CN113116412A - Miniature surgical tool head - Google Patents
Miniature surgical tool head Download PDFInfo
- Publication number
- CN113116412A CN113116412A CN202010974289.2A CN202010974289A CN113116412A CN 113116412 A CN113116412 A CN 113116412A CN 202010974289 A CN202010974289 A CN 202010974289A CN 113116412 A CN113116412 A CN 113116412A
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- connecting rod
- clamp
- driving
- support frame
- sleeve
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- 238000007789 sealing Methods 0.000 claims abstract description 33
- 230000001681 protective effect Effects 0.000 claims description 27
- 230000000873 masking effect Effects 0.000 claims description 6
- 210000001503 joint Anatomy 0.000 claims description 4
- 239000012212 insulator Substances 0.000 claims description 3
- 238000002955 isolation Methods 0.000 claims description 2
- 210000001124 body fluid Anatomy 0.000 abstract description 5
- 239000010839 body fluid Substances 0.000 abstract description 5
- 238000001356 surgical procedure Methods 0.000 abstract description 4
- 238000004140 cleaning Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 238000004659 sterilization and disinfection Methods 0.000 description 3
- 210000000683 abdominal cavity Anatomy 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 230000003902 lesion Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910010293 ceramic material Inorganic materials 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 229920002725 thermoplastic elastomer Polymers 0.000 description 1
- 210000000115 thoracic cavity Anatomy 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 230000002485 urinary effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
-
- 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
-
- 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
-
- 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
- A61B2017/2948—Sealing means, e.g. for sealing the interior from fluid entry
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Ophthalmology & Optometry (AREA)
- Surgical Instruments (AREA)
Abstract
The invention discloses a micro surgical tool head, which comprises a clamping part, a support frame, a driving part and a sealing part, wherein the support frame is connected with the clamping part to support the clamping part; the sealing part comprises a telescopic sealing piece, and two ends of the telescopic sealing piece are respectively and fixedly connected to the near end of the micro surgical tool head and the driving part and stretch along with the movement of the driving part. The micro surgical tool head disclosed by the invention is small and exquisite in appearance, convenient to operate, free of worrying about that body fluid penetrates into the surgical tool during surgery, and convenient to clean and sterilize.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a micro surgical tool head.
Background
In minimally invasive medical procedures, surgical tools are typically used, and the surgical tools include various surgical tool heads, such as forceps, cutting tools, needle holders, etc., which are typically mounted at the distal end of the surgical tool, inserted through a small incision or natural orifice of a patient, either directly or through a cannula, and then perform the corresponding surgical procedure. For example, in operations such as thoracic and abdominal cavity operations, when a surgeon excises a lesion, the surgeon usually performs a pinching and cutting operation of lesion tissue using a micro-gripper. Then the surgical tool head is cleaned and disinfected after operation so as to achieve the aim of reusing the surgical tool head. However, the existing surgical tool head generally has the problems of difficulty in cleaning in the later period, incomplete disinfection, secondary pollution, infection and the like.
The existing surgical tool head is large in size, and is generally used in an environment with a large surgical space, such as an abdominal cavity part, so that a doctor can perform a surgical operation conveniently. However, for a tissue part with a small space, such as the urinary system, the operation tool head with a larger size is used, which not only affects the intuitiveness of the operation field and increases the operation time and the difficulty and complexity of the operation, but also easily causes the pulling of local tissues, and makes the healing after the operation more difficult.
Disclosure of Invention
The invention mainly aims to provide a micro surgical tool head, which is used for solving the problems of inconvenient operation and the like caused by overlarge size of the conventional surgical tool head; the invention has the secondary purpose of considering the small size of the surgical tool head and solving the problem that the conventional surgical tool head is difficult to clean and disinfect.
The invention provides a micro surgical tool head, which comprises a clamp part, a support frame and a driving part, wherein the clamp part is arranged on the support frame; the clamping part is arranged on the supporting frame; the support frame has an internal cavity; the driving part comprises a driving wire and a connecting rod unit which are positioned in the supporting frame; one end of the connecting rod unit is connected with the far end of the driving wire, and the other end of the connecting rod unit is connected with the clamping part, so that the clamping part is driven to move by the movement of the driving wire.
As a preferred embodiment of the present invention, the clamping portion includes at least two clamping members; the connecting rod unit comprises at least two connecting rods; the at least two connecting rods are hinged, and the distal end parts of the driving wires are connected to the joints of the at least two connecting rods; the connecting rods are correspondingly connected with the clamp members one by one; preferably, the clamping portion comprises two clamping members; the link unit includes two links.
As a preferred embodiment of the present invention, the micro-surgical tool head further comprises a sealing part; the sealing portion comprises a retractable seal, at least a portion of the retractable seal being connected to a distal portion of the drive portion, at least another portion of the retractable seal being connected to a proximal portion of the microsurgical tool head to facilitate isolation of the drive portion from a surgical interface, and the retractable seal being retractable with movement of the drive portion; preferably, at least a portion of the retractable seal is fixedly attached to the distal end portion of the drive portion and at least another portion of the retractable seal is fixedly attached to a fixed portion of the proximal end of the microsurgical tool head; preferably, the sealing portion is provided inside the support frame.
As a preferred embodiment of the present invention, the clamping portion includes a first clamping member and a second clamping member which are oppositely disposed on both sides of the distal end of the support frame; the connecting rod unit comprises a first connecting rod and a second connecting rod, wherein the inner end parts of the first connecting rod and the second connecting rod are hinged through a connecting rod pin shaft; the outer end ends of the first and second connecting rods are respectively connected with the first and second clamp members, so that the first and second clamp members move close to or away from each other under the driving of the driving wire; preferably, the first clamp member and the second clamp member are fixedly or movably connected with the support frame; preferably, the first and second clamp members are fixedly connected to the support frame, and the connection of the first and/or second clamp members to the support frame is flexible, or the first and second clamp members themselves are flexible; preferably, the first and second clamp members are integrally formed with the support frame; preferably, the first and second clamp members are each a tong head.
As a preferred embodiment of the present invention, an outer end of the first link is pivotally connected to the first clamp member by one clamp connecting shaft, and an outer end of the second link is pivotally connected to the second clamp member by another clamp connecting shaft; preferably, a first vertical sliding groove is formed in a forceps wall of the first forceps member close to the outer end of the first connecting rod, a second vertical sliding groove is formed in a forceps wall of the second forceps member close to the outer end of the second connecting rod, and the first vertical sliding groove and the second vertical sliding groove are used for allowing the outer end portions of the first connecting rod and the second connecting rod to extend into the first vertical sliding groove and the second vertical sliding groove, so that when the first connecting rod and the second connecting rod reciprocate along with the driving wire, the outer end portions of the first connecting rod and the second connecting rod respectively move in the first vertical sliding groove and the second vertical sliding groove.
As a preferred embodiment of the present invention, the driving part further comprises a sliding block, a proximal end of the sliding block is fixedly connected with a distal end of the driving wire, and a distal end of the sliding block is fixedly connected with the hinged end of the link unit; preferably, the slider comprises a slider core and a slider sleeve; the sliding block sleeve is a hollow cylindrical sleeve, and an inner channel is arranged inside the sliding block sleeve; the far end part of the sliding block core extends out of the inner channel of the sliding block sleeve and is fixedly connected with the hinged end of the connecting rod unit; the drive wire extends from the proximal end of the slider sleeve and is connected to the proximal end of the slider core.
As a preferred embodiment of the present invention, the slider is an insulator.
As a preferred embodiment of the present invention, the first jaw member wall extends medially to form a first extension, and the second jaw member wall extends medially to form a second extension; clamp connecting shaft through holes are formed in the first extending part and the second extending part; the clamp connecting shaft penetrates through the clamp connecting shaft through hole on the corresponding side; preferably, both sides of the jaw wall of the first jaw member extend inwardly to form a first extension, and both sides of the jaw wall of the second jaw member extend inwardly to form a second extension; the two first extension parts are parallel to each other, and the two second extension parts are parallel to each other.
As a preferred embodiment of the present invention, the micro-surgical tool head further comprises a protective sheath; the protective sleeve comprises a thick section part and a thin section part, the thick section part and the thin section part are in butt joint up and down to form a stepped column shape with a thick upper part and a thin lower part, the near end of the support frame is tightly sleeved outside the thick section part of the protective sleeve, and the near end part of the telescopic sealing element is tightly sleeved outside the thin section part of the protective sleeve; a sliding channel is arranged in the protective sleeve, the sliding channel penetrates through the thick section part and the thin section part, and the near end of the driving part is arranged in the sliding channel in a sliding manner; preferably, a fixing piece is arranged at the proximal end part of the protective sleeve and is fixedly connected with the protective sleeve, and the fixing piece is provided with a through hole for a driving wire to pass through; the near-end of the support frame is provided with a covering and decorating cover, the far-end fastening sleeve of the covering and decorating cover is arranged on the periphery of the near-end part of the protective sleeve and the periphery of the fixing piece, and the covering and decorating cover is fixedly connected with the fixing piece.
As a preferred embodiment of the present invention, the distal end outer periphery of the retractable seal member is fastened with a first fastening sleeve, and the proximal end outer periphery of the retractable seal member is fastened with a second fastening sleeve.
The invention has the beneficial effects that:
the invention provides a micro surgical tool head which comprises a clamping part, a supporting frame and a driving part, wherein the driving part is connected with the clamping part to drive the clamping part to move, the small-size clamping part is designed to meet the surgical requirements of tissue parts with small space, and the problem of inconvenient operation caused by overlarge size of the conventional surgical tool head is solved. The telescopic sealing element is arranged between the clamp part and the driving part, so that body fluid can be prevented from entering the interior of the surgical tool during operation, and only the outer surface of the surgical tool needs to be cleaned during cleaning and disinfection without a gap cavity and the like which are difficult to clean, so that the surgical tool does not need to be detached for cleaning. The micro surgical tool head disclosed by the invention is small and exquisite in appearance, convenient to operate, free of worrying about that body fluid penetrates into the surgical tool during surgery, clean and sanitary, and convenient to clean and disinfect.
Drawings
FIG. 1 is a perspective view of a surgical tool head provided in accordance with an embodiment of the present invention;
FIG. 2 is a cross-sectional view of a surgical tool head provided in accordance with an embodiment of the present invention;
FIG. 3 is a perspective view of a portion of the structure of a surgical tool head provided in accordance with an embodiment of the present invention;
FIG. 4 is a front view of a connecting rod provided in accordance with an embodiment of the present invention;
FIG. 5 is a cross-sectional view of a slider in a surgical tool head provided in accordance with an embodiment of the present invention;
fig. 6 is a perspective view of a clamping portion and a supporting frame according to an embodiment of the present invention.
Detailed Description
The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
In the description of the embodiments of the present invention, it should be noted that the terms "left" and "right" are orientations or positional relationships described based on the drawings, and are for convenience of description of the present invention. The terms "first", "second", etc. are used for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.
It is worth mentioning that in the process of using the micro-surgical tool head, one end close to the operator is a near end or a rear end, and the other end close to the surgical patient is a far end or a front end.
The embodiment of the invention provides a micro surgical tool head, and the structure of the micro surgical tool head is described in detail below.
Referring to fig. 1 to 4, the micro-surgical tool head includes a clamping portion 1 (which includes two clamping members in this embodiment, the clamping members are jaws), a support frame 2, a driving portion and a sealing portion, the driving portion is connected with the clamping portion 1 to drive the clamping members of the clamping portion 1 to move, the driving portion includes a link unit 4 and a driving wire 3, and the clamping portion 1 is fixedly connected with a distal end portion of the driving wire 3 through the link unit 4. Wherein the periphery of the driving wire 3 is wrapped by an insulating tube, and the outer diameter of the clamp part 1 can be made very small, preferably within 5 mm. The driving wire 3 drives the link unit 4 to move, thereby realizing the opening and closing of the clamp members. The driving part of the invention has simple structure, and does not need to adopt a complex connecting rod or chute driving structure, thereby realizing the miniaturization of the surgical tool head.
In the above embodiment, the sealing portion includes the retractable sealing member 8, at least one portion of the retractable sealing member 8 is connected to the distal end portion of the driving portion, at least another portion of the retractable sealing member 8 is connected to the proximal end portion of the micro-surgical tool head, so as to isolate the driving portion from the surgical interface, and the retractable sealing member 8 is retracted along with the movement of the driving portion, so as to isolate the driving wire 3 from the surgical interface (the surgical instrument includes the external operator operating end and the internal instrument moving end, and two interfaces of the operator/surgical instrument and the surgical instrument/human tissue are formed between the operator, the surgical instrument and the targeted tissue organ, in this embodiment, the surgical interface refers to the surgical instrument/human tissue interface, i.e., the interface of the surgical instrument acting on the human tissue). The connecting rod unit 4 is driven to open and close through the driving wire 3, so that the clamping part 1 is driven to open and close, and meanwhile, the telescopic sealing piece 8 extends or contracts along with the reciprocating motion of the driving wire 3. It should be understood that at least a portion of the retractable seal 8 in the axial direction is telescopically deformable or the retractable seal 8 as a whole is telescopically deformable. In particular, the retractable seal 8 may be made of an elastic material, such as rubber or a thermoplastic elastomer or other elastic metal material. Through setting up scalable sealing member 8 to realize the motion of tong portion 1, and can avoid body fluid etc. to enter into the drive division, thereby be convenient for the cleaning and disinfection of surgical tool head.
In a preferred embodiment, the jaw portion 1 comprises a first jaw member 11, a second jaw member 12. The first and second jaw members 11, 12 are oppositely disposed on opposite sides of the distal end of the support frame 2, the support frame 2 having an internal cavity in which the drive portion and the retractable seal 8 are both disposed.
The link unit 4 includes a first link 41 and a second link 42, inner end portions of the first link 41 and the second link 42 are hinged by a link pin 5, and outer end portions of the first link 41 and the second link 42 are connected to the first jaw member 11 and the second jaw member 12, respectively, and here, may be directly connected or indirectly connected, so that the first jaw member 11 and the second jaw member 12 are moved toward or away from each other by the driving wire 3.
In the above embodiment, as shown in fig. 6, the first clamp member 11 and the second clamp member 12 are fixedly connected to the support frame 2. Preferably, at least one of the connections of the first and second clamp members 11, 12 to the support frame 2 is flexible, or the first and second clamp members 11, 12 are themselves flexible. More preferably, the first and second clamp members 11, 12 are integrally formed with the support frame 2, thereby making the manufacturing process simpler. It will be appreciated that the first and second clamp members 11, 12 may also be movably connected to the distal end of the support frame 2 on opposite sides thereof, with the first and second clamp members 11, 12 facing each other, and the first and second clamp members 11, 12 moving toward or away from each other to achieve opening and closing under the drive of the drive wire 3.
In the above preferred embodiment, the supporting frame 2 comprises a proximal annular base and axial extensions diametrically opposite to each other on two sides of the annular base, the axial extensions on two sides extend from the annular base in the axial direction towards the distal end, and the most distal parts of the axial extensions form the first clamping member 11 and the second clamping member 12. It will be appreciated that the support frame 2 may also be of a cylindrical configuration, with the first and second clamp members 11, 12 being disposed diametrically opposite one another on either side of the distal end of the support frame 2.
In the above embodiment, referring to fig. 4, the inner end portions of the first link 41 and the second link 42 are hinged by the link pin 5; the outer end of the first link 41 is pivotally connected to the first clamp member 11 by one clamp connecting shaft 6, and the outer end of the second link 42 is pivotally connected to the second clamp member 12 by the other clamp connecting shaft 6. Specifically, a link pin 5 is fixedly connected to a distal end of the driving portion, inner end portions of the first link 41 and the second link 42 are hinged to each other by the link pin 5, the two clamp connecting shafts 6 are fixedly connected to the first clamp member 11 and the second clamp member 12, respectively, and outer end portions of the first link 41 and the second link 42 are hinged to the two clamp connecting shafts 6, respectively. As the drive wire 3 is pulled to move proximally, the outer end portions of the first and second links 41, 42 move toward each other, thereby bringing the first and second clamping members 11, 12 toward each other. When the drive wire 3 is pushed to move distally, the outer end portions of the first link 41 and the second link 42 move away from each other, thereby bringing the first clamp member 11 and the second clamp member 12 away from each other.
In the above preferred embodiment, referring to fig. 5, the driving portion further includes a slider 7, the slider 7 is an insulator and includes a slider core 71 and a slider sleeve 72, the slider sleeve 72 is a hollow cylindrical sleeve, an inner channel is disposed inside the hollow cylindrical sleeve, a distal end portion of the slider sleeve 72 is fixedly sleeved on an outer periphery of the slider core 71, a distal end of the slider core 71 extends out of the inner channel of the slider sleeve 72 and is fixedly connected with the hinge end of the connecting rod 4, that is, the distal end of the slider core 71 is fixedly connected with the connecting rod pin 5; the distal end of the drive wire 3 extends from the proximal portion of the slider sleeve 72 and is fixedly connected, for example by welding or snap fastening, to the proximal end of the slider core 71.
The traditional pulley steel wire and other driving can not realize the stretching of the sealing element, however, the driving wire 3 can realize the stretching of the telescopic sealing element 8 due to the telescopic property of the telescopic sealing element 8, so that the telescopic sealing element 8 can be stretched or contracted along with the reciprocating motion of the sliding block 7. The driving wire 3 drives the slider 7 to reciprocate, thereby driving the link unit 4 to move, and the link unit 4 moves to open and close the clamp member.
In the above embodiment, the two sides of the wall of the first clamp member 11 extend inward to form a first extension (each side extends to form a first extension), the two sides of the wall of the second clamp member 12 extend inward to form a second extension (each side extends to form a second extension), and the two first extensions of the first clamp member 11 are respectively provided with a clamp connecting shaft through hole, and the two clamp connecting shaft through holes are respectively located on the two sides of the first clamp member 11 to form a clamp connecting shaft through hole pair. Two second extending parts of the second clamp member 12 are respectively provided with a clamp connecting shaft through hole, the two clamp connecting shaft through holes are respectively positioned at two sides of the second clamp member 12 to form a clamp connecting shaft through hole pair, and the two clamp connecting shafts 6 are respectively arranged in the clamp connecting shaft through holes of the first clamp member 11 and the second clamp member 12.
In the preferred embodiment, further, a first vertical sliding slot extending along the axial direction is provided on the forceps wall of the first forceps member 11 close to the outer end of the first connecting rod 41, a second vertical sliding slot extending along the axial direction is provided on the forceps wall of the second forceps member 12 close to the outer end of the second connecting rod 42, the first vertical sliding slot and the second vertical sliding slot are used for the outer end ends of the first connecting rod 41 and the second connecting rod 42 to extend into, and when the first connecting rod 41 and the second connecting rod 42 reciprocate along with the driving wire 3, the outer end ends of the first connecting rod 41 and the second connecting rod 42 respectively move in the first vertical sliding slot and the second vertical sliding slot. The arrangement of the vertical sliding groove can further reduce the transverse dimension of the clamping part 1.
Preferably, the proximal end tip cover of support frame 2 is equipped with protective sheath 9, and protective sheath 9 is including the thick section portion that is located the near-end and the thin section portion that is located the distal end, and thick section portion and thin section portion dock from top to bottom and form and be thick ladder column shape thin from top to bottom.
In the preferred embodiment, the proximal end of the support 2 fits closely over the thick section of the sheath 9, and the proximal portion of the retractable seal 8 fits closely over the thin section of the sheath 9. A sliding channel is arranged in the protective sleeve 9, the sliding channel penetrates through the thick section part and the thin section part, and the near end of the sliding block 7 is arranged in the sliding channel in a sliding mode. The protective sleeve 9 is preferably made of a ceramic material, which can achieve both insulation and reduce friction force, and facilitates the sliding of the sliding body in the sliding channel. In order to fixedly connect the protection sleeve 9 to the surgical arm or the driving rod, a fixing member 90 is disposed at the proximal end of the protection sleeve 9, and the fixing member 90 is fixedly connected to the proximal end of the protection sleeve 9. In view of the processing problems, it is preferable that the fixing member 90 is fixedly connected with the protective sheath 9 through a transition member, the fixing member 90 is provided with a through hole for passing the driving wire, and the fixing member 90 is provided to seal the proximal end of the driving portion and prevent the tissue fluid from penetrating into the driving portion, which makes the cleaning difficult. It should be understood that the fixing member 90 may be formed integrally with the protective sheath 9.
Further, the proximal end of the support frame 2 is provided with a masking cover 91, the distal end of the masking cover 91 is fastened and sleeved on the periphery of the proximal end portion of the protective sheath 9 and the periphery of the fixing member 90, and the inner wall of the masking cover 91 is fixedly connected with the outer wall of the fixing member 90, so that body fluid is prevented from entering the inside of the surgical tool.
In the above embodiment, the retractable seal 8 wraps around the distal end of the slider sleeve 72 and extends proximally around the circumference of the thin section of the protective sheath 9. It is worth mentioning that the telescopic sealing piece 8 extends or contracts along with the reciprocating motion of the sliding block 7, the arrangement of the telescopic sealing piece 8 can enable the interior of the surgical tool head to form a sealing structure, and prevent tissue fluid from deeply entering the interior of the surgical tool, so that the outer surface of the surgical tool head only needs to be cleaned and disinfected after surgery, and the surgical tool does not need to be detached for cleaning.
Further, in order to prevent the separation of the retractable sealing member 8 from the slider 7 and the protection sleeve 9 during the retractable movement and the influence of the sealing effect, a first fastening sleeve 810 is fastened to the distal end periphery of the retractable sealing member 8, and a second fastening sleeve 820 is fastened to the proximal end periphery of the retractable sealing member 8.
In a preferred embodiment, the protective sleeve 9, the retractable sealing member 8 and the sliding block 7 are made of insulating materials, so that the surgical tool head and the surgical tool structure such as a driving rod or the arm body of a surgical robot can be insulated, and the periphery of the driving wire 3 is wrapped by an insulating tube, so that the current can not be conducted to the surgical arm and the like in the surgical process even if the surgical tool head is in contact with a charged device, the patient and the user can not be burnt, and the potential safety hazard and the damage to the device and the like can be avoided.
In the above embodiment, the proximal end of the retractable seal 8 is closely wrapped around the distal end of the protective sheath 9, and the protective sheath 9 is stationary relative to the support frame 2 and the proximal end of the retractable seal 8 is stationary during the driving of the jaw members by the driving portion. In the present application, the proximal end of the retractable seal 8 may be configured to closely wrap the proximal end of the support frame 2, and the like, so that the proximal end of the retractable seal 8 is immovable relative to the support frame 2 regardless of whether the distal end thereof follows the movement of the driving portion.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. A micro surgical tool head is characterized by comprising a clamping part (1), a support frame (2) and a driving part; the clamping part (1) is arranged on the support frame (2); the support frame (2) is provided with an inner cavity; the driving part comprises a driving wire (3) and a connecting rod unit (4) which are positioned in the supporting frame (2); one end of the connecting rod unit (4) is connected with the far end of the driving wire (3), and the other end of the connecting rod unit is connected with the clamping part (1) so that the clamping part (1) is driven to move by the movement of the driving wire (3).
2. The microsurgical tool head according to claim 1, wherein the clamping portion (1) comprises at least two clamping members; the connecting rod unit (4) comprises at least two connecting rods; the at least two connecting rods are hinged, and the distal end parts of the driving wires (3) are connected to the joints of the at least two connecting rods;
the connecting rods are correspondingly connected with the clamp members one by one;
preferably, the jaw portion (1) comprises two jaw members; the link unit (4) comprises two links.
3. The microsurgical tool head of claim 1 or 2 further comprising a sealing portion; the sealing portion comprises a retractable seal (8), at least one portion of the retractable seal (8) is connected to a distal end portion of the driving portion, at least another portion of the retractable seal (8) is connected to a proximal end portion of the microsurgical tool head to facilitate isolation of the driving portion from a surgical interface, and the retractable seal (8) retracts with movement of the driving portion;
preferably, at least a portion of said retractable seal (8) is fixedly attached to a distal portion of said drive portion, and at least another portion of said retractable seal (8) is fixedly attached to a fixed portion of the proximal end of a microsurgical tool head;
preferably, the sealing portion is provided inside the support frame.
4. The micro-surgical tool tip of claim 2,
the clamping part (1) comprises a first clamping component (11) and a second clamping component (12) which are oppositely arranged at two sides of the far end of the support frame (2);
the connecting rod unit (4) comprises a first connecting rod (41) and a second connecting rod (42) which are hinged at the inner end parts through connecting rod pin shafts (5);
the outer end ends of the first connecting rod (41) and the second connecting rod (42) are respectively connected with the first clamp member (11) and the second clamp member (12) so that the first clamp member (11) and the second clamp member (12) move close to each other or move away from each other under the driving of the driving wire (3);
preferably, the first clamp member (11) and the second clamp member (12) are fixedly or movably connected with the support frame (2);
preferably, the first and second clamp members (11, 12) are fixedly connected to the support frame (2), and the connection of the first and/or second clamp members (11, 12) to the support frame (2) is flexible, or the first and second clamp members (11, 12) are themselves flexible;
preferably, the first and second clamp members (11, 12) are integrally formed with the support frame (2);
preferably, the first and second clamp members are each a tong head.
5. The micro-surgical tool tip of claim 4,
the outer end of the first link (41) is pivotally connected to the first clamp member (11) by one clamp connection shaft (6), and the outer end of the second link (42) is pivotally connected to the second clamp member (12) by another clamp connection shaft (6);
preferably, a first vertical sliding groove is formed in a jaw wall of the first clamp member (11) close to the outer end of the first connecting rod (41), and a second vertical sliding groove is formed in a jaw wall of the second clamp member (12) close to the outer end of the second connecting rod (42), and the first vertical sliding groove and the second vertical sliding groove are used for allowing the outer end ends of the first connecting rod (41) and the second connecting rod (42) to extend into, so that when the first connecting rod (41) and the second connecting rod (42) reciprocate along with the driving wire (3), the outer end ends of the first connecting rod (41) and the second connecting rod (42) respectively move in the first vertical sliding groove and the second vertical sliding groove.
6. The micro-surgical tool tip according to claim 2 or 4,
the driving part further comprises a sliding block (7), the near end of the sliding block (7) is fixedly connected with the far end of the driving wire (3), and the far end of the sliding block (7) is fixedly connected with the hinged end of the connecting rod unit (4);
preferably, the slider (7) comprises a slider core (71) and a slider sleeve (72); the sliding block sleeve (72) is a hollow cylindrical sleeve, and an inner channel is arranged in the sliding block sleeve; the distal end part of the slider sleeve (72) is fixedly sleeved on the periphery of the slider core (71), and the farthest end of the slider core (71) extends out of the inner channel of the slider sleeve (72) and is fixedly connected with the hinged end of the connecting rod unit (4); the driving wire (3) extends from the proximal end of the slider sleeve (72) and is connected with the proximal end of the slider core (71).
7. The microsurgical tool head according to claim 6, wherein the slider (7) is an insulator.
8. The micro-surgical tool tip of claim 5,
the wall of the first clamp component (11) extends inwards to form a first extension part, and the wall of the second clamp component (12) extends inwards to form a second extension part; clamp connecting shaft through holes are formed in the first extending part and the second extending part; the clamp connecting shaft (6) penetrates through the clamp connecting shaft through hole on the corresponding side;
preferably, both sides of the jaw wall of the first clamp member (11) extend inwards to form a first extension, and both sides of the jaw wall of the second clamp member (12) extend inwards to form a second extension; the two first extension parts are parallel to each other, and the two second extension parts are parallel to each other.
9. The microsurgical tool head according to claim 3, further comprising a protective sheath (9);
the protective sleeve (9) comprises a thick section part and a thin section part, the thick section part and the thin section part are in butt joint up and down to form a stepped column shape with a thick upper part and a thin lower part, the near end of the support frame (2) is tightly sleeved outside the thick section part of the protective sleeve (9), and the near end part of the telescopic sealing element (8) is tightly sleeved outside the thin section part of the protective sleeve (9);
a sliding channel is arranged in the protective sleeve (9), the sliding channel penetrates through the thick section part and the thin section part, and the near end of the driving part is arranged in the sliding channel in a sliding manner;
preferably, a fixing piece (90) is arranged at the proximal end part of the protective sleeve (9), the fixing piece (90) is fixedly connected with the protective sleeve (9), and the fixing piece (90) is provided with a through hole for a driving wire to pass through;
the near-end of the support frame 2 is provided with a masking cover (91), the far-end fastening sleeve of the masking cover (91) is arranged on the periphery of the near-end part of the protective sleeve (9) and the periphery of the fixing piece (90), and the masking cover (91) is fixedly connected with the fixing piece (90).
10. The microsurgical tool head according to claim 3, wherein the retractable seal (8) has a first fastening sleeve (810) fastened to a distal outer periphery thereof and a second fastening sleeve (820) fastened to a proximal outer periphery thereof.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2019113921411 | 2019-12-30 | ||
| CN201911392141 | 2019-12-30 |
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| CN113116412A true CN113116412A (en) | 2021-07-16 |
| CN113116412B CN113116412B (en) | 2024-03-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010974289.2A Active CN113116412B (en) | 2019-12-30 | 2020-09-16 | Miniature operation tool head |
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| CN (1) | CN113116412B (en) |
Cited By (2)
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| CN114391924A (en) * | 2022-01-18 | 2022-04-26 | 湖州市妇幼保健院 | Clamping device for assisting laparoscope vaginal stump suture |
| CN116098676A (en) * | 2023-01-31 | 2023-05-12 | 中国人民解放军总医院第八医学中心 | Medical drill bit |
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| Publication number | Publication date |
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| CN113116412B (en) | 2024-03-29 |
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Address after: 100192 Tiandi Adjacent to Feng2 Building 106, No. 1 North Yongtaizhuang Road, Haidian District, Beijing Applicant after: Beijing Shurui Robot Co.,Ltd. Address before: 100192 Tiandi Adjacent to Feng2 Building 106, No. 1 North Yongtaizhuang Road, Haidian District, Beijing Applicant before: BEIJING SURGERII TECHNOLOGY Co.,Ltd. |
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