CN209136784U - A kind of handset type Minimally Invasive Surgery pincers - Google Patents

Abstract

The utility model relates to a hand-worn minimally invasive surgical forceps, comprising a jaw mechanism, a flexible joint, a long rod and an operating handle. The jaw mechanism is connected with the long rod through the flexible joint, the long rod is connected with the operating handle, and a steel wire One end is connected with the jaw mechanism, and the other end is connected with the operating handle; the utility model is simple in structure and reasonable in design, the jaw mechanism is controlled by pressing the handle to open and close, so as to realize the clamping action of the jaw mechanism, and the flexible joints, The jaw mechanism can rotate at any angle, and the left and right deflection of the jaw mechanism can be realized by rotating the driving wheel, so as to achieve different surgical requirements. Compared with the traditional minimally invasive surgical tools, the flexible joint of the utility model has the degree of freedom of deflection movement, and the operation is more flexible ; The degree of freedom movement is realized by the wire drive, the mechanical structure is simple, compact, and the volume is small, and the manual control is more conducive to the doctor's operation; and the manufacturing cost is low, the operation precision is high, and it can be widely used.

Description

A hand-worn minimally invasive surgical forceps

technical field

The utility model relates to the technical field of surgical instruments, in particular to a hand-worn minimally invasive surgical forceps.

Background technique

With the rapid advancement of science and technology, minimally invasive surgery in the medical field has also continued to develop. Compared with traditional surgery, minimally invasive surgery has the advantages of smaller incision, less trauma, faster recovery, and less pain, and has gradually become the main direction of surgical development. Minimally invasive surgical tools are indispensable instruments for surgeons to perform surgical operations. The rationality of the design of minimally invasive surgical tools in terms of structure and transmission will have a direct impact on their applicability, flexibility, operation accuracy and surgical results.

At present, human requirements for surgery are not limited to the most basic stages of treatment. On the contrary, they are constantly seeking surgery of higher overall quality, requiring shorter postoperative recovery time and smaller or no surgical scars.

The existing minimally invasive surgical tools are divided into two types: motor control and mechanical control according to the control method. Most of the existing minimally invasive surgical robots use motor control, and have many degrees of freedom and good flexibility, which can effectively eliminate the doctor's hand. Tremors, improve the overall quality of surgery.

However, the surgical robot is bulky, complicated in mechanism, cumbersome in control, lacks hand force feedback, and expensive in equipment, so it cannot be widely used. Mechanically controlled minimally invasive surgical tools have shortcomings such as less freedom and inflexible operation, and are constrained by tiny incisions, which easily lead to fatigue of the surgeon, thereby affecting the surgical effect.

Utility model content

Aiming at the deficiencies of the prior art, the utility model provides a hand-worn minimally invasive surgical device with a simple structure.

The technical scheme of the utility model is: a hand-worn minimally invasive surgical forceps, comprising a jaw mechanism, a flexible joint, a long rod, and an operating handle, the jaw mechanism is connected with the long rod through a flexible joint, and the long rod is connected with the operating handle;

The jaw mechanism includes a jaw a, a jaw b, a jaw bracket, and a roller. The jaw b and the jaw bracket are integrally formed, and the roller is arranged on the jaw bracket through a roller shaft. The roller is also wound with a steel wire a for driving the rotation of the roller, the other end of the steel wire a passes through the flexible joint and the long rod in turn, and is connected with the operating handle, and the roller is also provided with a The shaft a connected to the jaw a, the end of the jaw a is set on the roller through the shaft a, and the jaw a is also set on the jaw bracket through the shaft b, so that the jaw a passes through the shaft b rotates on the jaw bracket with the roller, so that the clamping action is completed by the cooperation of the jaw a and the jaw b;

The operating handle includes a base, a first connection bracket, a second connection bracket, a third connection bracket, a handle, a handle, a drive wheel, and a spherical deflection shaft. One end of the first connection bracket is fixedly connected to the long rod, and the The other end of the first connection bracket is fixedly connected to the base, one end of the second connection bracket and the third connection bracket is fixed on the base, and the other ends of the second connection bracket and the third connection bracket are connected to the base through a connecting piece. The ends of the spherical deflection shaft are connected. The outer side of the spherical portion of the spherical deflection shaft is sleeved with a driving wheel that can rotate relative to the spherical deflection shaft. The driving wheel is also provided with a stretching boss a and a stretching boss b. The stretching boss a and the stretching boss b are respectively connected with a steel wire b and a steel wire c for controlling the left and right deflection of the jaw mechanism, and the other ends of the steel wire b and the steel wire c pass through the long rod and the flexible joint in turn. , and is fixedly connected with the jaw bracket; by rotating the driving wheel, the steel wire b or the steel wire c is stretched, and the left and right deflection of the jaw bracket is realized due to the flexibility of the flexible joint;

The other end of the spherical deflection shaft is inserted into the handle, the handle is arranged in the handle, and the handle is connected with the steel wire a, and the expansion and contraction of the steel wire a is controlled by pressing the handle, thereby controlling the rotation of the roller, so as to realize the pliers. The clamping action of the jaw mechanism is realized by the opening and closing of the piece a and the pliers piece b; and by rotating the handle, the spherical deflection shaft is driven to rotate, and then the second connecting bracket and the third connecting bracket are used to drive the base to rotate, so as to pass the base The first connecting bracket is driven to rotate, so that the long rod is driven to rotate through the first connecting bracket, and then the long rod is driven, the flexible joint and the jaw mechanism rotate, so as to realize the deflection action of the jaw mechanism.

Further, the flexible joint is composed of a connector a, a connector b, and a plurality of interconnected unit joints, and the plurality of interconnected unit joints are arranged between the connector a and the connector b, and the The other end of the connector a is connected to the jaw bracket, and the other end of the connector b is connected to the long rod.

Further, the flexible joint is also provided with a flexible hose. On the one hand, the flexible hose supports the flexible joint, and on the other hand, the flexible hose can be used to accommodate the steel wire a, the steel wire b, and the steel wire c.

Further, a connecting pipe for accommodating the steel wire a, the steel wire b, and the steel wire c is also provided between the first connecting bracket and the spherical deflection shaft.

Further, a plurality of guide wheels for winding the steel wire a, the steel wire b and the steel wire c are also arranged in the first connecting bracket.

Further, one end of the steel wire b and the steel wire c is connected with the jaw bracket, and the other end passes through the flexible joint and the long rod, then bypasses a plurality of guide wheels, passes through the connecting pipe, and is respectively connected to the tensile force through the spherical deflection shaft. The boss a and the extruded boss b are connected.

Further, the rollers are also provided with fixing holes for fixing the steel wires a.

Further, a compression spring is also arranged between the handle and the handle, and the handle is reset by the compression spring.

Further, the handle is also provided with a plurality of guide posts for winding the steel wire a, and the steel wire a bypasses the plurality of guide posts and is connected to the handle.

Further, one end of the steel wire a is connected to the roller, and the other end passes through the flexible joint and the long rod in turn, then bypasses multiple guide wheels, passes through the connecting pipe, the spherical deflection shaft, and then bypasses multiple guide posts and handles. Fixed connection, so as to control the expansion and contraction of the wire a through the control handle, and thus control the rotation of the roller, so as to realize the clamping action of the pliers a and the pliers b.

Further, the base includes a first collar, a second collar, and a third collar, and the third collar and the second collar are fixed in the first collar by a plurality of fixing pins, and the The base reduces the strain on the doctor's wrist, thereby avoiding the doctor's wrist fatigue due to long-term surgery.

Further, the shapes of the first connection bracket, the second connection bracket, and the third connection bracket are all arc-shaped, and one end of the first connection bracket, the second connection bracket, and the third connection bracket are all connected with the first connection bracket. Ring connection.

The beneficial effects of the utility model are as follows: the structure is simple and the design is reasonable, the jaw mechanism is controlled by pressing the handle to open and close, thereby realizing the clamping action of the jaw mechanism, and the flexible joint and the jaw mechanism can be controlled to rotate at any angle through the handle. And the left and right deflection of the jaw mechanism can be realized by rotating the driving wheel, so as to achieve different surgical requirements. Compared with the traditional minimally invasive surgical tools, the flexible joint of the utility model has the degree of freedom of deflection movement, and the operation is more flexible; The degree of freedom movement has a simple and compact mechanical structure, and a small volume, and manual control is more convenient for doctors to operate; and its manufacturing cost is low, the operation precision is high, and it can be widely used.

Description of drawings

Fig. 1 is the structural representation of the utility model;

Fig. 2 is the structural representation of the jaw mechanism of the present utility model;

Fig. 3 is the structural representation of the utility model elastic joint;

Fig. 4 is the structural representation of the utility model operating handle;

Fig. 5 is the partial cross-sectional schematic diagram of the utility model operating handle;

Fig. 6 is the structural representation of the utility model base;

7 is a schematic structural diagram of the deflection of the jaw mechanism of the present invention;

In the figure, 1-jaw mechanism, 2-flexible joint, 3-long rod, 4-operating handle, 5-steel a, 6-steel b, 7-steel c, 11-clamp a, 12-clamp b , 13-jaw bracket, 14-roller, 15-roller shaft, 16-shaft b, 21-connector a, 22-unit joint, 23-connector b, 41-base, 42-first connecting bracket, 43 -Second connecting bracket, 44-Third connecting bracket, 45-Connecting piece, 46-Spherical deflection shaft, 47-Drive wheel, 48-Handle, 49-Handle, 50-Connecting tube, 51-Guide post, 52-Compression Spring, 53-stretching boss a, 54-stretching boss b, 410-first collar, 411-second collar, 412-third collar.

Detailed ways

The specific embodiments of the utility model are further described below in conjunction with the accompanying drawings:

As shown in FIG. 1 , a hand-worn minimally invasive surgical forceps includes a jaw mechanism 1, a flexible joint 2, a long rod 3, an operating handle 4, and a steel wire 5. The jaw mechanism 1 is connected with the flexible joint 2 through the flexible joint 2. The long rod 3 is connected, and the long rod 3 is connected with the operation handle 4 .

As shown in FIG. 2 , the jaw mechanism 1 includes a jaw a11, a jaw b12, a jaw bracket 13, and a roller 14. The jaw b12 and the jaw bracket 13 are integrally formed, and the roller 14 passes through The roller shaft 15 is arranged on the jaw bracket 13, the roller 15 is also wound with a steel wire a5 for driving the rotation of the roller 14, and the other end of the steel wire a5 passes through the flexible joint 2 and the long rod 3 in turn, Then it is connected with the operating handle 4, and the roller 14 is also provided with a rotating shaft a for connecting with the jaw a11, the end of the jaw a11 is set on the roller 14 through the rotating shaft a, and the The blade a11 is also set on the jaw bracket 13 through the rotating shaft b16, so that the jaw a11 rotates on the jaw bracket 13 with the roller 14 through the rotating shaft b16, so that the clamping action is completed by the opening and closing of the jaw a11 and the jaw b12 .

As shown in Figure 3, the flexible joint 2 is also provided with a flexible hose. On the one hand, the flexible hose supports the flexible joint 2. On the other hand, the flexible hose can be used to accommodate the steel wire a5, the b6 and steel wire c7, the flexible joint 2 is composed of a connector a21, a connector b23, and a plurality of interconnected unit joints 22, and the plurality of interconnected unit joints 22 are arranged on the connector a21 and the connector b23. In between, the number of the unit joints 22 can be determined according to requirements, the other end of the connecting head a21 is connected with the jaw bracket 13 , and the other end of the connecting head b23 is connected with the long rod 3 .

As shown in FIGS. 4 and 5 , the operating handle 4 includes a base 41 , a first connection bracket 42 , a second connection bracket 43 , a third connection bracket 44 , a handle 48 , a handle 49 , a drive wheel 47 , and a spherical deflection shaft. 46. One end of the first connecting bracket 42 is fixedly connected to the long rod 3, the other end of the first connecting bracket 42 is fixedly connected to the base 41, and one end of the second connecting bracket 43 and the third connecting bracket 44 is fixed On the base 41 , the other ends of the second connecting bracket 43 and the third connecting bracket 44 are connected by a connecting piece 45 , and the connecting piece 45 is fixed on the end of the spherical deflection shaft 46 by a plurality of screws. The outer side of the spherical portion of the deflection shaft 46 is sleeved with a driving wheel 47 that can rotate relative to the spherical deflection shaft 46. The driving wheel 47 is also provided with a stretching boss a53 and a stretching boss b54. The stretching boss The wire b6 and the wire c7 for controlling the left and right deflection of the jaw mechanism 1 are respectively connected to the a53 and the stretching boss b54. The mouth bracket 13 is fixedly connected, and by rotating the driving wheel 47, the steel wire b6 or the steel wire c7 is stretched, and due to the flexibility of the flexible joint 2, the jaw bracket 13 is deflected left and right, and the schematic diagram of the deflection is shown in FIG. 7;

The other end of the spherical deflection shaft 46 is inserted into the handle 48, the handle 49 is arranged in the handle 48 through the handle shaft, the handle 49 is connected with the steel wire a5, and the expansion and contraction of the steel wire a5 is controlled by pressing the handle 49, Thus, the rotation of the roller 14 is controlled to realize the clamping action of the jaw a11 and the jaw b12. By rotating the handle 48, the spherical deflection shaft 46 is driven to rotate, and then the base 41 is driven to rotate through the second connection bracket 43 and the third connection bracket 44. , thereby driving the first connecting bracket 42 to rotate through the base 41, thereby driving the long rod 3 to rotate through the first connecting bracket 42, and then driving the flexible joint 2 and the jaw mechanism 1 to rotate at any angle through the long rod 3, thereby realizing the jaw mechanism. 1 rotation.

Further, a connecting pipe 50 for accommodating the steel wire a5, the steel wire b6, and the steel wire c7 is also disposed between the first connecting bracket 42 and the spherical deflection shaft 46.

Further, the first connecting bracket 42 is also provided with a plurality of guide wheels for winding the wires a5, b6 and c7. In this embodiment, the number of the guide wheels is three.

Further, one end of the steel wire b6 and the steel wire c7 is connected with the jaw bracket 13, and the other end passes through the flexible joint 2 and the long rod 3, and then is wound around a plurality of guide wheels, passes through the connecting pipe 50, and passes through the spherical shape. The deflection shafts 46 are connected to the stretching boss a53 and the stretching boss b54, respectively.

Further, in order to prevent the steel wire a5 from sliding on the roller 14, resulting in inaccurate control, the roller 14 is also provided with a fixing hole for fixing the steel wire a5. superior.

Further, a compression spring 52 is also provided between the handle 49 and the handle 48 , and the handle 49 is reset by the compression spring 52 .

Further, the handle 48 is also provided with a plurality of guide posts 51 . In this embodiment, the number of the guide posts 51 is three, and the steel wire 5 bypasses the plurality of guide posts 51 and is connected to the handle 49 .

Further, one end of the steel wire a5 is connected to the roller 14 , and the other end passes through the flexible joint 2 , the long rod 3 , the connecting pipe 50 , and the spherical deflection shaft 46 in turn, and is then fixedly connected to the handle 49 , so as to control the steel wire by pressing the handle 49 . The extension and retraction of a5 controls the rotation of the roller 14, thereby realizing the opening and closing of the jaw a11 and the jaw b12, thereby realizing the clamping action.

Further, as shown in FIG. 6 , the base 41 includes a first collar 410 , a second collar 411 , and a third collar 412 , and the third collar 412 and the second collar 411 pass through a plurality of The fixing pin is fixed in the first ring 410. When in use, the base 41 can reduce the force on the doctor's wrist, thereby avoiding the fatigue of the doctor's wrist due to long-term operation.

Further, the shapes of the first connection bracket 42 , the second connection bracket 43 and the third connection bracket 44 are arc-shaped, and the first connection bracket 42 , the second connection bracket 43 and the third connection bracket 44 One end of each is connected with the first collar 410 .

What is described in the above-mentioned embodiment and specification is only to illustrate the principle and the best embodiment of the utility model. Without departing from the spirit and scope of the utility model, the utility model will also have various changes and improvements. These changes and improvements all fall within the scope of the utility model. within the scope of the claimed utility model.

Claims (10)

1. a hand-worn minimally invasive surgical forceps, is characterized in that: comprise jaw mechanism, flexible joint, long rod, operating handle, described jaw mechanism is connected with long rod by flexible joint, and described long rod is connected with long rod. Operation handle connection; The jaw mechanism includes a jaw a, a jaw b, a jaw bracket, and a roller. The jaw b and the jaw bracket are integrally formed, and the roller is arranged on the jaw bracket through a roller shaft. The roller is also wound with a steel wire a for driving the rotation of the roller, the other end of the steel wire a passes through the flexible joint and the long rod in turn, and is connected with the operating handle, and the roller is also provided with a A rotating shaft a connected to the jaw a, the end of the jaw a is set on the roller through the shaft a, and the jaw a is also set on the jaw bracket through the shaft b; The operating handle includes a base, a first connection bracket, a second connection bracket, a third connection bracket, a handle, a handle, a drive wheel, and a spherical deflection shaft. One end of the first connection bracket is fixedly connected to the long rod, and the The other end of the first connection bracket is fixedly connected to the base, one end of the second connection bracket and the third connection bracket is fixed on the base, and the other ends of the second connection bracket and the third connection bracket are connected to the base through a connecting piece. The ends of the spherical deflection shaft are connected. The outer side of the spherical portion of the spherical deflection shaft is sleeved with a driving wheel that can rotate relative to the spherical deflection shaft. The driving wheel is also provided with a stretching boss a and a stretching boss b. The stretching boss a and the stretching boss b are respectively connected with a steel wire b and a steel wire c for controlling the left and right deflection of the jaw mechanism, and the other ends of the steel wire b and the steel wire c pass through the long rod and the flexible joint in turn. , and is fixedly connected with the jaw bracket, and by rotating the driving wheel, the steel wire b or the steel wire c is stretched, and due to the flexibility of the flexible joint, the jaw bracket can be deflected left and right; The other end of the spherical deflection shaft is inserted into the handle, the handle is arranged in the handle, and the handle is connected with the steel wire a, and the expansion and contraction of the steel wire a is controlled by pressing the handle, thereby controlling the rotation of the roller, so as to realize the pliers. The clamping action of the jaw mechanism is realized by the opening and closing of the piece a and the pliers piece b; and by rotating the handle, the spherical deflection shaft is driven to rotate, and then the second connecting bracket and the third connecting bracket are used to drive the base to rotate, so as to pass the base The first connecting bracket is driven to rotate, so that the long rod is driven to rotate through the first connecting bracket, and then the long rod is driven, the flexible joint and the jaw mechanism rotate, so as to realize the deflection action of the jaw mechanism. 2 . The hand-worn minimally invasive surgical forceps according to claim 1 , wherein the flexible joint is composed of a connector a, a connector b, and a plurality of interconnected unit joints. 3 . One interconnected unit joint is arranged between the connector a and the connector b, the other end of the connector a is connected with the jaw bracket, and the other end of the connector b is connected with the long rod. 3. The hand-worn minimally invasive surgical forceps according to claim 1, wherein the flexible joint is further provided with a flexible hose for supporting the flexible joint and accommodating the steel wire a, the steel wire b, and the steel wire c . 4. A hand-worn minimally invasive surgical forceps according to claim 1, characterized in that: between the first connecting bracket and the spherical deflection shaft, there is also a spacer for accommodating steel wires a, b and c Connecting pipe. 5 . The hand-worn minimally invasive surgical forceps according to claim 1 , wherein the first connecting bracket is further provided with a plurality of guide wheels for winding the wires a, b and c. 6 . . 6 . The hand-worn minimally invasive surgical forceps according to claim 1 , wherein the base comprises a first loop, a second loop, and a third loop, and the third loop and the second collar are fixed in the first collar by a plurality of fixing pins. 7 . The hand-worn minimally invasive surgical forceps according to claim 1 , wherein the first connecting bracket, the second connecting bracket and the third connecting bracket are all arc-shaped, and the One ends of the first connection bracket, the second connection bracket and the third connection bracket are all connected with the first collar. 8 . The hand-worn minimally invasive surgical forceps according to claim 1 , wherein a compression spring is further arranged between the handle and the handle. 9 . 9 . The hand-worn minimally invasive surgical forceps according to claim 1 , wherein the handle is further provided with a plurality of guide posts. 10 . 10 . The hand-worn minimally invasive surgical forceps according to claim 1 , wherein the roller is further provided with a fixing hole for fixing the steel wire. 11 .