CN115474988B - Handle part driving structure for multi-degree-of-freedom surgical instrument - Google Patents
Handle part driving structure for multi-degree-of-freedom surgical instrument Download PDFInfo
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- CN115474988B CN115474988B CN202211079829.6A CN202211079829A CN115474988B CN 115474988 B CN115474988 B CN 115474988B CN 202211079829 A CN202211079829 A CN 202211079829A CN 115474988 B CN115474988 B CN 115474988B
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- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 230000033001 locomotion Effects 0.000 claims description 22
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 claims 1
- 210000003811 finger Anatomy 0.000 description 10
- 230000000903 blocking effect Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 210000003813 thumb Anatomy 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 210000000707 wrist Anatomy 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/2909—Handles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/2909—Handles
- A61B2017/2912—Handles transmission of forces to actuating rod or piston
- A61B2017/2913—Handles transmission of forces to actuating rod or piston cams or guiding means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/2909—Handles
- A61B2017/2925—Pistol grips
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2946—Locking means
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Veterinary Medicine (AREA)
- Robotics (AREA)
- Ophthalmology & Optometry (AREA)
- Surgical Instruments (AREA)
Abstract
The invention discloses a handle part driving structure for a multi-degree-of-freedom surgical instrument, and relates to the field of minimally invasive surgical instruments. The technical scheme is characterized by comprising a pressing control unit and a pushing type locking control unit, wherein when the handle is pressed, the pressing control unit pulls the first lead to enable the third wire slot fixed wheel to rotate, so that the clamp head is closed through the differential mechanism; pushing up the button, releasing the second wire and the third wire by the push type locking control unit, so that the first locking device and the second locking device enter a locking state; the push type locking control unit is positioned above the pressing control unit, and the button and the grip are respectively positioned on two opposite sides of the handle. The invention can reduce the operation difficulty and improve the safety and accuracy of the operation.
Description
Technical Field
The invention relates to the field of minimally invasive surgical instruments, in particular to a handle part driving structure for a surgical instrument with multiple degrees of freedom.
Background
The full-angle endoscope manual control mechanical arm is provided with a multi-joint working end, the working end of the full-angle endoscope manual control mechanical arm can synchronously match with the finger and wrist actions of an operator to move, the full-angle endoscope manual control mechanical arm imitates the hand functions and directly becomes the extension of hands, and the full-angle endoscope manual control mechanical arm is also the origin of the name of a manual control mechanical arm. The device can realize 360-degree free adjustment and visual control experience, can reach the operation position at multiple angles, and is particularly suitable for the operation type of narrow positions and fine operation.
The prior Chinese patent with publication number CN113924047A discloses an end tool of a surgical machine and the surgical machine comprising the end tool, which comprises: an end tool having a plurality of degrees of freedom; an operation unit configured to be capable of visually operating the end tool; and a power transmission unit that transmits a driving force of the operation unit to the end tool so that the end tool operates according to an operation of the operation unit. The operation portion includes an actuation operation portion, and the user can rotate the actuation operation portion in a state where the thumb and the index finger are inserted into the actuation operation portion to perform the actuation operation.
The actuation operation portion includes a first actuation operation portion and a second actuation operation portion. The first actuation operation portion includes a first actuation rotation shaft, a first actuation rotation portion, a first actuation pulley, and a first actuation gear. The second actuation operation portion includes a second actuation rotation shaft, a second actuation rotation portion, a second actuation pulley, and a second actuation gear. Here, the first actuation rotation portion and the second actuation rotation portion may operate as the second handle.
Meanwhile, the China patent with the prior publication number of CN113271876A discloses a locking device and an instrument for surgery provided with the locking device, wherein the instrument for surgery comprises an end tool, a connecting part, a manipulating part, the locking device and a control part; the locking device comprises a first main body part, a second main body part, a locking part, an unlocking part and a pushing plate part, wherein the pushing plate part comprises a pushing plate main body and a pushing plate elastic part; the control portion may include a finger ring portion, a handle portion, a first lever portion, a second lever portion, a hook portion, a wire portion, a spool portion, and a wire rest portion.
The surgical instruments in the two patents are all the manual mechanical arms of the full-angle endoscope, but the following problems exist: 1. the split and the closure of the clamp head are controlled through the actions of two fingers, so that the use difficulty is high, and the requirements on the control of the fingers are high; 2. the control of the control part requires the finger of an operator to move in a larger range, and meanwhile, higher flexibility and higher operation difficulty are required, so that the control part has higher requirements on the operation accuracy and strength of doctors; 3. the operation part and the control part are both positioned at the front side of the handle, so that the operation difficulty is increased.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide a handle part driving structure for a multi-degree-of-freedom surgical instrument, which can reduce the operation difficulty and improve the safety and accuracy of the operation.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a handle portion driving structure for a multiple degree of freedom surgical instrument, comprising:
the handle is provided with a base at the top end;
The movable arm is arranged on the base, a clamp head, a differential mechanism, a first locking device and a second locking device are arranged on the movable arm, the differential mechanism comprises an actuation control part, and the actuation control part comprises two gears meshed with each other;
At least one gear is connected with a third wire groove fixed wheel which is coaxially linked with the gear, and a first wire is fixedly wound on the third wire groove fixed wheel; the base is provided with a first diversion sheave, and the first wire is wound on the first diversion sheave and then stretches into the handle;
The base is provided with an elastic reset piece acting on the third wire groove fixed wheel or the tail end of the first wire;
A pressing control unit connected with the first lead is arranged in the handle, and the pressing control unit comprises a grip; pressing the handle, the pressing control unit pulls the first lead to enable the third wire groove fixed wheel to rotate, and therefore the clamp head is closed through the differential mechanism;
the first locking device is connected with a second wire which extends into the handle, and the second locking device is connected with a third wire which extends into the handle;
A push type locking control unit connected with the second wire and the third wire respectively is arranged in the handle, and the push type locking control unit comprises a button; pushing up the button, releasing the second wire and the third wire by the push type locking control unit, so that the first locking device and the second locking device enter a locking state;
The push type locking control unit is positioned above the pressing control unit, and the button and the grip are respectively positioned on two opposite sides of the handle.
Further, the elastic reset piece comprises a third spring arranged on the base, and a second turning grooved wheel is arranged on the base; the first wire is wound around the second diversion sheave, and the tail end of the first wire is connected with the third spring.
Further, the two gears are a first gear and a second gear respectively, a first wire groove fixed wheel coaxially linked with the first gear is arranged on the top wall of the first gear, a second wire groove fixed wheel coaxially linked with the second gear is arranged on the top wall of the second gear, and a third wire groove fixed wheel is arranged on the bottom wall of the second gear;
And at least two second pin shafts are arranged among the second wire slot fixed wheels, the second gear and the third wire slot fixed wheels in a penetrating way.
Further, a first rotating shaft connected with the handle is arranged on the handle, and the handle can rotate around the first rotating shaft;
the inner wall of the handle is provided with a chute, and a sliding block connected with the first lead is arranged in the chute;
A cam connecting rod assembly is arranged between the handle and the sliding block, the cam connecting rod assembly comprises a cam, a second rotating shaft connected with the handle is arranged on the cam, and the cam can rotate around the second rotating shaft; a first connecting rod is hinged between the cam and the handle, and a second connecting rod is hinged between the cam and the sliding block.
Further, a third rotating shaft is arranged between the cam and the first connecting rod, and a fourth rotating shaft is arranged between the cam and the second connecting rod; the center distance between the second rotating shaft and the third rotating shaft is smaller than the center distance between the second rotating shaft and the fourth rotating shaft.
Further, the second connecting rod comprises a short rod section and a long rod section, the short rod section is connected with the cam, and the long rod section is connected with the sliding block; an obtuse angle towards the first connecting rod is formed between the short rod section and the long rod section.
Further, the push-type locking unit further includes a reel to which ends of the second and third wires are connected, respectively; pushing up the button can drive the reel to rotate, thereby releasing the second wire and the third wire.
Further, the button is connected with a limiting plate positioned at the inner side of the handle, the end face, far away from the button, of the limiting plate is fixedly connected with a driving plate, and the driving plate is provided with a driving groove; the reel is provided with a driving rod, and the driving rod is provided with a driving column embedded in the driving groove.
Further, a locking plate is arranged in the handle, and a positioning arc groove is formed in the locking plate; two driving columns are arranged on the driving rod and are respectively positioned on two sides of the driving rod, one driving column is embedded in the driving groove, and the other driving column is embedded in the positioning arc groove.
Further, a buckle is arranged in the handle, and a clamping block matched with the buckle is arranged on the limiting plate; the buckle comprises a fixed support plate, two first buckle plates are symmetrically arranged on the bottom wall of the fixed support plate, second buckle plates are arranged on the side walls of the first buckle plates, and a limiting opening is formed between the two second buckle plates; when no external force pushes up the button, the clamping block is in contact with the second buckle plate, and cannot pass through the limiting opening upwards.
Further, after the handle is held by the differential mechanism, the handle is driven to deflect left and right along the Y-axis direction, so that the clamp head can be driven to deflect left and right synchronously along the Y-axis direction; the handle is driven to deflect up and down along the X-axis direction, so that the clamp head can be driven to deflect up and down synchronously along the X-axis direction;
The first locking device is used for locking left and right deflection movements of the clamp head, and the second locking device is used for locking up and down deflection movements of the clamp head.
In summary, the invention has the following beneficial effects:
1. The operator can control the clamp head to be closed by pressing the handle, and the clamp head is opened by loosening the handle, so that the operation is simple and the control is convenient; the first locking device and the second locking device can be controlled to enter a locking state by pushing the button upwards, the locking state can be released by pushing the button downwards, the movement range of the finger is small, the operation is simple, and the control is convenient; the pressing control unit and the pushing type locking control unit are arranged in the handle, and the buttons are positioned above the opposite sides of the handle, so that when an operator holds the handle by hand, the thumb is used for controlling the buttons, and the other fingers are used for controlling the handle, namely, the arrangement of the driving structure of the handle part is matched with the palm in the holding shape, so that the operation difficulty can be further reduced, the operation is simple, the control is convenient, and the safety and the accuracy of the operation are improved;
2. The cam connecting rod assembly is adopted, so that the deflection travel of the handle can be reduced, and the operation is convenient;
3. The wire is pulled or released by utilizing the rotation of the reel, so that the up-and-down movement stroke of the button is reduced, the movement range of the thumb is reduced, and the operation and the control are convenient.
Drawings
FIG. 1 is a schematic illustration of a handle portion drive structure for a multiple degree of freedom surgical instrument in accordance with an embodiment;
FIG. 2 is a schematic diagram of a handle portion driving structure for a multiple degree of freedom surgical instrument according to a second embodiment;
FIG. 3 is a schematic view of the structure of an actuation handle in an embodiment;
FIG. 4 is a schematic diagram of a handle portion drive structure for a multiple degree of freedom surgical instrument according to a third embodiment;
FIG. 5 is a schematic diagram of a handle portion drive structure for a multiple degree of freedom surgical instrument in accordance with an embodiment;
FIG. 6 is a schematic diagram of a handle portion drive configuration for a multiple degree of freedom surgical instrument in accordance with an embodiment;
FIG. 7 is a schematic illustration of a handle portion drive configuration for a multiple degree of freedom surgical instrument in accordance with an embodiment;
FIG. 8 is a schematic diagram of a push-type lock control unit according to an embodiment;
FIG. 9 is a second schematic diagram of the push-type locking control unit according to the embodiment;
FIG. 10 is a schematic diagram of a push-type lock control unit according to a third embodiment;
FIG. 11 is a schematic illustration of the operation of the handle portion drive structure for a multiple degree of freedom surgical instrument in accordance with one embodiment;
FIG. 12 is a second schematic view of the operating state of the handle portion driving structure for a multiple degree of freedom surgical instrument according to the embodiment;
FIG. 13 is a schematic view of a handle portion drive configuration for a multiple degree of freedom surgical instrument in accordance with a third embodiment;
FIG. 14 is a schematic view showing the operation of the handle portion driving structure for a multiple degree of freedom surgical instrument according to the embodiment.
In the figure: 1. a handle; 11. a base; 12. a through hole; 2. a movable arm; 3. a clamp head; 4. actuating the manipulating part; 41. a first gear; 411. a first pin; 42. a second gear; 421. a second pin; 43. a first wire groove fixed wheel; 44. a second wire chase fixed wheel; 51. a first locking device; 511. a first push plate; 512. a first spring; 52. a second locking device; 521. a second pushing plate; 522. a second spring; 61. a grip; 611. a first rotating shaft; 621. a first link; 622. a cam; 6221. a second rotating shaft; 623. a second link; 631. a slide block; 632. a chute; 64. a first wire; 65. a primary diverting sheave; 66. a third wire groove fixed wheel; 661. a wire blocking column; 671. a second diverting sheave; 672. a third spring; 673. fixing the column; 711. a button; 712. a limiting plate; 713. a clamping block; 714. a connecting plate; 721. fixing the support plate; 722. a first buckle plate; 723. a second buckle plate; 73. a driving plate; 731. a connecting column; 732. a driving groove; 741. a reel; 742. a driving rod; 743. a drive column; 744. a second wire hole; 745. a third wire hole; 751. a second wire; 752. a third wire; 76. a locking plate; 761. positioning an arc groove; 762. and positioning columns.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The present embodiment is only for explanation of the present invention and is not to be construed as limiting the present invention, and modifications to the present embodiment, which may not creatively contribute to the present invention as required by those skilled in the art after reading the present specification, are all protected by patent laws within the scope of claims of the present invention.
Examples:
A handle portion driving structure for a multi-degree of freedom surgical instrument, referring to fig. 1 to 14, includes a handle 1, a base 11 being provided at a tip of the handle 1; the base 11 is provided with a movable arm 2, the movable arm 2 is provided with a clamp head 3, a differential mechanism, a first locking device 51 and a second locking device 52, the differential mechanism comprises an actuating control part 4, and the actuating control part 4 comprises two gears meshed with each other; at least one gear is connected with a third wire groove fixed wheel 66 which is coaxially linked with the gear, and a first wire 64 is fixedly wound on the third wire groove fixed wheel 66; the base 11 is provided with a first turning grooved wheel 65, and the first lead 64 is wound on the first turning grooved wheel 65 and then extends into the handle 1; the base 11 is provided with an elastic reset piece acting on the third wire groove fixing wheel 66 or the tail end of the first wire 64; a pressing control unit connected with the first lead 64 is arranged in the handle 1, and the pressing control unit comprises a grip 61; pressing the grip 61, the pressing control unit pulls the first wire 64 to rotate the third wire groove fixing wheel 66, so that the clamp head 3 is closed by the differential mechanism; the first locking device 51 is connected to a second wire 751 extending into the handle 1, and the second locking device 52 is connected to a third wire 752 extending into the handle 1; a push type locking control unit connected with the second lead 751 and the third lead 752 respectively is arranged in the handle 1, and the push type locking control unit comprises a button 711; pushing up the button 711, the push-type lock control unit releases the second wire 751 and the third wire 752, so that the first locking device 51 and the second locking device 52 enter a locked state; the push type locking control unit is positioned above the pressing control unit, and the button 711 and the grip 61 are respectively positioned at two opposite sides of the handle 1; in the embodiment, an operator can control the clamp head 3 to be closed by pressing the handle 61, and the clamp head 3 is opened by loosening the handle 61, so that the operation is simple and the control is convenient; the first locking device 51 and the second locking device 52 can be controlled to enter the locking state by pushing the button 711 upwards, the locking state can be released by pushing the button 711 downwards, the movement range of the finger is small, the operation is simple, and the control is convenient; in this embodiment, the pressing control unit and the push type locking control unit are both disposed in the handle 1, and the button 711 is located above the opposite sides of the grip 61, so that when the operator holds the handle 1 with his/her hand, his/her thumb is used to control the button 711, and the other fingers are used to control the grip 61, i.e. the arrangement of the driving structure of the handle portion is matched with the palm of the grip, which can further reduce the operation difficulty, make the operation simple and control convenient, thereby improving the safety and accuracy of the operation.
Referring to fig. 1 to 7, specifically, in this embodiment, two gears are a first gear 41 and a second gear 42 respectively, a first wire groove fixing wheel 43 coaxially linked with the first gear 41 is provided on the top wall of the first gear 41, a second wire groove fixing wheel 44 coaxially linked with the second gear 42 is provided on the top wall of the second gear 42, and a third wire groove fixing wheel 66 is provided on the bottom wall of the second gear 42; at least two second pin shafts 421 are arranged among the second wire groove fixed wheels 44, the second gear 42 and the third wire groove fixed wheels 66 in a penetrating way; two first pin shafts 411 are arranged between the first gear 41 and the first wire groove fixed wheel 43 in a penetrating way, and the linkage of the first gear 41 and the first wire groove fixed wheel 43 is realized by utilizing the two first pin shafts 411; in this embodiment, the length of the second pin shaft 421 is greater than that of the first pin shaft 411, and then the two second pin shafts 421 are used to realize the linkage of the second wire casing fixed wheel 44, the second gear 42 and the third wire casing fixed wheel 66; the first gear 41 is meshed with the second gear 42, and the third wire groove fixing wheel 66 can drive the second gear 42, the second wire groove fixing wheel 44, the first gear 41 and the first wire groove fixing wheel 43 to rotate after rotating; the structural arrangement of the first gear 41, the second gear 42, the first wire groove fixing wheel 43 and the second wire groove fixing wheel 44 belongs to the prior art, a third wire groove fixing wheel 66 is added in the embodiment, and then the first wire 64 is utilized to pull the third wire groove fixing wheel 66 to rotate, so that the wire groove fixing wheel has the advantages of simple structure and convenience in production and processing; of course, in other alternative embodiments, the third wire slot fixing wheel may be disposed at the bottom wall of both gears, which is not limited herein;
Referring to fig. 1 to 14, in the present embodiment, the first locking device 51 is used for locking the yaw motion of the binding clip 3, the second locking device 52 is used for locking the pitch motion of the binding clip 3, and the differential mechanism, the first locking device 51, the second locking device 52 and the structure of the binding clip 3 all belong to the prior art, and specific structures are disclosed in two patents exemplified in the background art, and do not relate to the application point of the present application, so that the description is omitted herein; for example, after the handle 1 is held by the differential mechanism, the wrist drives the handle 1 to deflect left and right along the Y-axis direction, so that the forceps head 3 can be driven to deflect left and right synchronously along the Y-axis direction, namely, the forceps head 3 deflects rightwards in fig. 11, and the forceps head 3 deflects leftwards in fig. 12; the wrist driving handle 1 is utilized to vertically deflect along the X-axis direction, so that the clamp head 3 can be driven to synchronously vertically deflect along the X-axis direction, namely, pitching motion is carried out, the clamp head 3 deflects downwards in fig. 13, and the clamp head 3 deflects upwards in fig. 14.
Referring to fig. 1 to 7, specifically, in the present embodiment, the axis of the third wire groove fixing wheel 66 is perpendicular to the top wall of the base 11, and the first wire 64 needs to extend into the handle 1, so that the first deflecting sheave 65 is provided on the base 11 to change the movement direction of the first wire 64; specifically, the base 11 is provided with a through hole 12, and the first lead 64 passes through the through hole 12 and then enters the handle 1; the first diversion sheave 65 is arranged above the through hole 12, and the axis of the first diversion sheave 65 is parallel to the top wall of the base 11, so that a first wire 64 wound on the third wire groove fixing wheel 66 passes through the first diversion sheave 65 and then stretches into the handle 1, smooth movement of the first wire 64 can be ensured, and the situation of clamping and separating is avoided; specifically, the top wall of the base 11 is provided with supports respectively positioned at two ends of the through hole 12, and shaft parts at two ends of the first diversion sheave 65 are respectively embedded in the supports, so that the first diversion sheave 65 can rotate around the shaft, thereby reducing friction between the first lead 64 and the first diversion sheave 65; of course, in alternative embodiments, the primary diverting sheave 65 may not rotate, and sliding friction is formed between the primary wire and the primary diverting sheave 65, which is not limited herein.
Referring to fig. 1 to 7, specifically, a wire blocking post 661 is embedded on the third wire groove fixing wheel 66, the first wire 64 passes through the wire blocking post 661, a fixed point is formed between the first wire 64 and the third wire groove fixing wheel 66 at the wire blocking post 661, and the third wire groove fixing wheel 66 can be driven to rotate by pulling the first wire 64; since the first wire 64 can only transmit tensile force, the clamp head 3 can be automatically reset to the open state after the grip 61 is released, and the elastic reset member is required to directly apply elastic force to the third wire groove fixing wheel 66 or the tail end of the first wire 64; preferably, the elastic restoring member is connected to the end of the first wire 64 in this embodiment, so that the elastic restoring member can be easily installed and replaced, and the structure of the third wire groove fixing wheel 66 can be simplified.
Referring to fig. 1 to 7, specifically, after the first wire 64 passes through the wire blocking post 661, a length is respectively provided at two sides of the wire blocking post 661, a fixing point is formed between the wire blocking post 661 and the third wire slot fixing wheel 66, the first wire 64 is respectively provided at two sides of the wire blocking post 661 to form a first wire section and a first wire section, tension cannot be directly transmitted between the first wire section and the first wire section, and the first wire section is connected with the pressing control unit; specifically, the elastic restoring element comprises a third spring 672, a fixed column 673 is arranged on the top wall of the base 11, one end of the third spring 672 is sleeved on the fixed column 673, and the other end is connected with the tail end of the second section of the first lead; when the handle 61 is pressed to pull the first wire downwards for one section, the third wire groove fixing wheel 66 is driven to rotate anticlockwise, and then the third wire groove fixing wheel 66 pulls the first wire for two sections and stretches the third spring 672; after the handle 61 is loosened, the pulling force on the first wire section is cancelled, the third spring 672 contracts under the action of the elastic force and pulls the first wire second section, and the first wire second section drives the third wire groove fixing wheel 66 to rotate and reset, so that the clamp head 3 can automatically reset to an open state after the handle 61 is loosened; preferably, the base 11 is provided with a second deflecting sheave 671, and the end of the second wire is connected with a third spring 672 after the second wire is wound around the second deflecting sheave 671; specifically, the axis of the second diverting sheave 671 is parallel to the axis of the third wire groove fixing sheave 66, and the second diverting sheave 671 is used to change the orientation of the ends of the two sections of the first wire, thereby facilitating the arrangement of the third spring 672 on the top wall of the base 11 having a limited area; the structural arrangement in this embodiment can place the third spring 672 in a slightly raised state when the grip 61 is not pressed, which is advantageous in prolonging the service life of the third spring 672.
Referring to fig. 1 to 7, specifically, in this embodiment, a first rotating shaft 611 connected to a handle 1 is provided on a grip 61, the grip 61 can rotate around the first rotating shaft 611, and a relief hole matched with the grip 61 is provided on a side wall of the handle 1; a sliding groove 632 is arranged on the inner wall of the handle 1, and a sliding block 631 connected with the first lead 64 is arranged in the sliding groove 632; a cam link assembly is arranged between the handle 61 and the slide block 631, the cam link assembly comprises a cam 622, a second rotating shaft 6221 connected with the handle 1 is arranged on the cam 622, and the cam 622 can rotate around the second rotating shaft 6221; a first connecting rod 621 is hinged between the cam 622 and the handle 61, and a second connecting rod 623 is hinged between the cam 622 and the slider 631; pressing the handle 61, the handle 61 deflects inwards around the first rotating shaft, the handle 61 drives the cam 622 to rotate anticlockwise through the first connecting rod 621, the cam 622 drives the sliding block 631 to move downwards through the second connecting rod 623, and the purpose of pulling the first lead 64 is achieved after the sliding block 631 moves downwards; preferably, a third rotation shaft is provided between the cam 622 and the first link 621, and a fourth rotation shaft is provided between the cam 622 and the second link 623; the center distance between the second rotating shaft 6221 and the third rotating shaft is smaller than the center distance between the second rotating shaft 6221 and the fourth rotating shaft, so that the deflection stroke of the handle 61 can be reduced, and the operation is convenient; preferably, the second connecting rod 623 comprises a short rod section and a long rod section, the short rod section is connected with the cam 622, the long rod section is connected with the slide block 631, an obtuse angle facing the first connecting rod 621 is formed between the short rod section and the long rod section, so that interference between the second connecting rod 623 and the inner wall of the handle 1 can be avoided, the size of the handle 1 is optimized, and the handle is convenient to hold and operate; of course, in alternative embodiments, a resilient return member may be provided within the handle 1 that acts on the grip 61 or cam link assembly to facilitate return of the grip 61; in alternative embodiments, the configuration of the cam link assembly and the shape of the cam may be adjusted as desired, without limitation.
Referring to fig. 1 to 10, in particular, the push-type locking unit in the present embodiment further includes a reel 741, and ends of the second wire 751 and the third wire 752 are connected to the reel 741, respectively; push-up button 711, which can drive reel 741 to rotate, thereby releasing second wire 751 and third wire 752; in the embodiment, the wire is pulled or released by utilizing the rotation of the reel 741, and the diameter of the reel 741 is matched, so that the up-and-down movement stroke of the button 711 is reduced, the movement range of the thumb is reduced, and the operation and the control are convenient; specifically, the shaft portions at both ends of the reel 741 are respectively connected to the slot holes of the inner wall of the handle 1, so that the reel 741 can rotate around the shaft; specifically, the button 711 is connected with a limiting plate 712 located at the inner side of the handle 1, the end surface of the limiting plate 712 far away from the button 711 is fixedly connected with a driving plate 73, and the driving plate 73 is provided with a driving groove 732; the reel 741 is provided with a driving rod 742, and the driving rod 742 is provided with a driving post 743 embedded in the driving groove 732; pushing up the button 711, driving the driving plate 73 to move upwards, driving the driving column 743 to move on the inner wall of the driving slot 732, and driving the driving column 743 to move along the length direction of the driving slot 732 relative to the driving plate 73 and simultaneously rotating around the axis of the reel 741, thereby driving the reel 741 to rotate through the driving rod 742; specifically, the end surface of the limiting plate 712 is provided with a connecting plate 714, and the driving plate 73 is provided with a connecting column 731 fixedly embedded in the connecting plate 714, so that the limiting plate 712 and the driving plate 73 are fixedly connected; to prevent deflection of the driving plate 73, a plurality of connection posts 731 may be provided to improve the stability of the connection; of course, in other alternative embodiments, the limiting plate 712 and the driving plate 73 may be fixedly connected by other manners, such as integrally formed, which is not limited herein.
Referring to fig. 1 to 10, preferably, a locking plate 76 is provided in the handle 1, and a positioning arc groove 761 is provided on the locking plate 76; the driving rod 742 is provided with two driving columns 743 respectively located at two sides thereof, one driving column 743 is embedded in the driving slot 732, and the other driving column 743 is embedded in the positioning arc slot 761; the arrangement of the locking plate 76 and the positioning arc groove 761 is beneficial to improving the rotation stability of the reel 741; specifically, two positioning posts 762 connected with slots on the inner wall of the handle 1 are arranged on the locking plate 76 in a penetrating way, so that the locking plate 76 is fixed relative to the handle 1; specifically, the reel 741 is provided with a second wire hole 744 for connecting the second wire 751 and a third wire hole 745 for connecting the third wire 752, respectively, and the second wire hole 744 and the third wire hole 745 are located at both sides of the driving rod 742, respectively, so that the second wire 751 and the third wire 752 can be separated from each other, and the winding of the second wire 751 and the third wire 752 can be prevented; preferably, a buckle is arranged in the handle 1, and a clamping block 713 matched with the buckle is arranged on the limiting plate 712; the latch 713 is engaged with the latch for holding the push button 711 pushed down to hold the locking device in the unlocked state; the buckle in this embodiment includes a fixed support plate 721, two first buckle plates 722 are symmetrically arranged on the bottom wall of the fixed support plate 721, second buckle plates 723 are vertically arranged on the bottom end of the side wall of the first buckle plate 722, and a limiting opening is formed between the two second buckle plates 723; when no external force pushes up the button, the clamping block 713 contacts with the second clamping plate 723 and cannot pass through the limiting opening upwards; when an operator pushes up the button 711, the clamping block 713 moves upwards and then presses the second clamping plate 723, and the first clamping plate 722 deforms to open the limiting opening, so that the clamping block 713 passes through the limiting opening; preferably, the clamping block 713 in the embodiment is prismatic, and the end of the second buckle 723 is semi-prismatic, so as to facilitate the movement of the clamping block 713; of course, in other alternative embodiments, the shape of the latch 713 or the buckle may be adjusted as needed to facilitate movement of the latch 713, which is not limited herein.
Referring to fig. 1 to 10, in detail, the first locking device 51 includes a first push plate 511 and a first spring 512, a second wire 751 is connected to the first push plate 511, and a connection point of the second wire 751 to the first push plate 511 is located at an end of the first push plate 511 away from the first spring 512, so that the second wire 751 can conveniently pull the first push plate 511 to move; wherein a cover plate (not shown in the drawings) for guiding the second wire 751 is provided on the first locking device 51, thereby ensuring smooth movement of the second wire 751; the second locking device 52 includes a second pushing plate 521 and a second spring 522, the third wire 752 is connected to the second pushing plate 521, and the connection point of the third wire 752 and the second pushing plate 521 is located at one end of the second pushing plate 521 near the second spring 522, so that the third wire 752 is convenient to pull the second pushing plate 521 to move; the second wire 751 and the third wire 752 pass through the through hole 12 and are connected to the reel 741; when the button 711 is pushed upwards, the reel 741 is driven to rotate clockwise to release the second lead 751 and the third lead 752, so that the first push plate 511 and the second push plate 521 have activity, the first spring 512 releases the elastic force to drive the first push plate 511 to move so as to enable the first locking device 51 to enter a locking state, and the second spring 522 releases the elastic force to drive the second push plate 521 to move so as to enable the second locking device 52 to enter a locking state, so that the clamp head 3 cannot perform deflection movement and pitching movement; when the button 711 is pushed down, the reel 741 is driven to rotate down and anticlockwise to pull the second wire 751 and the third wire 752, the second wire 751 pulls the first push plate 511 to move and compress the first spring 512, so that the first locking device 51 enters the unlocked state, and the third wire 752 pulls the second push plate 521 to move and compress the second spring 522, so that the second locking device 52 enters the unlocked state, and at this time, the clip 3 can perform a yaw motion and a pitch motion.
Claims (9)
1. A handle portion driving structure for a multiple degree of freedom surgical instrument, comprising:
the handle is provided with a base at the top end;
The movable arm is arranged on the base, a clamp head, a differential mechanism, a first locking device and a second locking device are arranged on the movable arm, the differential mechanism comprises an actuation control part, and the actuation control part comprises two gears meshed with each other;
The method is characterized in that:
At least one gear is connected with a third wire groove fixed wheel which is coaxially linked with the gear, and a first wire is fixedly wound on the third wire groove fixed wheel; the base is provided with a first diversion sheave, and the first wire is wound on the first diversion sheave and then stretches into the handle;
The base is provided with an elastic reset piece acting on the third wire groove fixed wheel or the tail end of the first wire;
A pressing control unit connected with the first lead is arranged in the handle, and the pressing control unit comprises a grip; pressing the handle, the pressing control unit pulls the first lead to enable the third wire groove fixed wheel to rotate, and therefore the clamp head is closed through the differential mechanism;
the first locking device is connected with a second wire which extends into the handle, and the second locking device is connected with a third wire which extends into the handle;
A push type locking control unit connected with the second wire and the third wire respectively is arranged in the handle, and the push type locking control unit comprises a button; pushing up the button, releasing the second wire and the third wire by the push type locking control unit, so that the first locking device and the second locking device enter a locking state;
The push type locking control unit is positioned above the pressing control unit, and the button and the grip are respectively positioned at two opposite sides of the handle;
the inner wall of the handle is provided with a chute, and a sliding block connected with the first lead is arranged in the chute;
A cam connecting rod assembly is arranged between the handle and the sliding block, the cam connecting rod assembly comprises a cam, a second rotating shaft connected with the handle is arranged on the cam, and the cam can rotate around the second rotating shaft; a first connecting rod is hinged between the cam and the handle, and a second connecting rod is hinged between the cam and the sliding block;
A third rotating shaft is arranged between the cam and the first connecting rod, and a fourth rotating shaft is arranged between the cam and the second connecting rod; the center distance between the second rotating shaft and the third rotating shaft is smaller than the center distance between the second rotating shaft and the fourth rotating shaft;
the push type locking unit further includes a reel to which ends of the second and third wires are connected, respectively; pushing up the button can drive the reel to rotate, thereby releasing the second wire and the third wire.
2. The handle portion driving structure for a multiple degree of freedom surgical instrument of claim 1 wherein: the elastic reset piece comprises a third spring arranged on the base, and a second turning grooved wheel is arranged on the base; the first wire is wound around the second diversion sheave, and the tail end of the first wire is connected with the third spring.
3. The handle portion driving structure for a multiple degree of freedom surgical instrument of claim 1 wherein: the two gears are a first gear and a second gear respectively, a first wire groove fixed wheel coaxially linked with the first gear is arranged on the top wall of the first gear, a second wire groove fixed wheel coaxially linked with the second gear is arranged on the top wall of the second gear, and a third wire groove fixed wheel is arranged on the bottom wall of the second gear;
And at least two second pin shafts are arranged among the second wire slot fixed wheels, the second gear and the third wire slot fixed wheels in a penetrating way.
4. The handle portion driving structure for a multiple degree of freedom surgical instrument of claim 1 wherein: the handle is provided with a first rotating shaft connected with the handle, and the handle can rotate around the first rotating shaft.
5. The handle portion driving structure for a multiple degree of freedom surgical instrument of claim 4 wherein: the second connecting rod comprises a short rod section and a long rod section, the short rod section is connected with the cam, and the long rod section is connected with the sliding block; an obtuse angle towards the first connecting rod is formed between the short rod section and the long rod section.
6. The handle portion driving structure for a multiple degree of freedom surgical instrument of claim 1 wherein: the button is connected with a limiting plate positioned at the inner side of the handle, the end face, far away from the button, of the limiting plate is fixedly connected with a driving plate, and the driving plate is provided with a driving groove; the reel is provided with a driving rod, and the driving rod is provided with a driving column embedded in the driving groove.
7. The handle portion driving structure for a multiple degree of freedom surgical instrument of claim 6 wherein: a locking plate is arranged in the handle, and a positioning arc groove is formed in the locking plate; two driving columns are arranged on the driving rod and are respectively positioned on two sides of the driving rod, one driving column is embedded in the driving groove, and the other driving column is embedded in the positioning arc groove.
8. The handle portion driving structure for a multiple degree of freedom surgical instrument of claim 6 wherein: a buckle is arranged in the handle, and a clamping block matched with the buckle is arranged on the limiting plate; the buckle comprises a fixed support plate, two first buckle plates are symmetrically arranged on the bottom wall of the fixed support plate, second buckle plates are arranged on the side walls of the first buckle plates, and a limiting opening is formed between the two second buckle plates; when no external force pushes up the button, the clamping block is in contact with the second buckle plate, and cannot pass through the limiting opening upwards.
9. The handle portion driving structure for a multiple degree of freedom surgical instrument of claim 1 wherein: after the handle is held by the differential mechanism, the handle is driven to deflect left and right along the Y-axis direction, so that the clamp head can be driven to deflect left and right synchronously along the Y-axis direction; the handle is driven to deflect up and down along the X-axis direction, so that the clamp head can be driven to deflect up and down synchronously along the X-axis direction;
The first locking device is used for locking left and right deflection movements of the clamp head, and the second locking device is used for locking up and down deflection movements of the clamp head.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211079829.6A CN115474988B (en) | 2022-09-05 | 2022-09-05 | Handle part driving structure for multi-degree-of-freedom surgical instrument |
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| CN202211079829.6A CN115474988B (en) | 2022-09-05 | 2022-09-05 | Handle part driving structure for multi-degree-of-freedom surgical instrument |
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| CN115474988B true CN115474988B (en) | 2024-09-24 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117717379A (en) * | 2024-02-18 | 2024-03-19 | 生一科技(北京)有限公司 | Multi-degree-of-freedom minimally invasive instrument |
| CN118614989A (en) * | 2024-06-24 | 2024-09-10 | 邦士医疗科技股份有限公司 | Multi-degree-of-freedom surgical forceps with locking function |
| CN119214741A (en) * | 2024-10-23 | 2024-12-31 | 邦士医疗科技股份有限公司 | A hand-controlled multi-degree-of-freedom surgical forceps |
| CN120052976A (en) * | 2025-04-29 | 2025-05-30 | 杭州坤珑医疗科技有限公司 | Surgical tool controller and surgical tool controller assembly fixture |
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|---|---|---|---|---|
| CN103156686A (en) * | 2011-12-15 | 2013-06-19 | 韦伯斯特生物官能(以色列)有限公司 | Self-holding medical device control handle with cam actuated clutch mechanism |
| CN108338810A (en) * | 2018-04-02 | 2018-07-31 | 成都五义医疗科技有限公司 | a surgical instrument |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019006087A2 (en) * | 2017-06-29 | 2019-01-03 | Board Of Regents Of The University Of Texas System | Surgical apparatus |
| US11051827B2 (en) * | 2018-01-16 | 2021-07-06 | Covidien Lp | Endoscopic surgical instrument and handle assemblies for use therewith |
| CN114305536B (en) * | 2022-01-15 | 2023-03-24 | 元创医学技术(江苏)有限公司 | Multi-degree-of-freedom flexible instrument based on flexible chain belt |
| CN114469202B (en) * | 2022-03-01 | 2023-01-24 | 元创医学技术(江苏)有限公司 | A yaw control mechanism and a multi-degree-of-freedom flexible instrument for its application |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103156686A (en) * | 2011-12-15 | 2013-06-19 | 韦伯斯特生物官能(以色列)有限公司 | Self-holding medical device control handle with cam actuated clutch mechanism |
| CN108338810A (en) * | 2018-04-02 | 2018-07-31 | 成都五义医疗科技有限公司 | a surgical instrument |
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