CN105496483A - Surgical operating instrument and driving device thereof - Google Patents
Surgical operating instrument and driving device thereof Download PDFInfo
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- CN105496483A CN105496483A CN201410499108.XA CN201410499108A CN105496483A CN 105496483 A CN105496483 A CN 105496483A CN 201410499108 A CN201410499108 A CN 201410499108A CN 105496483 A CN105496483 A CN 105496483A
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- rotary sleeve
- annular rack
- fixed handle
- slender bodies
- engaging tooth
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Abstract
The invention relates to the technical field of medical instruments and discloses a driving device and a surgical operating instrument. The driving device comprises a driving component, and the driving component comprises a transmission component, a limiting mechanism, a first rotary sleeve and a second rotary sleeve, wherein the transmission component is used for driving an end effector to turn during acting, the limiting mechanism is mounted on a fixing handle and circumferentially locks a slender body when being positioned at a limiting position, the first rotary sleeve is mounted on the fixing handle and is circumferentially locked with the slender body, and the second rotary sleeve sleeves the first rotary sleeve coaxially. When being positioned at a turn adjusting position, the second rotary sleeve is in transmission connection with the transmission component and is matched with the limiting mechanism to enable the limiting mechanism to be kept at the limiting position; when being positioned at a rotation adjusting position, the second rotary sleeve is not in transmission connection with the transmission component, and the limiting mechanism restores. The driving device is capable of improving stability in switching between end effector turn control and slender body rotation control in the surgical operating instrument.
Description
Technical field
The present invention relates to technical field of medical instruments, particularly a kind of driving device of surgical operating instrument and surgical operating instrument.
Background technology
The operation wound of surgical operating instrument under the mirror of chamber to patient is little, and good operation effect can greatly reduce the misery brought to surgical patient.
For stapler, stapler comprises operating grip, slender bodies and end effector; Operating grip comprises fixed handle and firing handle, wherein fixed handle is used for being gripped by user, firing handle is used for being operated to provide by user controlling and driving, the distally of operating grip (is nearside near the side of user during operation, side away from user is distally) be connected with end effector by slender bodies, end effector is used under the control of operating grip, performing cutting to the tissue of human intracavity and sewing up.
At present, for satisfied operation needs, the end effector that in the stapler under the mirror of chamber, slender bodies distally is installed can curve by opposite elongate body, and, slender bodies also can rotate relative to the axial line of operating grip around slender bodies, to change the direction of dehiscing of end effector; As, end effector directly can be articulated in the distally of slender bodies, then driven by the driven unit being arranged on operating grip and curve, nearside one end of slender bodies is journaled on operating grip simultaneously, is then driven by the driven unit being arranged on operating grip and rotates.
In prior art, the rotation of slender bodies and the general two kinds of duties of same group of driven unit that adopt that curve of end effector drive; When driven unit is in a kind of duty, driven unit can drive end effector to curve relative to slender bodies, and now driven unit can not drive slender bodies to rotate; When driven unit is in another kind of duty, driven unit can drive slender bodies to rotate, and now, driving device can not drive end effector to curve.
But, the driven unit had in stapler of the prior art control end effector curve and control slender bodies rotate change between two kinds of duties time less stable, drive end effector to curve when driving to cause driven unit to rotate with slender bodies simultaneously, increase the risk causing malpractice.
Summary of the invention
The invention provides a kind of driving device of surgical operating instrument and a kind of surgical operating instrument, wherein, driving device can improve in surgical operating instrument and curves and control slender bodies and rotate stability when two kinds of duties switch controlling end effector.
For achieving the above object, the invention provides following technical scheme:
A driving device for surgical operating instrument, the end effector comprised for described surgical operating instrument curves and the driven unit of slender bodies powered rotation; Described driven unit comprises:
Transmission component, is in transmission connection with nearside one end of described end effector, drives described end effector to curve during action;
Position-limit mechanism, is installed on the fixed handle of described surgical operating instrument; Described slender bodies circumference locks when being in its spacing station by described position-limit mechanism, removes locking the circumference of described slender bodies during reset;
First rotary sleeve, fixed handle can be installed on rotatably around its axial line and and between described slender bodies circumference lock, be provided with axial limiting mechanism between described first rotary sleeve and described fixed handle to carry out axial limiting to described first rotary sleeve;
Second rotary sleeve, can around its axial line rotate and can along its direction of axis line movably coaxial sleeve be located at the outside of described first rotary sleeve; Described second rotary sleeve is in it and curves and to be in transmission connection with described transmission component when regulating station and to coordinate with described position-limit mechanism, and described position-limit mechanism moves to and remains on its spacing station under the driving of described second rotary sleeve; When described second rotary sleeve is positioned at its rotation adjustment station, being in transmission connection between described second rotary sleeve and described transmission component disconnects, and described position-limit mechanism resets.
Above-mentioned driving device is when driving end effector to curve, be in transmission connection between second rotary sleeve and transmission component, and, second rotary sleeve coordinates with position-limit mechanism, and make position-limit mechanism remain on spacing station, now, it is spacing that position-limit mechanism carries out circumference to slender bodies, therefore, driving device slender bodies when driving end effector to curve can not rotate in a circumferential direction; Simultaneously, when above-mentioned driving device is when driving slender bodies to rotate in a circumferential direction, described second rotary sleeve is positioned to rotate and regulates station, now, the relation that is in transmission connection between second rotary sleeve and transmission component disconnects, and position-limit mechanism resets spacing to the circumference of slender bodies to remove, now can control slender bodies by the first rotary sleeve to rotate in a circumferential direction, and end effector can not carry out curving action.
Therefore, above-mentioned driving device can improve in surgical operating instrument and curves and control slender bodies and rotate stability when two kinds of duties switch controlling end effector.
Preferably, described position-limit mechanism specifically comprises limited block and is arranged at the annular rack on described slender bodies surface, and the inner surface of described second rotary sleeve forms drive surface; Wherein:
Described limited block can be installed on described fixed handle slidably along perpendicular to described slender bodies direction of axis line, described limited block forms engaging tooth towards a side surface of described slender bodies axial line, and is provided with elastic reset part between described limited block and described fixed handle; When described second rotary sleeve is in and curves adjustment station, described limited block moves to spacing station under the driving of described drive surface, described elastic reset part is in compression and stores power state, and the engaging tooth of described limited block engages with the tooth of the annular rack on described slender bodies, spacing to realize the circumference of described slender bodies.
Preferably, described elastic reset part is spring.
Preferably, described position-limit mechanism specifically comprises:
Be sheathed on the damped ring between described slender bodies and described fixed handle;
Be arranged at the block face of described fixed handle;
Be arranged at the compressive plane of described second rotary sleeve inner surface, when described second rotary sleeve be in its curve regulate station time, described compressive plane coordinates with described block face and extrudes described damped ring, to make described damped ring produce plastic deformation and to compress described slender bodies and fixed handle, with spacing to described slender bodies circumference.
Preferably, between described first rotary sleeve and described slender bodies, circumference locks, and specifically comprises:
The outer surface of described slender bodies forms at least one spacing preiection, the inner surface of described first rotary sleeve is formed and described spacing preiection stopper slot one to one, in spacing preiection described in every a pair and stopper slot, described spacing preiection inserts described stopper slot, locks with the circumference realized between described first rotary sleeve and described slender bodies.
Preferably, described second rotary sleeve be in its curve regulate station time, be in transmission connection between described second rotary sleeve and described drive sleeve, specifically comprise:
Be arranged at the annular internal tooth ring of described second rotary sleeve medial wall, the axial line of described annular internal tooth ring overlaps with the axial line of described second rotary sleeve, and described annular internal tooth ring forms engaging tooth towards the side of described drive sleeve;
Be arranged at the annular outer tooth ring of the outer peripheral face of described drive sleeve, the axial line of described annular outer tooth ring overlaps with the axial line of described drive sleeve, and described annular outer tooth ring is towards the side formation engaging tooth of described second rotary sleeve medial wall;
At least one travelling gear of fixed handle can be installed on rotatably around its axial line, the axial line of travelling gear described in each and the axis parallel of described drive sleeve, described second rotary sleeve be positioned at its curve regulate station time, travelling gear described in each engages with described annular internal tooth ring, engages with described annular outer tooth ring simultaneously.
Preferably, described annular internal tooth ring forms at least two fixture blocks towards the side of described second rotary sleeve, and the sidewall of described second rotary sleeve is formed and described at least two fixture blocks draw-in groove one to one, described fixture block and described draw-in groove clamping.
Preferably, also comprise the second rotary sleeve station and keep switching mechanism, when described second rotary sleeve be positioned at its curve regulate station time, described second rotary sleeve station keeps switching mechanism can carry out the axial limiting of distal direction to described second rotary sleeve.
Preferably, described second rotary sleeve station keeps switching mechanism to comprise:
The first confined planes that the outer surface that described fixed handle is positioned at described second rotary sleeve position is formed, described first confined planes is towards proximal direction;
The second confined planes that the outer surface that described fixed handle is positioned at described second rotary sleeve position is formed, described second confined planes distally direction, and described second confined planes is positioned at the side of described first confined planes towards nearside;
Between described fixed handle and described second rotary sleeve and the first annular rack be sheathed on outside described fixed handle, described first annular rack is between described first confined planes and the second confined planes, and the outer surface of described first annular rack is provided with the first engaging tooth;
Between described fixed handle and described second rotary sleeve and the second annular rack be sheathed on outside described fixed handle, described second annular rack is between described first annular rack and described second confined planes, and described second annular rack is provided with the second engaging tooth towards the end face of described first annular rack, the outer surface of described second annular rack is provided with the 3rd engaging tooth;
Be fixed on the 3rd annular rack of the inwall of described second rotary sleeve, described 3rd annular rack is positioned at described first confined planes towards proximal direction side, the inner surface of described 3rd annular rack forms multiple 4th engaging tooth, 4th engaging tooth described in each has the stopper slot in opening distally direction, and forms the groove extended along described 3rd annular rack direction of axis line between two of arbitrary neighborhood the 4th engaging tooths;
Between described fixed handle and described second rotary sleeve and the back-moving spring be sheathed on outside described fixed handle, described back-moving spring is between described first annular rack and described first confined planes;
When described second rotary sleeve is in and curves adjustment station: one end, distally and described first confined planes of described back-moving spring offset, and nearside one end and described first annular rack offset, and described back-moving spring is in compression and stores power state; The flank of tooth of the first engaging tooth that described first annular rack is arranged and the second engaging tooth that described second annular rack is arranged offsets; The stopper slot bottom land of the 3rd engaging tooth that described second annular rack is arranged and the 4th engaging tooth that described 3rd annular rack is arranged offsets;
When described second rotary sleeve is in Switch of working position station: one end, distally and described first confined planes of described back-moving spring offset, and nearside one end and described first annular rack offset, and described back-moving spring is in compression and stores power state; The flank of tooth of the first engaging tooth that described first annular rack is arranged and the second engaging tooth that described second annular rack is arranged offsets; Proximal end face and described second confined planes of described second annular rack offset, and described second annular rack arrange the 3rd engaging tooth depart from described 3rd annular rack arrange the 4th engaging tooth and the groove that the 3rd engaging tooth described in each and described 3rd annular rack are provided with align vertically, pass in described groove with the 3rd engaging tooth described in each when described second rotary sleeve distal direction moves.
Present invention also offers a kind of surgical operating instrument, comprise operating grip, slender bodies, end effector; Described operating grip comprises fixed handle; One end, distally of described slender bodies is connected with nearside one end of described end effector; Any one driving device provided in technique scheme is also provided.
Preferably, described surgical operating instrument is chamber mirror stapler.
Accompanying drawing explanation
Fig. 1 is the structural representation of surgical operating instrument provided by the invention;
The structural representation of the driving device that Fig. 2 provides for an embodiment of the present invention;
A kind of fit structure schematic diagram in the driving device that Fig. 3 provides for an embodiment of the present invention between position-limit mechanism and slender bodies;
Spacing a kind of structural representation is engaged by tooth between position-limit mechanism with slender bodies in the driving device that Fig. 4 provides for an embodiment of the present invention;
In the driving device that Fig. 5 provides for an embodiment of the present invention, the second rotary sleeve remains on it and curves structural representation when regulating station;
A kind of structural representation of transmission component in the driving device that Fig. 6 provides for an embodiment of the present invention;
The profile of the drive sleeve of transmission component in the driving device that Fig. 7 provides for an embodiment of the present invention;
In the driving device that Fig. 8 provides for an embodiment of the present invention, transmission component has the structural representation of a pair drive rod nearside one end;
Mated condition schematic diagram in the driving device that Fig. 9 provides for an embodiment of the present invention between the drive sleeve of transmission component and a pair drive rod;
Fit structure schematic diagram in the driving device that Figure 10 provides for an embodiment of the present invention between a pair drive rod of transmission component and end effector;
The structural representation of the first annular rack in the driving device that Figure 11 provides for an embodiment of the present invention;
The structural representation of the second annular rack in the driving device that Figure 12 provides for an embodiment of the present invention;
The structural representation of the 3rd annular rack in the driving device that Figure 13 provides for an embodiment of the present invention.
Reference numeral:
1, fixed handle 2, the second rotary sleeve 3, slender bodies
4, end effector 11, position-limit mechanism 12, spacing preiection
13, first rotary sleeve 14, spacing preiection 15, limited block
16, limited block 17, spacing preiection 21, annular internal tooth ring
22, travelling gear 23, drive sleeve 24, back-moving spring
25, first annular rack 26, second annular rack the 27, three annular rack
31, annular rack 32, support member 33, support member
41, nail kit base 71, drive rod 72, drive rod
111, engaging tooth 112, lead 113, elastic reset part
231, annular outer tooth ring 232, face 233 of pulling back, drive surface
The outer surface of the 251, first engaging tooth 252, first annular rack
The proximal end face of inner surface 254, first annular rack of the 253, first annular rack
The outer surface of the 261, three engaging tooth 262, second annular rack
The proximal end face of inner surface 264, second annular rack of the 263, second annular rack
The flank of tooth of the 265, second engaging tooth 266, second engaging tooth
Inner surface the 272, four engaging tooth of the 271, three annular rack
273, groove 274, the proximal end face of the 3rd annular rack
411, bearing pin 412, bearing pin 711, draw-in groove
712, cell wall 713, cell wall 721, draw-in groove
722, cell wall 723, cell wall 2321, cascaded surface
2322, transition face 2331, cascaded surface 2332, transition face
2721, stopper slot
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
The invention provides a kind of driving device of surgical operating instrument and a kind of surgical operating instrument with above-mentioned driving device, for ease of being described the work process of driving device and operation principle, to the related notion introduced in the process of driving device description surgical operating instrument in the present embodiment, therefore, in literary composition, the operation principle of the no longer independent surgical operating instrument to having above-mentioned driving device is described.
In addition, in various embodiments of the present invention, away from the side of user when " distally " refers to that this surgical operating instrument is operated, near the side of user when " nearside " then refers to that this surgical operating instrument is operated.
Please refer to Fig. 1 and Fig. 2, wherein, Fig. 1 is the structural representation of surgical operating instrument provided by the invention; The structural representation of the driving device that Fig. 2 provides for an embodiment of the present invention.
As shown in Figure 1, in a kind of specific embodiment, the surgical operating instrument that the embodiment of the present invention provides comprises operating grip, slender bodies 3 and end effector 4, end effector 4 comprises nail-anvil assembly and nail kit assembly, operating grip comprises fixed handle 1 and firing handle, is provided with trigger shaft in fixed handle 1; Nearside one end of slender bodies 3 is connected with fixed handle 1, and one end, distally is connected with nearside one end of end effector 4; Above-mentioned surgical operating instrument also comprises a kind of driving device driving end effector 4 to curve and drive slender bodies 3 to rotate around its axial line relative to slender bodies 3, to realize the driving curving end effector 4 and rotate.
Preferably, above-mentioned surgical operating instrument is chamber mirror stapler.
Incorporated by reference to Fig. 1 with reference to figure 2, Fig. 3, Fig. 4 and Fig. 8, the driving device of the surgical operating instrument that the embodiment of the present invention provides, the end effector 4 comprised for surgical operating instrument curves and the driven unit of slender bodies 3 powered rotation; Driven unit comprises:
Transmission component, is in transmission connection with nearside one end of end effector 4, drives end effector 4 to curve during action;
Position-limit mechanism 11, position-limit mechanism 11 is installed on fixed handle 1, when position-limit mechanism 11 is in its spacing station by the locking of slender bodies 3 circumference, removes and lock the circumference of slender bodies 3 when position-limit mechanism 11 resets;
First rotary sleeve 13, first rotary sleeve 13 can be installed on fixed handle 1 rotatably around its axial line, and between the first rotary sleeve 13 and slender bodies 3, circumference locks, and is provided with axial limiting mechanism to carry out axial limiting to the first rotary sleeve 13 between the first rotary sleeve 13 and fixed handle 1; Particularly, circumference between first rotary sleeve 13 and slender bodies 3 lock at least one spacing preiection that specifically can examine and be arranged on slender bodies 3 and be arranged at the first rotary sleeve 13 inner surface with the first spacing preiection one to one stopper slot realize, first rotary sleeve 13 with the axial limiting mechanism between fixed handle 1 can be: the first rotary sleeve 13 is provided with the annular protrusion that axial line overlaps with the axial line of slender bodies 3, and fixed handle 1 is provided with the draw-in groove with annular protrusion clamping simultaneously;
Second rotary sleeve 2, second rotary sleeve 2 can around its axial line rotate and can along its direction of axis line movably coaxial sleeve be located at the outside of the first rotary sleeve 13; Second rotary sleeve 2 is in it and curves and to be in transmission connection with transmission component when regulating station and to coordinate with position-limit mechanism 11, and position-limit mechanism 11 moves to spacing station and remains on spacing station under the driving of the second rotary sleeve 2; When second rotary sleeve 2 is positioned at its rotation adjustment station, being in transmission connection between the second rotary sleeve 2 and transmission component disconnects, and position-limit mechanism 11 resets.
Above-mentioned driving device is when driving end effector 4 to curve, be in transmission connection between second rotary sleeve 2 and transmission component, and, second rotary sleeve 2 coordinates with position-limit mechanism 11, and make position-limit mechanism 11 remain on spacing station, now, it is spacing that position-limit mechanism 11 pairs of slender bodiess 3 carry out circumference, therefore, driving device slender bodies 3 when driving end effector 4 to curve can not rotate in a circumferential direction; Simultaneously, when above-mentioned driving device is when driving slender bodies 3 to rotate in a circumferential direction, second rotary sleeve 2 is positioned to rotate and regulates station, now, the relation that is in transmission connection between second rotary sleeve 2 and transmission component disconnects, and the circumference that position-limit mechanism 11 resets to remove slender bodies 3 is spacing, now can control slender bodies 3 by the first rotary sleeve 13 to rotate in a circumferential direction, and end effector 4 can not carry out curving action.
Therefore, above-mentioned driving device can improve in surgical operating instrument and curves and control slender bodies 3 and rotate stability when two kinds of duties switch controlling end effector 4.
Preferably, in the driving device that above-mentioned embodiment provides, position-limit mechanism 11 can have multiple set-up mode, as, as shown in Figure 3 and Figure 4, position-limit mechanism can comprise limited block and be arranged at the annular rack 31 on slender bodies 3 surface, the inner surface of the second rotary sleeve 2 forms drive surface, wherein:
Limited block can be installed on fixed handle 1 slidably along perpendicular to slender bodies 3 direction of axis line, and limited block forms engaging tooth 111 towards a side surface of slender bodies 3 axial line, is provided with elastic reset part 113 between limited block and fixed handle 1; Concrete, limited block can be provided with lead 112, and fixed handle 1 is provided with pilot hole, lead 112 to be arranged in pilot hole and to be slidably matched with pilot hole;
When second rotary sleeve 2 is in and curves adjustment station, limited block moves to spacing station and remains on spacing station under the driving of the drive surface of the second rotary sleeve 2, elastic reset part 113 is in compression and stores power state, and the engaging tooth 111 of limited block engages with the tooth of the annular rack 31 on slender bodies 3, spacing to realize the circumference of slender bodies 3.
Preferably, above-mentioned elastic reset part 113 is spring.
In specific works process, the inner surface of the second rotary sleeve 2 can be provided with drive surface, when second rotary sleeve 2 is in and rotates adjustment station, limited block offsets with drive surface under the reseat pressure of elastic reset part 113, when the second rotary sleeve 2 proximal direction moves, with move to its curve regulate station time, the reseat pressure that limited block overcomes elastic reset part 113 under the pressure effect of drive surface moves to the direction near slender bodies 3 axial line, and the engaging tooth 111 making it be formed engages with the tooth of the annular rack 31 on slender bodies 3, and then it is spacing to carry out circumference to slender bodies 3.
Certainly, when above-mentioned position-limit mechanism 11 is limited block, the inner surface of the second rotary sleeve 2 can also be provided with T-shaped chute, and one end that limited block deviates from slender bodies 3 axial line forms I-shaped structure, limited block is limited in the T-shaped chute of the second rotary sleeve 2 formation by I-shaped structure, and, when second rotary sleeve 2 is positioned at and curves adjustment station, the position that second rotary sleeve 2 is relative with the I-shaped structure of limited block is provided with the ring channel structures that axial line overlaps with the axial line of the second rotary sleeve 2, with the rotation making limited block not affect the second rotary sleeve 2; Meanwhile, when the second rotary sleeve 2 is in and rotates adjustment station, the second rotary sleeve 2 is provided with the ring channel structures that axial line overlaps with the axial line of the second rotary sleeve 2 equally, with the rotation making limited block not affect the second rotary sleeve 2.
Above-mentioned position-limit mechanism 11 can also specifically comprise:
Be sheathed on the damped ring between slender bodies 3 and fixed handle 1;
Be arranged at the block face of fixed handle 1;
Be arranged at the compressive plane of the second rotary sleeve 2 inner surface, when the second rotary sleeve 2 be in its curve regulate station time, the compressive plane of the second rotary sleeve 2 coordinates squeezed air-damping circle, to make damped ring produce plastic deformation and to compress slender bodies 3 and fixed handle 1, with spacing to slender bodies 3 circumference with the block face of fixed handle 1.
Position-limit mechanism 11 utilizes the frictional force between the distortion raising slender bodies 3 of damped ring and fixed handle 1 when having damped ring, and then realizes locking the circumference of slender bodies 3.
In a kind of preferred implementation, as shown in Fig. 6 ~ Figure 10, the transmission component in above-mentioned driving device specifically can comprise:
Two drive rods, as shown in Figure 6 drive rod 71 and drive rod 72, drive rod 71 and drive rod 72 all can be installed in the housing of slender bodies 3 along the bearing of trend of slender bodies in surgical operating instrument 3 movably; As shown in Figure 8, nearside one end of drive rod 71 is provided with draw-in groove 711, and one end, distally is connected with nearside one end of end effector in surgical operating instrument 4; Nearside one end of drive rod 72 is provided with draw-in groove 721, and one end, distally is connected with nearside one end of end effector in surgical operating instrument 4;
Drive sleeve 23, as shown in Figure 6, drive sleeve 23 can be installed on the fixed handle 1 of surgical operating instrument rotatably along its axial line, the axis parallel of slender bodies 3 in the axial line of drive sleeve 23 and surgical operating instrument; As shown in Figure 7, drive sleeve 23 has drive surface 233 and face 232 of pulling back, wherein:
Slide towards the cell wall 712 of nearside in the draw-in groove 711 that drive surface 233 and drive rod 71 are provided with and offset, and slide towards the cell wall 722 of nearside in the draw-in groove 721 be provided with drive rod 72 and offset;
The cell wall 713 of to pull back in draw-in groove 711 that face 232 and drive rod 71 be provided with distally slides and offsets, and in the draw-in groove 721 be provided with drive rod 72, cell wall 723 distally slides and offsets;
When drive sleeve 23 rotates around its axial line, drive a drive rod proximal direction to move, drive another drive rod distal direction to move simultaneously, and the size of the translational speed of two drive rods is identical; Please refer to Figure 10, in two drive rods, by pin-and-hole and pinned connection between one end, distally of each drive rod and the nail kit base 41 of end effector 4; As shown in Figure 10, nail kit base 41 is provided with the bearing pin 411 be connected with drive rod 71 and the bearing pin 412 be connected with drive rod 72.
As shown in Figure 3 and Figure 6, in a kind of preferred implementation, in two drive rods of transmission component, a drive rod is positioned at the side of drive sleeve 23 axial line, and another drive rod is positioned at the opposite side of drive sleeve 23 axial line; Drive rod 71 as shown in Figure 3 and the position relationship of drive rod 72;
In drive sleeve 23, drive surface 233 and pull back face 232 with on drive sleeve 23 axial line a bit for point of symmetry centrosymmetry.
As shown in Figures 6 and 7, in drive sleeve 23, drive surface 233 is the distal face in drive sleeve 23 distally direction, and face 232 of pulling back is the proximal end face of drive sleeve 23 towards proximal direction.
Please continue to refer to Fig. 7, stability when putting in place is curved for improving end effector 4 in surgical operating instrument, in a kind of embodiment, along the circumferencial direction of drive sleeve 23, drive surface 233 is provided with multiple cascaded surface 2331 vertical with drive sleeve 23 axial line, and is provided with transition face 2332 between two of arbitrary neighborhood cascaded surfaces 2331; Simultaneously, due to drive surface 233 and pull back face 232 with on drive sleeve 23 axial line a bit for point of symmetry centrosymmetry, therefore, face 232 of pulling back also is formed multiple cascaded surface 2321 vertical with drive sleeve 23 axial line, and be provided with transition face 2322 between two of arbitrary neighborhood cascaded surfaces 2321.
When a cascaded surface 2331 on the cell wall 712 and drive surface 233 of the draw-in groove 711 of drive rod 71 offsets and the cell wall 713 of draw-in groove 711 offsets with a cascaded surface 2321 of pulling back on face 232, cell wall 722 and a cascaded surface 2331 in drive surface 233 of the draw-in groove 721 of drive rod 72 offset and the cell wall 723 of draw-in groove 721 offsets with a cascaded surface 2321 of pulling back on face 232, end effector 4 curves and puts in place, now, the axial limiting of drive sleeve 23 pairs of drive rods 71 and drive rod 72 is stablized, and then raising end effector 4 curves stability when putting in place.
When end effector 4 is urged to another elbow place from an one elbow place by needs, drive sleeve 23 rotates around its axial line, in drive rod 71, the cell wall 712 of draw-in groove 711 slides into another cascaded surface 2331 of drive surface 233 by transition face 2332, and the cell wall 713 of draw-in groove 711 slides into another cascaded surface 2331 in the face of pulling back 232 by transition face 2322; Meanwhile, in drive rod 72, the cell wall 722 of draw-in groove 721 slides into another cascaded surface 2331 of drive surface 233 by transition face 2332, and the cell wall 723 of draw-in groove 721 slides into another cascaded surface 2331 in the face of pulling back 232 by transition face 2322.
In a kind of preferred implementation, the drive surface 233 of drive sleeve 23 and pull back in face 232, the angle between the projection of the line between the central point of two cascaded surfaces of arbitrary neighborhood and the axial line of drive sleeve 23 in the plane perpendicular to drive sleeve 23 axial line is equal; Can be multiple region by the angular divisions that curves of end effector 4, and then end effector 4 be had multiplely curve angle.
In a kind of embodiment, in surgical operating instrument provided by the invention, the support member two drive rods of actuated lever assemblies in driving device being carried out to support limit is provided with in the housing of slender bodies 3, support member 32 as shown in Figure 3 and support member 33, and then two drive rods can only be moved along the direction of axis line of slender bodies 3.
In another kind of embodiment, please refer to Fig. 6, when the gear assembly in driving device comprises the annular outer tooth ring 231 of the outer peripheral face being arranged at drive sleeve 23, fixed handle 1 is provided with at least one pair of limited block, in every a pair limited block, as shown in Figure 6, a limited block 16 offsets with the nearside side slip of annular outer tooth ring 231, another limited block 15 slides with the distal side of annular outer tooth ring 231 and offsets, to realize the axial limiting to drive sleeve 23.
As shown in Fig. 2, Fig. 6 and Fig. 9, the second rotary sleeve 2 mentioned in above-mentioned embodiment be in its curve regulate station time, be in transmission connection between the second rotary sleeve 2 and transmission component, specifically can comprise:
The medial wall of the second rotary sleeve 2 is provided with annular internal tooth ring 21, and the axial line of annular internal tooth ring 21 overlaps with the axial line of the second rotary sleeve 2, and annular internal tooth ring 21 forms engaging tooth towards the side of drive sleeve 23;
The annular outer tooth ring 231 of the outer peripheral face of drive sleeve 23, the axial line of annular outer tooth ring 231 overlaps with the axial line of drive sleeve 23, and annular outer tooth ring 231 is towards the side formation engaging tooth of the second rotary sleeve 2 medial wall;
At least one travelling gear 22 of fixed handle 1 can be installed on rotatably around its axial line, the axial line of each travelling gear 22 and the axis parallel of drive sleeve 23, second rotary sleeve 2 be positioned at its curve regulate station time, each travelling gear 22 engages with annular internal tooth ring 21, engages with annular outer tooth ring 231 simultaneously.
Particularly, annular internal tooth ring 21 forms at least two fixture blocks towards the side of the second rotary sleeve 2, and the sidewall of the second rotary sleeve 2 is formed and at least two fixture blocks draw-in groove one to one, fixture block and draw-in groove clamping.
In above-mentioned driving device, when the second rotary sleeve 2 be positioned at its curve regulate station time, be in transmission connection by gear assembly between the second rotary sleeve 2 and drive sleeve 23, the second rotary sleeve 2 is when rotating around its axial line, and the anglec of rotation of the second rotary sleeve 2 easily controls; Therefore, in above-mentioned driving device, the anglec of rotation of drive sleeve 23 can be controlled by the anglec of rotation of control second rotary sleeve 2, and then the amount of movement of two drive rods in controlling, final control end effector 4 curve angle, control accuracy when end effector 4 is curved is higher; And, be in transmission connection by gear assembly between second rotary sleeve 2 and drive sleeve 23, stability during gear assembly transmission is high, simultaneously, drive sleeve 23 can control two drive rods synchronized ground counteragent simultaneously, makes a drive rod provide thrust for the side of end effector 4, and another drive rod provides pulling force for the opposite side of end effector 4, end effector 4 curves under the active force of two drive rods, and the driving stability that two drive rods curve end effector 4 is high.
In a kind of embodiment, in order to improve the stability of the second rotary sleeve 2 when curving adjustment station, above-mentioned driving device also comprises the second rotary sleeve station and keeps switching mechanism, when the second rotary sleeve 2 be positioned at its curve regulate station time, second rotary sleeve station keeps switching mechanism can carry out the axial limiting of distal direction to the second rotary sleeve 2, produces move axially to prevent the second rotary sleeve 2 when driving end effector 4 to curve.
Particularly, as shown in Fig. 2, Fig. 5 and Figure 11 ~ Figure 13, above-mentioned second rotary sleeve station keeps switching mechanism to comprise:
The outer surface that fixed handle 1 is positioned at the second rotary sleeve 2 position forms two annular spacing preiections, spacing preiection 12 as shown in Figure 2 and spacing preiection 17, spacing preiection 17 is positioned at the side of spacing preiection 12 towards nearside, spacing preiection 12 forms the first confined planes towards the surface of proximal direction, and the surface in spacing preiection 17 distally direction forms the second confined planes;
Between fixed handle 1 and the second rotary sleeve 2 and the first annular rack 25 be sheathed on outside fixed handle 1, first annular rack 25 is between the first confined planes and the second confined planes, and the outer surface 252 of the first annular rack 25 is provided with the first engaging tooth 251, as shown in figure 11, the diameter of the inner surface 253 of the first engaging tooth 251 is greater than the diameter that fixed handle 1 is positioned at the second rotary sleeve 2 position, therefore, the first annular rack 25 can relative to fixed handle 1 moving axially and can rotate relative to the axial line of fixed handle 1 around slender bodies along slender bodies;
Between fixed handle 1 and the second rotary sleeve 2, and the second annular rack 26 be sheathed on outside fixed handle 1, second annular rack 26 is between the first annular rack 25 and the second confined planes, and the second annular rack 26 is provided with the second engaging tooth 265 towards the end face (i.e. the proximal end face 264 of the second annular rack 26) of the first annular rack 25, the outer surface 262 of the second annular rack 26 is provided with the 3rd engaging tooth 261 as shown in figure 12, the diameter of the inner surface 263 of the second annular rack 26 is greater than the diameter that fixed handle 1 is positioned at the second rotary sleeve 2 position, therefore, second annular rack 26 can relative to fixed handle 1 moving axially along slender bodies, and can rotate relative to the axial line of fixed handle 1 around slender bodies,
Be fixed on the 3rd annular rack 27 of the inwall of the second rotary sleeve 2,3rd annular rack 27 is positioned at the first confined planes towards proximal direction side, the inner surface 271 of the 3rd annular rack 27 forms multiple 4th engaging tooth 272, each the 4th engaging tooth 272 has the stopper slot 2721 in opening distally direction, and forms the groove 273 extended along the 3rd annular rack 27 direction of axis line between two of arbitrary neighborhood the 4th engaging tooths 272; Preferably, each the 4th engaging tooth 272 can stretch out from the proximal section end face 274 of the 3rd annular rack 27;
Between fixed handle 1 and the second rotary sleeve 2 and the back-moving spring 24 be sheathed on outside fixed handle 1, back-moving spring 24 between the first annular rack 25 and the first confined planes, as shown in Figure 2;
When second rotary sleeve 2 is in and curves adjustment station: one end, distally and first confined planes of back-moving spring 24 offset, and the proximal end face 254 of nearside one end and the first annular rack 25 offsets, and back-moving spring 24 is in compression and stores power state; The flank of tooth 266 of the first engaging tooth 251 that the first annular rack 25 is arranged and the second engaging tooth 265 that the second annular rack 26 is arranged offsets; Stopper slot 2721 bottom land of the 3rd engaging tooth 261 that the second annular rack 26 is arranged and the 4th engaging tooth 272 that the 3rd annular rack 27 is arranged offsets; Now, three annular rack 27 fixing with the second rotary sleeve 2 can not think that distal direction moves, and then the second rotary sleeve 2 can be made to remain on curve to regulate on station;
The second rotary sleeve 2 be in curve regulate station time, the second rotary sleeve 2 proximal direction is continued to move, until the spacing preiection 14 that arranges of the proximal end face of the second rotary sleeve 2 and fixed handle 1 offsets towards the thrust surface of proximal direction, second rotary sleeve is in Switch of working position station, in the process, one end, distally and first confined planes of back-moving spring 24 offset, and nearside one end and the first annular rack 25 offset, and back-moving spring 24 is in compression and stores power state; The flank of tooth of the first engaging tooth 251 that the first annular rack 25 is arranged and the second engaging tooth 265 that the second annular rack 26 is arranged offsets; Proximal end face and second confined planes of the second annular rack 26 offset, and second annular rack 26 arrange the 3rd engaging tooth 261 depart from the 3rd annular rack 27 arrange the 4th engaging tooth 272 and the second annular rack 26 rotate around its axial line under the driving of the first engaging tooth 251 of the first annular rack 25, until the groove 273 that each the 3rd engaging tooth 261 and the 3rd annular rack 27 are provided with aligns vertically, pass in groove 273 with each the 3rd engaging tooth 261 when the second rotary sleeve 2 distal direction moves.
Obviously, those skilled in the art can carry out various change and modification to the embodiment of the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (11)
1. a driving device for surgical operating instrument, the end effector comprised for described surgical operating instrument curves and the driven unit of slender bodies powered rotation; It is characterized in that, described driven unit comprises:
Transmission component, is in transmission connection with nearside one end of described end effector, drives described end effector to curve during action;
Position-limit mechanism, is installed on the fixed handle of described surgical operating instrument; Described slender bodies circumference locks when being in its spacing station by described position-limit mechanism, removes locking the circumference of described slender bodies during reset;
First rotary sleeve, fixed handle can be installed on rotatably around its axial line and and between described slender bodies circumference lock, be provided with axial limiting mechanism between described first rotary sleeve and described fixed handle to carry out axial limiting to described first rotary sleeve;
Second rotary sleeve, can around its axial line rotate and can along its direction of axis line movably coaxial sleeve be located at the outside of described first rotary sleeve; Described second rotary sleeve is in it and curves and to be in transmission connection with described transmission component when regulating station and to coordinate with described position-limit mechanism, and described position-limit mechanism moves to and remains on its spacing station under the driving of described second rotary sleeve; When described second rotary sleeve is positioned at its rotation adjustment station, being in transmission connection between described second rotary sleeve and described transmission component disconnects, and described position-limit mechanism resets.
2. driving device according to claim 1, is characterized in that, described position-limit mechanism specifically comprises limited block and is arranged at the annular rack on described slender bodies surface, and the inner surface of described second rotary sleeve forms drive surface; Wherein:
Described limited block can be installed on described fixed handle slidably along perpendicular to described slender bodies direction of axis line, described limited block forms engaging tooth towards a side surface of described slender bodies axial line, and is provided with elastic reset part between described limited block and described fixed handle; When described second rotary sleeve is in and curves adjustment station, described limited block moves to spacing station under the driving of described drive surface, described elastic reset part is in compression and stores power state, and the engaging tooth of described limited block engages with the tooth of the annular rack on described slender bodies, spacing to realize the circumference of described slender bodies.
3. driving device according to claim 2, is characterized in that, described elastic reset part is spring.
4. driving device according to claim 1, is characterized in that, described position-limit mechanism specifically comprises:
Be sheathed on the damped ring between described slender bodies and described fixed handle;
Be arranged at the block face of described fixed handle;
Be arranged at the compressive plane of described second rotary sleeve inner surface, when described second rotary sleeve be in its curve regulate station time, described compressive plane coordinates with described block face and extrudes described damped ring, to make described damped ring produce plastic deformation and to compress described slender bodies and fixed handle, with spacing to described slender bodies circumference.
5. driving device according to claim 1, is characterized in that, between described first rotary sleeve and described slender bodies, circumference locks, and specifically comprises:
The outer surface of described slender bodies forms at least one spacing preiection, the inner surface of described first rotary sleeve is formed and described spacing preiection stopper slot one to one, in spacing preiection described in every a pair and stopper slot, described spacing preiection inserts described stopper slot, locks with the circumference realized between described first rotary sleeve and described slender bodies.
6. driving device according to claim 1, is characterized in that, described second rotary sleeve be in its curve regulate station time, be in transmission connection between described second rotary sleeve and described transmission component, specifically comprise:
The medial wall of described second rotary sleeve is provided with annular internal tooth ring, and the axial line of described annular internal tooth ring overlaps with the axial line of described second rotary sleeve, and described annular internal tooth ring forms engaging tooth towards the side of described drive sleeve;
Described transmission component comprises drive sleeve, the annular outer tooth ring of the outer peripheral face of described drive sleeve, the axial line of described annular outer tooth ring overlaps with the axial line of described drive sleeve, and described annular outer tooth ring is towards the side formation engaging tooth of described second rotary sleeve medial wall;
At least one travelling gear of fixed handle can be installed on rotatably around its axial line, the axial line of travelling gear described in each and the axis parallel of described drive sleeve, described second rotary sleeve be positioned at its curve regulate station time, travelling gear described in each engages with described annular internal tooth ring, engages with described annular outer tooth ring simultaneously.
7. driving device according to claim 6, it is characterized in that, described annular internal tooth ring forms at least two fixture blocks towards the side of described second rotary sleeve, and the sidewall of described second rotary sleeve is formed and described at least two fixture blocks draw-in groove one to one, described fixture block and described draw-in groove clamping.
8. the driving device according to any one of claim 1 ~ 7, it is characterized in that, also comprise the second rotary sleeve station and keep switching mechanism, when described second rotary sleeve be positioned at its curve regulate station time, described second rotary sleeve station keeps switching mechanism can carry out the axial limiting of distal direction to described second rotary sleeve.
9. driving device according to claim 8, is characterized in that, described second rotary sleeve station keeps switching mechanism to comprise:
The first confined planes that the outer surface that described fixed handle is positioned at described second rotary sleeve position is formed, described first confined planes is towards proximal direction;
The second confined planes that the outer surface that described fixed handle is positioned at described second rotary sleeve position is formed, described second confined planes distally direction, and described second confined planes is positioned at the side of described first confined planes towards nearside;
Between described fixed handle and described second rotary sleeve and the first annular rack be sheathed on outside described fixed handle, described first annular rack is between described first confined planes and the second confined planes, and the outer surface of described first annular rack is provided with the first engaging tooth;
Between described fixed handle and described second rotary sleeve and the second annular rack be sheathed on outside described fixed handle, described second annular rack is between described first annular rack and described second confined planes, and described second annular rack is provided with the second engaging tooth towards the end face of described first annular rack, the outer surface of described second annular rack is provided with the 3rd engaging tooth;
Be fixed on the 3rd annular rack of the inwall of described second rotary sleeve, described 3rd annular rack is positioned at described first confined planes towards proximal direction side, the inner surface of described 3rd annular rack forms multiple 4th engaging tooth, 4th engaging tooth described in each has the stopper slot in opening distally direction, and forms the groove extended along described 3rd annular rack direction of axis line between two of arbitrary neighborhood the 4th engaging tooths;
Between described fixed handle and described second rotary sleeve and the back-moving spring be sheathed on outside described fixed handle, described back-moving spring is between described first annular rack and described first confined planes;
When described second rotary sleeve is in and curves adjustment station: one end, distally and described first confined planes of described back-moving spring offset, and nearside one end and described first annular rack offset, and described back-moving spring is in compression and stores power state; The flank of tooth of the first engaging tooth that described first annular rack is arranged and the second engaging tooth that described second annular rack is arranged offsets; The stopper slot bottom land of the 3rd engaging tooth that described second annular rack is arranged and the 4th engaging tooth that described 3rd annular rack is arranged offsets;
When described second rotary sleeve is in Switch of working position station: one end, distally and described first confined planes of described back-moving spring offset, and nearside one end and described first annular rack offset, and described back-moving spring is in compression and stores power state; The flank of tooth of the first engaging tooth that described first annular rack is arranged and the second engaging tooth that described second annular rack is arranged offsets; Proximal end face and described second confined planes of described second annular rack offset, and described second annular rack arrange the 3rd engaging tooth depart from described 3rd annular rack arrange the 4th engaging tooth and the groove that the 3rd engaging tooth described in each and described 3rd annular rack are provided with align vertically, pass in described groove with the 3rd engaging tooth described in each when described second rotary sleeve distal direction moves.
10. a surgical operating instrument, comprises operating grip, slender bodies, end effector; Described operating grip comprises fixed handle; One end, distally of described slender bodies is connected with nearside one end of described end effector; It is characterized in that, also comprise the driving device as described in any one of claim 1 ~ 9.
11. surgical operating instruments according to claim 10, is characterized in that, described surgical operating instrument is chamber mirror stapler.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410499108.XA CN105496483B (en) | 2014-09-25 | 2014-09-25 | The drive device and surgical operating instrument of surgical operating instrument |
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| CN201410499108.XA CN105496483B (en) | 2014-09-25 | 2014-09-25 | The drive device and surgical operating instrument of surgical operating instrument |
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| CN105496483A true CN105496483A (en) | 2016-04-20 |
| CN105496483B CN105496483B (en) | 2017-06-23 |
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| CN201410499108.XA Active CN105496483B (en) | 2014-09-25 | 2014-09-25 | The drive device and surgical operating instrument of surgical operating instrument |
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| CN108065978A (en) * | 2016-11-10 | 2018-05-25 | 天津瑞奇外科器械股份有限公司 | A kind of surgical operating instrument |
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| CN111904506A (en) * | 2019-05-10 | 2020-11-10 | 上海逸思医疗科技有限公司 | Medical instrument, stapler, and rotation locking mechanism |
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| CN111904506A (en) * | 2019-05-10 | 2020-11-10 | 上海逸思医疗科技有限公司 | Medical instrument, stapler, and rotation locking mechanism |
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| CN105496483B (en) | 2017-06-23 |
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Address after: 300457 Tianjin Binhai New Area Economic and Technological Development Zone, Fourth Street, No. 5, block B, floor 4 Patentee after: Tianjin Ricky surgical instruments Limited by Share Ltd Address before: 300457 Tianjin Binhai New Area Economic and Technological Development Zone, Fourth Street, No. 5, block B, floor 4 Patentee before: Reach Surgical Instrument (China) Co.,Ltd. |