CN114081618B - Laparoscopic multi-degree-of-freedom motion-sensing bipolar electrocoagulation forceps - Google Patents
Laparoscopic multi-degree-of-freedom motion-sensing bipolar electrocoagulation forceps Download PDFInfo
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- CN114081618B CN114081618B CN202111433375.3A CN202111433375A CN114081618B CN 114081618 B CN114081618 B CN 114081618B CN 202111433375 A CN202111433375 A CN 202111433375A CN 114081618 B CN114081618 B CN 114081618B
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- 238000009297 electrocoagulation Methods 0.000 title claims abstract description 20
- 230000033001 locomotion Effects 0.000 claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 210000000707 wrist Anatomy 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 3
- 230000006698 induction Effects 0.000 abstract description 5
- 230000009471 action Effects 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000009434 installation Methods 0.000 abstract 2
- 230000015271 coagulation Effects 0.000 description 13
- 238000005345 coagulation Methods 0.000 description 13
- 238000004804 winding Methods 0.000 description 8
- 206010052428 Wound Diseases 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 4
- 230000000149 penetrating effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000002674 endoscopic surgery Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 210000001519 tissue Anatomy 0.000 description 2
- 208000002847 Surgical Wound Diseases 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 230000001112 coagulating effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 210000003811 finger Anatomy 0.000 description 1
- 230000004886 head movement Effects 0.000 description 1
- 230000023597 hemostasis Effects 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000000578 peripheral nerve Anatomy 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
- 230000002792 vascular Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1442—Probes having pivoting end effectors, e.g. forceps
- A61B18/1445—Probes having pivoting end effectors, e.g. forceps at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00589—Coagulation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00982—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body combined with or comprising means for visual or photographic inspections inside the body, e.g. endoscopes
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Abstract
The invention relates to the field of medical equipment, in particular to a multi-degree-of-freedom motion induction bipolar electrocoagulation forceps under a laparoscope, which comprises a forceps head structure, a connecting pipe, an electric wire for providing bipolar voltage for the forceps head structure, a support frame, a handle, a movable joint and a driving mechanism, wherein the movable joint is arranged between the forceps head structure and the connecting pipe, a plurality of groups of circumferentially distributed transmission connecting wire groups are arranged at one end of the movable joint, which is close to the forceps head structure, and are connected with the driving mechanism through the other end of the movable joint and the connecting pipe, the support frame is connected with the connecting pipe, an installation cavity is arranged at one end of the support frame, the driving mechanism is arranged in the installation cavity, and the handle is connected with the support frame. The clamp head structure of the invention can rotate and deflect, thereby improving the freedom and flexibility of the clamp head structure, not only being used as an electrocoagulation clamp, but also being used as a clamping clamp of a suture needle, being more beneficial to the deployment of the operation action of an operator and improving the feasibility of the operation.
Description
Technical Field
The invention relates to the field of medical equipment, in particular to a multi-degree-of-freedom motion induction bipolar coagulation forceps under a laparoscope.
Background
In the endoscopic surgery, an ultrasonic knife and a high-frequency bipolar coagulation forceps are commonly used at present, wherein the operations of separating, grabbing, coagulating, closing the broken ends of blood vessels and the like are performed on tissues by using an energy instrument. The high-frequency bipolar electro-coagulation forceps can provide more stable electro-coagulation hemostasis effect in endoscopic surgery and ensure absolute safety to peripheral nerve tissues and reduce or even avoid the use of vascular clamps to reduce the cost burden of patients. However, the existing bipolar electro-coagulation forceps for endoscopic surgery have poor flexibility, and the rotation and deflection of the forceps head position can be adjusted only by changing the position of the handle by an operator, so that the elbow of the operator is required to perform a large-range position movement, which is not beneficial to the operation of the surgery and has adverse effects on the surgical wound part of the patient.
Disclosure of Invention
The invention aims to solve the problem of poor flexibility of the forceps head part of the bipolar electric coagulation forceps, and provides the multi-degree-of-freedom motion sensing bipolar electric coagulation forceps under a laparoscope, wherein the forceps head structure can rotate and deflect, so that the freedom degree and flexibility of the forceps head structure are improved, the forceps head structure can be used as an electric coagulation forceps and a clamping forceps of a suture needle, the surgical operation of an operator is facilitated, and the feasibility of the surgical operation is improved.
In order to achieve the above object, the technical scheme of the present invention is as follows:
the multi-degree-of-freedom motion induction bipolar electric coagulation forceps under the laparoscope comprises a forceps head structure, a connecting pipe, an electric wire for providing bipolar voltage for the forceps head structure, a supporting frame, a handle, a movable joint and a driving mechanism;
The movable joint is arranged between the clamp head structure and the connecting pipe, a plurality of groups of transmission connecting wire groups which are circumferentially distributed are arranged at one end of the movable joint, which is close to the clamp head structure, each group of transmission connecting wire groups comprises two connecting wires, the two connecting wires are symmetrically distributed by taking the central axis of the movable joint as a symmetrical axis, and the transmission connecting wire groups penetrate through the other end of the movable joint and the connecting pipe to be connected with the driving mechanism;
The support frame is connected with the connecting pipe, one end of the support frame is provided with a mounting cavity, the mounting cavity is communicated with the connecting pipe, a driving mechanism is arranged in the mounting cavity and comprises a plurality of deflection motors and deflection wheels, the power output ends of the deflection motors are provided with the deflection wheels, a group of transmission connecting wire groups are wound on the deflection wheels, and the winding directions of two connecting wires of each group on the deflection wheels are opposite;
the handle is connected with the support frame.
In a further preferred scheme, the binding clip structure includes first binding clip, second binding clip and mounting bracket, first binding clip and mounting bracket fixed connection, the second binding clip is rotated through pivot and mounting bracket and is connected, the mounting bracket is the U-shaped, rotates between two vertical sections of mounting bracket and sets up the pivot, the winding is provided with the stretching wire in the pivot, actuating mechanism still includes and opens and shuts the motor, zhang Gexian pass movable joint and connecting pipe transmission and connect and open and close the motor.
In a further preferred scheme, two limiting plates 106 are arranged on the rotating shaft, the two limiting plates are positioned on two sides of the stretching line, and a torsion spring is arranged between the mounting frame and the rotating shaft.
In a further preferred scheme, the middle part of the support frame is arched, the other end of the support frame is provided with a mounting ring, the front end of the handle is rotatably provided with a rotary sleeve, two symmetrically distributed connecting bridges are arranged between the front end of the mounting ring and the rotary sleeve, and one end of each connecting bridge is hinged with the mounting ring, and the other end of each connecting bridge is hinged with the rotary sleeve.
In a further preferred scheme, the connecting bridge is arc-shaped, the connecting bridge is composed of a plurality of sections of rectangular sheets which are sequentially and fixedly connected, the rectangular sheets are sheet-shaped structures made of flexible materials, and the thickness of the middle part of each rectangular sheet is larger than that of two sides.
In a further preferred scheme, the intelligent control device further comprises a sensing control system, wherein the sensing control system is arranged in the handle and comprises a gyroscope chip, a control main board, a power supply switch and an opening and closing motor control switch, the gyroscope chip transmits motion data to the control main board, the control main board is electrically connected with a deflection motor, the power supply supplies power for the control main board, the deflection motor and the opening and closing motor, the power supply switch is arranged at the head of the handle, and the opening and closing motor control switch is arranged at the lower part of the handle.
In a further preferred scheme, the movable joint comprises two supporting rings and a connecting ball positioned between the two supporting rings, one supporting ring is fixedly connected with the mounting frame, the other supporting ring is fixedly connected with the connecting pipe, two sliding strips are symmetrically arranged on the supporting rings, the sliding strips on the two supporting rings are arranged in a staggered mode, the sliding strips are arc-shaped, four sliding grooves are formed in the connecting ball, the sliding grooves are matched with the sliding strips, the length of the sliding grooves is larger than that of the sliding strips, a through hole for a stretching line to pass through is formed in the middle of the connecting ball, and conical grooves are formed in two ends of the through hole.
In a further preferred scheme, the movable joint comprises two fixed rings and three connecting columns located between the two fixed rings, one fixed ring is fixedly connected with the mounting frame, the other fixed ring is fixedly connected with the connecting pipe, three first hinging seats are uniformly distributed on the fixed rings in a ring shape, hinging shafts of the first hinging seats are parallel to the annular radial line, the first hinging seats on the two fixed rings are distributed in a staggered mode, second hinging seats are arranged at two ends of the connecting columns, the connecting columns are spiral, the three connecting columns are distributed in a spiral mode, and the first hinging seats and the second hinging seats are connected through connecting pieces.
In a further preferred scheme, the mounting holes are formed in two ends of the connecting piece, the vertical surfaces where the axes of the two mounting holes are located are vertical, one mounting hole is hinged with the first hinging seat, and the other mounting hole is hinged with the second hinging seat.
In a further preferred embodiment, a wrist strap is also included.
Through the technical scheme, the invention has the beneficial effects that:
The movable joint is arranged between the clamp head structure and the connecting pipe, and is driven by the connecting wire and the driving mechanism, and the driving mechanism drives the connecting wire to shrink and loosen, so that the movable joint is driven to deflect, the clamp head structure is driven to shift in position, and the freedom degree and the flexibility of the clamp head structure are improved.
The support frame and the handle are rotationally connected through the rotary sleeve, the clamp head structure, the movable joint and the connecting pipe are arranged on the support frame, when the clamp head is used, the handle is held by a hand, the rotary sleeve is rotated to drive the support frame to rotate, and then the clamp head structure and the movable joint are driven to rotate, so that the clamp head structure can rotate relative to an operation field, the flexibility of the clamp head structure is further improved, and the clamp head structure can be operated by one hand, and is simple, convenient and easy to operate.
A connecting bridge is arranged between the handle and the support frame, and a mounting ring capable of being arranged on the wrist in a penetrating mode is arranged on the support frame, so that the handle can move relative to the support frame, and the support frame has multiple degrees of freedom. When the handle moves, the gyroscope chip collects movement data, and the main board is controlled to control the deflection motor in the corresponding direction to act, so that the movable joint is driven to generate corresponding deflection movement, and then the clamp head structure is driven to move, so that synchronism of the handle movement and the clamp head structure movement is realized, transmission of hand movement and clamp head movement of an operator is realized, the operation action of the operator is more facilitated, and the operation feasibility is improved.
The bipolar electro-coagulation forceps have high degree of freedom and high flexibility, can be used as electro-coagulation forceps and clamping forceps of suture needles, and can improve operability and flexibility of endoscopic suture operation.
Drawings
FIG. 1 is a schematic diagram of a multi-degree-of-freedom motion sensing bipolar electro-coagulation forceps under a laparoscope of the invention;
FIG. 2 is a schematic diagram of the structure of the binding clip of the present invention;
FIG. 3 is a schematic view of the structure of the mounting bracket, spindle and torsion spring of the present invention;
FIG. 4 is a schematic view of the structure of the mounting cavity and the driving mechanism of the present invention;
FIG. 5 is a schematic diagram of the logic control of the sensing control system and the yaw motor and the opening and closing motor of the present invention;
FIG. 6 is a schematic view of a movable joint according to an embodiment;
FIG. 7 is a schematic view of a connecting ball, (a) a schematic view of the front end of the connecting ball, and (b) a schematic view of the rear end of the connecting ball;
FIG. 8 is a schematic view of a movable joint according to the second embodiment;
Fig. 9 is a schematic structural view of the fixing ring, the first hinge base, the second hinge base and the connecting member at the rear end of the second embodiment.
In the drawings, the reference numeral 1 is a clamp head structure, 10 is an electric wire, 101 is a first clamp head, 102 is a second clamp head, 103 is a mounting rack, 104 is a rotating shaft, 105 is Zhang Gexian, 106 is a limiting plate, 107 is a torsion spring, 2 is a connecting pipe, 3 is a supporting frame, 301 is a mounting ring, 4 is a handle, 401 is a rotating sleeve, 5 is a driving mechanism, 501 is a deflecting motor, 502 is a deflecting wheel, 503 is a folding motor, 6 is a connecting bridge, 7 is a movable joint, 701 is a supporting ring, 702 is a connecting ball, 703 is a sliding strip, 801 is a fixed ring, 802 is a connecting column, 803 is a first hinging seat, 804 is a second hinging seat, 805 is a connecting piece, 9 is an insulating sleeve, 13 is a folding motor control switch, 11 is a power switch, and 12 is a connecting wire.
Detailed Description
The invention is further described with reference to the drawings and detailed description which follow:
In the description of the present invention, it should be understood that the terms "left", "right", "upper", "lower", "lateral", "vertical", etc. indicate orientations or positional relationships based on the orientation or positional relationships shown in fig. 1, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Example 1
As shown in fig. 1 to 7, the embodiment provides a multi-degree-of-freedom motion induction bipolar electric coagulation forceps under a laparoscope, which comprises a forceps head structure 1, a connecting pipe 2 and an electric wire 10 for providing bipolar voltage for the forceps head structure 1, wherein the electric wire 10 is connected to a high-frequency host for providing bipolar voltage for the forceps head structure, so that an electric coagulation function is realized. The multi-degree-of-freedom motion sensing bipolar coagulation forceps under the laparoscope of the embodiment also comprises a support frame 3, a handle 4, a movable joint and a driving mechanism 5. The pliers head structure 1 and the connecting pipe 2 are provided with the movable joint 7, one end of the movable joint 7, which is close to the pliers head structure 1, is provided with a plurality of groups of transmission connecting wire groups which are circumferentially distributed, each group of transmission connecting wire groups comprises two connecting wires 12, the two connecting wires are symmetrically distributed by taking the central axis of the movable joint as a symmetrical axis, the transmission connecting wire groups penetrate through the other end of the movable joint and the connecting pipe 2 to be connected with the driving mechanism 5, and the driving mechanism 5 drives the transmission connecting wires of each group to extend or shorten so as to drive the deflection in the direction formed by the connecting wires of the group.
The electric coagulation forceps are characterized in that the support frame 3 is connected with the connecting pipe 2, a mounting cavity is formed in one end of the support frame 3, the mounting cavity is communicated with the connecting pipe 2, a driving mechanism 5 is arranged in the mounting cavity, the driving mechanism 5 comprises two deflection motors 501 and two deflection wheels 502, the power output ends of the deflection motors 501 are provided with the deflection wheels 502, a group of transmission connecting wire groups are wound on the deflection wheels 502, the winding directions of the two connecting wires of each group on the deflection wheels 502 are opposite, for example, when the deflection wheels 502 connected with the connecting wires in the vertical direction are rotated positively, the upper connecting wires are wound, the lower connecting wires are loosened, the connecting wires above are shortened, the connecting wires below are stretched, the forceps heads are deflected upwards, the handle 4 is movably connected with the support frame 3, and the handle 4 is used for holding by an operator, and the electric coagulation forceps are convenient to operate. The guide rollers corresponding to the connecting wires are further arranged in the mounting cavity, the guide rollers guide the layout paths of the connecting wires, so that the connecting wires can be conveniently laid on the corresponding deflection wheels 502 after extending into the mounting cavity from the connecting pipe 2, and winding of the connecting wires is avoided.
Above-mentioned, binding clip structure 1 includes first binding clip 101, second binding clip 102 and mounting bracket 103, first binding clip 101 and mounting bracket 103 fixed connection, second binding clip 102 rotates through pivot 104 and mounting bracket 103 to be connected, and specifically, second binding clip 102 and pivot 104 fixed connection, mounting bracket 103 is the U-shaped, rotates between the two vertical sections of mounting bracket 103 and sets up pivot 104, the winding is provided with stretching wire 105 on the pivot 104, actuating mechanism 5 still includes and opens and closes motor 503, zhang Gexian passes the swing joint and connects opening and closing motor 503 with connecting pipe 2 transmission. The stretching wire is driven to rotate and wind by the driving of the stretching motor 503, so that the length Zhang Gexian between the stretching motor 503 and the rotating shaft 104 is shortened, the rotating shaft 104 is driven to rotate, the second clamp head 102 is opened, and then the clamp head structure 1 is in an open state.
In order to further ensure the motion transmission precision and the follow-up efficiency of Zhang Gexian winding on the rotation of the rotating shaft 104, two limiting plates 106 are arranged on the rotating shaft 104, the two limiting plates 106 are positioned on two sides of the Zhang Gexian 105, the distance between the two limiting plates 106 is the diameter of the stretched wire 105 or slightly larger than the diameter of the Zhang Gexian, so that each circle of the limiting plates 106 and Zhang Gexian winding on the rotating shaft is contacted, the winding of Zhang Gexian on the rotating shaft 104 is a planar spiral path, and the end position of the Zhang Gexian is ensured to be in the middle of the clamp head and not to transversely move along with the rotation of the rotating shaft.
In order to facilitate the automatic closing of the clamp structure 1, a torsion spring 107 is disposed between the mounting frame 103 and the rotating shaft 104, specifically, the torsion spring 107 is sleeved on the rotating shaft 104, one end of the torsion spring 107 is fixed with the mounting frame 103, the other end of the torsion spring 107 is fixed with the rotating shaft 104, in the closed state of the clamp structure, the torsion spring 107 is in an initial state, when the rotating shaft rotates in the opening direction of the clamp structure, the second clamp 102 is opened, the torsion spring accumulates elastic force, and after the tension force to Zhang Gexian is reduced by the reverse rotation of the opening and closing motor 503, the rotating shaft 104 and the second clamp 102 rotate and reset under the action of the elastic force of the torsion spring, so that the clamp structure 102 is closed.
Specifically, the first clamp head 101, the second clamp head 102 and the mounting frame 103 are made of insulating materials, the opposite sides of the first clamp head 101 and the second clamp head 102 are respectively provided with a cushion block for conducting electricity, and the end parts of the two cushion blocks are respectively connected with two electrode wires of the electric wire 10. The electrode wire connected with the cushion block on the first clamp head 101 is buried on the mounting frame 103 and penetrates through the middle part of the lower end of the mounting frame 103, and one part of the electrode wire connected with the cushion block on the second clamp head 102 is exposed, and after the exposed part bypasses the position of the limiting plate 106, the electrode wire and the other electrode wire are converged at the middle part of the lower end of the mounting frame 103, and then penetrate through the middle part of the lower end of the mounting frame 103, the electric wire 10 penetrating through the mounting frame 103 is exposed after penetrating out of the mounting frame 103, or penetrates through the movable joint, the connecting pipe 2 and the supporting frame 3, and then penetrates out of the supporting frame 3. In this embodiment, the electric wire 10 and Zhang Gexian pass through the movable joint, the connecting pipe 2 and the supporting frame 3 together, and then pass out of the supporting frame 3 to be exposed.
Above-mentioned, support frame 3 middle part is the bow-shaped, and the support frame 3 other end is provided with collar 301, handle 4 corresponds with the bow-shaped structure of support frame, and the front end rotation of handle 4 is provided with rotatory sleeve 401, be provided with two connecting bridges 6 of symmetric distribution between collar 301's front end and the rotatory sleeve 401, connecting bridge 6 one end articulates with collar 301, the other end articulates with rotatory sleeve 401 to make the handle have certain displacement space and kinematic pair relative support frame 3, the handle can remove deflection and rotation relative support frame 3. In the use state, the wrist of the operator passes through the mounting ring 301, the hand grips the handle, and the thumb and the index finger are matched with the rotatable rotating sleeve 401, so that the connecting bridge 6 drives the supporting frame 3, the connecting pipe 2 and the forceps head structure 1 to rotate, and the clamping surface of the forceps head relative to the operation field can be adjusted, so that the forceps head has more flexibility.
Above-mentioned, connecting bridge 6 is the arc, and connecting bridge 6 comprises multisection fixed connection's rectangle piece in proper order, the rectangle piece is the sheet structure that flexible material made, and the thickness in rectangle piece middle part is greater than the thickness of both sides, makes rectangle piece and connecting bridge have certain intensity. The connecting bridge 6 has certain strength, so that the connection strength between the rotating sleeve 401 and the mounting ring 301 and the synchronism of the rotating motion can be ensured, and the connecting bridge can slightly deform, so that the position of the handle can move relative to the supporting frame 3, such as the shifting in the up-down and left-right directions.
Still further, this electric coagulation forceps still includes sensing control system, sensing control system sets up in handle 4, and sensing control system includes gyroscope chip, control mainboard, power, switch and opens and shuts motor control switch 13, the motion data of handle upper and lower left and right directions is transmitted to the gyroscope chip control mainboard, two yaw motors 501 are connected to the control mainboard electricity, and the control mainboard calculates the motion data of gyroscope chip into the on-off signal of two yaw motors 501, makes the opening and shutting of two yaw motors 501 can follow the motion of handle to reach the synchronous purpose of the yaw motion that makes the binding clip structure and the yaw motion of handle. The power supply supplies power to the control main board, the deflection motor 501 and the opening and closing motor 503, two ends of a connecting line between the control main board and the deflection motor 501 respectively rotate through the rotary sleeve 401 and the support frame 3, and an insulating sleeve 9 is sleeved on the exposed part of the line. The power switch 11 is arranged at the head of the handle, the power switch 11 is a switch for controlling the on-off of a power supply, and the opening and closing motor control switch 13 is arranged at the lower part of the handle 4 and is used for switching on and off a circuit between the power supply and the opening and closing motor 503, so as to control the on-off of the opening and closing motor 503, namely, the opening and closing of the opening and closing motor 503 and the opening and closing of the clamp head structure.
In this embodiment, the movable joint includes two support rings 701 and a connection ball 702 between the two support rings 701. The front end support ring 701 is fixedly connected with the mounting frame 103, the rear end support ring 701 is fixedly connected with the connecting pipes 2, the support ring 701 is rotatably provided with guide wheels (not shown in the figure) corresponding to the connecting wires, the guide wheels guide the connecting wires, the connecting wires are prevented from being separated from the guide wheels, when the connecting wires pass through the wire guide wheels, at least one circle of the connecting wires are wound on the wire guide wheels, and the connecting wires pass through the inner holes of the support ring 701 after bypassing the guide wheels. The support rings 701 are symmetrically provided with two sliding strips 703, the sliding strips 703 on the two support rings 701 are arranged in a staggered manner, the positions of the four sliding strips 703 respectively correspond to the positions of the four connecting lines, the sliding strips 703 are arc-shaped, the connecting ball 702 is provided with four sliding grooves, the sliding grooves are matched with the sliding strips 703, the lengths of the sliding grooves are larger than those of the sliding strips 703, the sliding strips can slide relatively with the connecting ball through the sliding grooves, the middle part of the connecting ball 702 is provided with a through hole for the stretching line 105 to pass through, and in order to ensure that the front end support ring 701 deflects, the angle of Zhang Gexian is reduced, and the connecting ball 702 is provided with conical grooves at the front end and the rear end of the through hole. When the deflection motor 501 drives the corresponding connecting wire to shrink or stretch, the connecting wire in the up-down direction is driven by the supporting ring 701 at the front end of the movable joint, so that the connecting ball is driven by the supporting ring 701 at the front end of the movable joint to deflect in the up-down direction, and the sliding bar 703 in the up-down direction moves with the sliding groove, that is, the connecting ball is driven by the supporting ring 701 at the front end to deflect relatively with the supporting ring at the rear end, so that the deflection of the position of the clamp head structure 1 in the up-down direction is realized. When the front end support ring 701 deflects in the left-right direction, the front end support ring 701 deflects relative to the connecting ball and the rear end support ring 701 under the drive of the left-right connecting wire.
To increase the friction between the wrist and the mounting ring 301, the present invention also includes a wrist strap (not shown) that can be applied to the wrist and then passed through the mounting ring 301. After the friction force between the wrist and the mounting ring is increased, the possibility that the deflection movement of the handle drives the support frame 3 to move is reduced, and the noise reduction effect is achieved.
The using process comprises the following steps:
The wire 10 is connected to a high frequency host machine which controls the electrocoagulation process, and the operator wears a binding band on his wrist which passes through the mounting ring 301 and holds the handle 4.
And when the handle 4 deflects in the up-down direction, the gyroscope chip collects motion data and transmits the motion data to the control main board, the control main board outputs signals to the deflection motor in the up-down direction, the deflection motor is controlled to be started, the deflection motor is started by receiving the signals, and the transmission connecting wire group on the deflection wheel is driven to move and wind in one direction, so that one connecting wire is wound and contracted, the other connecting wire is loosened and stretched, the other ends of the two connecting wires are correspondingly moved, and the supporting ring 701 at the front end is driven to shift in position, so that the deflection in the up-down direction of the pliers is realized.
Opening and closing the clamp heads, namely pressing an opening and closing motor control switch to enable the opening and closing motor 503 to be started to drive Zhang Gexian to wind to form a contracted state, so that the front end of Zhang Gexian 105 drives the rotating shaft 104 to rotate, and then drives the second clamp head 102 to be opened relative to the first clamp head 101 to realize opening of the clamp heads. When the binding clip needs to be closed, the opening and closing motor 503 is closed, the tensioning degree of Zhang Gexian is released, then under the action of the torsion spring, the rotating shaft 104 reversely rotates and resets, and then the second binding clip 102 is closed, so that the closing of the binding clip is realized. The clamp head can perform electrocoagulation operation in a closed state, or can clamp the suture needle to drive the suture needle to suture in laparoscopic surgery in non-electrocoagulation operation.
Example two
The first embodiment is basically the same as the first embodiment, and the same points are not repeated, except that:
As shown in fig. 8-9, the movable joint in this embodiment includes two fixing rings 801 and three connecting columns 802 located between the two fixing rings, the fixing rings 801 at the front end are fixedly connected with the mounting frame 103, the fixing rings 801 at the rear end are fixedly connected with the connecting pipe 2, three first hinge seats 803 are uniformly distributed on the fixing rings 801 in a ring shape, hinge shafts of the first hinge seats 803 are parallel to a radial line of the ring shape, the first hinge seats 803 on the two fixing rings 801 are distributed in a staggered manner, two ends of each connecting column 802 are provided with second hinge seats 804, each connecting column 802 is in a spiral shape, the three connecting columns 802 are distributed in a spiral manner, and the first hinge seats 803 and the second hinge seats 804 are connected through connecting pieces 805. In order to reduce abrasion of the connecting wire during deflection of the movable joint, a guide wheel (not shown in the figure) is rotatably arranged on the fixed ring 801 positioned on the side of the connecting pipe 2, the guide wheel corresponds to the connecting wire, the connecting wire is wound on the guide wheel at least once, and the connecting wire passes through the fixed ring 801 and then is arranged in the connecting pipe 2 in a penetrating manner. In this embodiment, the electric wire 10 passes through the middle of the front end fixing ring, passes through the middle positions of the three connecting posts 802, then passes out of the rear end fixing ring, enters the connecting pipe 2, and then passes out of the supporting frame.
As mentioned above, the two ends of the connecting piece 805 are provided with the mounting holes, the vertical surfaces where the axes of the two mounting holes are located are perpendicular, one mounting hole is hinged with the first hinge seat 803, and the other mounting hole is hinged with the second hinge seat 804. Two rotation centers exist between the second connecting seat 804 and the first connecting seat 803, so that the movement of the connecting column 802 relative to the fixed ring 801 is more flexible, and when a certain connecting line is shortened, the movable joint is ensured to deflect in the up-down, left-right direction, and the flexibility is improved.
The above-described embodiments are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention, so that all equivalent changes or modifications of the structure, characteristics and principles described in the claims should be included in the scope of the present invention.
Claims (8)
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| CN108712886A (en) * | 2015-10-02 | 2018-10-26 | 弗莱克斯德克斯公司 | Handle mechanism that provides unlimited roll |
| CN216724720U (en) * | 2021-11-29 | 2022-06-14 | 河南埃丽坤斯医疗科技有限公司 | Multi-degree-of-freedom motion induction bipolar electric coagulation forceps under laparoscope |
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| US20090198272A1 (en) * | 2008-02-06 | 2009-08-06 | Lawrence Kerver | Method and apparatus for articulating the wrist of a laparoscopic grasping instrument |
| CN107080588A (en) * | 2017-06-14 | 2017-08-22 | 上海大学 | A kind of new micro-wound operation robot control device driven by line |
| US20200138507A1 (en) * | 2018-11-02 | 2020-05-07 | Ethicon Llc | Distal closure mechanism for surgical instruments |
| CN112155613B (en) * | 2020-09-14 | 2021-10-22 | 武汉联影智融医疗科技有限公司 | A minimally invasive medical surgical equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108712886A (en) * | 2015-10-02 | 2018-10-26 | 弗莱克斯德克斯公司 | Handle mechanism that provides unlimited roll |
| CN216724720U (en) * | 2021-11-29 | 2022-06-14 | 河南埃丽坤斯医疗科技有限公司 | Multi-degree-of-freedom motion induction bipolar electric coagulation forceps under laparoscope |
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