CN115969469A - Hand-held surgical instrument - Google Patents
Hand-held surgical instrument Download PDFInfo
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- CN115969469A CN115969469A CN202211668586.XA CN202211668586A CN115969469A CN 115969469 A CN115969469 A CN 115969469A CN 202211668586 A CN202211668586 A CN 202211668586A CN 115969469 A CN115969469 A CN 115969469A
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- 230000001681 protective effect Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 3
- 230000010355 oscillation Effects 0.000 description 11
- 238000001356 surgical procedure Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000002324 minimally invasive surgery Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000002674 endoscopic surgery Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The invention provides a handheld surgical instrument, which comprises a tail end instrument: it comprises a first clamping part and a second clamping part which are matched with each other; the connection structure is as follows: the connecting structure can assist the tail end apparatus to realize yaw swing and pitching swing when the tail end apparatus is controlled by the control mechanism through a plurality of swing control cables; a conduit: the swinging control cables are connected between the connecting structure and the control mechanism and used for enabling a plurality of swinging control cables connected to the tail end instrument to pass through the inner cavity of the catheter and be connected to the control mechanism; the control mechanism: the swinging control cable is used for controlling the swinging control cable to enable the terminal instrument to realize yaw swinging and pitch swinging; the control mechanism also comprises an opening and closing control mechanism used for controlling the opening and closing actions of the tail end instrument; the control mechanism further comprises a rotation control mechanism for controlling the rotation of the end instrument. The handheld surgical instrument can control the opening and closing, yaw swinging and pitching swinging of the tail end instrument, can also control the tail end instrument to rotate, and has more degrees of freedom.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a handheld surgical instrument.
Background
In recent years, minimally invasive surgery, such as endoscopic internal surgery, has been widely used in clinical practice, in which a doctor inserts an endoscope through a hole in a patient's body and uses a surgical instrument with the aid of the endoscope. With the continuous improvement of the feasibility of the minimally invasive surgery, the injury to a patient is smaller compared with the open surgery, the minimally invasive surgery gradually starts to replace the open surgery, and the higher requirements are provided for the upgrade and innovation of surgical instruments.
The existing surgical instrument for endoscopic surgery has relatively monotonous action and less freedom in the use process, and can not meet the use requirements of certain surgeries with higher difficulty.
Disclosure of Invention
In order to solve the problem that exists among the prior art, this application has proposed a hand-held type surgical instrument, and it can control opening and shutting of end apparatus, can also control end apparatus and carry out driftage swing and pitch swing, and the degree of freedom is more, and this surgical instrument still has rotary control mechanism in addition, can control end apparatus and rotate.
To achieve the above object, the present application proposes a hand-held surgical instrument comprising:
end instrument: the clamping device comprises a first clamping part and a second clamping part which are matched with each other;
the connection structure is as follows: the connecting structure is connected between the terminal instrument and the catheter, and can assist the terminal instrument to realize yaw swing and pitch swing when the terminal instrument is controlled by the control mechanism through a plurality of swing control cables;
a conduit: the swinging control cables are connected between the connecting structure and the control mechanism and used for enabling the swinging control cables connected to the terminal instrument to pass through the inner cavity of the catheter and be connected to the control mechanism;
the control mechanism: for manipulating the swing control cable to enable the tip instrument to effect yaw and pitch swings; the control mechanism also comprises an opening and closing control mechanism used for controlling the opening and closing actions of the tail end instrument; the control mechanism further comprises a rotation control mechanism for controlling the terminal instrument to rotate.
In some embodiments, the connecting structure includes a connecting base fixed on the conduit, an adapter base is rotatably connected to the connecting base via a pitch rotating shaft, the adapter base can perform pitch swing relative to the connecting base, the adapter base is rotatably connected to the terminal device via a yaw rotating shaft, the terminal device can perform yaw swing relative to the adapter base, and the first clamping portion and the second clamping portion are rotatably connected to the yaw rotating shaft.
In some embodiments, a first swing control cable and a second swing control cable are connected to the first clamping portion via a first cable connector, a third swing control cable and a fourth swing control cable are connected to the second clamping portion via a second cable connector, the four swing control cables are connected to the control mechanism through corresponding swing control cable sleeves, and the four swing control cable sleeves are arranged on the connecting structure and the control mechanism via cable sleeve pressing plates.
In some embodiments, the control mechanism includes a base, an upper support plate is disposed on an upper surface of the base, a lower support plate is disposed on a lower surface of the base, swing control cable sleeves corresponding to the first swing control cable and the second swing control cable, respectively, are fixed on the upper support plate, the first swing control cable and the second swing control cable are connected to an upper guide wheel through a third cable connector, swing control cable sleeves corresponding to the third swing control cable and the fourth swing control cable, respectively, are fixed on the lower support plate, the third swing control cable and the fourth swing control cable are connected to a lower guide wheel through a fourth cable connector, the upper guide wheel and the lower guide wheel are rotatably connected to a main rotating shaft and are respectively disposed at upper and lower ends of the main rotating shaft, the main rotating shaft passes through a first through hole disposed on the base, a secondary rotating shaft disposed perpendicular to the main rotating shaft between the upper guide wheel and the lower guide wheel is further disposed on the main rotating shaft, two ends of the secondary rotating shaft are movably connected to an inner wall of the first through hole in a rotating shaft assembly groove disposed along a circumferential direction, and the secondary rotating shaft assembly groove is capable of being controlled but not separated from the assembly groove;
a guide seat is connected to the main rotating shaft above the auxiliary rotating shaft, a guide groove is formed in the guide seat, a sliding block is matched with the guide groove for use, a V-shaped guide frame is connected to the sliding block, a first sliding groove and a second sliding groove are formed in two guide arms of the guide frame respectively, the two guide arms are arranged on two sides of the guide seat respectively, an upper swing arm connected with the upper guide wheel is inserted into the first sliding groove, a lower swing arm connected with the lower guide wheel is inserted into the second sliding groove through a second through hole formed in the base, and a first reset spring is arranged between the guide frame and the inner wall of the guide groove;
the connecting piece is respectively connected with the upper end and the lower end of the main rotating shaft, the connecting piece is further connected with a swing shaft seat, the swing shaft seat is hinged to one end of the swing shaft through a first joint bearing, the other end of the swing shaft is connected with an assembly frame through a second joint bearing, the assembly frame is used for being assembled on an arm of a person, the tail end of the swing shaft is connected with an operating handle, the swing shaft can axially slide along the first joint bearing or the second joint bearing, and when the operating handle is controlled, the swing shaft can drive the connecting piece to rotate along the axis of the main rotating shaft or the axis of the auxiliary rotating shaft so as to drive the main rotating shaft to rotate.
In some embodiments, the rotation control mechanism is configured as follows: including the warp axial connecting piece with the hollow shaft that the assembly jig is connected, the oscillating axle passes the hollow shaft, the hollow shaft is connected with the bearing frame through first bearing, the bearing frame through the adaptor with the base is connected still be connected with rotatory hand wheel on the bearing frame, through control rotatory hand wheel rotates, can control the base rotates, and then realizes the rotation of terminal apparatus.
In some embodiments, the opening and closing control mechanism is structured as follows: the sliding sleeve is connected with a tensioning shaft through a third bearing, the sliding sleeve is connected with the tensioning shaft, under the action of the tensioning shaft, the sliding sleeve can slide along the side wall of the containing cavity so as to tension and release the opening and closing control cable, a first wedge block is arranged on the tensioning shaft and is matched with a second wedge block arranged on the opening and closing button for use, the opening and closing button is arranged on the operating handle and can slide relative to the operating handle, a second reset spring is arranged on the tensioning shaft, the inner wall of the second opening and closing control cable is sleeved with a second reset spring, the inner wall of the second opening and closing control cable is communicated with the bottom of the second reset spring, and when the pressing spring is axially matched with the second reset spring, the pressing spring is arranged at the bottom of the second reset spring, the pressing spring is used for pressing the inner wall of the containing cavity, and the pressing groove is communicated with the bottom of the second reset spring; when the opening and closing button is loosened, the tensioning shaft moves in the direction away from the bottom of the groove under the action of the second return spring, the opening and closing control cable is loosened, and the opening and closing button returns to the original position.
In some embodiments, the protective shell further comprises an upper shell and a lower shell which are matched with each other, the upper shell and the lower shell are assembled on the base, and the protective shell is provided with a through hole.
The beneficial effects of this scheme of this application lie in above-mentioned hand-held type surgical instruments, its can control opening and shutting of end apparatus, can also control end apparatus and carry out driftage swing and every single move swing, and the degree of freedom is more, and this surgical instruments still has rotation control mechanism in addition, can control end apparatus and rotate.
Drawings
Fig. 1 shows a schematic structural diagram of a hand-held surgical instrument in an embodiment.
Fig. 2 is a schematic view showing the connection of the end instrument to the connection structure in the embodiment.
FIG. 3 (a) is a schematic view showing an angle of the tip instrument in the embodiment; (b) A schematic view of another angle of the distal instrument is shown.
Fig. 4 is a schematic view showing a connection relationship of the swing control cable, the swing control cable bushing, the tip instrument, and the connection structure in the embodiment.
Fig. 5 shows a schematic connection relationship between the cable sleeve pressing plate and the swing control cable sleeve in the embodiment.
Fig. 6 shows a partial schematic structural view of the manipulation mechanism in the embodiment.
Fig. 7 shows a partial structural view of another angle of the manipulating mechanism in the embodiment.
Fig. 8 is a schematic view showing a connection relationship between the main rotation shaft, the sub rotation shaft, and the base in the embodiment.
Fig. 9 shows a partial structural schematic diagram of the manipulation mechanism in the embodiment.
Fig. 10 shows a partial structural schematic of fig. 9.
Fig. 11 is a schematic view showing a connection relationship of the guide frame, the guide holder, and the first return spring.
Fig. 12 is a schematic diagram showing the positional relationship of the operating handle, the rotating hand wheel and the jig in the embodiment.
Fig. 13 is a schematic view showing the connection relationship between the main rotating shaft and the connecting member in the embodiment.
Fig. 14 shows a cross-sectional structural view of the partial structure of fig. 12.
Fig. 15 is a schematic view showing the connection relationship of the operating handle, the second joint bearing, the swing shaft, the first joint bearing and the connecting member in the embodiment.
Fig. 16 is a schematic structural view showing the inside of the operation handle in the embodiment.
Reference numerals: 1-end instrument, 101-first clamping part, 102-second clamping part, 2-connection structure, 201-yaw rotation axis, 202-adapter, 203-pitch rotation axis, 204-connection seat, 205-first cable connector, 206-second cable connector, 3-conduit, 4-connector, 5-control mechanism, 501-base, 502-upper support plate, 503-first lower support plate, 504-second lower support plate, 505-third cable connector, 506-upper guide wheel, 507-lower guide wheel, 508-main rotation axis, 509-fourth cable connector, 5010-auxiliary rotation axis, 5011-first through hole, 5012-assembly groove, 5013-second through hole, 5014-guide seat, 5015-guide groove, 5016-guide frame, 5017-slider, 5018-first chute, 5019-second chute, 5020-upper swing arm, 5021-lower swing arm, 5022-first return spring, 5023-opening and closing control cable, 5024-opening and closing control cable sleeve, 5025-pressure plate, 5026-connector, 5027-swing shaft seat, 5028-swing shaft, 5029-second knuckle bearing, 5030-operating handle, 5031-axial connector, 5032-hollow shaft, 5033-first bearing, 5034-bearing seat, 5035-rotating hand wheel, 5036-accommodating cavity, 5037-second bearing, 5038-first rotating shaft, 5039-sliding sleeve, 5040-third bearing, 5041-second rotating shaft, 5042-tensioning shaft, 5043-first wedge, 5044-second wedge, 5045-opening and closing button, 5046-second return spring, 5047-adaptor, 5048-groove, 6-first swing control cable, 7-second swing control cable, 8-third swing control cable, 9-fourth swing control cable, 10-swing control cable sleeve, 11-cable sleeve pressing plate, 12-protective shell, 1201-upper shell, 1202-lower shell, 13-assembly frame, 14-magic tape, A-yaw operation axis, B-yaw swing axis, C-pitch operation axis, D-pitch swing axis, E-rotation operation axis and F-rotation axis.
Detailed Description
The following further describes embodiments of the present application with reference to the drawings.
In the description of the present application, it is to be understood that the terms "first", "second", and the like are used for distinguishing similar objects and not for describing or indicating a particular order or sequence, and that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be considered as limiting the present application.
As shown in fig. 1 to 16, the present application relates to a hand-held surgical instrument including:
the tip instrument 1: comprising a first clamping portion 101 and a second clamping portion 102 cooperating with each other.
The connection structure 2: connected between the end instrument 1 and the catheter 3, the connection structure 2 is able to assist the end instrument 1 in yaw and pitch oscillations when the end instrument 1 is controlled by a steering mechanism 5 via a number of oscillation control cables.
A conduit 3: connected between the connecting structure 2 and the control mechanism 5, for connecting a plurality of swing control cables connected to the terminal instrument 1 to the control mechanism 5 through the lumen of the catheter 3.
The control mechanism 5: for manipulating the swing control cables to enable the tip instrument 1 to effect yaw and pitch swings; the control mechanism 5 further comprises an opening and closing control mechanism for controlling the opening and closing actions of the terminal instrument 1; the control mechanism 5 further comprises a rotation control mechanism for controlling the rotation of the distal instrument 1.
In this embodiment, the connecting structure 2 includes a connecting seat 204 fixed on the conduit 3, an adapter 202 is rotatably connected to the connecting seat 204 through a pitch rotating shaft 203, the adapter 202 can perform pitch swing with respect to the connecting seat 204, the adapter 202 is rotatably connected to the terminal device 1 through a yaw rotating shaft 201, the terminal device 1 can perform yaw swing with respect to the adapter 202, and specifically, the first clamping portion 101 and the second clamping portion 102 are rotatably connected to the yaw rotating shaft 201.
A first swing control cable 6 and a second swing control cable 7 are connected to the first clamping portion 101 via a first cable connector 205, a third swing control cable 8 and a fourth swing control cable 9 are connected to the second clamping portion 102 via a second cable connector 206, the four swing control cables are connected to the operating mechanism 5 through corresponding swing control cable bushings 10, and the four swing control cable bushings 10 are disposed on the connecting structure 2 and the operating mechanism 5 via cable bushing pressing plates 11.
In this embodiment, the guide tube 3 may communicate with the control mechanism 5 through a connector 4, the control mechanism 5 includes a base 501, the base 501 is connected with the guide tube 3 through a connector 4, an upper support plate 502 is disposed on an upper surface of the base 501, a lower support plate is disposed on a lower surface of the base 501, in this embodiment, the lower support plate includes two, which are respectively referred to as a first lower support plate 503 and a second lower support plate 504, a swing control cable sleeve 10 corresponding to the first swing control cable 6 and the second swing control cable 7 is fixed on the upper support plate 502, the first swing control cable 6 and the second swing control cable 7 are connected to an upper guide pulley 506 through a third cable connector 505, a swing control cable sleeve 10 corresponding to the third swing control cable 8 and the fourth swing control cable 7 is fixed on the lower support plate, in this embodiment, the swing control cable sleeve 10 corresponding to the third swing control cable 8 is fixed on the first lower support plate 503, the swing control cable sleeve 10 corresponding to the fourth swing control cable 8 is fixed on the second lower support plate, a swing control cable sleeve 508 corresponding to the fourth swing control cable 8 is fixed on the second lower support plate 503, a main rotating shaft 508 is provided on the upper rotating shaft 507 and a main rotating shaft 508, a fourth swing guide pulley 507 is provided on the main rotating shaft 508, a main rotating shaft 508 is provided on the main rotating shaft 5012, a main rotating shaft 507 and a main rotating shaft 508 provided on the main rotating guide pulley 507 and a main rotating shaft 507, the secondary rotation shaft 5010 is controlled to be movable within the fitting groove 5012, but not to be separated from the fitting groove 5012.
A guide holder 5014 is connected to the main rotating shaft 508 above the auxiliary rotating shaft 5010, a guide slot 5015 is formed in the guide holder 5014, a slider 5017 is used in cooperation with the guide slot 5015, a V-shaped guide holder 5016 is connected to the slider 5017, a first sliding slot 5018 and a second sliding slot 5019 are formed in each of two guide arms of the guide holder 5016, the two guide arms are respectively disposed on both sides of the guide holder 5014, an upper swing arm 5020 connected to the upper guide wheel 506 is inserted into the first sliding slot 5018, a lower swing arm 5021 connected to the lower guide wheel 507 is inserted into the second sliding slot 5019 through a second through hole 5013 formed in the base 501, and a first return spring 5022 is disposed between the guide holder 5016 and the inner wall of the guide slot 5015.
The connecting piece 5026 is respectively connected with the upper end and the lower end of the main rotating shaft 508, the connecting piece 5026 is further connected with a swing shaft seat 5027, the swing shaft seat 5027 is hinged with one end of a swing shaft 5028 through a first knuckle bearing, the other end of the swing shaft 5028 is connected with an assembly frame 13 through a second knuckle bearing 5029, the assembly frame 13 is used for being assembled on the arm of a person through a hook and loop fastener 14 arranged on the assembly frame 13, the tail end of the swing shaft 5028 is connected with an operating handle 5030, the swing shaft 5028 can axially slide along the first knuckle bearing or the second knuckle bearing 5029, and when the operating handle 5030 is controlled, the swing shaft 5028 can drive the connecting piece 5026 to rotate along the axis of the main rotating shaft 508 or along the axis of the auxiliary rotating shaft 5010, so as to drive the main rotating shaft 508 to rotate.
In this embodiment, the rotation control mechanism is configured as follows: the device comprises a hollow shaft 5032 connected with the assembling frame 13 through an axial connector 5031, wherein the swinging shaft 5028 penetrates through the hollow shaft 5032, the hollow shaft 5032 is connected with a bearing seat 5034 through a first bearing 5033, the bearing seat 5034 is connected with the base 501 through an adapter 5047, the bearing seat 5034 is further connected with a rotating hand wheel 5035, and the rotation of the base 501 can be controlled by controlling the rotation of the rotating hand wheel 5035, so that the rotation of the end instrument 1 is realized.
The structure of the opening and closing control mechanism is as follows: comprises an opening and closing control cable 5023 connected with the guide frame 5016, the opening and closing control cable 5023 passes through an opening and closing control cable sleeve 5024 to be connected to the inside of an operating handle 5030, one end of the opening and closing control cable sleeve 5024 is connected with the guide frame 5014 through a pressure plate 5025, the opening and closing control cable sleeve 5024 passes through the swinging shaft 5028, the other end of the opening and closing control cable sleeve 5024 is connected with a first rotating shaft 5038, the first rotating shaft 5038 is connected with the side wall of a containing cavity 5036 arranged inside the operating handle 5030 through a second bearing 5037, the opening and closing control cable 5023 led out of the opening and closing control cable sleeve 5024 is connected with a second rotating shaft 5041, the second rotating shaft 5041 is connected with a sliding sleeve 5039 through a third bearing 5040, the sliding sleeve 5039 is connected with a tensioning shaft 5042, and the sliding sleeve 5039 can slide along the side wall of the containing cavity 5036 under the action of the tensioning shaft 5042, in order to realize the tightening and loosening of the opening and closing control cable 5023, a first wedge 5043 is provided on the tightening shaft 5042, the first wedge 5043 is used in cooperation with a second wedge 5044 provided on an opening and closing button 5045, the opening and closing button 5045 is provided on the operating handle 5030 and is slidable relative to the operating handle 5030, a second return spring 5046 is further sleeved on the tightening shaft 5042, the second return spring 5046 is located between the inner wall of the bottom of the housing cavity 5036 and a stopper provided on the tightening shaft 5042, a groove 5048 communicated with the housing cavity 5036 is further provided in the operating handle 5030, the groove 5048 is used in cooperation with the end of the tightening shaft 5042, when the opening and closing button 5045 is pressed, the tightening shaft 5042 moves in a direction approaching the bottom of the groove 5048 by the cooperation of the second wedge 5044 and the first wedge 5043, at this time, the opening and closing control cable 5023 is tensioned, and the second return spring 5046 is compressed; when the open/close button 5045 is released, the tightening shaft 5042 is moved away from the bottom of the groove 5048 by the second return spring 5046, and the open/close control cable 5023 is released and the open/close button 5045 returns to its original position.
The surgical instrument that this application relates to still includes protective housing 12, protective housing 12 is including last casing 1201 and the lower casing 1202 of mutually supporting use, go up casing 1201 and lower casing 1202 and all assemble on the base 501, protect most structure of controlling mechanism 5, just be equipped with the through-hole on the protective housing 12, structures such as swing axle 5028 pass the through-hole.
In a specific use process, the assembly frame 13 is fixed to an arm of a person through a hook-and-loop fastener 14, the operation handle 5030 is held by hand, the distal end instrument 1 and a part of the catheter 3 are inserted into the patient, when yaw oscillation of the distal end instrument 1 is required, the operation handle 5030 is controlled to rotate along a yaw operation axis a, at this time, the swing shaft 5028 drives the connector 5026 to rotate so that the main rotating shaft 508 rotates along the axis of the main rotating shaft 508, when the main rotating shaft 508 rotates clockwise along the axis of the main rotating shaft 508, the main rotating shaft 508 drives the auxiliary rotating shaft 5010 to slide along the assembly slot 5012, under the driving of the main rotating shaft 508, the guide holder 5014 and the guide holder 5016 also rotate clockwise, under the action of the guide holder 5016, the upper swing arm 5020 drives the upper swing guide pulley 506 to rotate clockwise, the lower swing arm 5021 drives the lower swing arm 507 to rotate clockwise, at this time, the first swing control cable tightens the yaw control cable, the second swing control cable 7 loosens, the third swing control cable 8 loosens, and the fourth swing control cable to tighten the yaw control swing axis B1, so that the yaw oscillation axis B1 along the yaw control swing axis B1 to rotate clockwise; when the main rotation shaft 508 rotates counterclockwise along the axis of the main rotation shaft 508, the tip instrument 1 swings leftward along the yaw swing axis B.
When it is desired that the tip instrument 1 perform pitching oscillation, it suffices to control the operation handle 5030 to operate along a pitching operation axis C, at which time the oscillation shaft 5028 drives the connection piece 5026 to oscillate so as to rotate the primary rotation shaft 508 along the axis of the secondary rotation shaft 5010, and when the primary rotation shaft 508 rotates clockwise along the axis of the secondary rotation shaft 5010, under the driving of the primary rotation shaft 508, the upper guide wheel 506 and the lower guide wheel 507 rotate clockwise along the axis of the secondary rotation shaft 5010, at which time the first oscillation control cable 6 and the second oscillation control cable 7 are tightened, and the third oscillation control cable 8 and the fourth oscillation control cable 9 are loosened, so that the tip instrument 1 oscillates upward along a pitching oscillation axis D; when the primary rotation shaft 508 rotates counterclockwise along the axis of the secondary rotation shaft 5010, the tip instrument 1 swings downward along the pitch swing axis D.
When the distal end instrument 1 is required to perform the opening and closing action, the opening and closing button 5045 is pressed, the tightening shaft 5042 moves towards the direction close to the bottom of the groove 5048 by the matching of the second wedge 5044 and the first wedge 5043, at this time, the opening and closing control cable 5023 is tightened, the second return spring 5046 is compressed, when the opening and closing control cable 5023 is tightened, the guide 5016 moves towards the direction close to the main rotating shaft 508, the first return spring 5022 is compressed, under the driving of the guide 5016, the upper swing arm 5020 and the lower swing arm 5021 simultaneously move towards the direction close to the guide 5014, the upper guide wheel 506 and the lower guide wheel 507 perform the corresponding rotation, so that the first swing control cable 6 is loosened, the second swing control cable 7 is tightened, the third swing control cable 8 is tightened, and the fourth swing control cable 9 is loosened, so that the distal end instrument 1 is in the opening and closing state. When the opening and closing button 5045 is released, the tightening shaft 5042 moves away from the bottom of the groove 5048 by the second return spring 5046, the opening and closing control cable 5023 is released, and the opening and closing button 5045 returns to the original position; when the opening and closing control cable 5023 is loosened, under the action of the first return spring 5022, the guide frame 5016 can move towards the direction far away from the main rotating shaft 508, under the driving of the guide frame 5016, the upper swing arm 5020 and the lower swing arm 5021 move towards the direction far away from the guide frame 5014, the upper guide wheel 506 and the lower guide wheel 507 rotate correspondingly, so that the first swing control cable 6 is tensioned, the second swing control cable 7 is loosened, the third swing control cable 8 is loosened, and the fourth swing control cable 9 is tensioned, so that the tail end appliance 1 is in a closed state.
When the tip instrument 1 is required to be rotated, the rotating handwheel 5035 is operated to rotate along the rotating operation axis E, so that the base 501 can be controlled to rotate, and the catheter 3, the tip instrument 1 and the like rotate along the rotating axis F.
The application relates to a hand-held type surgical instruments, it can control opening and shutting of end apparatus, can also control end apparatus and carry out driftage swing and every single move swing, and the degree of freedom is more, and this surgical instruments still has rotation control mechanism in addition, can control end apparatus and rotate. The surgical instrument to which the present application is directed is therefore capable of meeting a variety of use needs.
The above description is only for the preferred embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art should be considered as the technical solutions and their concepts of the present application in the scope of the present disclosure, and equivalent substitutions or changes should be covered by the scope of the present application.
Claims (7)
1. A hand-held surgical instrument, characterized by: the method comprises the following steps:
end instrument: the clamping device comprises a first clamping part and a second clamping part which are matched with each other;
the connection structure is as follows: the connecting structure is connected between the terminal instrument and the catheter, and can assist the terminal instrument to realize yaw swing and pitch swing when the terminal instrument is controlled by the control mechanism through a plurality of swing control cables;
a conduit: the swinging control cables are connected between the connecting structure and the control mechanism and used for enabling the swinging control cables connected to the terminal instrument to pass through the inner cavity of the catheter and be connected to the control mechanism;
the control mechanism: for manipulating the swing control cable to enable yaw and pitch swing of the tip instrument; the control mechanism also comprises an opening and closing control mechanism used for controlling the opening and closing actions of the tail end instrument; the control mechanism further comprises a rotation control mechanism for controlling the terminal instrument to rotate.
2. The hand-held surgical instrument of claim 1, wherein: the connecting structure comprises a connecting seat fixed on the guide pipe, a switching seat is connected to the connecting seat through a pitching rotating shaft in a rotating mode, the switching seat is relative, the connecting seat can swing in a pitching mode, the switching seat is connected with the tail end instrument in a rotating mode through a yawing rotating shaft, the tail end instrument is relative, the switching seat can swing in a yawing mode, and the first clamping portion and the second clamping portion are connected to the yawing rotating shaft in a rotating mode.
3. The hand-held surgical instrument of claim 1 or 2, wherein: the first clamping part is connected with a first swing control cable and a second swing control cable through a first cable connector, the second clamping part is connected with a third swing control cable and a fourth swing control cable through a second cable connector, the four swing control cables penetrate through corresponding swing control cable sleeves to be connected to the control mechanism, and the four swing control cable sleeves are arranged on the connecting structure and the control mechanism through cable sleeve pressing plates.
4. The hand-held surgical instrument of claim 3, wherein: the control mechanism comprises a base, an upper supporting plate is arranged on the upper surface of the base, a lower supporting plate is arranged on the lower surface of the base, swing control cable sleeves corresponding to a first swing control cable and a second swing control cable respectively are fixed on the upper supporting plate, the first swing control cable and the second swing control cable are connected to an upper guide wheel through a third cable connector, the swing control cable sleeves corresponding to a third swing control cable and a fourth swing control cable respectively are fixed on the lower supporting plate, the third swing control cable and the fourth swing control cable are connected to a lower guide wheel through a fourth cable connector, the upper guide wheel and the lower guide wheel are rotatably connected with a main rotating shaft and are respectively arranged at the upper end and the lower end of the main rotating shaft, the main rotating shaft penetrates through a first through hole formed in the base, an auxiliary rotating shaft vertically arranged with the main rotating shaft is further arranged on the main rotating shaft between the upper guide wheel and the lower guide wheel, the two ends of the auxiliary rotating shaft are movably connected to an assembling groove formed in the inner wall of the first through hole along the circumferential direction, and can be controlled to move in the assembling groove but can not be separated from the assembling groove;
a guide seat is connected to the main rotating shaft above the auxiliary rotating shaft, a guide groove is formed in the guide seat, a sliding block is matched with the guide groove for use, a V-shaped guide frame is connected to the sliding block, a first sliding groove and a second sliding groove are formed in two guide arms of the guide frame respectively, the two guide arms are arranged on two sides of the guide seat respectively, an upper swing arm connected with the upper guide wheel is inserted into the first sliding groove, a lower swing arm connected with the lower guide wheel is inserted into the second sliding groove through a second through hole formed in the base, and a first reset spring is arranged between the guide frame and the inner wall of the guide groove;
the connecting piece is respectively connected with the upper end and the lower end of the main rotating shaft, the connecting piece is further connected with a swing shaft seat, the swing shaft seat is hinged to one end of the swing shaft through a first joint bearing, the other end of the swing shaft is connected with an assembly frame through a second joint bearing, the assembly frame is used for being assembled on an arm of a person, the tail end of the swing shaft is connected with an operating handle, the swing shaft can axially slide along the first joint bearing or the second joint bearing, and when the operating handle is controlled, the swing shaft can drive the connecting piece to rotate along the axis of the main rotating shaft or the axis of the auxiliary rotating shaft so as to drive the main rotating shaft to rotate.
5. The hand-held surgical instrument of claim 4, wherein: the structure of the rotation control mechanism is as follows: including the warp axial connecting piece with the hollow shaft that the assembly jig is connected, the oscillating axle passes the hollow shaft, the hollow shaft is connected with the bearing frame through first bearing, the bearing frame through the adaptor with the base is connected still be connected with rotatory hand wheel on the bearing frame, through control rotatory hand wheel rotates, can control the base rotates, and then realizes the rotation of terminal apparatus.
6. The hand-held surgical instrument of claim 4 or 5, wherein: the structure of the opening and closing control mechanism is as follows: the device comprises an opening and closing control cable connected with the guide frame, the opening and closing control cable penetrates an opening and closing control cable sleeve to be connected to the inside of an operating handle, one end of the opening and closing control cable sleeve is connected to the guide seat through a pressing plate, the opening and closing control cable sleeve penetrates through the swinging shaft, the other end of the opening and closing control cable sleeve is connected with a first rotating shaft, the first rotating shaft is connected with the side wall of a containing cavity arranged in the operating handle through a second bearing, an opening and closing control cable led out from the opening and closing control cable sleeve is connected with a second rotating shaft, the second rotating shaft is connected with a sliding sleeve through a third bearing, the sliding sleeve is connected with a tensioning shaft, and under the action of the tensioning shaft, the sliding sleeve can slide along the side wall of the containing cavity to realize tensioning and loosening of the opening and closing control cable, the tensioning shaft is provided with a first wedge-shaped block, the first wedge-shaped block is matched with a second wedge-shaped block arranged on an opening and closing button, the opening and closing button is arranged on the operating handle and can slide relative to the operating handle, the tensioning shaft is further sleeved with a second reset spring, the second reset spring is positioned between the inner wall of the bottom of the containing cavity and a stop block arranged on the tensioning shaft, a groove communicated with the containing cavity is further arranged in the operating handle, the groove is used for being matched with the tail end of the tensioning shaft, when the opening and closing button is pressed, the tensioning shaft moves in a direction close to the bottom of the groove through the matching of the second wedge-shaped block and the first wedge-shaped block, at the moment, the opening and closing control cable is tensioned, and the second reset spring is compressed; when the opening and closing button is loosened, the tensioning shaft moves in the direction away from the bottom of the groove under the action of the second return spring, the opening and closing control cable is loosened, and the opening and closing button returns to the original position.
7. The hand-held surgical instrument of claim 4, wherein: the protective housing comprises an upper housing and a lower housing which are matched with each other, the upper housing and the lower housing are assembled on the base, and the protective housing is provided with a through hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211668586.XA CN115969469A (en) | 2022-12-24 | 2022-12-24 | Hand-held surgical instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211668586.XA CN115969469A (en) | 2022-12-24 | 2022-12-24 | Hand-held surgical instrument |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115969469A true CN115969469A (en) | 2023-04-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211668586.XA Pending CN115969469A (en) | 2022-12-24 | 2022-12-24 | Hand-held surgical instrument |
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| Country | Link |
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| CN (1) | CN115969469A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116077144A (en) * | 2023-04-10 | 2023-05-09 | 艺柏湾医疗科技(上海)有限公司 | Transmission device and multi-degree-of-freedom surgical instrument |
| CN117257440A (en) * | 2023-09-20 | 2023-12-22 | 中国医学科学院北京协和医院 | Spring scissors for neurosurgery |
-
2022
- 2022-12-24 CN CN202211668586.XA patent/CN115969469A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116077144A (en) * | 2023-04-10 | 2023-05-09 | 艺柏湾医疗科技(上海)有限公司 | Transmission device and multi-degree-of-freedom surgical instrument |
| CN117257440A (en) * | 2023-09-20 | 2023-12-22 | 中国医学科学院北京协和医院 | Spring scissors for neurosurgery |
| CN117257440B (en) * | 2023-09-20 | 2024-05-28 | 中国医学科学院北京协和医院 | A spring scissors for neurosurgery |
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