CN115944333B - Stitching device - Google Patents
Stitching device Download PDFInfo
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- CN115944333B CN115944333B CN202211652051.3A CN202211652051A CN115944333B CN 115944333 B CN115944333 B CN 115944333B CN 202211652051 A CN202211652051 A CN 202211652051A CN 115944333 B CN115944333 B CN 115944333B
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Abstract
The invention discloses a suturing device, which comprises a gun barrel and a working end, wherein the gun barrel can drive the working end to rotate around a gun barrel axis, the working end can bend relative to the gun barrel, and the working end can rotate around a working end axis, wherein an included angle between the gun barrel axis and the working end axis is alpha, and the alpha changes within a range of 0-90 degrees along with the bending of the working end relative to the gun barrel. The suturing device is convenient to operate, saves operation time and is safer.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a suturing device.
Background
Laparoscopic surgery is a newly developed minimally invasive method, and is a necessary trend for the development of future surgical methods. However, due to the restriction of the abdominal or intrathoracic space, minimally invasive surgical instruments must be relatively small and long to achieve accurate operation.
The operation difficulty in minimally invasive abdominal surgery is undoubtedly suturing. It is desirable to use both hands to coordinate the operation of the needle and needle holder to provide continuous suturing in a confined space. Many surgeons find this extremely difficult. The endoscopic stitching instrument plays a very critical role in the operation, and can meet complex clinical requirements only with simple operation and greater degrees of freedom in the working part.
When the traditional stitching instrument performs operation, the rotation knob arranged through operation can realize 180-degree rotation of the working part, but the rotation angle cannot meet the requirement of complex clinical environment. In addition, the instrument bent pipe needs to rotate simultaneously with the front end working part in the rotating process, and under the condition that the working part bends a certain angle, the working part is far away from tissues needing to be sutured by rotating, and the instrument position needs to be readjusted again, so that the operation difficulty is increased and the suturing time is increased.
Disclosure of Invention
The invention aims to solve the technical problem that the working part of the suture device cannot be conveniently operated in the prior art.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
A suturing device comprises a gun barrel and a working end, wherein the gun barrel can drive the working end to rotate around a gun barrel axis, the working end can bend relative to the gun barrel, and the working end can rotate around a working end axis, the included angle between the gun barrel axis and the working end axis is alpha, and the alpha changes within a range of 0-90 degrees along with the bending of the working end relative to the gun barrel.
Further, the suturing device also comprises a fixed outer tube, one end of the outer tube is hinged with the gun tube, and the other end of the outer tube is connected with the working end; the device also comprises a limiting structure, wherein the limiting structure enables the working end to rotate relative to the fixed outer tube but not move axially relative to the outer tube.
Further, the limit structure includes: the outer ring groove is arranged on the outer wall of the working end, and the inner ring groove is arranged on the fixed outer pipe; one end of the working end is arranged in the fixed outer tube, and the opening clamping ring is simultaneously arranged in the outer annular groove and the inner annular groove.
Further, the suturing device comprises an electric rotation driving device and/or a manual rotation driving device, wherein the electric rotation driving device drives the working end to rotate around the working end axis in an electric mode, and the manual rotation driving device drives the working end to rotate around the working end axis in a manual mode.
Further, the electric rotation driving device includes a driving part including a speed reduction motor and a transmission part including: the device comprises a pawl wheel, a pawl gear, a main shaft gear and a pressure spring, wherein the pressure spring compresses the pawl wheel to enable an end face pawl arranged on the pawl wheel to be meshed with a side face pawl arranged on the pawl gear; the gear motor rotates to drive the pawl wheel to rotate, the pawl wheel rotates to drive the pawl gear to rotate, and the pawl gear rotates to drive the main shaft gear to reversely rotate.
Further, the manual rotation driving device comprises a main shaft gear, a rotating head, a driving gear and an inert gear; the rotating head is rotated to drive the driving gear to rotate, the driving gear rotates to drive the inert gear to rotate, and the inert gear rotates to drive the main shaft gear to rotate.
Further, the suturing device further comprises a main shaft, a flexible shaft and a base, wherein the proximal end of the main shaft is connected with the main shaft gear, the distal end of the main shaft is connected with the proximal end of the flexible shaft, the distal end of the flexible shaft is connected with the proximal end of the base, and the distal end of the base is connected with the working end.
Further, the suturing device further comprises a driving motor power supply voltage detection module, wherein the power supply voltage detection module comprises: a voltage detection IC and an alarm; after the power supply is connected, the voltage detection IC detects the power supply voltage of the motor drive IC in real time, if the voltage accords with an expected value, the trigger button is pressed to drive the motor to rotate, if the voltage does not accord with the expected value, the alarm is started to give an alarm, and the main microcontroller automatically pauses the subsequent driving operation.
Further, the trigger key comprises a left key and a right key which are symmetrically arranged left and right, and the poking direction of the left key and the right key is the same as the rotation direction of the working end.
After the design of the invention is adopted, the invention has at least the following advantages:
(1) The working end of the invention can rotate independently, the rotation angle can reach 360 degrees, the current position can be stopped and locked at will in the rotation process, the operation is convenient, and the operation time is saved. (2) According to the invention, through the cooperation of the pawl, surgical instruments can be protected, and the safety of surgery is ensured. (3) The invention has simple structure, good effect, low cost and easy process realization.
Drawings
The foregoing is merely an overview of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention will be described in further detail below with reference to the accompanying drawings and detailed description;
FIG. 1 is an exploded view of an electric rotary drive for a suturing device of the present invention;
FIG. 2 is an axial cross-sectional schematic view of an electric rotary drive of the suturing device of the present invention;
FIG. 3 is a schematic longitudinal cross-sectional view of an electric rotary drive of the suturing device of the present invention;
FIG. 4 is a schematic view of a working end connection structure of the present invention;
FIG. 5 is a cross-sectional view of the suturing device of the present invention;
FIG. 6 is a rotational schematic view of the suturing device of the present invention;
FIG. 7 is a schematic view of the electric and manual rotary drives of the suturing device of the present invention;
FIG. 8 is a schematic cross-sectional view of a drive gear of the present invention;
FIG. 9 is the electrical logic of the suturing device of the present invention;
Reference numeral 1100-gear motor, 1101-D type output shaft, 1102-motor fixing screw hole, 1200-gear case main support piece, 1300-gear case auxiliary support piece, 1400-compression spring, 1500-ratchet wheel, 1501-end face pawl, 1502-D hole, 1600-ratchet gear, 1601-side pawl, 1602-blind hole, 1700-spindle gear, 1701-step, 1702-D hole, 1700B-idler gear, 1700C-drive gear, 1700D-rotary head, 1701D-internal gear, 1800-gear case support shaft, 1801-left step, 1802-right step, 1900-set screw, 2000-spindle, 2001-D profile, 2002-soft shaft hole, 3000-flexible shaft, 4000-base, 4001-hole, 4002-rack, 5000-working end, 5001-annular groove, 5002-rack hole, 6000-fixing outer tube, 6001-inner annular groove, 7000-opening card, 8001-left key, 8002-right key, 8003-main microcontroller, 8004-power supply, 8005-voltage detection IC, 8006-motor driver, 8007-gun barrel driver, 0-gun barrel.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In this document, "upper", "lower", and the like are used merely to denote relative positional relationships between related parts, and do not limit the absolute positions of the related parts.
The end of each component that is closer to the operator is defined as the proximal end and the end that is farther from the operator is defined as the distal end. The proximal and distal expressions are used for simplicity and clarity of description only and should not be construed as limiting the invention in any way.
Referring to fig. 5, a suturing device comprises a barrel 9000 and a working end 5000, wherein the barrel is capable of rotating the working end 5000 about a barrel axis (B axis), the working end 5000 is capable of being bent relative to the barrel, and the working end 5000 is capable of being rotated about a working end axis (a axis), wherein an angle α between the barrel axis and the working end axis is α, which varies from 0 ° to 90 ° as the working end 5000 is bent relative to the barrel.
The suturing device further comprises an outer tube 6000, one end of the outer tube 6000 is hinged with the gun tube 9000, and the other end of the outer tube 6000 is connected with the working end 5000; a limit structure is also included that allows the working end 5000 to rotate relative to the outer tube 6000 but not move axially relative to the outer tube 6000.
Referring to fig. 4, preferably, the limiting structure includes: an opening collar 7000, an outer annular groove 5001 arranged on the outer wall of the working end, and an inner annular groove 6001 arranged on the fixed outer tube 6000; one end of the working end 5000 is disposed in the fixed outer tube 6000, and the open collar is disposed in both the outer annular groove 5001 and the inner annular groove 6001. The open collar 7000 has elastic characteristics, the working end clamped with the open collar 7000 penetrates into the fixed outer tube 6000 after being compressed in the outer annular groove 5001 arranged on the outer wall of the working end 5000, after the positions of the outer annular groove 5001 and the inner annular groove 6001 are matched, the open collar 7000 rebounds, and meanwhile, the connection is formed between the inner annular groove 5001 arranged on the working end 5000 and the inner annular groove 6001 arranged on the fixed outer tube 6000, and the connection only limits axial movement but does not limit circumferential rotation. The working end 5000 can rotate relative to the fixed outer tube 6000 without moving relative to the axial direction. The limit structure is not limited to the above-described structure as long as a structure in which the working end 5000 can rotate with respect to the outer tube 6000 but cannot move axially with respect to the outer tube 6000 is achieved.
The suturing device further comprises an electric rotation driving device and/or a manual rotation driving device, wherein the electric rotation driving device drives the working end 5000 to rotate around the working end axis in an electric mode, and the manual rotation driving device drives the working end 5000 to rotate around the working end axis in a manual mode.
Referring to fig. 1-3, 7-8, in particular, the electric rotary drive device includes a drive member including a gear motor 1100 and a transmission member including: pawl wheel 1500, pawl gear 1600, spindle gear 1700, pressure spring 1400, pressure spring compresses pawl wheel 1500 so that end face pawl 1501 provided by pawl wheel 1500 is meshed with side face pawl 1601 provided by pawl gear 1600, pawl gear 1600 is meshed with spindle gear 1700; the gear motor 1100 rotates to drive the pawl wheel 1500 to rotate, the pawl wheel 1500 rotates to drive the pawl gear 1600 to rotate, and the pawl gear 1600 rotates to drive the spindle gear 1700 to rotate reversely.
Specifically, the gear motor 1100 is provided with a motor fixing screw hole 1102 fixedly connected to the gear case main support plate 1200 by a fixing screw 1900. The gear motor 1100 is provided with a D-shaped output shaft 1101 penetrating the compression spring 1400, the pawl wheel 1500 and the pawl gear 1600. A main shaft gear 1700 and two gear case support shafts 1800 are installed between the gear case main support piece 1200 and the gear case sub support piece 1300. Spindle gear 1700 is provided with a step 1701 to avoid axial play during movement. The gearbox support shaft 1800 is provided with a left step 1801 and a right step 1802 for controlling the distance between the main gearbox support 1200 and the auxiliary gearbox support 1300, so as to ensure the effective operation of the spindle gear 1700. The ends of the final gearbox support shaft 1800 are each secured using set screws 1900. After fixing, the compression spring 1400 is compressed, and the end face pawl 1501 provided on the pawl wheel 1500 is engaged with the side face pawl 1601 provided on the pawl gear 1600. Pawl gear 1600 and spindle gear 1700 engage the pawl gear, and rotation of pawl gear 1600 drives spindle gear 1700 to rotate in a reverse direction.
The pawl gear 1600 has a circular blind hole 1602 and a clearance is engaged with the D-shaped output shaft 1101 of the gear motor 1100, so that the motor does not directly rotate the pawl gear 1600. The ratchet wheel 1500 is provided with a D-shaped hole 1502 to be engaged with a D-shaped output shaft 1101 provided to the gear motor 1100, and the ratchet 1500 rotates in the same direction after the gear motor 1100 rotates. Because the end face pawl 1501 arranged on the pawl wheel 1500 is pressed by the pressure spring to be meshed with the side face pawl 1601 arranged on the pawl gear 1600, the pawl gear 1600 rotates along with the pawl 1500 in the same direction under the condition that the rotation torque is smaller than the friction of the meshed face. In the case where the rotational torque is greater than the occlusal friction, the pawl 1500 alone rotates with the gear motor 1100, and the pawl gear 1600 does not rotate. Specifically, the friction force between the engagement surfaces of the end surface pawl 1501 provided by the pawl wheel 1500 and the side surface pawl 1601 provided by the pawl gear 1600 can be controlled by adjusting the spring elastic coefficient k= -f/x, wherein k is the elastic coefficient, f is the pressure, and x is the deformation. Through the structure, the motor and the transmission mechanical parts of the sewing device can be protected, the phenomenon that the motor is blocked and damaged or the function of mechanical parts is damaged due to overlarge torque output by the motor because the working end 5000 or the parts between the working end 5000 and the pawl wheel 1500 are influenced by external force is avoided, and therefore the safety of a surgical operation process can be improved.
In addition, a manual rotation driving device can be adopted instead of the electric rotation driving device, or the manual rotation driving device can be simultaneously included in addition to the electric rotation driving device. The manual rotation driving device includes the above spindle gear 1700, the rotary head 1700D, the driving gear 1700B, the idler gear 1700C; the rotating head is rotated to drive the driving gear 1700B to rotate, the driving gear rotates to drive the inert gear 1700C to rotate, and the inert gear 1700B rotates to drive the main shaft gear 1700 to rotate. Specifically, the inner gear meshed with the driving gear 1700C is arranged in the rotating head 1700D and can rotate in the same direction, the inert gear 1700B is added as an intermediate transmission gear, the rotating speed ratio and the rotating direction can be adjusted, the rotating direction of the rotating head 1700D can be the same as the rotating direction of the main shaft gear 1700, the rotating speed ratio is 1, and an operator can more conveniently adjust the position of the working end 5000. The electric rotation driving device or the manual rotation driving device can be independently arranged in the stitching device according to actual needs, and the electric rotation driving device and the manual rotation driving device can be simultaneously arranged on one piece of equipment, so that the operation modes can be switched in real time according to the needs.
The rotation axis of traditional suturing device is B axis (barrel axis), and the work end can not rotate alone around work end A axis, and at work end A axis and rotation B axis misalignment, namely alpha turn angle is greater than 0 degree promptly turn operating condition, turn work end 5000, and work end 5000 can swing on a large scale, and when alpha turn angle equals positive and negative 90 degrees, rotatory 5000 work end swing scope reaches the biggest, if need the angle of adjustment work end, needs the barrel to drive work end rotation around B axle rotation, and the potential safety hazard can all be brought to the unexpected swing on a large scale under the complex circumstances of the internal and surrounding tissue distribution of abdominal cavity narrow and small space. Referring to fig. 6, the working end 5000 of the present invention can rotate around the axis a (working end axis) alone, and after rotation, the relative position of the working end 5000 is not changed, but only rotated at the end of the target suture position, so that the present invention can be adjusted to an ideal surgical operation position, thereby reducing potential safety hazards and greatly improving surgical efficiency.
Referring to fig. 5, the suturing device further comprises a spindle 2000, a flexible shaft 3000, and a base 4000, wherein a proximal end of the spindle 2000 is connected with the spindle gear, a distal end is connected with a proximal end of the flexible shaft 3000, a distal end of the flexible shaft 3000 is connected with a proximal end of the base, and a distal end of the base is connected with a working end 5000. Specifically, the spindle 2000 is provided with a D-profile 2001 which mates with a D-shaped bore 1702 provided in the spindle gear, which rotates to drive the spindle 2000 into rotational motion. The flexible shaft 3000 is inserted into the inner hole 4001 provided in the base 4000 and fixedly connected to the flexible shaft hole 2002 provided in the main shaft 2000. The base 4000 is provided with a rack 4002 to be inserted into a rack hole 5002 provided in the working end 5000. The flexible shaft 3000 is a shaft which is very rigid and has elasticity and free bending transmission, is used for connecting two shafts which are not in the same axis and have relative motion to transmit rotary motion and torque, and can flexibly transmit the rotary motion and torque to any position. The working end 5000 may also be rotated with respect to the fixed outer tube 6000 by transmitting torque to the working end 5000 via rotation of the flexible shaft 3000 and the rack 4002 of the base 4000, without being coaxial with the barrel. The structure of the invention can realize 360-degree rotation of the working end, and in addition, the gear motor 1100 has self-locking property, so that the working end 5000 can be self-locked after any rotation angle, thereby being more convenient for doctors to operate to reach an ideal operation position.
Referring to fig. 9, the suturing device of the present invention further includes a driving motor supply voltage detection module including: voltage detection IC 5506 and alarm; after the power is turned on, the voltage detection IC detects the power supply voltage of the motor drive IC 5008 in real time, if the voltage accords with an expected value, the trigger button is pressed to drive the motor to rotate, and if the voltage does not accord with the expected value, the alarm is started to give an alarm, and the main microcontroller automatically pauses the subsequent driving operation. Preferably, the keys include a left key 8001 and a right key 8002 which are arranged in bilateral symmetry, and the poking directions of the left key 8001 and the right key 8002 are the same as the rotation direction of the working end 5000, which is more beneficial to operation.
Specifically, the power supply 8004 is turned on to 3.3V to supply power to the main microcontroller 8003, and the voltage detection IC 8005 detects the power supply voltage for the motor drive IC 8006, and when the voltage meets the expected value, the left button 8001 or the right button 8002 is pushed to rotate the gear motor 1100, if the voltage does not meet the expected design value, the alarm 8007 can prompt and early warn through the LED/buzzer/display screen, and the main microcontroller 8003 automatically pauses the subsequent driving operation, thereby avoiding the unexpected result of the insufficient torque output of the gear motor 1100 caused by insufficient voltage, and ensuring the operation to be complete.
Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It is to be understood that the invention is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211652051.3A CN115944333B (en) | 2022-12-22 | 2022-12-22 | Stitching device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211652051.3A CN115944333B (en) | 2022-12-22 | 2022-12-22 | Stitching device |
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| Publication Number | Publication Date |
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| CN115944333A CN115944333A (en) | 2023-04-11 |
| CN115944333B true CN115944333B (en) | 2024-11-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211652051.3A Active CN115944333B (en) | 2022-12-22 | 2022-12-22 | Stitching device |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2321783Y (en) * | 1997-12-11 | 1999-06-02 | 宝山钢铁(集团)公司 | Blast furnace coal powder blowing gun |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2292157B1 (en) * | 2001-06-14 | 2020-06-24 | Intuitive Surgical Operations Inc. | Apparatus for surgical suturing with thread management |
| US7862572B2 (en) * | 2004-09-20 | 2011-01-04 | Endoevolution, Llc | Apparatus and method for minimally invasive suturing |
| US10271836B2 (en) * | 2015-12-01 | 2019-04-30 | Covidien Lp | Powered endoscopic suturing device |
| CN111803155B (en) * | 2020-06-24 | 2025-07-04 | 北京德益达美医疗科技有限公司 | Suture handles and soft tissue staplers |
| CN114176729A (en) * | 2021-12-14 | 2022-03-15 | 袁巍 | Medical treatment operation is with multi-functional puncture drainage suturing device |
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2022
- 2022-12-22 CN CN202211652051.3A patent/CN115944333B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2321783Y (en) * | 1997-12-11 | 1999-06-02 | 宝山钢铁(集团)公司 | Blast furnace coal powder blowing gun |
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| CN115944333A (en) | 2023-04-11 |
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Address after: No. 8 Shangcheng Road, Beiqijia Town, Changping District, Beijing 102209 Patentee after: B.J. ZH. F. PANTHER MEDICAL EQUIPMENT Co.,Ltd. Country or region after: China Address before: 102200 three floor, 1 floor, 28 torch street, Changping District science and Technology Park, Beijing. Patentee before: B.J. ZH. F. PANTHER MEDICAL EQUIPMENT Co.,Ltd. Country or region before: China |
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