WO2022237918A1 - 一种电动腔镜吻合器 - Google Patents

一种电动腔镜吻合器 Download PDF

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Publication number
WO2022237918A1
WO2022237918A1 PCT/CN2022/104552 CN2022104552W WO2022237918A1 WO 2022237918 A1 WO2022237918 A1 WO 2022237918A1 CN 2022104552 W CN2022104552 W CN 2022104552W WO 2022237918 A1 WO2022237918 A1 WO 2022237918A1
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WO
WIPO (PCT)
Prior art keywords
linkage
housing
connecting rod
rotating
screw
Prior art date
Application number
PCT/CN2022/104552
Other languages
English (en)
French (fr)
Inventor
陈再宏
薛松标
付卫国
Original Assignee
宁波维尔凯迪医疗器械有限公司
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Filing date
Publication date
Application filed by 宁波维尔凯迪医疗器械有限公司 filed Critical 宁波维尔凯迪医疗器械有限公司
Priority to KR1020237042022A priority Critical patent/KR20240041280A/ko
Priority to EP22806880.5A priority patent/EP4338686A1/en
Publication of WO2022237918A1 publication Critical patent/WO2022237918A1/zh

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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
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft

Definitions

  • the invention relates to the technical field of endoscopic staplers, in particular to an electric endoscopic stapler.
  • Laparoscopic stapler is one of the important instruments in laparoscopic surgery. Instead of traditional manual suture, titanium nails are used to cut or anastomose tissues. It is easy and fast to operate and greatly shortens the operation time. Moreover, the laparoscopic stapler makes it easier and more accurate to anastomose the narrow surgical field and difficult manual operation of deep parts. Therefore, endoscopic staplers have become more and more important medical instruments for surgical operations.
  • the joint end of the stapler needs to be able to adjust the angle in a limited space, but most of the existing staplers do not have an angle adjustment structure. Even a stapler with angle adjustment function can only be operated manually, and the accuracy of angle adjustment is poor.
  • the present invention provides an electric endoscopic stapler, including a housing, a driving motor, a linkage mechanism, a rotating mechanism and an execution joint;
  • the driving motor is arranged on the housing In the body;
  • the linkage mechanism includes a linkage assembly and a connecting rod, the linkage assembly is drivingly connected to the output shaft of the drive motor, the linkage assembly is connected to one end of the linkage rod, and the linkage assembly is used to drive the drive
  • the rotary motion of the motor is converted into the linear motion of the connecting rod;
  • the rotating mechanism is connected to the other end of the connecting rod, the execution joint is connected to the rotating mechanism, and the rotating mechanism is used to convert the straight line of the connecting rod Motion is translated into angular rotation of the executive joint.
  • the invention adopts the drive motor to control the expansion and contraction of the connecting rod along the linear direction through the linkage assembly to control the angle rotation of the execution joint, so that the automatic angle adjustment of the execution joint can be realized, so that the accuracy of the adjustment angle of the execution joint is higher, and the connection between the execution joint and the joint can be guaranteed.
  • the alignment of lesions is more precise.
  • the linkage assembly includes a screw and a connecting part, the screw is drivingly connected to the drive motor, the outer wall of the screw is provided with threads, one end of the connecting part is screwed to the screw, and the connecting part The other end is connected with the connecting rod.
  • the drive motor can drive the screw to rotate. Since the connecting part is screwed with the screw, when the screw rotates, it can drive the connecting part to move along the axis of the screw.
  • the connecting part is connected to the connecting rod, so the connecting part can drive the connecting rod to move linearly .
  • the linkage assembly has simple structure and low cost.
  • the linkage assembly further includes a linkage nut, the connecting portion is provided with a limit groove, the linkage nut is located in the limit groove, the linkage nut is sleeved on the outer wall of the screw rod and connected to the Screw connection.
  • the connecting portion includes a first connecting portion, a second connecting portion, an intermediate connecting portion and a spring; the first connecting portion is screwed to the screw, the second connecting portion is connected to the connecting rod, and the first connecting portion is connected to the connecting rod.
  • the bottom of a connecting part is provided with a first card slot
  • the top of the second connecting part is provided with a second card slot
  • the top of the intermediate connecting part is located in the first card slot
  • the bottom of the intermediate connecting part Located in the second card slot
  • the spring is arranged between the middle connection part and the groove bottom of the second card slot
  • the first connection part is provided with an insertion hole
  • the middle connection part is provided with
  • the pressing part corresponds to the insertion hole
  • the housing is provided with a manual adjustment hole corresponding to the insertion hole.
  • a relief groove is provided at the bottom of the intermediate connecting portion, and a guide post extending toward the second locking groove is provided in the relief groove, and the spring is sheathed on an outer wall of the guide post.
  • the spring can guide the compression and stretching direction of the spring, and on the other hand, it can protect and support the spring.
  • the linkage assembly includes a linkage rack and a transmission gear set
  • the transmission gear set includes at least one transmission gear
  • the linkage rack is connected to the connecting rod
  • the transmission gear is connected to the linkage rack Mesh connection
  • the output shaft of the driving motor is drivingly connected with the transmission gear.
  • the driving motor drives the transmission gear to rotate.
  • the linkage rack moves along a straight line, and then drives the connecting rod to move along a straight line, so that the rotational motion of the driving motor is converted into the linear motion of the connecting rod.
  • the connecting portion or the linkage rack is provided with a connecting head, and one end of the connecting rod is provided with a connecting hole, and the connecting head extends into the connecting hole.
  • the electric endoscopic stapler further includes a reduction gear set, the reduction gear set includes a plurality of reduction gears, the reduction gear set is drivingly connected to the output shaft of the driving motor, and the linkage assembly is connected to the The reduction gear set is connected.
  • the housing includes a fixed housing and a rotating housing, the rotating housing is sleeved on the fixed housing, the inner wall of the rotating housing is provided with a protruding ring, and the fixed housing
  • the outer wall is provided with a limiting ring groove, and the protruding ring is snapped into the limiting ring groove and is suitable for rotating relative to the limiting ring groove.
  • Both the driving motor and the linkage mechanism are connected with the rotary housing connect.
  • the electric endoscopic stapler further includes an inner frame, a rotating sleeve and a mounting ring frame, the inner frame is fixedly connected to the fixed housing, the mounting ring frame is fixedly connected to the inner frame, the The rotating sleeve is sleeved on the outer wall of the installation ring frame and is suitable for rotating relative to the installation ring frame, and the driving motor is electrically connected with the rotation sleeve.
  • Fig. 1 is the external structural diagram of the electric endoscopic stapler of the embodiment of the present invention.
  • Fig. 2 is a partial internal structure diagram of an electric endoscopic stapler according to an embodiment of the present invention.
  • Fig. 3 is a partial enlarged view of place A in Fig. 2;
  • Fig. 4 is a connection structure diagram of a linkage assembly, a drive motor and a connecting rod according to an embodiment of the present invention
  • FIG. 5 is a schematic diagram of a connecting portion of an embodiment of the present invention.
  • Fig. 6 is a positional relationship diagram of the upper limit plate, the lower limit plate and the connection part of the embodiment of the present invention.
  • FIG. 7 is an external structural diagram of a rotary housing according to an embodiment of the present invention.
  • Fig. 8 is a partial enlarged view of place B in Fig. 2;
  • Fig. 9 is a structural diagram of a linkage assembly and a drive motor according to another embodiment of the present invention.
  • Fig. 10 is a structural diagram of a linkage assembly and a drive motor according to another embodiment of the present invention.
  • Fig. 11 is a diagram of the connection relationship between the rotating sleeve and the drive motor according to the embodiment of the present invention.
  • Fig. 12 is a structural diagram of the rotating sleeve and the mounting ring frame of the embodiment of the present invention.
  • the forward direction of X indicates the forward direction of the connecting rod
  • the reverse direction of X indicates the backward direction of the connecting rod
  • the positive direction of Y indicates the right side of the connecting rod
  • the reverse direction of Y indicates the left side of the connecting rod
  • Up means up
  • Z reverse means down.
  • an embodiment of the present invention provides an electric endoscopic stapler.
  • the electric endoscopic stapler includes a housing 1 , a push tube 8 , a driving motor 4 , a linkage mechanism, a rotating mechanism and an execution joint 2 .
  • the housing 2 has a hollow accommodating cavity, and the driving motor 4 is arranged in the accommodating cavity in the housing 1 .
  • the linkage mechanism includes a linkage assembly and a connecting rod 3 .
  • the linkage assembly is drivingly connected with the output shaft of the drive motor 4 .
  • the push tube 8 is connected between the casing 1 and the actuator joint 2 , and the connecting rod 3 is arranged in the push tube 8 .
  • One end of the connecting rod 3 is connected to the linkage assembly, the other end of the connecting rod 3 is connected to the rotating mechanism, and the rotating mechanism is connected to the actuator joint 2 .
  • the linkage assembly is used to convert the rotary motion of the drive motor 4 into the linear motion of the connecting rod 3
  • the rotating mechanism is used to convert the linear motion of the connecting rod 3 into the angular rotation of the execution joint 2 .
  • the linkage assembly pulls the connecting rod 3 to move linearly along the extension direction of the push tube 8, and the connecting rod 3 drives the rotating mechanism to operate, and the rotating mechanism pulls the executing joint 2 to perform angle conversion.
  • the driving motor is used to control the angle rotation of the actuator joint 2, which is convenient for automatic control of the angle adjustment of the actuator joint 2, and ensures higher accuracy of the angle adjustment of the actuator joint 2, thereby achieving more accurate alignment between the actuator joint 2 and the lesion .
  • the linkage assembly includes a screw 51 and a connecting portion 52 .
  • the outer wall of the screw rod 51 is provided with threads, and the screw rod 51 is parallel to the connecting rod 3 .
  • One end of the screw 51 is drivingly connected to the drive motor 4 , and the other end of the screw 51 is rotationally connected to the housing 1 or suspended in the air.
  • the axis line of the output shaft of the drive motor 4 is parallel to the axis line of the screw rod 51 , and the drive motor 4 can drive the screw rod 51 to rotate.
  • One end of the connecting portion 52 is screwed to the screw rod 51 , and the other end of the connecting portion 52 is connected to the connecting rod 3 .
  • the connecting part 52 is screwed with the screw rod 51, when the screw rod 51 rotates, the connecting part 52 moves along the axis of the screw rod 51, and the connecting part 52 is connected with the connecting rod 3, so it can drive the connecting rod 3 to move along a straight line , that is, the axis line of the screw rod 51 is parallel to the moving direction of the connecting rod 3 .
  • the rotational motion of the driving motor 4 can be converted into the linear motion of the connecting rod 3 .
  • This design is simple in structure and low in cost, and can also minimize the influence of setting the driving motor 4 and the linkage assembly on the outer diameter of the housing.
  • the connecting portion 52 includes a first connecting portion 521 and a second connecting portion 522 that abut each other.
  • the top of the first connecting portion 521 is connected to the screw 51
  • the bottom of the second connecting portion 522 is connected to the connecting rod 3 .
  • the first connecting part 521 and the second connecting part 522 are connected through the intermediate connecting part 523 so that the first connecting part 521 can drive the second connecting part 522 to move.
  • the top of the first connecting portion 521 is provided with a limiting groove 524 , and the front and rear side walls of the limiting groove 524 are provided with notches or through holes for the screw rod 51 to pass through.
  • a linkage nut 53 is disposed in the limiting groove 524 , that is, the linkage nut 53 is snapped into the limiting groove 524 , and the linkage nut 53 is sleeved on the outer wall of the screw rod 51 and screwed to the screw rod 51 .
  • the linkage nut 53 is an ordinary hex nut. The linkage nut 53 is used to realize the connection between the connecting portion 52 and the screw rod 51 , which has low cost and simplifies the processing difficulty of the first connecting portion 521 .
  • the bottom end surface of the first connecting portion 521 is in close contact with the top end surface of the second connecting portion 522 .
  • a bottom surface of the first connecting portion 521 is provided with a first engaging groove 525 that is depressed upward.
  • the top end surface of the second connecting portion 522 is provided with a second locking groove 526 depressed downward, and the second locking groove 526 corresponds to the first locking groove 525 up and down.
  • the cavity where the second card slot 526 and the first card slot 525 are fastened is provided with an intermediate connection part 523, that is, the top of the intermediate connection part 523 is located in the first card slot 525, and the bottom of the intermediate connection part 523 is located in the second card slot Within 526.
  • the first connecting portion 521 and the second connecting portion 522 are close together, so the first connecting portion 521 and the second connecting portion 522 can be realized through the intermediate connecting portion 523 .
  • an upper limit plate 113 and a lower limit plate 114 are provided on the inner wall of the housing 1 which are parallel to each other.
  • the side wall of the first connection part 521 is provided with a first bonding part 5211
  • the side wall of the second connection part 522 is provided with a second bonding part 5222
  • the first bonding part 5211 and the second bonding part 5222 are close to each other.
  • the first bonding portion 5211 and the second bonding portion 5222 are located between the upper limiting plate 113 and the lower limiting plate 114 , and are limited by the upper limiting plate 113 and the lower limiting plate 114 .
  • a spring 528 is disposed between the middle connecting portion 523 and the bottom of the second locking groove 526 , the top of the spring 528 touches the bottom end surface of the middle connecting portion 523 , and the bottom of the spring 528 touches the bottom of the second locking groove 526 .
  • the sidewall of the second connecting portion 522 defines an insertion hole 5221 , and the insertion hole 5221 is a through hole passing through the outer wall of the second connecting portion 522 to the middle connecting portion 523 .
  • the intermediate connecting portion 523 is provided with a pressing portion 5231 corresponding to the insertion hole 5221 .
  • the pressing portion 5231 may be a depression on the side wall of the intermediate connection portion 523 or a depression on the top surface of the intermediate connection portion 523 .
  • the housing 1 is provided with a manual adjustment hole 111 corresponding to the insertion hole 5221 .
  • the manual adjustment hole 111 is a strip-shaped through hole extending along the moving direction of the connecting rod 3 .
  • a rod-shaped object can be used to extend into the manual adjustment hole 111 and the insertion hole 5221 in turn, and press the pressing part 5231 downward.
  • the intermediate connecting portion 523 compresses the spring so that the top of the intermediate connecting portion 523 escapes from the first locking slot 525 , thereby disconnecting the first connecting portion 521 and the second connecting portion 52 .
  • operate the rod-shaped object to move back and forth along the moving direction of the connecting rod 3, so as to realize the manual angle adjustment and reset of the actuating joint 2.
  • This design can not only solve the problem of resetting the connecting rod 3 after the drive motor 4 fails, but also can perform the rotation of the joint 2 manually in some emergency situations.
  • the rod-shaped object in this embodiment can be a specially designed manual reset tool, at least one end of which can be inserted into the manual adjustment hole 111 and the insertion hole 5221, and matched with the pressing part 5231; the rod-shaped object It can also be any rod-shaped object that can press the pressing part 5231 .
  • a relief groove 5232 is provided on the bottom surface of the intermediate connecting portion 523 , and a guide post 5233 extending toward the second locking groove 526 is provided in the relief groove 5232 , and the spring 528 is sleeved on the outer wall of the guide post 5223 .
  • Setting the relief groove 5232 and the guide post 5223 can guide the compression and stretching direction of the spring 528 on the one hand, and protect and support the spring 528 on the other hand.
  • the rotating mechanism includes a rotating rack 71 , a first rotating gear 72 and a second rotating gear 73 .
  • the rotating rack 71 is meshed with the end of the connecting rod 3
  • the first rotating gear 72 is meshed with the rotating rack 71
  • the second rotating gear 73 is meshed with the first rotating gear 72
  • the end of the joint 2 is meshed with the second
  • the rotating gear 73 is meshedly connected.
  • the rotating rack 71 was pulled to move along a straight line, and the rotating rack 71 drove the first rotating gear 72 to rotate, and the first rotating gear 72 drove the second rotating gear 73 to rotate, and the second rotating gear 73 Drive the execution joint 2 to rotate within a certain angle range, so as to realize the angle adjustment of the execution joint 2 .
  • the number of rotating gears is not limited to two, and may be more or in some cases, may be one.
  • the linkage assembly includes a linkage rack 57 and a transmission gear set.
  • Transmission gear set comprises at least one transmission gear 55, and transmission gear 55 is drivingly connected with the output shaft of drive motor 4.
  • the linkage rack 57 is engaged with the transmission gear 55 .
  • the interlocking rack 57 is connected with the connecting rod 3 , and the interlocking rack 57 is arranged in parallel with the connecting rod 3 .
  • the driving motor 4 drives the transmission gear 55 to rotate, the transmission gear 55 drives the interlocking rack 57 to move linearly, and the interlocking rack 57 drives the connecting rod 3 to move along a straight line, and the angle adjustment of the execution joint 2 can also be realized.
  • the axis of the transmission gear 55 is perpendicular to the output shaft of the drive motor 4 , and the transmission gear 55 can be connected to the drive motor 4 through two intermeshed bevel gears.
  • the axis of the transmission gear 55 is parallel to the output shaft of the driving motor 4 .
  • the setting position of the driving motor 4 directly affects the external structure and size of the casing 1, so the setting position of the driving motor 4 can be changed according to the specific use requirements of the electric endoscopic stapler.
  • the number of transmission gears 55 is not limited to one, and may be multiple.
  • the push tube 8 is provided with a travel platform 81 , and the bottom end surface of the connecting portion 52 moves on the travel platform 81 .
  • a connecting head 56 is provided on the bottom end surface of the connecting part 52, and a connecting hole is provided at one end of the connecting rod 3, and the connecting head 56 extends into the connecting hole. Due to the existence of the travel platform 81, it is ensured that the connecting head 56 will not be disengaged from the connecting rod 3.
  • the bottom end surface of the linkage rack 57 is also provided with a connecting head 56
  • the end of the connecting rod 3 is provided with a connecting hole, and the connecting head 56 extends into the connecting hole 31 .
  • the output end of the drive motor 4 is drivingly connected to a reduction gear set 6
  • the reduction gear set 6 includes a plurality of reduction gears, and two adjacent reduction gears are meshed with each other.
  • the reduction gear is mounted on the auxiliary installation frame 41 , and the auxiliary installation frame 41 is connected with the housing 1 .
  • the linkage assembly is connected with the reduction gear set 6 . Setting the reduction gear set 6 can improve the driving torque and speed change function of the linkage assembly.
  • the housing 1 includes a fixed housing 12 and a rotating housing 11 , and the rotating housing 11 is sheathed on the outer wall of one end of the fixed housing 12 .
  • the inner wall of the rotating housing 11 is provided with a protruding ring 112
  • the outer wall of the fixed housing 12 is provided with a limiting ring groove 121 .
  • the outer wall of the rotary housing 11 is provided with several operating ridges, and the operating ridges are distributed along the outer wall of the rotary housing 11 in a circumferential direction, which is convenient for rotating the rotary housing 11 by hand.
  • the push tube 8, the driving motor 4 and the linkage mechanism are all fixedly connected with the rotary housing 11.
  • turning the rotary housing 11 can realize the rotation of the push tube 8, and then realize the rotation of the actuator joint 2 around the axis of the push tube 8, and at the same time, the drive motor 4 can drive the adjustment of the angle of the actuator joint 2 in a certain plane, so it can Ensure the multi-directional position adjustment of the executive joint 2, and ensure the precise alignment between the executive joint 2 and the lesion.
  • an inner frame 13 and a mounting ring frame 15 are provided inside the fixed housing 12 .
  • the inner frame 13 is fixedly connected with the fixed housing 12
  • the mounting ring frame 15 is sheathed on the inner frame 13
  • the inner wall of the mounting ring frame 15 is fixedly connected to the outer wall of the inner frame 13 .
  • the annular outer wall of the installation ring frame 15 is covered with a rotating sleeve 16 , and the rotation sleeve 16 can rotate relative to the installation ring frame 15 .
  • the rotating sleeve 16 includes two coaxially arranged, and the outer wall of the mounting ring frame 15 is provided with a circle of insulating protrusions, and the insulating protrusion is blocked between the two rotating sleeves 16 .
  • the drive motor 4 is connected with a wire connector, and the two conductive columns 17 at the two poles of the wire connector are respectively connected with a rotating sleeve 16 .
  • Two electrode heads 18 are arranged on both sides of the insulating protrusion of the mounting ring frame 15 respectively, and each electrode head 18 is used to contact with a rotating sleeve 16 to realize electrical connection.
  • the electrode head 18 is connected with a control system or a power supply system.

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Abstract

一种电动腔镜吻合器，包括壳体（1）、驱动电机（4）、联动机构、转动机构和执行关节（2）；驱动电机（4）设置在壳体（1）内；联动机构包括联动组件和连杆（3）,联动组件与驱动电机（4）的输出轴驱动连接，联动组件连接连杆（3）的一端，联动组件用于将驱动电机（4）的旋转运动转换为连杆（3）的直线运动；转动机构连接连杆（3）的另一端,执行关节（2）连接转动机构，转动机构用于将连杆（3）的直线运动转换为执行关节（2）的角度转动。电动腔镜吻合器实现了对执行关节（2）的自动角度调整，执行关节（2）调整角度的精确性更高，可以保障执行关节（2）与病灶的对位更加精准。

Description

一种电动腔镜吻合器 技术领域
本发明涉及腔镜吻合器技术领域，具体而言，涉及一种电动腔镜吻合器。
背景技术
腔镜吻合器是腔镜手术的重要器械之一，替代传统的手工缝合，利用钛钉对组织进行离断或吻合，操作简便、迅速，大大缩短了手术时间。且腔镜吻合器使术野狭小，部位较深的手工操作困难的吻合变得容易，并准确。因此，腔镜吻合器成为越来越重要的外科手术用医疗器械。
由于吻合器需要与病灶进行精确匹配和吻合，因此需要吻合器关节端可以在有限的空间下进行角度调整，但是现有的吻合器大多不具有角度调整结构。即便具有角度调整功能的吻合器，也仅能通过手动操作，角度调节的精确性较差。
发明内容
为在一定程度上解决上述技术问题的至少一个方面，本发明提供一种电动腔镜吻合器，包括壳体、驱动电机、联动机构、转动机构和执行关节；所述驱动电机设置在所述壳体内；所述联动机构包括联动组件和连杆，所述联动组件与所述驱动电机的输出轴驱动连接，所述联动组件连接所述连杆的一端，所述联动组件用于将所述驱动电机的旋转运动转换为所述连杆的直线运动；所述转动机构连接所述连杆的另一端，所述执行关节连接所述转动机构，所述转动机构用于将所述连杆的直线运动转换为所述执行关节的角度转动。
本发明采用驱动电机通过联动组件控制连杆沿直线方向伸缩来进而控制执行关节的角度转动，可以实现对执行关节的自动角度调整，使得执行关节调整角度的精确性更高，可以保障执行关节与病灶的对位更加精准。
可选地，所述联动组件包括螺杆和连接部，所述螺杆与所述驱动电机驱动连接，所述螺杆外壁设有螺纹，所述连接部的一端与所述螺杆旋接，所述连接部的另一端与所述连杆连接。驱动电机可以带动螺杆转动，由于连接部与螺杆旋接，当螺杆转动的时候，可以带动连接部沿螺杆的轴心线方向移动， 连接部与连杆连接，因此连接部可以带动连杆直线运动。该联动组件结构简单、成本低。
可选地，所述联动组件还包括联动螺母，所述连接部设有限位槽，所述联动螺母位于所述限位槽内，所述联动螺母套设在所述螺杆的外壁并与所述螺杆旋接。
所述连接部包括第一连接部、第二连接部、中间连接部和弹簧；所述第一连接部与所述螺杆旋接，所述第二连接部与所述连杆连接，所述第一连接部的底部设有第一卡槽，所述第二连接部的顶部设有第二卡槽，所述中间连接部的顶部位于所述第一卡槽内，所述中间连接部的底部位于所述第二卡槽内；所述弹簧设置在所述中间连接部与所述第二卡槽的槽底之间，所述第一连接部设有***孔，所述中间连接部设有与所述***孔对应的按压部，所述壳体设有与所述***孔对应的手动调节孔。当驱动电机故障的时候，可以使用一个杆状物体依次伸入手动调节孔和***孔，并向下按压中间连接部，使中间连接部的顶部脱出第一卡槽，从而断开第一连接部和第二连接部，并且操作该杆状物体沿连杆的移动方向前后移动，可以实现对执行关节的手动角度，该设计既能解决电机故障后，连杆的复位问题，又能在某些紧急的情况下，手动操作执行关节转动。
可选地，所述中间连接部的底部设有让位槽，所述让位槽内设有朝向所述第二卡槽延伸的导柱，所述弹簧套设在所述导柱的外壁。一方面可以引导弹簧的压缩和拉伸方向，另一方面可以对弹簧起到保护支撑作用。
可选地，所述联动组件包括联动齿条和传动齿轮组，所述传动齿轮组包括至少一个传动齿轮，所述联动齿条与所述连杆连接，所述传动齿轮与所述联动齿条啮合连接，所述驱动电机的输出轴与所述传动齿轮驱动连接。驱动电机驱动传动齿轮转动，当传动齿轮转动的时候，联动齿条沿直线移动，进而带动连杆沿直线运动，实现驱动电机的旋转运动转换为连杆的直线运动。
可选地，所述连接部或所述联动齿条设有连接头，所述连杆的一端设有连接孔，所述连接头伸入所述连接孔内。
可选地，所述电动腔镜吻合器还包括减速齿轮组，所述减速齿轮组包括多个减速齿轮，所述减速齿轮组与所述驱动电机的输出轴驱动连接，所述联 动组件与所述减速齿轮组连接。
可选地，所述壳体包括定壳体和转壳体，所述转壳体套设在所述定壳体上，所述转壳体的内壁设有凸环，所述定壳体的外壁设有限位环槽，所述凸环卡接在所述限位环槽内并适于相对于所述限位环槽转动，所述驱动电机和所述联动机构均与所述转壳体连接。
可选地，所述电动腔镜吻合器还包括内骨架、旋转套和安装环架，所述内骨架与所述定壳体固定连接，所述安装环架与所述内骨架固定连接，所述旋转套套设在所述安装环架的外壁并适于相对于所述安装环架转动，所述驱动电机与所述旋转套电连接。
附图说明
图1为本发明实施例的电动腔镜吻合器的外部结构图；
图2为本发明实施例的电动腔镜吻合器的部分内部结构图；
图3为图2中A处的局部放大图；
图4为本发明实施例的联动组件与驱动电机及连杆的连接结构图；
图5为本发明实施例的连接部的原理图；
图6为本发明实施例的上限位板、下限位板与连接部的位置关系图；
图7为本发明实施例的转壳体的外部结构图；
图8为图2中B处的局部放大图；
图9为本发明又一实施例的联动组件和驱动电机的结构图；
图10为本发明另一实施例的联动组件和驱动电机的结构图；
图11为本发明实施例的旋转套和驱动电机的连接关系图；
图12为本发明实施例的旋转套与安装环架的结构图。
附图标记说明：
1-壳体；11-转壳体；111-手动调节孔；112-凸环；113-上限位板；114-下限位板；12-定壳体；121-限位环槽；13-内骨架；15-安装环架；16-旋转套；17-导电柱；18-电极头；2-执行关节；3-连杆；4-驱动电机；41-辅助安装架；51-螺杆；52-连接部；521-第一连接部；5211-第一贴合部；522-第二连接部；5221-***孔；5222-第二贴合部；523-中间连接部；5231-按 压部；5232-让位槽；5233-导柱；524-限位槽；525-第一卡槽；526-第二卡槽；528-弹簧；53-联动螺母；55-传动齿轮；56-连接头；57-联动齿条；6-减速齿轮组；71-转动齿条；72-第一转动齿轮；73-第二转动齿轮；8-推管；81-行程台面。
具体实施方式
为使本发明的上述目的、特征和优点能够更为明显易懂，下面结合附图对本发明的具体实施例做详细的说明。
另外，本发明的说明书附图中，X正向表示连杆前进方向，X反向表示连杆后退方向；Y正向表示连杆的右方，Y反向表示连杆的左方；Z正向表示上方，Z反向表示下方。
若本发明实施例中有涉及“第一”、“第二”等的描述，则该“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。
如图1-图3和图7所示，本发明实施例提供一种电动腔镜吻合器。该电动腔镜吻合器包括壳体1、推管8、驱动电机4、联动机构、转动机构和执行关节2。其中，壳体2具有中空的容纳腔，驱动电机4设置在壳体1内的容纳腔中。
联动机构包括联动组件和连杆3。联动组件与驱动电机4的输出轴驱动连接。推管8连接在壳体1和执行关节2之间，连杆3设置在推管8内。连杆3的一端连接联动组件，连杆3的另一端连接转动机构，转动机构连接执行关节2。联动组件用于将驱动电机4的旋转运动转换为连杆3的直线运动，转动机构用于将连杆3的直线运动转换为执行关节2的角度转动。
当驱动电机4转动的时候，联动组件牵引连杆3沿着推管8的延伸方向做直线运动，连杆3带动转动机构运作，转动机构牵引执行关节2进行角度变换。
本实施例采用驱动电机控制执行关节2进行角度转动，便于对执行关节2的角度调整进行自动控制，保障执行关节2调整角度的精确性更高，从而实现执行关节2与病灶更加精准的对位。
具体地，如图3和图4所示，联动组件包括螺杆51和连接部52。螺杆51 的外壁设有螺纹，螺杆51平行于连杆3。螺杆51的一端与驱动电机4驱动连接，螺杆51的另一端与壳体1转动连接或者悬空。驱动电机4的输出轴的轴心线与螺杆51的轴心线平行，驱动电机4可以驱动螺杆51转动。连接部52的一端与螺杆51旋接，连接部52的另一端与连杆3连接。由于连接部52与螺杆51旋接，当螺杆51转动的时候，连接部52沿着螺杆51的轴心线方向移动，连接部52与连杆3连接，因此可带动连杆3沿着直线运动，即螺杆51的轴心线与连杆3的运动方向平行。如此，可以将驱动电机4的旋转运动转换为连杆3的直线运动。该设计结构简单、成本低，还可以尽量减小设置驱动电机4以及联动组件对壳体外径的影响。
结合图4-图7所示，较佳地，连接部52包括相互贴靠在一起的第一连接部521和第二连接部522。第一连接部521的顶部与螺杆51连接，第二连接部522的底部与连杆3连接。第一连接部521和第二连接部522通过中间连接部523连接，以实现第一连接部521可以带动第二连接部522运动。
具体地，第一连接部521的顶部设有限位槽524，限位槽524的前后侧壁上设有供螺杆51穿过的豁口或者通孔。限位槽524内设置有联动螺母53，即联动螺母53卡入限位槽524内，且联动螺母53套设在螺杆51的外壁并与螺杆51旋接。可选地，该联动螺母53为普通的外六角螺母。采用联动螺母53实现连接部52与螺杆51的连接，成本低、简化第一连接部521的加工难度。
第一连接部521的底部端面与第二连接部522的顶部端面靠紧贴合。第一连接部521的底部端面设有向上凹陷的第一卡槽525。第二连接部522的顶部端面设有向下凹陷的第二卡槽526，第二卡槽526与第一卡槽525上下对应。
第二卡槽526和第一卡槽525扣合的空腔内设有中间连接部523，即中间连接部523的顶部位于第一卡槽525内，中间连接部523的底部位于第二卡槽526内。由于壳体1内壁结构的限制，第一连接部521与第二连接部522贴靠在一起，因此通过中间连接部523可以实现第一连接部521与第二连接部522。示例地，如图6所示，壳体1的内壁设有相互平行的上限位板113和下限位板114。第一连接部521的侧壁设有第一贴合部5211，第二连接部522的侧壁设有第二贴合部5222，第一贴合部5211和第二贴合部5222靠紧贴合，且第一贴合部5211和第二贴合部5222位于上限位板113和下限位板114之间，被上限位板113和下限位板114限位。
中间连接部523与第二卡槽526的槽底之间设有弹簧528，弹簧528的顶部抵触中间连接部523的底部端面，弹簧528的底部抵触第二卡槽526的槽底。第二连接部522的侧壁设有***孔5221，***孔5221为贯通第二连接部522的外壁至中间连接部523的通孔。中间连接部523设有与***孔5221对应的按压部5231。按压部5231可以为中间连接部523侧壁的凹陷或者中间连接部523顶面的凹陷。壳体1设有与***孔5221对应的手动调节孔111。手动调节孔111为条形通孔，该条形通孔沿着连杆3的运动方向延伸。
当驱动电机4故障的时候，可以使用一个杆状物体依次伸入手动调节孔111和***孔5221，并向下压按压部5231。中间连接部523压缩弹簧，使中间连接部523的顶部脱出第一卡槽525，从而断开第一连接部521和第二连接部52。然后操作该杆状物体沿连杆3的移动方向前后移动，可以实现对执行关节2的手动角度调节和复位。该设计既能解决驱动电机4故障后，连杆3的复位问题，又能在某些紧急的情况下，手动操作执行关节2转动。本实施例中所述杆状物体可以是专门设计的手动复位工具，该手动复位工具的至少一端可以伸入手动调节孔111和***孔5221内，并与按压部5231匹配；所述杆状物体也可以是任意可实现对按压部5231按压的杆状的物体。
可选地，中间连接部523的底部端面设有让位槽5232，让位槽5232内设有朝向第二卡槽526延伸的导柱5233，弹簧528套设在导柱5223的外壁。设置让位槽5232和导柱5223，一方面可以引导弹簧528的压缩和拉伸方向，另一方面可以对弹簧528起到保护支撑作用。
如图8所示，可选地，转动机构包括转动齿条71、第一转动齿轮72和第二转动齿轮73。转动齿条71与连杆3的端部啮合连接，第一转动齿轮72与转动齿条71啮合连接，第二转动齿轮73与第一转动齿轮72啮合连接，执行关节2的端部与第二转动齿轮73啮合连接。当连杆3沿着直线运动的时候，拉动转动齿条71沿直线运动，转动齿条71带动第一转动齿轮72转动，第一转动齿轮72带动第二转动齿轮73转动，第二转动齿轮73带动执行关节2在一定角度范围内转动，从而实现对执行关节2的角度调节。当然，转动齿轮的数量不限于两个，也可以是更多个或者某些情况下，可以是一个。
如图9和图10所示，在另外的一些实施例中，联动组件包括联动齿条57和传动齿轮组。传动齿轮组包括至少一个传动齿轮55，传动齿轮55与驱动电 机4的输出轴驱动连接。联动齿条57与传动齿轮55啮合连接。
联动齿条57与连杆3连接，联动齿条57与连杆3平行设置。驱动电机4驱动传动齿轮55转动，传动齿轮55带动联动齿条57直线移动，联动齿条57带动连杆3沿直线运动，也能实现执行关节2的角度调节。
具体地，在图9中的实施例中，传动齿轮55的轴心线与驱动电机4的输出轴垂直，传动齿轮55可以通过两个相互啮合的伞齿轮实现与驱动电机4的驱动连接。在图10中的实施例中，传动齿轮55的轴心线与驱动电机4的输出轴平行。驱动电机4的设置位置直接影响壳体1的外部结构和尺寸，因此可以根据电动腔镜吻合器的具体使用要求改变驱动电机4的设置位置。并且，传动齿轮55的数量并不限定在一个，也可以是多个。
在上述实施例的基础上，结合图4和图6所示，推管8设有行程台面81，连接部52的底部端面在行程台面81上移动。连接部52的底部端面设有连接头56，连杆3的一端设有连接孔，连接头56伸入连接孔内。由于行程台面81的存在，保障连接头56不会与连杆3脱开。
同理，联动齿条57的底部端面也设有连接头56，连杆3的端部设有连接孔，连接头56伸入连接孔31内。
较佳地，参考图4所示，驱动电机4的输出端驱动连接减速齿轮组6，减速齿轮组6包括多个减速齿轮，相邻的两个减速齿轮相互啮合连接。减速齿轮安装在辅助安装架41，辅助安装架41与壳体1连接。联动组件与减速齿轮组6连接。设置减速齿轮组6可以提高对联动组件的驱动扭力和变速功能。
较佳地，结合图1、图3和图7所示，壳体1包括定壳体12和转壳体11，转壳体11套设在定壳体12一端的外壁上。转壳体11的内壁设有凸环112，定壳体12的外壁设有限位环槽121，凸环112卡接在限位环槽121内并适于相对于限位环槽121转动。转壳体11的外壁设有若干个操作脊，操作脊沿转壳体11的外壁周向分布，便于手持转动转壳体11。推管8、驱动电机4和联动机构均与转壳体11固定连接。因此，转动转壳体11可以实现推管8的转动，进而实现执行关节2绕推管8轴心的转动，同时驱动电机4又能驱动执行关节2在某一平面内角度的调整，因此可以保障执行关节2多方位的位置调整，保证执行关节2与病灶对位精确。
较佳地，如图11和图12所示，定壳体12内设有内骨架13和安装环架15。内骨架13与定壳体12固定连接，安装环架15套设在内骨架13上，安装环架15的内壁固定连接内骨架13的外壁。
安装环架15的环状外壁套设有旋转套16，旋转套16可以相对于安装环架15转动。其中，旋转套16包括同轴设置的两个，安装环架15的外壁设有一圈绝缘凸起，绝缘凸起阻挡在两个旋转套16之间。驱动电机4连接一电线连接头，电线连接头的两极的两个导电柱17分别连接一个旋转套16。两个电极头18分别设置在安装环架15的绝缘凸起的两侧，每个电极头18用于与一个旋转套16接触，以实现电连接。电极头18连接控制***或电源***。
这样，即使在转壳体11转动的时候，依然不影响驱动电机4的供电。保障执行关节2转动以及角度调节可以同时操作。
虽然本公开披露如上，但本公开的保护范围并非仅限于此。本领域技术人员在不脱离本公开的精神和范围的前提下，可进行各种变更与修改，这些变更与修改均将落入本发明的保护范围。

Claims (10)

  1. 一种电动腔镜吻合器，其特征在于，包括壳体(1)、驱动电机(4)、联动机构、转动机构和执行关节(2)；
    所述驱动电机(4)设置在所述壳体(1)内；
    所述联动机构包括联动组件和连杆(3)，所述联动组件与所述驱动电机(4)的输出轴驱动连接，所述联动组件连接所述连杆(3)的一端，所述联动组件用于将所述驱动电机(4)的旋转运动转换为所述连杆(3)的直线运动；
    所述转动机构连接所述连杆(3)的另一端，所述执行关节(2)连接所述转动机构，所述转动机构用于将所述连杆(3)的直线运动转换为所述执行关节(2)的角度转动。
  2. 根据权利要求1所述的电动腔镜吻合器，其特征在于，所述联动组件包括螺杆(51)和连接部(52)，所述螺杆(51)与所述驱动电机(4)驱动连接，所述螺杆(51)的外壁设有螺纹，所述连接部(52)的一端与所述螺杆(51)旋接，所述连接部(52)的另一端与所述连杆(3)连接。
  3. 根据权利要求2所述的电动腔镜吻合器，其特征在于，所述联动组件还包括联动螺母(53)，所述连接部(52)设有限位槽(524)，所述联动螺母(53)卡入所述限位槽(524)内，所述联动螺母(53)套设在所述螺杆(51)的外壁并与所述螺杆(51)旋接。
  4. 根据权利要求2所述的电动腔镜吻合器，其特征在于，所述连接部(52)包括第一连接部(521)、第二连接部(522)、中间连接部(523)和弹簧(528)；
    所述第一连接部(521)与所述螺杆(51)旋接，所述第二连接部(522)与所述连杆(3)连接，所述第一连接部(521)的底部设有第一卡槽(525)，所述第二连接部(522)的顶部设有第二卡槽(526)，所述中间连接部(523)的顶部位于所述第一卡槽(525)内，所述中间连接部(523)的底部位于所述第二卡槽(526)内；
    所述弹簧(528)设置在所述中间连接部(523)与所述第二卡槽(526)的槽底之间，所述第一连接部(521)设有***孔(5221)，所述中间连接部(523)设有与所述***孔(5221)对应的按压部(5231)，所述壳体(1)设有与所述 ***孔(5221)对应的手动调节孔(111)。
  5. 根据权利要求4所述的电动腔镜吻合器，其特征在于，所述中间连接部(523)的底部设有让位槽(5232)，所述让位槽(5232)内设有朝向所述第二卡槽(526)延伸的导柱(5233)，所述弹簧(528)套设在所述导柱(5233)的外壁。
  6. 根据权利要求1所述的电动腔镜吻合器，其特征在于，所述联动组件包括联动齿条(57)和传动齿轮组，所述传动齿轮组包括至少一个传动齿轮(55)，所述联动齿条(57)与所述连杆(3)连接，所述传动齿轮(55)与所述联动齿条(57)啮合连接，所述驱动电机(4)的输出轴与所述传动齿轮(55)驱动连接。
  7. 根据权利要求2所述的电动腔镜吻合器，其特征在于，所述连接部(52)设有连接头(56)，所述连杆(3)的一端设有连接孔(31)，所述连接头(56)伸入所述连接孔(31)内。
  8. 根据权利要求1-6任一项所述的电动腔镜吻合器，其特征在于，还包括减速齿轮组(6)，所述减速齿轮组(6)包括多个减速齿轮，所述减速齿轮组(6)与所述驱动电机(4)的输出轴驱动连接，所述联动组件与所述减速齿轮组(6)连接。
  9. 根据权利要求1-6任一项所述的电动腔镜吻合器，其特征在于，所述壳体(1)包括定壳体(12)和转壳体(11)，所述转壳体(11)套设在所述定壳体(12)上，所述转壳体(11)的内壁设有凸环(112)，所述定壳体(12)的外壁设有限位环槽(121)，所述凸环(112)卡接在所述限位环槽(121)内并适于相对于所述限位环槽(121)转动，所述驱动电机(4)和所述联动机构均与所述转壳体(11)连接。
  10. 根据权利要求9所述的电动腔镜吻合器，其特征在于，还包括内骨架(13)、旋转套(16)和安装环架(15)，所述内骨架(13)与所述定壳体(12)固定连接，所述安装环架(15)与所述内骨架(13)固定连接，所述旋转套(16)套设在所述安装环架(15)的外壁并适于相对于所述安装环架(15)转动，所述驱动电机(4)与所述旋转套(16)电连接。
PCT/CN2022/104552 2021-05-10 2022-07-08 一种电动腔镜吻合器 WO2022237918A1 (zh)

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