RU2546957C1 - End effector of endoscopic surgical unit - Google Patents

Abstract

FIELD: medicine.

SUBSTANCE: end effector of an endoscopic surgical unit comprises a surgical unit actuated by a mechanism comprising a screw driving gear; the screw is presented by a threaded bevel gear, while carrier levers are connected to female levers for driving the end effector close/apart by means of axes.

EFFECT: designing the simplified actuator mechanism of the surgical unit.

5 cl, 3 dwg

Description

The invention relates to medicine, namely to endoscopic surgical devices, and, in particular, to mechanized endoscopic surgical devices.

Endoscopic surgical devices are often preferred over traditional open surgical devices, since with a smaller incision, postoperative recovery time and risk of complications are usually less. Therefore, important developments have been made in the field of endoscopic surgical devices, which are suitable for the precise placement of the distal end effector in the desired surgical field through a cannula or trocar.

The end effector is a part of the apparatus (for example, an endoscopic cutting tool (such as an endocutter), a gripper, a cutting device, stapling devices, a clamping device, an access device, a gene therapy drug delivery device and an energy device using ultrasound that are high frequency (RF), laser, etc.) configured to interact with tissue in a variety of ways to obtain the desired diagnostic or therapeutic result.

The end effector is sized to be inserted through the trocar into the patient.

The end effector of the endoscopic surgical apparatus-manipulator is a section of the apparatus-manipulator (in the particular case of a gripping-clamp).

The running gear of the end effector of the endoscopic surgical device serves to regulate the position of the instrument (in the particular case of the gripping-clamp), namely the position of the opening and closing of the instrument.

Depending on the nature of the operation, additional adjustment of the position of the end effector of the endoscopic surgical device may be required.

Known end effector described in patent WO 2013119545 (PCT / US 2013/024736) dated February 10, 2012, publ. August 15, 2013

In one embodiment of the invention, the instrument, namely the mounting portion of the surgical instrument, comprises a jaw clamp, an opening / closing mechanism, and a knife actuation mechanism.

The surgical instrument contains a rack and pinion gear - a mechanism for providing clamping of the jaw and performing the function of opening / closing and a trigger knife.

The mechanism is operated by a first gear coupled to rotate the body in such a way that rotation of the corresponding driven member causes the first gear to rotate in the first direction. The first gear is engaged with the second gear, so that the second gear rotates in a direction opposite to the first gear.

The gear mechanism, including the first and second gears, is configured to control the opening and closing of the upper clamping jaw and the movement from the cutting element in the form of an I-beam through the slot formed in the jaw clamp.

In another embodiment, the second gear is a gear engaged with a rack gear that moves in the direction of the sleeve.

The rack and pinion gear is connected to the closing / opening unit, which is connected to the distal portion of the shaft assembly.

The disadvantages of the described mechanisms is their complexity and the content of many structural details.

Known US patent 2012/0150154 from November 15, 2010., publ. June 14, 2012 (selected as the closest equivalent).

The operation of the device according to the closest analogue of the USA 2012/0150154:

The end effector structurally includes jaws (clamp), which can be opened and closed by means of a running mechanism, including a threaded spindle, a dilution nut, which has protrusions that interact with the slot, thereby causing the jaws to join around the pin.

The design includes a pin for mounting with the ability to rotate the upper and lower jaws to the frame. Running gear, lead screw, dilution nut, which moves forward and is retracted along the slit by rotating the screw. The nut includes protrusions and interacts with the slot, thereby causing articulation of the jaws around the pin.

The rotational movement of the drive shaft converts into the translational movement of the jaw of the effector.

The disadvantages of the known technical solutions for the closest analogue is the complexity of manufacturing parts of the mechanism that drives the jaw (clamp).

The objective of the proposed technical solution is to create a simplified mechanism for actuating a surgical instrument (clamps, needle holders, scissors, etc.).

The task is achieved in that the end effector of the endoscopic surgical device contains a surgical instrument, driven by a drive control mechanism through a running gear containing a screw-nut gear, mixing / diluting levers, while the running gear additionally contains levers connected to the response mixing levers / dilution by means of axes, and the function of the nut is performed by a bevel gear with a threaded sleeve.

The end effector of an endoscopic surgical device containing a surgical instrument is set in motion by a mechanism, which is called in our case - a running gear containing a screw-nut type transmission. The function of the screw is carried out by the lead screw with fastening elements of the levers of the running gear, the function of the nut is a bevel gear with a threaded sleeve. The levers of the running gear are connected to the response levers of information-breeding of the end effector by means of axes.

The mechanical part that regulates the position of the tool (mixing or breeding) works on the principle of converting the rotational movement of the gear

screw-nut in the reciprocating movement, transmitting this movement to the levers of information-breeding of the working part of the end effector.

The control mechanism of the working part of the end effector of the surgical manipulator is shown in the drawings:

Figure 1 - appearance of the control mechanism of the working part of the end effector of the surgical manipulator.

Figure 2 - appearance of the end effector.

Figure 3 is a detailed view of the structural components of the running gear of the working part of the end effector.

The drive control mechanism for the surgical manipulator includes the following nodes (Fig. 1):

1 - drive control mechanism;

2 - a power shaft;

3 - hinge assembly with three bevel differential gears;

4 - hinge assembly with two bevel differential gears;

5 - hinge assembly with a running gear;

6 - running gear;

7 - end effector.

Node 6 - running gear that drives (mixing- / dilution) surgical instrument 8.

The running gear (Fig. 3, Fig. 2), which drives the tool, consists of a housing 9, a helical gear including a screw 11, a bevel gear of the running gear with a threaded sleeve 10, levers 12 and levers 13, which are connected by axes 14, 15, and the working part 8 (surgical instrument) of the end effector 7.

The movement of the information / dilution mechanism of the working part is carried out by converting the rotational movement of the screw-nut transmission into a reciprocating

movement transmitting this movement to the levers of information / breeding of the working part of the end effector.

The implementation of the invention:

The movement of the leading element of the screw screw 11, driven by the running gear 5 (Fig. 1), leads to the movement of the levers 12, mounted in the housing 9 on the axes 14, which in turn is accompanied by the movement of the working part 8 of the end effector 7 (Fig. 1) .

The working part extends in the distal direction after transmitting to it the rotational movement from the drive control mechanism 1 (Fig. 1) through the drive shaft 2 and the screw-nut type transmission, including the running gear 10 and the lead screw 11 (Fig. 3), and retracts back to proximal direction after transmitting a rotational reverse motion to it.

As a surgical instrument in a particular case, the end effector contains a jaw grasp.

As a surgical instrument, cutting devices, clamping devices, access devices, drug delivery devices, energy devices using ultrasound, high frequency (RF), laser, etc., adapted to interact with tissue in a variety of ways can be used to obtain the desired diagnostic or therapeutic result. (RF patent No. 2499567 dated February 13, 2009).

The claimed invention meets the criterion of "novelty", because from available sources of information, technical solutions with the same essential features were not identified.

The claimed invention meets the criterion of "inventive step", as it is not obvious to a specialist.

The claimed invention meets the criterion of "industrial applicability", as it can be obtained from known means and known methods.

Claims (4)

1. The end effector of an endoscopic surgical apparatus, containing a surgical instrument, driven by a drive control mechanism through a running gear, comprising a screw-nut gear, mixing / breeding levers, characterized in that the running gear further comprises levers connected to the response mixing levers / dilutions by means of axes, and the function of the nut is performed by a bevel gear with a threaded sleeve. 2. The end effector according to claim 1, characterized in that it contains a jaw-grip as a surgical instrument. 3. The end effector according to claim 1, characterized in that it contains cutting devices as a surgical instrument. 4. The end effector according to claim 1, characterized in that, as a surgical instrument, comprises clamping devices, an access device, a drug delivery device.

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