CN114305592B - Deflection mechanism and surgical instrument - Google Patents
Deflection mechanism and surgical instrument Download PDFInfo
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- CN114305592B CN114305592B CN202210013280.4A CN202210013280A CN114305592B CN 114305592 B CN114305592 B CN 114305592B CN 202210013280 A CN202210013280 A CN 202210013280A CN 114305592 B CN114305592 B CN 114305592B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention provides a deflection mechanism and a surgical instrument, and relates to the technical field of medical instruments, wherein the deflection mechanism comprises a machine body, a first deflection assembly, a second deflection assembly and a locking assembly, and a first driving wheel of the first deflection assembly is arranged on one side end surface of the machine body and is suitable for driving a first driven piece of a driven mechanism to rotate; the second driving wheel of the second deflection assembly is arranged on the end surface of the opposite side of the machine body and is suitable for driving a second driven piece of the driven mechanism to rotate; the first driving wheel is provided with a locking hole structure, and a locking piece of the locking assembly is arranged on the machine body and is suitable for penetrating through the locking hole structure to lock or unlock the first driving wheel. According to the invention, when the locking piece locks the first driving wheel, the clamping or shearing function of the driven mechanism can be realized, and when the locking piece unlocks the first driving wheel, the first driving wheel and the second driving wheel can drive the first driven piece and the second driven piece to synchronously rotate, so that the deflection function of the surgical instrument is realized, and the surgical operation is convenient under the condition of different angles.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a deflection mechanism and a surgical instrument.
Background
Minimally invasive surgery such as laparoscopy is increasingly used in clinical treatment due to the large wound and slow recovery of traditional open surgery. In minimally invasive surgery such as laparoscopy on patients, a large number of surgical instruments such as forceps and scissors are often used.
The existing forceps or scissors and other surgical instruments generally have only a single clamping or shearing function, and even if some products possibly have a rotation function, a plurality of angles are still inconvenient to operate when an operation is performed, and the operator is required to adjust the angle in a large range to realize the operation, so that the operator is difficult to perform the operation in a comfortable normal posture, the operation is labor-consuming, the efficiency is low, the action difficulty is high, and errors are easily caused.
Disclosure of Invention
The invention solves the problem of how to enable the surgical instrument to realize the deflection function, and is convenient for performing the surgical operation under the condition of different angles.
In order to solve the above-mentioned problems, the present invention provides a yaw mechanism, comprising:
a body;
the first deflection assembly comprises a first driving wheel, wherein the first driving wheel is arranged on one side end surface of the machine body and is suitable for driving a first driven piece of the driven mechanism to rotate;
the second deflection assembly comprises a second driving wheel, and the second driving wheel is arranged on the end surface of the opposite side of the machine body and is suitable for driving a second driven piece of the driven mechanism to rotate;
the locking assembly comprises a locking piece, wherein a locking hole structure is arranged on the first driving wheel, and the locking piece is arranged on the machine body and suitable for penetrating through the locking hole structure to lock or unlock the first driving wheel.
Optionally, the retaining member is movably connected with the machine body and is suitable for moving along a direction parallel to an axial direction of the first driving wheel, the retaining member comprises a first rod body and a second rod body, the first rod body is connected with the second rod body along the direction parallel to the axial direction, when a part of the first rod body is positioned in the locking hole structure, an outer wall of the first rod body is suitable for abutting against an inner wall of the locking hole structure to lock the first driving wheel, and when the second rod body is positioned in the locking hole structure, a gap is reserved between the outer wall of the second rod body and the inner wall of the locking hole structure to unlock the first driving wheel.
Optionally, the locking assembly further comprises an elastic piece, a mounting groove structure is arranged on the machine body, the elastic piece is arranged in the mounting groove structure, one end of the elastic piece is in butt joint with the groove bottom of the mounting groove structure, and the other end of the elastic piece is in butt joint with the locking piece.
Optionally, the locking assembly further comprises a pressing piece, wherein the pressing piece is arranged on one side, away from the machine body, of the first driving wheel and is connected with the locking piece.
Optionally, the locking hole structure includes a plurality of through hole structures, each of which is disposed along a direction parallel to the axial direction, and a plurality of which are arranged and penetrated along a circumferential direction of the first driving wheel.
Optionally, the through hole structure is circular through hole, the first body of rod is first round bar, the second body of rod is the second round bar, the diameter of first round bar is equal to the diameter of circular through hole and is greater than the diameter of second round bar, the locking hole structure is located adjacent the inner wall interval of circular through hole junction is greater than the diameter of second round bar and is less than the diameter of first round bar.
Optionally, the first deflection assembly further includes a first rotating shaft, a first opening wheel and a first closing wheel, the first rotating shaft is arranged on the machine body and is in driving connection with the first driving wheel, and the first opening wheel and the first closing wheel are respectively sleeved on the first rotating shaft and are suitable for driving the first driven piece to rotate.
Optionally, the second deflection assembly further includes a second rotating shaft, a second opening wheel and a second closing wheel, the second rotating shaft is arranged on the machine body and is in driving connection with the second driving wheel, and the second opening wheel and the second closing wheel are respectively sleeved on the second rotating shaft and are suitable for driving the second driven piece to rotate.
Compared with the prior art, the invention has the following beneficial effects:
the first driven piece and the second driven piece are respectively arranged on the two opposite side end surfaces of the machine body, the first driven piece is suitable for driving the driven mechanism to rotate, the second driven piece is suitable for driving the driven mechanism to rotate, meanwhile, the locking hole structure is arranged on the first driven piece, the locking piece is arranged on the machine body and penetrates through the locking hole structure, when the locking piece locks the first driven piece, the first driven piece is fixed, the second driven piece can be driven by the second driven piece to rotate towards the first driven piece, so that the clamping or shearing function of the driven mechanism is realized, when the locking piece unlocks the first driven piece, the first driven piece and the second driven piece can be respectively driven by the first driving piece and the second driven piece to synchronously rotate, so that the driven mechanism is deflected from one station to the other station, therefore, the deflection function of a surgical instrument can be realized, and surgical operation can be conveniently performed under the condition of different angles.
Another object of the present invention is to provide a surgical instrument, so as to solve the problem of how to make the surgical instrument realize a deflection function, and facilitate the surgical operation under different angles.
In order to solve the problems, the technical scheme of the invention is realized as follows:
a surgical instrument comprising a driven mechanism and a yaw mechanism as described above, a first yaw assembly of the yaw mechanism being adapted to drive a first follower of the driven mechanism in rotation, and a second yaw assembly of the yaw mechanism being adapted to drive a second follower of the driven mechanism in rotation.
Optionally, the surgical instrument further comprises a connecting piece, one end of the connecting piece is connected with the driven mechanism, the other end of the connecting piece is connected with the deflection mechanism, a channel structure is arranged in the connecting piece, the driven mechanism further comprises a first rope and a second rope, one end of the first rope is connected with the first driven member, the other end of the first rope penetrates through the channel structure and then is in driving connection with the first deflection assembly, one end of the second rope is connected with the second driven member, and the other end of the second rope penetrates through the channel structure and then is in driving connection with the second deflection assembly.
The advantages of the surgical instrument over the prior art are the same as those of the deflection mechanism described above and are not described in detail herein.
Drawings
FIG. 1 is a schematic view of a surgical instrument according to an embodiment of the present invention;
FIG. 2 is a schematic view of a deflection mechanism and a connector of a surgical instrument according to an embodiment of the present invention;
FIG. 3 is a semi-sectional view taken along line A-A of FIG. 2 in accordance with an embodiment of the present invention;
FIG. 4 is a schematic view of a first driving wheel according to an embodiment of the present invention;
FIG. 5 is a schematic view of a surgical instrument from another perspective in accordance with an embodiment of the present invention;
FIG. 6 is a schematic view of a surgical instrument from another perspective according to an embodiment of the present invention;
FIG. 7 is a schematic view of a surgical instrument from another perspective according to an embodiment of the present invention;
fig. 8 is a schematic view of the driven mechanism of the surgical instrument according to the embodiment of the present invention.
Reference numerals illustrate: 1-organism, 11-mounting groove structure, 2-first beat subassembly, 21-first drive wheel, 211-locking hole structure, 2111-through-hole structure, 22-first pivot, 23-first open wheel, 24-first closed wheel, 3-second beat subassembly, 31-second drive wheel, 32-second pivot, 33-second open wheel, 34-second closed wheel, 4-locking subassembly, 41-retaining member, 411-first body of rod, 412-second body of rod, 42-elastic component, 43-press, 100-driven mechanism, 101-first driven member, 102-second driven member, 103-first rope, 104-second rope, 200-connecting piece.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
In the description of the present invention, it should be understood that the forward direction of "X" in the drawings represents the left direction, and correspondingly, the reverse direction of "X" represents the right direction; the forward direction of "Y" represents the forward direction, and correspondingly, the reverse direction of "Y" represents the rearward direction; the forward direction of "Z" represents above, and correspondingly, the reverse direction of "Z" represents below; the orientation or positional relationship indicated by the terms "X", "Y", "Z", etc. are based on the orientation or positional relationship shown in the drawings of the specification, are merely for convenience of description and to simplify the description, and are not indicative or implying that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention. The terms "first" and "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. 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 existing forceps or scissors and other surgical instruments generally have only a single clamping or shearing function, and even if some products possibly have a rotation function, a plurality of angles are still inconvenient to operate when an operation is performed, and the operator is required to adjust the angle in a large range to realize the operation, so that the operator is difficult to perform the operation in a comfortable normal posture, the operation is labor-consuming, the efficiency is low, the action difficulty is high, and errors are easily caused.
To solve the above-mentioned problems, an embodiment of the present invention provides a yaw mechanism, including: a machine body 1; a first yaw assembly 2 including a first driving wheel 21, the first driving wheel 21 being disposed on one side end surface of the body 1 and adapted to drive a first follower 101 of the follower mechanism 100 to rotate; a second yaw assembly 3 including a second driving wheel 31, the second driving wheel 31 being disposed on the opposite side end surface of the body 1 and adapted to drive the second follower 102 of the follower mechanism 100 to rotate; the locking assembly 4 comprises a locking member 41, a locking hole structure 211 is arranged on the first driving wheel 21, and the locking member 41 is arranged on the machine body 1 and is suitable for penetrating through the locking hole structure 211 to lock or unlock the first driving wheel 21.
As shown in fig. 1 and 2, in the present embodiment, the machine body 1 is a carrier for mounting various components, and has left and right opposite end surfaces, and may be configured in various forms such as a frame structure, a plate structure, or a block structure, and specifically, the machine body may be adaptively designed according to the size, number, and shape of the components to be mounted, which is not limited.
The first driving wheel 21 and the second driving wheel 31 may adopt a gear or a belt pulley, etc. and are respectively installed on two opposite side end surfaces of the machine body 1 through a rotating shaft or a bearing, etc., and may be in driving connection with the first driven member 101 and the second driven member 102 of the driven mechanism 100 through a driving member such as a rope, a chain or a belt, etc., so that the first driving wheel 21 and the second driving wheel 31 may be driven by an operating handle or a driving member such as a motor to drive the first driven member 101 and the second driven member 102 to rotate, thereby implementing operations such as clamping or cutting.
In this embodiment, in order to adapt to the characteristics that most operators are used to using right-hand operation instruments and thumbs are more flexible, the first driving wheel 21 can be arranged on the right side end face of the machine body 1, the second driving wheel 31 is arranged on the left side end face of the machine body 1, the first operation handle of the first driving wheel 21 is arranged below the second operation handle of the second driving wheel 31, when an operator operates the operation instrument, the operator can hold the second operation handle by the right thumb, the rest fingers of the right hand hold the first operation handle, and the second operation handle is driven by the up-down movement of the right thumb so as to realize the operations of clamping or shearing and the like.
It should be noted that, the driven mechanism 100 may be a clamping mechanism having a clamping function, for example, a working end of an instrument such as forceps, and accordingly, the first driven member 101 and the second driven member 102 may be clamping members capable of clamping each other, and the driven mechanism 100 may also be a shearing mechanism having a shearing function, for example, a working end of an instrument such as scissors, and accordingly, the first driven member 101 and the second driven member 102 may be shearing members capable of shearing each other, and in this embodiment, only the driven mechanism 100 is exemplified by a shearing mechanism having a shearing function for convenience of description.
The locking member 41 may be a locking member or a locking lever provided on the machine body 1, and the locking of the first driving wheel 21 may be achieved by extending the locking member or the locking lever into a locking hole structure 211 provided on the first driving wheel 21 to restrict the rotation of the first driving wheel 21, or may be achieved by disengaging the locking member or the locking lever from the locking hole structure 211 to release the rotation restriction of the first driving wheel 21 to unlock the first driving wheel 21.
The locking member 41 and the locking hole structure 211 may have various cross-sectional shapes such as square, circular, or a combination thereof, and are not limited thereto.
In this way, by providing the first driving wheel 21 adapted to drive the first driven member 101 of the driven mechanism 100 to rotate and the second driving wheel 31 adapted to drive the second driven member 102 of the driven mechanism 100 to rotate on opposite end surfaces of the machine body 1, respectively, and simultaneously providing the locking hole structure 211 on the first driving wheel 21, the locking member 41 is provided on the machine body 1 and passes through the locking hole structure 211, when the locking member 41 locks the first driving wheel 21, the first driven member 101 is fixed, the second driving wheel 31 can drive the second driven member 102 to rotate toward the first driven member 101, thereby realizing the clamping or shearing function of the driven mechanism 100, and when the locking member 41 unlocks the first driving wheel 21, the first driving wheel 21 and the second driving wheel 31 can respectively drive the first driven member 101 and the second driven member 102 to synchronously rotate, thereby enabling the driven mechanism 100 to swing from one station to the other station, thereby realizing the swing function of the surgical instrument, and facilitating the surgical operation under different angles.
Optionally, the locking member 41 is movably connected to the machine body 1 and is adapted to move along a direction parallel to an axial direction of the first driving wheel 21, the locking member 41 includes a first rod 411 and a second rod 412, the first rod 411 and the second rod 412 are connected along the direction parallel to the axial direction, when a portion of the first rod 411 is located in the locking hole structure 211, an outer wall of the first rod 411 is adapted to abut against an inner wall of the locking hole structure 211 to lock the first driving wheel 21, and when the second rod 412 is located in the locking hole structure 211, an outer wall of the second rod 412 is adapted to leave a gap with the inner wall of the locking hole structure 211 to unlock the first driving wheel 21.
As shown in fig. 2 and 3, in the present embodiment, the locking member 41 is a rod-shaped structure disposed along an axial direction parallel to the first driving wheel 21, a part of the rod-shaped structure may be movably connected with the machine body 1 through a structure such as a sliding rail or a sliding slot, and for convenience of description, the part may be referred to as a connection portion, and the other part of the rod-shaped structure is a step shaft structure, and locking or unlocking of the first driving wheel 21 may be achieved through interaction of the step shaft structure and the locking hole structure 211.
As shown in fig. 2, the direction parallel to the axial direction of the first driving wheel 21 refers to the X-axis direction.
It should be noted that, for convenience of description, the step shaft structure may be divided into two parts of the first rod 411 and the second rod 412, and the connection part of the rod structure, the first rod 411 and the second rod 412 may be connected by welding, riveting, bolting or integrally forming; in addition, the first rod 411 of the step shaft structure may be disposed on the left side of the second rod 412 or on the right side of the second rod 412, which is not limited herein.
Specifically, when the first rod 411 is disposed on the left side of the second rod 412, the step shaft structure can push the first rod 411 into the slave locking hole 211 when moving to the right, the second rod 412 is withdrawn from the slave locking hole 211, at this time, the first rod 411 abuts against the inner wall of the slave locking hole 211, so as to limit the rotation of the first driving wheel 21, thereby locking the first driving wheel 21, the step shaft structure can withdraw the first rod 411 from the slave locking hole 211 when moving to the left, the second rod 412 enters the slave locking hole 211, at this time, a gap is left between the second rod 412 and the inner wall of the slave locking hole 211, so that the rotation of the first driving wheel 21 is not affected, and the first driving wheel 21 can be unlocked; when the first rod 411 is disposed on the right side of the second rod 412, the operation of locking or unlocking the first driving wheel 21 is opposite to the above case, and will not be described herein.
Optionally, the locking assembly 4 further includes an elastic member 42 and a pressing member 43, the machine body 1 is provided with a mounting groove structure 11, the elastic member 42 is disposed in the mounting groove structure 11, one end of the elastic member 42 is abutted with the groove bottom of the mounting groove structure 11, the other end of the elastic member 42 is abutted with the locking member 41, and the pressing member 43 is disposed on one side, away from the machine body 1, of the first driving wheel 21 and is connected with the locking member 41.
As shown in fig. 3, in this embodiment, the elastic member 42 may adopt a structure such as a cylindrical spring, a spring leaf, or a small compressible air bag, the mounting groove structure 11 is disposed on the machine body 1 along a direction parallel to the axial direction of the first driving wheel 21, the notch of the mounting groove structure 11 is located on the right end face of the machine body 1, and the connection portion of the rod-shaped structure is disposed in the mounting groove structure 11 and can slide in the axial direction under the action of external force or under the pushing of the elastic member 42.
In this embodiment, in order to prevent the locking member 41 and the elastic member 42 from escaping from the mounting groove structure 11, the size of the connecting portion of the mounting groove structure 11 and the locking member 41 is larger than the size of the first rod 411 and the second rod 412, and a blocking piece is disposed at the notch of the mounting groove structure 11, so that the connecting portion of the locking member 41 and the elastic member 42 can be limited in the mounting groove structure 11.
As shown in fig. 2 and 3, the pressing member 43 may be in a block or column structure and may be connected with the locking member 41 by welding, riveting or screwing, etc., in this embodiment, the pressing member 43 is in a nut-shaped structure, an external thread is provided at an end of the locking member 41, a threaded hole with an internal thread is provided on the pressing member 43, and after the locking member 41 passes through the locking hole structure 211, the pressing member 43 may be screwed with the end of the locking member 41, so that an operator may press the locking member 41 from the outside of the first driving wheel 21 more conveniently.
Like this, through setting up elastic component 42 and retaining member 41 butt in mounting groove structure 11, after the effort that applies from the outside withdraws, the reactive force that accessible elastic component 42 produced promotes retaining member 41 and realizes resetting for first drive wheel 21 unblock or locking is more convenient, simultaneously, sets up mounting groove structure 11 on organism 1, not only can alleviate the weight of organism 1, can hide the inside at organism 1 with the spare part of piece moreover, reduces occupation space, optimizes mechanical layout.
Optionally, the locking hole structure 211 includes a plurality of through hole structures 2111, each through hole structure 2111 is disposed along a direction parallel to an axial direction of the first driving wheel 21, and the plurality of through hole structures 2111 are arranged and penetrated along a circumferential direction of the first driving wheel 21, the through hole structures 2111 are circular through holes, the first rod body 411 is a first circular rod, the second rod body 412 is a second circular rod, a diameter of the first circular rod is equal to a diameter of the circular through hole and is larger than a diameter of the second circular rod, and an inner wall interval of the locking hole structure 211 at a junction of adjacent circular through holes is larger than a diameter of the second circular rod and smaller than a diameter of the first circular rod.
As shown in fig. 4, in the present embodiment, the locking hole structure 211 is composed of a plurality of through hole structures 2111 arranged and penetrated in the circumferential direction of the first driving wheel 21, the cross-sectional shape of the through hole structures 2111 may be square, circular or various shapes combined therewith, and accordingly, the cross-sectional shapes of the first rod body 411 and the second rod body 412 may also be square, circular or various shapes combined therewith so as to match the shape of the through hole structures 2111, thereby being capable of abutting against the inner wall of the through hole structures 2111 or leaving a gap, without limitation.
As shown in fig. 3 and fig. 4, for convenience of description, the through hole structure 2111 is a circular through hole, the first rod 411 is a first circular rod, the second rod 412 is a second circular rod, and the contact surfaces of the circular through hole structure 2111, the first rod 411 and the second rod 412 are smoother, so that friction can be reduced, and locking or unlocking operation can be performed more smoothly.
In this embodiment, the junction of adjacent circular through holes partially overlaps to make adjacent circular through holes can realize link up each other, when the circular through hole of certain position department is stretched into to first round bar, because the diameter of first round bar equals with the diameter d of circular through hole to be greater than the inner wall interval L of adjacent circular through hole junction, the outer wall of first round bar is contradicted each other with the inner wall of the circular through hole of this position department this moment, from this, can restrict first drive wheel 21 rotation, thereby realize the locking.
When the first round bar exits from the round through hole, the second round bar stretches into the round through hole, and since the diameter of the second round bar is smaller than the distance L between the inner walls of the connecting parts of the adjacent round through holes, at this time, the outer wall of the second round bar can not contact with the upper and lower inner walls of any round through hole except the front and rear walls of the locking hole structure 211, thereby enabling the first driving wheel 21 to rotate within a certain range, and unlocking is achieved.
Optionally, the first yaw assembly 2 further includes a first rotating shaft 22, a first opening wheel 23 and a first closing wheel 24, the first rotating shaft 22 is disposed on the machine body 1 and is in driving connection with the first driving wheel 21, the first opening wheel 23 and the first closing wheel 24 are respectively sleeved on the first rotating shaft 22 and are suitable for driving the first driven member 101 to rotate, the second yaw assembly 3 further includes a second rotating shaft 32, a second opening wheel 33 and a second closing wheel 34, the second rotating shaft 32 is disposed on the machine body 1 and is in driving connection with the second driving wheel 31, and the second opening wheel 33 and the second closing wheel 34 are respectively sleeved on the second rotating shaft 32 and are suitable for driving the second driven member 102 to rotate.
As shown in fig. 1, 2, 5 and 6, the first rotating shaft 22 may be in driving connection with the first driving wheel 21 through a gear or a transmission belt, the first opening wheel 23 and the first closing wheel 24 may be in driving connection with the first driven member 101 through a wire rope or a chain, and correspondingly, the second rotating shaft 32 may also be in driving connection with the second driving wheel 31 through a gear or a transmission belt, and the second opening wheel 33 and the second closing wheel 34 may also be in driving connection with the second driven member 102 through a wire rope or a chain.
In this embodiment, a hollow structure is arranged in the forward part of the machine body 1, a first rotating shaft 22 is arranged on the lower part of the forward part of the machine body 1 in a penetrating way and is in driving connection with a first driving wheel 21 through a gear, a first opening wheel 23 and a first closing wheel 24 are respectively sleeved on the first rotating shaft 22, and the first opening wheel 23 is positioned on the right side of the first closing wheel 24; the second rotating shaft 32 is arranged on the upper part of the front part of the machine body 1 in a penetrating way and is in driving connection with the second driving wheel 31 through a gear, the second opening wheel 33 and the second closing wheel 34 are respectively sleeved on the second rotating shaft 32, the second opening wheel 33 is positioned on the right side of the second closing wheel 34, and the first driving wheel 21 and the second driving wheel 31 are respectively in gear transmission, so that the transmission is more stable and accurate, and the precision of the deflection mechanism can be improved.
The first driven piece 101 is in driving connection with the first deflection assembly 2 through a first open steel wire rope and a first closed steel wire rope, wherein the first open steel wire rope is connected with the first open wheel 23 through a steel wire rope mounting terminal, and the first closed steel wire rope is connected with the first closed wheel 24 through a steel wire rope mounting terminal; the second follower 102 is in driving connection with the second deflection assembly 3 via a second open wire rope and a second closed wire rope, wherein the second open wire rope is also connected with the second open wheel 33 via a wire rope mounting terminal, and the second closed wire rope is also connected with the second closed wheel 34 via a wire rope mounting terminal.
It should be noted that, since the first opening wheel 23 and the first closing wheel 24 are simultaneously sleeved on the first rotating shaft 22, when the first opening wire rope and the first closing wire rope are connected with the first opening wheel 23 and the first closing wheel 24, the first opening wire rope and the first closing wire rope should be wound on the corresponding opening or closing wheels in opposite directions, and similarly, the second opening wire rope and the second closing wire rope should also be wound on the corresponding opening or closing wheels in opposite directions.
In addition, in order to adjust the direction of each wire rope led out from each opening or closing wheel and prevent mutual interference among a plurality of wire ropes, a guide wheel can be arranged at a proper position in front of each corresponding opening or closing wheel, the guide wheel is arranged on the machine body 1 in a pin shaft mode, and structures such as an insert are arranged to prevent the guide wheel from shaking left and right.
Another embodiment of the present invention provides a surgical apparatus, including a driven mechanism 100, a connecting piece 200, and the above-mentioned yaw mechanism, where a first yaw component 2 of the yaw mechanism is adapted to drive a first driven piece 101 of the driven mechanism 100 to rotate, a second yaw component 3 of the yaw mechanism is adapted to drive a second driven piece 102 of the driven mechanism 100 to rotate, one end of the connecting piece 200 is connected to the driven mechanism 100, the other end of the connecting piece 200 is connected to the yaw mechanism, a channel structure is disposed in the connecting piece 200, the driven mechanism 100 further includes a first rope 103 and a second rope 104, one end of the first rope 103 is connected to the first driven piece 101, the other end of the first rope 103 is connected to the first yaw component 2 after passing through the channel structure, and the other end of the second rope 104 is connected to the second driven piece 102 after passing through the channel structure, and the other end of the second rope 104 is connected to the second yaw component 3.
As shown in fig. 1, 2, 7 and 8, in the present embodiment, the driven mechanism 100 is composed of a first driven member 101, a second driven member 102, a first rope 103, a second rope 104, a driven rotating shaft, a spring piece, a guiding rotating shaft, a guiding wheel, a U-shaped supporting structure, and the like, the connecting member 200 is a circular connecting rod, and a channel structure is arranged inside the circular connecting rod.
The rear end of the U-shaped supporting structure of the driven mechanism 100 is detachably connected with the front end of the connecting rod through threads, the driven rotating shafts are arranged on the U-shaped supporting structure, the first driven piece 101 and the second driven piece 102 are respectively sleeved on the driven rotating shafts and are pressed through spring pieces arranged on the driven rotating shafts, a guide rotating shaft is further arranged below the driven rotating shafts on the U-shaped supporting structure, a plurality of guide wheels are arranged on the guide shafts, annular groove structures and terminal mounting holes are respectively arranged on rotating parts of the first driven piece 101 and the second driven piece 102, the first rope 103 and the second rope 104 are respectively provided with steel wire ropes and are respectively wound on the annular groove structures of the corresponding driven pieces, then the first rope 103 and the second rope 104 which are wound on the corresponding driven pieces are respectively connected with the corresponding driven pieces through the steel wire rope mounting terminals and the terminal mounting holes to form two strands, the first opening steel wire ropes, the second opening steel wire ropes and the second opening steel wire ropes are respectively wound on the corresponding guide wheels, the first opening steel wire ropes, the second opening steel wire ropes and the second opening steel wire ropes penetrate through the corresponding swing structures, the swing wheel structures and the second opening steel wire ropes are respectively, the swing wheel and the swing wheel is connected with the second swing wheel and the swing mechanism is connected with the second swing mechanism through the two ends, and the swing wheels and the swing mechanism is convenient to realize the remote connection, and the operation is characterized by being that the two, and the swing mechanism is convenient, and the operation and the mechanism is convenient.
Thus, when the locking member 41 of the deflection mechanism locks the first driving wheel 21, the first driven member 101 of the driven mechanism 100 is fixed, and the second driving wheel 31 of the deflection mechanism can drive the second driven member 102 to rotate towards the first driven member 101, so that the clamping or shearing function of the driven mechanism 100 is realized, and when the locking member 41 unlocks the first driving wheel 21, the first driving wheel 21 and the second driving wheel 31 can respectively drive the first driven member 101 and the second driven member 102 to synchronously rotate, so that the driven mechanism 100 deflects from one station to the other station, thereby realizing the deflection function of the surgical instrument and facilitating the surgical operation under the condition of different angles.
Although the present disclosure is described above, the scope of protection of the present disclosure is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the scope of the invention.
Claims (9)
1. A yaw mechanism, comprising:
a machine body (1);
a first deflection assembly (2) comprising a first driving wheel (21), wherein the first driving wheel (21) is arranged on one side end surface of the machine body (1) and is suitable for driving a first driven piece (101) of a driven mechanism (100) to rotate;
a second yaw assembly (3) including a second driving wheel (31), the second driving wheel (31) being disposed on the opposite side end face of the body (1) and adapted to drive a second follower (102) of the follower mechanism (100) to rotate;
the locking assembly (4) comprises a locking piece (41), wherein a locking hole structure (211) is arranged on the first driving wheel (21), and the locking piece (41) is arranged on the machine body (1) and is suitable for penetrating through the locking hole structure (211) to lock or unlock the first driving wheel (21);
the connecting piece (200), one end is connected with the driven mechanism (100), the other end of the connecting piece (200) is connected with the deflection mechanism, a channel structure is arranged in the connecting piece (200), the driven mechanism (100) further comprises a first rope (103) and a second rope (104), one end of the first rope (103) is connected with the first driven piece (101), the other end of the first rope (103) penetrates through the channel structure and then is in driving connection with the first deflection assembly (2), one end of the second rope (104) is connected with the second driven piece (102), and the other end of the second rope (104) penetrates through the channel structure and then is in driving connection with the second deflection assembly (3);
the driven mechanism (100) is a clamping mechanism or a shearing mechanism, the first driven member (101) and the second driven member (102) are clamping members capable of clamping each other, or the first driven member (101) and the second driven member (102) are shearing members capable of shearing each other;
when the locking piece (41) locks the first driving wheel (21), the first driven piece (101) is fixed, the second driving wheel (31) can drive the second driven piece (102) to rotate towards the first driven piece (101), so that the clamping or shearing function of the driven mechanism (100) is realized, and when the locking piece (41) unlocks the first driving wheel (21), the first driving wheel (21) and the second driving wheel (31) can respectively drive the first driven piece (101) and the second driven piece (102) to synchronously rotate.
2. A deflection mechanism according to claim 1, wherein the locking member (41) is movably connected to the body (1) and adapted to move in a direction parallel to the axial direction of the first driving wheel (21), the locking member (41) comprises a first rod body (411) and a second rod body (412), the first rod body (411) is connected to the second rod body (412) in a direction parallel to the axial direction, when a part of the first rod body (411) is located in the locking hole structure (211), an outer wall of the first rod body (411) is adapted to abut against an inner wall of the locking hole structure (211) to lock the first driving wheel (21), and when the second rod body (412) is located in the locking hole structure (211), an outer wall of the second rod body (412) is adapted to leave a gap with an inner wall of the locking hole structure (211) to unlock the first driving wheel (21).
3. The deflection mechanism according to claim 2, wherein the locking assembly (4) further comprises an elastic member (42), the machine body (1) is provided with a mounting groove structure (11), the elastic member (42) is arranged in the mounting groove structure (11), one end of the elastic member (42) is abutted to the groove bottom of the mounting groove structure (11), and the other end of the elastic member (42) is abutted to the locking member (41).
4. A deflection mechanism according to claim 2, wherein the locking assembly (4) further comprises a pressing member (43), the pressing member (43) being arranged on a side of the first driving wheel (21) remote from the machine body (1) and being connected to the locking member (41).
5. The yaw mechanism according to any one of claims 2 to 4, wherein the locking hole structure (211) includes a plurality of through hole structures (2111), each of the through hole structures (2111) is provided in a direction parallel to the axial direction, and the plurality of through hole structures (2111) are aligned and penetrated in a circumferential direction of the first driving wheel (21).
6. The deflection mechanism according to claim 5, wherein the through hole structure (2111) is a circular through hole, the first rod body (411) is a first circular rod, the second rod body (412) is a second circular rod, the diameter of the first circular rod is equal to the diameter of the circular through hole and larger than the diameter of the second circular rod, and the inner wall spacing of the locking hole structure (211) at the connection between adjacent circular through holes is larger than the diameter of the second circular rod and smaller than the diameter of the first circular rod.
7. The yaw mechanism according to any one of claims 1 to 4, wherein the first yaw assembly (2) further comprises a first rotating shaft (22), a first opening wheel (23) and a first closing wheel (24), the first rotating shaft (22) is arranged on the machine body (1) and is in driving connection with the first driving wheel (21), and the first opening wheel (23) and the first closing wheel (24) are respectively sleeved on the first rotating shaft (22) and are suitable for driving the first driven member (101) to rotate.
8. The yaw mechanism according to any one of claims 1 to 4, wherein the second yaw assembly (3) further comprises a second rotating shaft (32), a second opening wheel (33) and a second closing wheel (34), the second rotating shaft (32) is arranged on the machine body (1) and is in driving connection with the second driving wheel (31), and the second opening wheel (33) and the second closing wheel (34) are respectively sleeved on the second rotating shaft (32) and are suitable for driving the second driven member (102) to rotate.
9. Surgical instrument, characterized in that it comprises a driven mechanism (100) and a deflection mechanism according to any one of claims 1 to 8, a first deflection assembly (2) of which is adapted to drive a first follower (101) of the driven mechanism (100) in rotation, and a second deflection assembly (3) of which is adapted to drive a second follower (102) of the driven mechanism (100) in rotation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210013280.4A CN114305592B (en) | 2022-01-07 | 2022-01-07 | Deflection mechanism and surgical instrument |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210013280.4A CN114305592B (en) | 2022-01-07 | 2022-01-07 | Deflection mechanism and surgical instrument |
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| CN114305592A CN114305592A (en) | 2022-04-12 |
| CN114305592B true CN114305592B (en) | 2023-06-23 |
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| CN114848047A (en) * | 2022-06-07 | 2022-08-05 | 吉林省金博弘智能科技有限责任公司 | Manual minimally invasive surgical instrument with deflection self-locking and decoupling functions |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107550541A (en) * | 2017-10-16 | 2018-01-09 | 吉林大学 | A kind of hand-held Flexible Multi-joint operating theater instruments for abdominal-cavity minimal-invasion surgery |
| CN108175452A (en) * | 2018-01-29 | 2018-06-19 | 吉林大学 | A kind of manual mode flexibility Minimally Invasive Surgery instrument with self-locking and quick-replaceable |
| CN110382179A (en) * | 2017-02-27 | 2019-10-25 | 朝日英达科株式会社 | Executor |
| CN210130893U (en) * | 2019-04-12 | 2020-03-10 | 佛山市高明区人民医院 | Laparoscopic surgery forceps |
| CN113397654A (en) * | 2021-05-06 | 2021-09-17 | 武汉联影智融医疗科技有限公司 | Synchronous locking structure, minimally invasive surgical instrument and control method of minimally invasive surgical instrument |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5128904B2 (en) * | 2007-10-31 | 2013-01-23 | 株式会社東芝 | manipulator |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110382179A (en) * | 2017-02-27 | 2019-10-25 | 朝日英达科株式会社 | Executor |
| CN107550541A (en) * | 2017-10-16 | 2018-01-09 | 吉林大学 | A kind of hand-held Flexible Multi-joint operating theater instruments for abdominal-cavity minimal-invasion surgery |
| CN108175452A (en) * | 2018-01-29 | 2018-06-19 | 吉林大学 | A kind of manual mode flexibility Minimally Invasive Surgery instrument with self-locking and quick-replaceable |
| CN210130893U (en) * | 2019-04-12 | 2020-03-10 | 佛山市高明区人民医院 | Laparoscopic surgery forceps |
| CN113397654A (en) * | 2021-05-06 | 2021-09-17 | 武汉联影智融医疗科技有限公司 | Synchronous locking structure, minimally invasive surgical instrument and control method of minimally invasive surgical instrument |
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