CN108523961B

CN108523961B - Minimally invasive surgical instruments

Info

Publication number: CN108523961B
Application number: CN201810175033.8A
Authority: CN
Inventors: 江清泉; 沈欣欣; 杨明嘉; 林芸含; 张惟闳
Original assignee: Industrial Technology Research Institute ITRI
Current assignee: Industrial Technology Research Institute ITRI
Priority date: 2017-03-03
Filing date: 2018-03-02
Publication date: 2021-01-26
Anticipated expiration: 2038-03-02
Also published as: CN108523961A

Abstract

The invention discloses a minimally invasive surgical instrument, which includes a main body, a buffer component and a blade. The main body includes an inner tube and an outer tube, wherein the inner tube is arranged inside the outer tube. One end of the buffer component is connected to the inner tube. The cutter head is connected to the other end of the buffer component, wherein the cutter head has a cutting part. When the cutting part contacts an object, the buffer component is adapted to move the cutter head relative to the inner tube to reduce the cutting force between the cutting part and the object, and is adapted to tilt the cutting part along with the surface of the object.

Description

Minimally invasive surgical instrument

Technical Field

The present invention relates to a surgical instrument, and in particular to a minimally invasive surgical instrument.

Background

In recent years, with the improvement of living standard, the prolongation of life span, the change of diet (the increase of foods rich in nucleoprotein) and the increase of obese people, the problems of the bone system, such as the pathological changes related to the degeneration of the spine, the pathological changes of osteoarthritis and the like, which are faced with the advanced age, the common treatment mode is the endoscope removal, however, the current endoscope removal can not effectively remove the articular bone protrusions or crystals, and the cartilage is continuously damaged. The self-repair and regeneration capacity of cartilage tissue is very insufficient, and once damaged, cartilage tissue often cannot be restored by itself, and patients only need to replace joints after the articular cartilage is abraded to a certain degree of severity.

Disclosure of Invention

The invention provides a minimally invasive surgical instrument which can effectively remove articular bone protrusions or crystals.

The minimally invasive surgical instrument comprises a main body, a buffer component and a cutter head. The main body comprises an inner tube and an outer tube, wherein the inner tube is arranged in the outer tube. One end of the buffer component is connected with the inner pipe. The cutter head is connected to the other end of the buffer component, wherein the cutter head is provided with a cutting part. When the cutting part contacts an object, the buffer component is suitable for enabling the cutter head to move relative to the inner tube so as to reduce the cutting force between the cutting part and the object, and is suitable for enabling the cutting part to incline along with the surface of the object.

In an embodiment of the invention, the buffering assembly includes an elastic member connected between the inner tube and the cutter head.

In an embodiment of the invention, the elastic element is a compression spring, a spring plate or an elastic polymer.

In an embodiment of the invention, the damping assembly includes a universal joint, and the universal joint is connected between the elastic member and the cutter head.

In an embodiment of the invention, the universal joint includes a first connecting member and a second connecting member, the first connecting member has a convex spherical surface, the second connecting member has a concave spherical surface and is movably connected to the convex spherical surface through the concave spherical surface, the tool bit is connected to the first connecting member, and the elastic member is connected to the second connecting member.

In an embodiment of the invention, the universal joint includes a first connecting element and a second connecting element, the first connecting element has a receiving groove, the second connecting element has a plurality of inclined surfaces and is movably received in the receiving groove, an inner surface of the receiving groove is adapted to bear against any inclined surface to incline the first connecting element, the cutter head is connected to the first connecting element, and the elastic element is connected to the second connecting element.

In an embodiment of the invention, the inner tube has at least one concave portion, and the first connecting member has at least one convex portion and is movably connected to the concave portion through the convex portion.

In an embodiment of the invention, the second connecting member has an arc surface opposite to the inclined surfaces, and movably bears against the elastic member through the arc surface.

In an embodiment of the invention, the minimally invasive surgical instrument includes a driving unit, wherein the driving unit is adapted to drive the tool bit to rotate.

In an embodiment of the invention, the driving unit is connected between the buffer assembly and the cutter head, and is adapted to drive the cutter head to rotate relative to the inner tube.

In an embodiment of the invention, the driving unit includes an actuator and a gear set, the actuator is connected to the buffer assembly, and the gear set is connected between the actuator and the cutter head.

In an embodiment of the invention, the driving unit is connected to the inner tube and adapted to drive the inner tube and the cutter head to rotate together relative to the outer tube.

In an embodiment of the invention, the cutting head has at least one hole, and chips generated after the object is cut by the cutting portion are discharged along the main body through the hole.

In an embodiment of the invention, the minimally invasive surgical instrument includes a suction providing part, wherein cutting chips generated by the object cut by the cutting part are adapted to move along the main body by the suction provided by the suction providing part.

In an embodiment of the invention, an outer diameter of the tool bit is less than 10 mm.

In an embodiment of the invention, the buffering component is at least partially disposed in the inner tube, a stopping structure is disposed in the inner tube, and the buffering component is supported against the stopping structure.

Based on the above, the minimally invasive surgical instrument of the invention reduces the cutting force between the cutting part of the cutter head and the surgical object (such as a joint with bone protrusions and crystals) through the buffer component, so as to prevent the surgical object from being unexpectedly damaged due to excessive cutting force. In addition, the minimally invasive surgical instrument of the invention enables the cutting part of the cutter head to incline along with the surface of the object to be operated through the buffer component, so that the cutting part can conform to the extending direction of the surface to effectively remove the articular bone bulges or crystals on the cutting part.

In order to make the aforementioned and other features and advantages of the invention more comprehensible, embodiments accompanied with figures are described in detail below.

Drawings

FIG. 1 is a perspective view of a minimally invasive surgical instrument according to an embodiment of the present invention;

FIG. 2 is an exploded view of the minimally invasive surgical instrument of FIG. 1;

FIG. 3 is an exploded view of the cutter head and bumper assembly of FIG. 2;

FIG. 4 is a partial block diagram of the minimally invasive surgical instrument of FIG. 1;

FIG. 5 is a schematic view of the tip inclination of FIG. 4;

FIG. 6 is a perspective view of a portion of the components of a minimally invasive surgical instrument according to another embodiment of the invention;

FIG. 7 is a perspective view of the cutter head and bumper assembly of FIG. 6;

FIG. 8 is an exploded view of the cutter head and bumper assembly of FIG. 7;

FIG. 9 is a perspective view of a portion of the components of a minimally invasive surgical instrument according to another embodiment of the invention;

FIG. 10 is a partial perspective view of a minimally invasive surgical instrument according to another embodiment of the invention;

FIG. 11 is a partial block diagram of the minimally invasive surgical instrument of FIG. 10.

Description of the symbols

100: minimally invasive surgical instrument

110. 310, 410: main body

112. 212, 312, 412: inner pipe

112 a: stop structure

114. 314, 414: outer tube

120. 220, 320, 420: buffer assembly

122. 222, 322, 422: elastic piece

124. 224: universal joint

124a, 224 a: first connecting piece

124b, 224 b: second connecting piece

130. 230, 330, 430: cutter head

130 a: hole(s)

132. 232, 332, 432: cutting part

140: suction force providing part

212 a: concave part

224a 1: convex part

350: drive unit

352: actuator

354: gear set

354 a: driving gear

354b, 354 c: driven gear

C: accommodating tank

D: direction of flow

E: extension part

G: gap

S1: convex spherical surface

S2: concave spherical surface

S3: inclined plane

S4: inner surface

S5: cambered surface

Detailed Description

FIG. 1 is a perspective view of a minimally invasive surgical instrument according to an embodiment of the present invention. FIG. 2 is an exploded view of the minimally invasive surgical instrument of FIG. 1. Referring to fig. 1 and 2, the minimally invasive surgical instrument 100 of the present embodiment is, for example, a surgical instrument for removing bone protrusions or crystals on a joint of a human body, and the minimally invasive surgical instrument 100 includes a main body 110, a buffer assembly 120 and a blade head 130. The main body 110 includes an inner tube 112 and an outer tube 114, and the inner tube 112 is disposed in the outer tube 114. One end of the buffer assembly 120 is connected to the inner tube 112, the cutter head 130 is connected to the other end of the buffer assembly 120, and the cutter head 130 has a cutting portion 132, i.e., a blade surface of the cutter head 130.

In the present embodiment, the outer diameter of the cutting head 130 is less than 10 mm, for example, to facilitate the performance of minimally invasive surgery, but the present invention is not limited thereto. In addition, the inner tube 112 of the present embodiment may be connected to a suitable driving unit (e.g., a motor) through a connection portion at the rear end thereof, so that the inner tube 112 and the cutter head 130 are driven to rotate together with respect to the outer tube 114 by the driving unit, thereby performing cutting. In other embodiments, the drive unit may be a member included with minimally invasive surgical instrument 100 that is coupled to inner tube 112.

When cutting portion 132 of cutting head 130 contacts an object to be operated (e.g., a joint having bone protrusions and crystals) during a minimally invasive surgery, cushioning assembly 120 is adapted to move cutting head 130 relative to inner tube 112 to reduce the cutting force between cutting portion 132 and the object to be operated, thereby preventing the object to be operated from being undesirably damaged due to excessive cutting force. In addition, the bumper assembly is adapted to tilt the cutting portion 132 with respect to the surface of the object to be operated upon, so that the cutting portion 132 can follow the direction of extension of the surface to effectively remove articular bone protrusions or crystals thereon.

Fig. 3 is an exploded view of the cutter head and bumper assembly of fig. 2. FIG. 4 illustrates a partial structure of the minimally invasive surgical instrument of FIG. 1. Referring to fig. 3 and 4, in detail, the buffering assembly 120 of the present embodiment is at least partially disposed inside the inner tube 112 and includes an elastic member 122, the elastic member 122 is connected between the inner tube 112 and the cutter head 130, and the elastic member 122 is, for example, a compression spring and enables the cutter head 130 to move relative to the inner tube 112 through its elastic deformation capability. In detail, the inner tube 112 has a stop structure 112a therein, the elastic member 122 of the buffer assembly 120 is supported against the stop structure 112a, and the buffer assembly 120 further includes a universal joint 124, the universal joint 124 is connected between the elastic member 122 and the cutter head 130, and the universal joint 124 enables the cutting portion 132 to tilt along the surface of the object to be operated as described above.

In more detail, the universal joint 124 of the present embodiment is, for example, a ball joint and includes a first connecting member 124a and a second connecting member 124b, the tool bit 130 is connected to the first connecting member 124a, and the elastic member 122 is connected to the second connecting member 124 b. The first connecting element 124a has a convex spherical surface S1, and the second connecting element 124b has a concave spherical surface S2 and is movably connected to the convex spherical surface S1 through the concave spherical surface S2. In the embodiment, the second connecting member 124b has an extending portion E, for example, the extending portion E is fixed to the stopping structure 112a, and the elastic member 122 is sleeved on the extending portion E.

Fig. 5 illustrates the tip tilt of fig. 4. Through the relative sliding between the convex spherical surface S1 and the concave spherical surface S2, the tool bit 130 can be tilted with respect to the inner tube 112 as shown in fig. 5, and the maximum tilting angle is, for example, 10 to 20 degrees, which is not limited by the invention. In addition, the maximum displacement of the tool bit 130 generated by the elastic deformation of the elastic member 122 is, for example, 1 to 2 mm, but the invention is not limited thereto.

Referring to fig. 3, the cutting head 130 of the present embodiment has a plurality of holes 130a, and chips generated after the surgical object is cut by the cutting portion 132 of the cutting head 130 can be discharged along the body 110 through the holes 130 a. Further, the minimally invasive surgical instrument 100 as shown in fig. 1 includes a suction providing part 140, the suction providing part 140 is, for example, a suction providing interface or a suction providing channel, which is connected to a suction source, such as a pump or other suitable form of suction generating device, and the cutting chips generated by the surgical objects cut by the cutting part 132 of the tool bit 130 are adapted to move along the main body 110 by the suction provided by the suction providing part 140. The body 110 may have a flow passage formed therein, for example, in the inner tube 112 and connected between the suction providing portion 140 and the hole 130a of the cutter head 130, for the flow of the cutting chips. The suction providing portion 140 shown in fig. 1 is only illustrated, and may be disposed inside the rear end of the outer tube 114 as shown in fig. 1, or externally connected to the outside of the outer tube 114, which is not limited in the present invention. In the present embodiment, even if there is a gap G (shown in fig. 4) between the tool bit 130 and the main body 110, the chips can be prevented from leaking out of the gap G between the tool bit 130 and the main body 110 after passing through the hole 130a by the suction force provided by the suction force providing portion 140.

FIG. 6 is a perspective view of a portion of the components of a minimally invasive surgical instrument according to another embodiment of the invention. Fig. 7 is a perspective view of the cutter head and bumper assembly of fig. 6. Fig. 8 is an exploded view of the cutter head and bumper assembly of fig. 7. In the embodiment shown in fig. 6 to 8, the inner tube 212, the outer tube (for clarity of the drawings, the outer tube is not shown in fig. 6 to 8), the buffer assembly 220, the elastic member 222, the universal joint 224, the tool bit 230, and the cutting portion 232 are configured and operated in a manner similar to that of the inner tube 112, the outer tube 114, the buffer assembly 120, the elastic member 122, the universal joint 124, the tool bit 130, and the cutting portion 132 shown in fig. 1 to 5, and therefore, the configuration and operation of the inner tube 212, the outer tube (not shown in fig. 6 to 8) are.

The embodiment shown in fig. 6 to 8 is different from the embodiment shown in fig. 1 to 5 in that the universal joint 224 includes a first connecting member 224a and a second connecting member 224b, the cutter head 230 is connected to the first connecting member 224a, the elastic member 222 is connected to the second connecting member 224b, the first connecting member 224a has a receiving groove C, the second connecting member 224b has a plurality of inclined surfaces S3 and is movably received in the receiving groove C, and an inner surface S4 of the receiving groove C is adapted to abut against any one of the inclined surfaces S3 to incline the first connecting member 224a and the cutter head 230.

Further, the inner tube 212 of the present embodiment has two concave portions 212a, the first connecting member 224a has two convex portions 224a1 and is movably connected to the concave portions 212a through the convex portions 224a1, and the second connecting member 224b has an arc surface S5 corresponding to the inclined surfaces S3 and movably supported against the top end of the elastic member 222 through the arc surface S5, so that the first connecting member 224a and the second connecting member 224b have sufficient freedom of movement to drive the cutter head 230 to tilt. In addition, the elastic member 222 of the present embodiment is a spring plate, rather than the elastic member 122 of the embodiment shown in fig. 1 to 5 being a compression spring. In other embodiments, the elastic element may be other suitable elements capable of generating elastic deformation, such as an elastic polymer element, which is not limited in the present invention.

FIG. 9 is a perspective view of a portion of the components of a minimally invasive surgical instrument according to another embodiment of the invention. In the embodiment shown in fig. 9, the inner tube 312, the outer tube 314, the buffer assembly 320, the elastic member 322, the cutter head 330, and the cutting portion 332 are configured and function in a manner similar to the configuration and function of the inner tube 112, the outer tube 114, the buffer assembly 120, the elastic member 122, the cutter head 130, and the cutting portion 132 shown in fig. 1 to 5, and are not described again.

The embodiment shown in fig. 9 is different from the embodiment shown in fig. 1 to 5 in that the damping assembly 320 does not have the universal joint 124 shown in fig. 1 to 5, but tilts the cutter head 330 by elastic deformation of the elastic member 322. In addition, the driving unit 350 is disposed inside the inner tube 312 of the present embodiment, instead of the driving unit externally connected to the inner tube 112 as in the embodiments shown in fig. 1 to 5. Specifically, the driving unit 350 is connected between the elastic member 322 of the buffering assembly 320 and the cutter head 330, and is adapted to drive the cutter head 330 to rotate relative to the inner tube 312. The driving unit 350 includes an actuator 352 and a gear set 354, the actuator 352 is, for example, a motor and is connected to the elastic member 322 of the buffer assembly 320, the gear set 354 includes a driving gear 354a and a driven gear 354b and is connected between the actuator 352 and the cutter head 330, such that the actuator 352 can sequentially drive the cutter head 330 to rotate through the driving gear 354a and the driven gear 354 b. In addition, the gear set 354 can also include a driven gear 354c that is symmetrical to the driving gear 354a, such that the operation of the gear set 354 is balanced and stable.

In addition, in the case that the cutter head 330 of the embodiment has the hole 130a as shown in fig. 3, a corresponding flow passage may be formed between the inner tube 312 and the outer tube 314 to allow the cutting chips to flow in the flow direction D shown in fig. 9, but the invention is not limited thereto.

FIG. 10 is a partial perspective view of a minimally invasive surgical instrument according to another embodiment of the invention. FIG. 11 illustrates a partial structure of the minimally invasive surgical instrument of FIG. 10. In the embodiment shown in fig. 10 and 11, the inner tube 412, the outer tube 414, the buffer assembly 420, the elastic member 422, the tool bit 430, and the cutting portion 432 are configured and operated in a manner similar to that of the inner tube 112, the outer tube 114, the buffer assembly 120, the elastic member 122, the tool bit 130, and the cutting portion 132 shown in fig. 1 to 5, and thus, the description thereof is omitted.

The embodiment shown in fig. 10 and 11 is different from the embodiment shown in fig. 1 to 5 in that the damping unit 420 does not have the universal joint 124 shown in fig. 1 to 5, but tilts the cutter head 430 by elastic deformation of the elastic member 422. In addition, the cutting portion 432 of the tool tip 430 of the present embodiment is formed of a plurality of blade structures, not like the cutting portion 132 of the tool tip 130 shown in fig. 3, which is formed of a plurality of intaglio structures. In other embodiments, the cutting portion of the cutting head may be in other suitable forms, and the invention is not limited thereto.

Although the present invention has been described with reference to the above embodiments, it should be understood that the invention is not limited thereto, and that various changes and modifications can be made by those skilled in the art without departing from the spirit and scope of the invention.

Claims

1. A minimally invasive surgical instrument, comprising:

a body including an inner tube and an outer tube, wherein the inner tube is disposed within the outer tube;

one end of the buffer component is connected with the inner pipe;

the cutter head is connected to the other end of the buffer component, the cutter head is provided with a cutting part, when the cutting part contacts an object, the buffer component is suitable for enabling the cutter head to move relative to the inner tube so as to reduce the cutting force between the cutting part and the object, and the cutter head is suitable for enabling the cutting part to incline along with the surface of the object; and

the driving unit is suitable for driving the cutter head to rotate, connected between the buffer component and the cutter head and suitable for driving the cutter head to rotate relative to the inner tube.

2. The minimally invasive surgical instrument of claim 1, wherein the buffer assembly comprises an elastic member connected between the inner tube and the tool bit.

3. The minimally invasive surgical instrument of claim 1, wherein the drive unit includes an actuator connected to the damping assembly and a gear set connected between the actuator and the tool bit.

4. The minimally invasive surgical instrument of claim 1, wherein the cutter head has at least one hole, and cutting chips generated after the object is cut by the cutting portion are discharged along the main body through the hole.

5. The minimally invasive surgical instrument of claim 4, comprising a suction providing part, wherein cutting chips generated after the object is cut by the cutting part are adapted to move along the main body by the suction provided by the suction providing part.

6. The minimally invasive surgical instrument of claim 1, wherein the blade has an outer diameter of less than 10 millimeters.

7. The minimally invasive surgical instrument of claim 1, wherein a bumper assembly is at least partially disposed within the inner tube, the inner tube having a stop structure therein against which the bumper assembly bears.