and be fixedly connected, such as weld, rotation
Locating flange 23 loads the bearing group being made up of second bearing 24 and 3rd bearing 25 as bearing block, and bearing is assembled into great wheel
22, great wheel is fixed after swivel nut 26 screws with the screw thread of great wheel 22 and fixes great wheel 22 and big handle 28.The end of thread of center-pole 6
Through the big corresponding aperture of handle 28, center-pole spring 7 is loaded into big handle 28, center-pole 6 is followed by 8 screw threads with center-pole and screwed, small
Handle 27 is followed by the cooperation of 8 corresponding grooves with center-pole.The other end of center-pole 6 passes through the bending corresponding aperture of push rod 10.Said structure may be used also
To be accomplished by the following way：The fixation swivel nut of great wheel 22 is loaded into the correspondence position of big handle 28 and gap coordinates, will be revolved
Turn locating flange 23 to be fitted close with big handle 28, and be fixedly connected with (as welded), for by the fixation swivel nut of great wheel and greatly
The interior external threading of runner fixes great wheel 22 after screwing, the bulb end of center-pole 6 can pass through the corresponding aperture of big handle 28, and
Coordinated with the corresponding groove of miniature lever 27
Referring to Fig. 2, Fig. 6 and Fig. 7, when rotating clockwise bending runner 14, bending augering screw 13 is extrapolated, drives bending
Ejector sleeve 11 extends forward so that bending push rod 10 acts on bent connecting rod 9, and binding clip seat 3 drives via bent connecting rod 9 to be occurred partially
Pendulum.
When rotating counterclockwise bending runner 14, it will be received in bending augering screw 13, drive bending ejector sleeve 11 to big handle 28
Move in direction so that bending push rod 10 pulls back bent connecting rod 9, and binding clip seat 3 drives via bent connecting rod 9 occurs opposite direction
Beat.
The design of this kind of swinging structure ensure that whole operation device it is rigid under the premise of so that the swing of work department
Flexibly, scope is larger, apparatus structure, simple to operate, reliable operation, easy to maintenance.
Referring to Fig. 2 and Fig. 8, outer tube is followed by 18 in great wheel 22, and great wheel 22 and outer tube are followed by 18 tight fits, together
When the outer tube of great wheel is followed by interfixing by two screws 17.Outer tube is followed by 18 fixed settings, such as can be welded in
One end of outer tube 16.Augering screw fixing screws 12 sequentially pass through oval groove on bending augering screw 13 and outer tube 16, are screwed into
Bend ejector sleeve 11.
Outer tube 16 is fixedly connected with connecing 15 before outer tube, is such as welded.Bend ejector sleeve 11 and the bending tight fit of push rod 10 or fixation
Connection, such as weld, bending push rod 10 front end is connect in 15 accommodation space before being located at outer tube, and one end and the bending of bent connecting rod 9 push away
The front end of bar 10 is flexibly connected, and the other end is movably connected on binding clip seat 3, and one end of binding clip seat 3 is flexibly connected with connecing 15 before outer tube,
Bent connecting rod 9 is offset to the side of central shaft.
Great wheel 22 is rotated, outer tube is followed by connecing 15 concomitant rotations before 18, outer tube 16, outer tube, and the oval groove on outer tube drives
Crooked assembly rotates together, but does not change the swing angle of binding clip 1.
The rotation driving and wobble drive, which are set, point-blank or nearby to be set, and can facilitate Minimally Invasive Surgery operator
Quickly operated nearby, to ensureing Minimally Invasive Surgery performance accuracy, save the Minimally Invasive Surgery operating time.
Center-pole 6 is followed by 8 threaded connections located at bending ejector sleeve 11 inner chamber, one end with center-pole, and miniature lever 27 is located at center
Bar is followed by groove；Or the bulb end of center-pole can be set with miniature lever 27.The other end and bending joint of center-pole 6
5 are flexibly connected, and bending joint 5 is also flexibly connected with connecing 3 before center-pole.4 are connect before center-pole in binding clip seat 3, binding clip 1 is with
4 flexible connections are connect before core bar；Or 4 carry out pin joints can will be connect by binding clip pin before binding clip seat 4, binding clip 1 and center-pole.
Referring to Fig. 9, miniature lever is mediated, when external force acts on miniature lever 27, miniature lever 27 rotates counterclockwise around pivot, small
Handle 27, which promotes center-pole to be followed by 8 movements, is compressed center-pole spring 7, while drives center-pole to be followed by 8, center-pole 6, center
4 forward movements are connect before rod bending joint 5, center-pole, the cylinder boss connect before center-pole on 4 moves on binding clip in skewed slot, drives
The component of binding clip 1 is rotated around binding clip pin 2, realize that binding clip 1 closes.Miniature lever 27 is unclamped, center-pole spring 7 reversely promotes center
Bar is followed by 8, and binding clip 1 opens, and drives miniature lever to set back.
As shown in figs. 2 and 10, the preferred embodiment of the emphasis part related to oscillating motion is made as described below：
Connect before center-pole and a groove circumferentially is opened on 4 external diameter, for placing O-ring, play blocking solution effect, anti-hemostasis
Blood stains are formed in liquid stream to apparatus；
Binding clip seat 3, during assembling, binding clip 1 is placed on binding clip seat 3, corresponding with binding clip seat through binding clip using binding clip pin 2
Hole, make both activity rivetings.In specific implementation, binding clip pin can also be used also cross the oval on binding clip seat, binding clip
Groove, realize and work as along central axis direction, when moving up and down binding clip pin, binding clip folding.When binding clip pin is moved upward to and groove
During contact, no longer move, limit the maximum angle of binding clip jaw opening.
Cylinder boss is connected before center-pole in the semiclosed oval groove of binding clip so that move down when along on central axis direction
When being connect before dynamic center-pole, binding clip folding.
Bent connecting rod 9, there are a hole and an axle, the vertical direction in their centers of circle in left and right ends respectively on bent connecting rod 9
Distance could be arranged to 0.15-0.5mm, preferably 0.3m.The eccentric setting can ensure that work department flexible swinging is not susceptible to
Phenomena such as stuck, instrumentation reliability is influenceed, ensure operating time and effect.
15 front ends are connect before outer tube and binding clip seat 3 is pivotally connected, and are cut and bending push rod respective channel.
Bending push rod 10 front end is cut into fan-shaped column, and center is penetrated by circular hole, and through center-pole 6, rear termination bending pushes away
Pipe 11.
Referring to Fig. 2 and Figure 11, rotating part emphasis part is made as described below：
Great wheel 22, clutch shaft bearing 20 is loaded into shaft shoulder position on great wheel 22, and is kept off great wheel boring cover 19 as week
Circle is fixedly connected with great wheel, realizes the displacement for the central axis direction for limiting clutch shaft bearing 20.Hole A inserts great wheel fixing screws
Fixed outer tube is followed by.
Bend runner 14, clutch shaft bearing 20 with bending wheel cover 21 be sequentially loaded into bending runner 14, bending runner with it is curved
Bent wheel cover is fixedly connected, and realizes the displacement for the central axis direction for limiting bending runner.
Outer tube is followed by 18, and a holes coordinate with great wheel corresponding aperture in figure, and b holes are put into spring and steel ball, with rotational positioning flange
23 realize rotational positioning.
The multiple ball recess of rotational positioning flange 23 Shangrao circumference uniform distribution, it is followed by corresponding aperture with outer tube and coordinates to realize big turn
Wheel is often rotated by 360 °/N angles have one it is spacing, and can preferably have prompt tone.
On the bearing of the present invention, such as：Great wheel and bending runner are reduced in rotation process all by bearings
Friction, and ensure its rotating accuracy.Bearing material can choose bearing steel such as GCR15；Carbon steel；Stainless steel, such as 440,304,
316；Ceramics, such as ZRO2 zirconium oxides, SI3N4 silicon nitrides, SIC carborundum, Al2O3 aluminum oxide；Plastics, such as PA nylon, PP poly- third
Alkene, POM polyformaldehyde, PEEK polyether-ether-ketones, the poly- difluoroethylenes of PVDF, PTFE polytetrafluoroethylene (PTFE), UPE polyethylene, PVC polychlorostyrene second
Alkene.
The present apparatus preferably can integrally use rigid material, and its structure setting ensure that the binding clip in surgical procedure
In-vivo tissue can be propped up to avoid being flicked.Matching relationship between rotating device and pendulous device can ensure in big turn of rotation
During wheel, binding clip deflection angle is constant.
The present apparatus is except applied to manual Minimally Invasive Surgery operation device, can be combined with numerical control device and be used for electronics operation behaviour
Make device.
Using the micro-wound surgical operation apparatus of the present invention, by setting the performs device related to oscillating motion and power to fill
Put, to complete the oscillating motion of working portion, so as to overcome the weave control defect in the presence of traditional operating theater instruments, have
Simple in construction, operation, easy maintenance, functional reliability is strong and the features such as long lifespan.Micro-wound surgical operation provided by the present invention
Apparatus has advantages below：It compensate in existing endoscope-assistant surgery due to operating difficulties caused by apparatus free degree deficiency；Reduce
The operation difficulty of single hole endoscope-assistant surgery, expand the indication of operation；The service life and reliability of apparatus are improved, is reduced
Use the cost of flexible apparatus；Working position can realize fixation in optional position in the range of beat.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic；
And these modifications or replacement, the essence of appropriate technical solution is departed from the scope of various embodiments of the present invention technical scheme.
Claims (8)
1. a kind of micro-wound surgical operation apparatus, including working portion and the drive part for driving working portion to move；
Characterized in that, the drive part includes being used for the wobble drive portion for driving working portion to do oscillating motion；
The wobble drive portion includes performs device and power set, and the first end of the performs device is lived with the working portion
Dynamic connection, the second end of the performs device are connected with power set, and the performs device is under the driving of the power set
Working portion is driven to do oscillating motion；
The micro-wound surgical operation apparatus also includes coupling part, and coupling part is rigid member, connects working portion and driving
Part, the wobble drive portion also include center-pole, and the center-pole is located in the coupling part, the working portion
End is connected to the first end of the center-pole by bending joint；
The performs device includes bent connecting rod and bending push rod, and the bending push rod is set on the center-pole, described curved
Bent connecting rod first end and the working portion are pivotally connected, the second end of the bent connecting rod and the first end of the bending push rod
Pivotally connected, the second end of the bending push rod is connected with the power set；
The power set include bending runner and bending ejector sleeve, and the bending runner is set on the center-pole, described curved
The first end of bent ejector sleeve is fixedly connected with the second end of the bending push rod, and the second end and the bending of the bending ejector sleeve turn
Wheel threaded connection, it is described bending runner and it is described bending ejector sleeve between screw thread be self-locking thread, it is described bend ejector sleeve with it is described
The axial direction of screw thread between bending runner is axially in parallel with the center-pole.
2. micro-wound surgical operation apparatus according to claim 1, it is characterised in that and accommodated in the coupling part
The part of drive part.
3. micro-wound surgical operation apparatus according to claim 1, it is characterised in that the both ends of the bent connecting rod are equipped with
Connector, two connectors are mutually set for the eccentric.
4. micro-wound surgical operation apparatus according to claim 1, it is characterised in that the working portion includes binding clip and pincers
Headstock, the binding clip include two binding clip components, pass through head pin pivot between two binding clip components and the binding clip seat
Axis connection, the bending joint are connected to the end of the binding clip seat.
5. the micro-wound surgical operation apparatus according to any one in claim 1-4, it is characterised in that the drive part
Also include：For the rotary driving part for driving working portion to rotate.
6. micro-wound surgical operation apparatus according to claim 5, it is characterised in that the rotary driving part and wobble drive
The coaxial setting in portion.
7. micro-wound surgical operation apparatus according to claim 6, it is characterised in that the drive part also includes：For
Driving working portion does the folding drive division of open and close movement.
8. the micro-wound surgical operation apparatus according to any one in claim 1-4, it is characterised in that the coupling part
End set close to working portion has sealing device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510578453.7A CN105411664B (en) | 2014-09-15 | 2015-09-11 | Micro-wound surgical operation apparatus |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2014104678767 | 2014-09-15 | ||
| CN201410467876 | 2014-09-15 | ||
| CN201510578453.7A CN105411664B (en) | 2014-09-15 | 2015-09-11 | Micro-wound surgical operation apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105411664A CN105411664A (en) | 2016-03-23 |
| CN105411664B true CN105411664B (en) | 2018-04-06 |
Family
ID=55335080
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520704803.5U Expired - Fee Related CN205041453U (en) | 2014-09-15 | 2015-09-11 | Surgery surgical instruments of wicresoft |
| CN201510578453.7A Active CN105411664B (en) | 2014-09-15 | 2015-09-11 | Micro-wound surgical operation apparatus |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520704803.5U Expired - Fee Related CN205041453U (en) | 2014-09-15 | 2015-09-11 | Surgery surgical instruments of wicresoft |
Country Status (2)
| Country | Link |
|---|---|
| CN (2) | CN205041453U (en) |
| WO (1) | WO2016041465A1 (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016041465A1 (en) * | 2014-09-15 | 2016-03-24 | 上海林超医疗设备科技有限公司 | Minimally invasive surgical instrument |
| CN106137272B (en) * | 2016-08-06 | 2023-11-03 | 上海市同济医院 | Biopsy forceps with rotatable head |
| CN108236501A (en) * | 2017-01-03 | 2018-07-03 | 杭州广德医疗器械有限公司 | One kind can turn double-pole electric coagulation forceps |
| CN106955129B (en) * | 2017-05-09 | 2023-04-28 | 佛山衡生医疗自动化有限公司 | Minimally invasive surgical instrument with force feedback |
| CN107550526B (en) * | 2017-10-16 | 2020-07-03 | 吉林大学 | Handheld minimally invasive surgical instrument with self-locking property |
| CN108514441B (en) * | 2018-04-28 | 2024-06-18 | 美茵（北京）医疗器械研发有限公司 | Blood vessel punching assembly and puncher |
| CN109893211B (en) * | 2019-01-31 | 2024-03-12 | 汕头大学 | Clamping device of minimally invasive abdominal cavity surgical equipment |
| CN110680431B (en) * | 2019-10-24 | 2024-05-10 | 天琴特普新医疗科技(苏州)有限公司 | Minimally invasive stitching device |
| CN113116505B (en) * | 2019-12-30 | 2024-03-29 | 北京术锐机器人股份有限公司 | Monopole sealing operation tool head |
| CN112971873B (en) * | 2021-01-26 | 2023-08-25 | 生一科技(北京)有限公司 | Surgical instrument |
| CN113040916B (en) * | 2021-03-13 | 2022-09-30 | 极限人工智能有限公司 | Universal operation device and medical instrument |
| CN113616278B (en) * | 2021-07-30 | 2022-08-30 | 中南大学湘雅三医院 | Endoscope clamp capable of being bent |
| CN114129200B (en) * | 2021-12-07 | 2024-03-26 | 山东威瑞外科医用制品有限公司 | Clamp head handle |
| CN117017428B (en) * | 2023-10-09 | 2023-12-15 | 天津大学医疗机器人与智能***研究院 | Surgical clamp |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5383888A (en) * | 1992-02-12 | 1995-01-24 | United States Surgical Corporation | Articulating endoscopic surgical apparatus |
| US5289963A (en) * | 1991-10-18 | 1994-03-01 | United States Surgical Corporation | Apparatus and method for applying surgical staples to attach an object to body tissue |
| US6206903B1 (en) * | 1999-10-08 | 2001-03-27 | Intuitive Surgical, Inc. | Surgical tool with mechanical advantage |
| US6746443B1 (en) * | 2000-07-27 | 2004-06-08 | Intuitive Surgical Inc. | Roll-pitch-roll surgical tool |
| US7784662B2 (en) * | 2005-02-18 | 2010-08-31 | Ethicon Endo-Surgery, Inc. | Surgical instrument with articulating shaft with single pivot closure and double pivot frame ground |
| US9211125B2 (en) * | 2008-10-23 | 2015-12-15 | Microline Surgical, Inc. | Flexible clip applier |
| CN102834064B (en) * | 2010-03-30 | 2016-01-27 | 卡尔·施托尔茨两合公司 | Medical manipulator system |
| CN102973321B (en) * | 2012-10-17 | 2014-12-03 | 哈尔滨工程大学 | Manual multi-degree of freedom micro-manipulator for surgical operation |
| CN103431913B (en) * | 2013-09-12 | 2015-04-29 | 哈尔滨工业大学 | Robotic surgery micro-device for minimally invasive surgery |
| CN103552088B (en) * | 2013-10-12 | 2016-06-22 | 杨兆奎 | A kind of wrist |
| WO2016041465A1 (en) * | 2014-09-15 | 2016-03-24 | 上海林超医疗设备科技有限公司 | Minimally invasive surgical instrument |
-
2015
- 2015-09-11 WO PCT/CN2015/089404 patent/WO2016041465A1/en active Application Filing
- 2015-09-11 CN CN201520704803.5U patent/CN205041453U/en not_active Expired - Fee Related
- 2015-09-11 CN CN201510578453.7A patent/CN105411664B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN205041453U (en) | 2016-02-24 |
| WO2016041465A1 (en) | 2016-03-24 |
| CN105411664A (en) | 2016-03-23 |
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Address after: Room 202, 3rd floor, No.6 Lane 780, Xinge Road, Xinqiao Town, Songjiang District, Shanghai Patentee after: Shanghai youyiji Medical Technology Co.,Ltd. Address before: Room 202, 3rd floor, No.6 Lane 780, Xinge Road, Xinqiao Town, Songjiang District, Shanghai Patentee before: SHANGHAI UEG MEDICAL MATERIAL Co.,Ltd. |
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Address after: Room 202, 3rd floor, No.6 Lane 780, Xinge Road, Xinqiao Town, Songjiang District, Shanghai Patentee after: SHANGHAI UEG MEDICAL MATERIAL Co.,Ltd. Address before: 201318 Room 401, building 12, no.1-28, Lane 588, Tianxiong Road, Pudong New Area, Shanghai Patentee before: SHANGHAI LINCHAO MEDICAL EQUIPMENT TECHNOLOGY Co.,Ltd. |
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Effective date of registration: 20240614 Address after: Room 301-2, Building B5, Phase II, Changsha E Center, No. 18 Xiangtai Road, Liuyang Economic and Technological Development Zone, Changsha City, Hunan Province, 410300 Patentee after: Hunan Xuanzhi Medical Device Technology Co.,Ltd. Country or region after: China Address before: Room 202, 3rd floor, No.6 Lane 780, Xinge Road, Xinqiao Town, Songjiang District, Shanghai Patentee before: Shanghai youyiji Medical Technology Co.,Ltd. Country or region before: China |