CN112075962A

CN112075962A - Medical handheld device

Info

Publication number: CN112075962A
Application number: CN202011059539.6A
Authority: CN
Inventors: 郭靖; 周亮; 何嘉乐; 成卓奇; 熊晓明
Original assignee: Guangdong University of Technology
Current assignee: Guangdong University of Technology
Priority date: 2020-09-30
Filing date: 2020-09-30
Publication date: 2020-12-15
Anticipated expiration: 2040-09-30
Also published as: CN112075962B

Abstract

The invention provides a medical handheld device, and belongs to the field of medical devices. The medical handheld device comprises a shell, a connecting rod, a first lead tube, a wire driving connecting sleeve, a connecting rod connecting sleeve, a second lead tube, a bending body and a pull wire. Through setting up first lead wire pipe and second lead wire pipe for medical handheld device can stretch into narrow natural cavity, the bending of the curved body is realized with the linkage of acting as go-between to the connecting rod simultaneously, can realize that the curved body is rotatory around the axis line through the line drive adapter sleeve of connecting with first lead wire pipe key, equipment can be in narrow natural cavity, realize the length direction's of a direction cavity translation and around the rotation of the axis of part, set up different executor at the curved body other end and can realize this executor translation and the rotation of a direction in the cavity.

Description

Medical handheld device

Technical Field

The invention relates to the field of medical equipment, in particular to medical handheld equipment.

Background

At present, in the practical application process of medicine, some narrow natural cavities, such as nasal cavities, oral cavities, abdominal cavities and the like, inevitably occur, and a series of operations are often required in the cavities during detection or minimally invasive surgery. The minimally invasive Surgical robot based on the flexible mechanical arm is a hotspot of current research, like the most typical DaVinci series Surgical robot developed by the American scientific Surgical company, the minimally invasive Surgical robot has 4 degrees of freedom, and can realize rotation of a pre-operative end actuator, all-directional swinging of a wrist and opening and closing of the actuator. Although such robots can improve the operability of minimally invasive surgery, they are more cost prohibitive for the average patient.

Meanwhile, the robot is analyzed on a mechanical mechanism, the minimally invasive surgery robot is complex in structure and high in process difficulty, obstacle avoidance operation is difficult to achieve on complex body positions, and the robot also has certain danger when working in a curved cavity. The design of the medical handheld equipment capable of entering the narrow cavity has important significance for improving the safety and the convenience of the operation performed in the cavity.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art or the related art.

In view of the above, the present invention is directed to a medical handheld device.

To achieve the above object, the present invention provides a medical hand-held device comprising: a housing comprising a chamber and a grip portion; the connecting rod is arranged in the handle part and comprises a first rod and a second rod, one end of the first rod is rotatably connected with the inner surface of the handle part, a bent button is arranged on the first rod and extends out of the handle part, and the other end of the first rod is rotatably connected with one end of the second rod; a first lead tube, wherein one end of the first lead tube extends into the chamber; the wire drive connecting sleeve is connected with the first lead tube, and one end of the wire drive connecting sleeve extends radially to form a flange; the connecting rod connecting sleeve is arranged on the outer surface of the line driving connecting sleeve, and one end of the connecting rod connecting sleeve is rotatably connected with the other end of the second rod; one end of the second lead tube is connected with the other end of the first lead tube; the bending body is of a hollow structure, and one end of the bending body is connected with the other end of the second lead tube; one end of the stay wire is connected with one end of the wire drive connecting sleeve, and the other end of the stay wire is connected with the other end of the bending body; wherein the first lead tube, the second lead tube and the bending body are coaxially arranged.

According to the medical handheld device, the medical handheld device can extend into a narrow natural cavity through the first lead tube and the second lead tube, the bending body can be bent through linkage of the connecting rod and the pull wire, and the bending body can rotate around the axis through the wire driving connecting sleeve connected with the first lead tube.

In the above technical solution, the bending body is provided with a notch.

In this technical solution, the notch can bend the bending body in a fixed direction.

In the above technical solution, the bending body includes a first fixing portion, an elastic connecting member, and a second fixing portion, the first fixing portion and the second fixing portion are connected through the elastic connecting member, and the second fixing portion is connected to one end of the second lead tube.

In this technical scheme, the second fixed part is fixed the bending body in the one end of second lead wire pipe, and the bending body realizes crooked through elastic connection spare's deformation.

In the above technical scheme, medical handheld device includes first oilless bush and second oilless bush, first oilless bush sets up the first lead pipe other end, the oilless bush of second sets up the surface of line drive adapter sleeve with between the connecting rod adapter sleeve internal surface.

In the technical scheme, the oilless bushing is arranged at places where friction is easy to generate, such as the first lead pipe and the cavity, the outer surface of the wire drive connecting sleeve and the inner surface of the connecting rod connecting sleeve, so that the friction between components can be reduced.

In the above technical solution, a bearing is disposed between the inner surface of the wire drive connecting sleeve and the outer surface of the first lead tube.

In this solution, the bearing serves to reduce friction and to fix.

In the above technical solution, the first lead tube is provided with a through hole in a radial direction, and the pull wire passes through the inside of the bending body, the inside of the first lead tube, the inside of the second lead tube and the through hole to be connected with the wire-driven connecting sleeve.

In the technical scheme, the stay wire is arranged in the bent body, the first lead tube and the second lead tube, so that the stay wire can be prevented from being exposed outside the equipment.

In the above technical solution, the medical handheld device further includes a knob, and the knob and the first lead tube are coaxially disposed.

In the technical scheme, the knob provides a stress point for a user to rotate the curved body.

The invention provides a medical handheld device, which can extend into a narrow natural cavity through a first lead tube and a second lead tube, wherein a connecting rod is linked with a pull wire to realize the bending of a bending body, the connecting sleeve is driven by the wire connected with the first lead tube to realize the rotation of the bending body around an axis, the device can realize the translation in one direction, namely the length direction of the cavity, and the rotation around the axis of a component in the narrow natural cavity, such as an oral cavity, an abdominal cavity, a nasal cavity and the like, and the other end of the bending body is provided with different actuators to realize the translation and the rotation of the actuator in one direction in the cavity, namely the device has two degrees of freedom.

Drawings

FIG. 1 shows a schematic structural diagram of a medical hand-held device according to an embodiment of the invention;

FIG. 2 shows a front view of a portion of the structure of a medical hand-held device according to one embodiment of the invention;

FIG. 3 shows a cross-sectional view of a portion of the structure of a medical hand-held device according to an embodiment of the invention at A-A;

FIG. 4 shows a front view of a portion of a medical hand-held device according to an embodiment of the invention as the pull wire is pulled;

FIG. 5 shows an exploded view of a portion of the structure of a medical hand-held device according to one embodiment of the invention;

FIG. 6 illustrates a front view of a curved body of a medical hand-held device according to one embodiment of the present invention when not curved;

FIG. 7 illustrates a front view of a curved body of a medical hand-held device when curved, according to one embodiment of the present invention;

FIG. 8 shows a front view of a partially constructed bending button of a medical hand-held device according to an embodiment of the invention in action;

FIG. 9 shows a front view of a partially constructed bending button of a medical hand-held device according to an embodiment of the invention inactive;

FIG. 10 illustrates a front view of a curved body of a medical hand-held device when curved, according to one embodiment of the present invention;

FIG. 11 illustrates a front view of a curved body of a medical hand-held device according to one embodiment of the present invention when not curved;

FIG. 12 shows a schematic diagram of the location of the force points and the direction of the force when the bending body of the medical handheld device is not bent according to one embodiment of the invention;

FIG. 13 shows a schematic diagram of the location of the force point and the direction of the force when a 90 degree bend occurs in the flexure of a medical handset according to one embodiment of the invention;

FIG. 14 shows a recorded graph of the change in position of the force point during bending of the bending body of the medical handheld device according to one embodiment of the invention;

the relationship between the reference numbers and the names of the components is shown in the following table:

reference numerals	Name of component	Reference numerals	Name of component
				1	Shell body	5	Connecting rod connecting sleeve
11	Chamber	6	Second lead tube
				12	Hand grip	7	Bending body
2	Connecting rod	71	Gap
				21	First rod	701	First fixed part
22	Second rod	702	Elastic connecting piece
				23	Bending button	703	Second fixed part
3	First lead tube	8	Stay wire
				31	Through hole	9	Rotary knob
4	Line drive connecting sleeve	101	First oilless bushing
				41	Flange	102	Second oilless bushing
		1101	Bearing assembly

Detailed Description

In order that the above objects, features and advantages of the present invention may be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings, which are illustrated in the appended drawings. It should be noted that, in the present application, the embodiments and features of the embodiments may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

Some embodiments according to the invention are described below with reference to fig. 1 to 14.

As shown in fig. 1, 5 and 8, a medical hand-held device includes: the hand-held device comprises a shell 1, wherein the shell 1 comprises a cavity 11 and a handle part 12; the connecting rod 2 is arranged in the handle part 12, the connecting rod 2 comprises a first rod 21 and a second rod 22, one end of the first rod 21 is rotatably connected with the inner surface of the handle part 12, a bent button 23 is arranged on the first rod 21, the bent button 23 extends out of the handle part 12, and the other end of the first rod 21 is rotatably connected with one end of the second rod 22; a first lead tube 3, one end of the first lead tube 3 extends into the chamber 11; the wire-driven connecting sleeve 4 is provided, one end of the wire-driven connecting sleeve 4 extends radially to form a flange 41, and the wire-driven connecting sleeve 4 is connected with the first lead tube 3; the connecting rod connecting sleeve 5 is arranged on the outer surface of the online driving connecting sleeve 4, and one end of the connecting rod connecting sleeve 5 is rotatably connected with the other end of the second rod 22; one end of the second lead tube 6 is connected with the other end of the first lead tube 3; the bending body 7 is of a hollow structure, and one end of the bending body 7 is connected with the other end of the second lead tube 6; one end of the stay wire 8 is connected with one end of the wire drive connecting sleeve 4, and the other end of the stay wire 8 is connected with the other end of the bending body 7; wherein the first lead tube 3, the second lead tube 6 and the bending body 7 are coaxially arranged.

Specifically, the handle part 12 can provide stress points for a user, the handle part 12 is of a hollow structure, the overall weight of the equipment is reduced, a space is provided for the action of the connecting rod 2, a rotation center is provided for the connecting rod 2, the handle part 12 limits the action amplitude of the connecting rod 2, the first rod 21 rotates by taking the connection point of the first rod 21 and the inner surface of the handle part 12 as the rotation center, the rotation is limited in the handle part 12, and the phenomenon that the pull wire strength is invalid and breaks due to the fact that the rotation angle of the first rod 21 is too large is avoided.

Specifically, first lead wire pipe 3 plays the support and provides the effect of stress point for the palm, second lead wire pipe 6 gets into for example the nasal cavity, the oral cavity, in natural cavity such as abdominal cavity, go into natural cavity with crooked body area 7, so the diameter of second lead wire pipe 6 is less than the diameter of first lead wire pipe 3, second lead wire pipe 6 and first lead wire pipe 3 can pass through threaded connection, threaded connection has driven effect, when first lead wire pipe 3 takes place to use its axis as the rotation of rotation center, can drive second lead wire pipe 6 and take place the rotation of equidirectional, realize the rotation of crooked body 7.

Specifically, the one end of first lead wire pipe 3 stretches into cavity 11, can support and fix the position of first lead wire pipe 3, can not be because second lead wire pipe 6 gets into and bump behind the natural cavity, lead to first lead wire pipe 3 to take place the swing, improve equipment's stability.

The flange 41 of the line driving connecting sleeve 4 plays a role in transmission, and because the connecting rod connecting sleeve 5 is arranged on the outer surface of the line driving connecting sleeve 4, when the connecting rod 2 drives the connecting rod connecting sleeve 5 to move along the length direction of the first lead tube 3, the flange 41 can be pushed to move in the same direction, so that the line driving connecting sleeve 4 is driven, the stay wire 8 is stretched, and the bending body 7 is bent.

It will be appreciated that the required force at which the flexure 7 is bent can be varied by selecting different degrees of stiffness at the time of printing. The inner part of the bending body with a hollow structure can be used for arranging the stay wire, and the bending body can also have the ventilation function. Optionally, the soft glue is used as a material of the bent body, the material can deform with large curvature in a narrow space, and the material is non-toxic and harmless to biological tissues and cannot cause damage to the biological tissues when being scratched.

It will be appreciated that because the device has fewer parts to enter the cavity, only the second lead tube and the bending body need be miniaturized, e.g., using a smaller diameter second lead tube and bending body, to enter a smaller cavity, e.g., a nasal cavity, an ear cavity, etc.

The other end of the bending body 7 is provided with a different actuator, so that the actuator can move in the cavity. The actuator includes: medical diagnostic equipment such as a camera and an illumination device which does not contact the cavity, and medical diagnostic equipment such as a biopsy needle (a biopsy probe), an injection needle, a needle electrode, an electric knife, and a laser fiber which needs to contact the cavity, can be fixedly connected to the other end of the curved body to be connected thereto, for example, by tying the equipment to the other end of the curved body, or by extending the equipment into a hollow structure of the curved body.

Specifically, as shown in fig. 9, one end of the first rod 21 is rotatably connected to the inner surface of the grip portion 12, so that the first rod 21 can only rotate in the grip portion 12 with the connection point as the center of circle, as shown in fig. 4 and 8, when the bending button 23 is pressed, the first rod 21 rotates to drive the second rod 22 to translate along the length direction of the first lead tube 3, so as to drive the connecting rod connecting sleeve 5 to translate in the same direction, because one end of the line driving connecting sleeve 4 is provided with the flange 41, the connecting rod connecting sleeve 5 can push the flange 41 to continue to translate, so as to stretch the pull line 8 connected to the line driving connecting sleeve 4, and because one end of the bending body 7 is connected to the other end of the second lead tube 6, the other end of the bending body 7 is connected to the other end of the pull line 8, so as to drive the bending body 7 to bend as; as shown in fig. 2 and 9, when the bending button 23 is released, the pulling force applied to the pull wire 8 is removed, the bending body 7 itself has elasticity, the bending body 7 is elastically restored, and the bending button 23 is pulled back to the original state by the pull wire 8, thereby achieving the restoration.

Specifically, as shown in fig. 3 and 5, the first lead tube 3 rotates around the axis of the first lead tube 3, and since the first lead tube 3 is connected to the wire-driven connecting sleeve 4, the connection is a known connection method, such as a key connection, which is a circumferential fixation between the shaft and the parts on the shaft through a key to transmit motion and torque, the transmission action of the key causes the first lead tube 3 to drive the wire-driven connecting sleeve 4 to rotate and also drives the second lead tube 6 and the bending body 7 connected to the second lead tube 6 to simultaneously rotate in the same direction, i.e. the two ends of the pull wire 8 simultaneously rotate in the same direction, which avoids the problem of winding of the pull wire 8, and also causes the bending part of the bending body 7 to rotate around the axis of the first lead tube 3, so that the device can translate along the length direction of the cavity in a natural cavity, or can rotate around the first lead tube 3; the above effect can also be achieved by a pin connection; through threaded connection, the effect can also be realized by arranging matched threads on the outer surface of the first lead pipe and the inner surface of the wire drive connecting sleeve for connection. In summary, the above effects can be achieved by the transmission function of the connection between the first lead tube and the line driving connection sleeve, and the connection manner is only an example and is not limited.

As shown in fig. 6 and 7, the bending body 7 is further provided with a notch 71.

It can be understood that the notch 71 is provided to enable the bending body 7 to bend only in the direction of the notch 71 during the bending process, and also to avoid the bending body 7 bending towards the hollow portion of the bending body 7 when the bending body is pulled by the pull wire 8.

The bending body is of a hollow structure, the inner portion of the bending body can be used for arranging the stay wires, the bending body can be provided with a stress dispersion port, stress concentration generated during bending is avoided, and the situation that the bending body is broken is caused.

For a cylindrically curved body 7, the base circle may have a diameter of 8mm and a length of 19 mm. As shown in fig. 12, 13 and 14, 144N force is applied to one point of the notch of the bending body, the force is directed along the length direction of the bending body to bend the bending body 7 by 90 degrees, as shown in fig. 12 before the bending deformation of the bending body, as shown in fig. 13 after the deformation, the coordinate of the force-bearing point changes as shown in fig. 14, and in the process of continuously applying the force for 2 seconds, one end of the bending body 7 starts to bend toward the notch 71, and the two ends of the notch 71 start to approach until the one end and the other end of the bending body form an included angle of 90 degrees.

As shown in fig. 10 and 11, the bending body 7 may include a first fixing portion 701, an elastic connecting member 702, and a second fixing portion 703, the first fixing portion 701 and the second fixing portion 703 are connected via the elastic connecting member 702, and the second fixing portion 703 is connected to one end of the second lead tube 6.

Specifically, as shown in fig. 10, when the first fixing portion 701 receives a tensile force from the tension wire 8, one end of the elastic connection member 702 connected to the first fixing portion 701 receives a radial pressure to be bent, thereby bending the entire bending body 7.

As shown in fig. 3 and 5, further, the medical hand-held device includes a first oilless bushing 101 and a second oilless bushing 102, the first oilless bushing 101 being disposed at the other end of the first lead pipe 3, the second oilless bushing 102 being disposed between the outer surface of the line drive connection sleeve 4 and the inner surface of the connecting rod connection sleeve 5.

It can be understood that the friction between the two positions is caused by the rotation required during the operation of the device between the first lead tube 3 and the inner surface of the chamber 11 and between the outer surface of the wire drive connecting sleeve 4 and the inner surface of the connecting rod connecting sleeve 5, and the friction between the components can be replaced by the friction between the components and the oil-free bushing by arranging the oil-free bushing at the 2 positions, so that the abrasion between the components is reduced.

Further, as shown in fig. 3 and 5, a bearing 1101 is provided between the inner surface of the wire drive connecting sleeve 4 and the outer surface of the first lead tube 3.

It is understood that the bearing 1101 is keyed to the first lead tube 3. The bearing 1101 functions to support the wire drive connecting sleeve 4 and simultaneously provide lubrication to the wire drive connecting sleeve 4 and the first lead tube 3, thereby reducing the wear of the wire drive connecting sleeve 4 and the first lead tube 3.

Further, as shown in fig. 2 and 3, the first lead tube 3 is provided with a through hole 31 in the radial direction, and the pulling wire 8 is connected to the wire drive connection sleeve 4 through the inside of the bending body 7, the inside of the first lead tube 3, the inside of the second lead tube 6 and the through hole 31.

It can be understood that the stay wire 8 can avoid the stay wire 8 from being exposed outside the equipment by routing the inside of the component, and the cavity is prevented from being cut by the small diameter of the stay wire 8 when the equipment extends into the cavity, and the through hole 31 provides a passage for leading the first lead tube 3 out of the stay wire 8, so that the stay wire 8 can be connected with the wire driving connecting sleeve 4 through the through hole 31.

Further, as shown in fig. 2 and 3, the medical handheld device further comprises a knob 9, and the knob 9 is coaxially arranged with the first lead 6.

Concretely, knob 9 and first lead wire pipe 3 fixed connection are provided with a plurality of archs on the knob 9, have improved the roughness of knob 9, and the user can make first lead wire pipe 3 produce the rotation that uses first lead wire pipe 3 axis as the rotation axis through rotatory knob 9, and then realizes the rotation of curved body 7.

The invention provides a medical handheld device, which can extend into a narrow natural cavity through a first lead tube and a second lead tube, wherein the bending of a bending body is realized through the linkage of a connecting rod and a pull wire, the rotation of the bending body around an axis can be realized through a wire driving connecting sleeve connected with the first lead tube, the device can realize translation in one direction, namely the length direction of the cavity, and rotation around the axis of a component in the narrow natural cavity, such as an oral cavity, an abdominal cavity, a nasal cavity and the like, and the translation and rotation of the actuator in one direction in the cavity can be realized by arranging different actuators at the other end of the bending body.

In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless expressly limited otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or unit must have a specific direction, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A medical hand-held device, comprising:

a housing comprising a chamber and a grip portion;

the connecting rod is arranged in the handle part and comprises a first rod and a second rod, one end of the first rod is rotatably connected with the inner surface of the handle part, a bent button is arranged on the first rod and extends out of the handle part, and the other end of the first rod is rotatably connected with one end of the second rod;

a first lead tube, wherein one end of the first lead tube extends into the chamber;

the wire drive connecting sleeve is connected with the first lead tube, and one end of the wire drive connecting sleeve extends radially to form a flange;

the connecting rod connecting sleeve is arranged on the outer surface of the line driving connecting sleeve, and one end of the connecting rod connecting sleeve is rotatably connected with the other end of the second rod;

one end of the second lead tube is connected with the other end of the first lead tube;

the bending body is of a hollow structure, and one end of the bending body is connected with the other end of the second lead tube;

one end of the stay wire is connected with one end of the wire drive connecting sleeve, and the other end of the stay wire is connected with the other end of the bending body;

wherein the first lead tube, the second lead tube and the bending body are coaxially arranged.

2. The medical hand-held device according to claim 1, wherein the curved body is provided with a notch.

3. The medical hand-held device according to claim 1, wherein the bending body comprises a first fixing portion, an elastic connecting member, and a second fixing portion, the first fixing portion and the second fixing portion are connected via the elastic connecting member, and the second fixing portion is connected to one end of the second lead tube.

4. The medical hand-held device according to claim 1, comprising a first oilless bushing disposed at the other end of the first lead tube and a second oilless bushing disposed between an outer surface of the wire drive connection sleeve and an inner surface of the connecting rod connection sleeve.

5. The medical hand-held apparatus according to claim 1, wherein a bearing is provided between the inner surface of the wire drive connection sleeve and the outer surface of the first lead tube.

6. The medical hand-held device according to claim 3, wherein the first lead tube is radially provided with a through hole, and the pull wire is connected with the wire drive connection sleeve through the inside of the bent body, the inside of the first lead tube, the inside of the second lead tube and the through hole.

7. The medical hand-held device of claim 1, further comprising a knob disposed coaxially with the first lead tube.