CN115192093B - Surgical instrument and disassembly and assembly method thereof - Google Patents
Surgical instrument and disassembly and assembly method thereofInfo
- Publication number
- CN115192093B CN115192093B CN202110384828.1A CN202110384828A CN115192093B CN 115192093 B CN115192093 B CN 115192093B CN 202110384828 A CN202110384828 A CN 202110384828A CN 115192093 B CN115192093 B CN 115192093B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
- A61B2017/00353—Surgical instruments, devices or methods for minimally invasive surgery one mechanical instrument performing multiple functions, e.g. cutting and grasping
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B2017/0046—Surgical instruments, devices or methods with a releasable handle; with handle and operating part separable
- A61B2017/00469—Surgical instruments, devices or methods with a releasable handle; with handle and operating part separable for insertion of instruments, e.g. guide wire, optical fibre
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
Abstract
The invention discloses a surgical instrument and a use method thereof, and relates to the technical field of medical instruments, wherein the surgical instrument comprises a driving unit and an executing unit, the driving unit comprises an instrument power box and a first plug-in module, and the executing unit comprises an executor and a second plug-in module; the first plug-in module comprises a first coupling part, the second plug-in module comprises a second coupling part, the first coupling part is coupled with the second coupling part, the instrument power box comprises a power transmission module, the power transmission module is connected with the first plug-in module, and the lower end of the second plug-in module is connected with the actuator. The structure adopted by the invention can quickly separate and replace the instrument power box end and the actuator end, the instrument power box can be repeatedly utilized, and the use cost is reduced.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a surgical instrument and a disassembly and assembly method thereof.
Background
Surgical robots assist minimally invasive surgical procedures to mature gradually and are widely used. In operation of the surgical robot, a doctor sends out instructions through a main control end, and the slave end multiple mechanical arms are operated to cooperate with each other to finish the operation at a designated position. The surgical robot medical instrument is used as a tool for operating the tail end of the slave end and is arranged on the slave end mechanical arm in a quick connection and detachment mode, and the whole surgical robot medical instrument can comprise an instrument power box and an actuator, wherein the instrument power box is used as a power transmission structure for transmitting power from the mechanical arm to the actuator and controlling the actuator to complete various actions. The surgical robot medical instruments are classified into pliers, scissors, hooks and the like according to different functions in order to better adapt to various operation types in different surgical procedures. 4-5 or more per procedure are required to assist the doctor in completing one procedure. However, the instruments are expensive in cost, complicated in cleaning and sterilizing, and mostly disposable or limited in times, and the whole surgical robot medical instrument cannot be used once the actuator end is failed because the actuator end is easy to fail and cannot be replaced. Such problems are that in use, the surgical robot assists the surgery, the treatment cost of the patient is increased, and the complicated disinfection work of the medical instruments also causes inconvenience to the medical staff and other popularization adverse factors.
Chinese patent CN102119872B discloses a compact quick-change mechanism for minimally invasive surgical robots, which is composed of a quick-change box and a quick-change base, and mainly comprises a transmission mechanism, a limit locking mechanism, a driving system, etc., wherein the connecting part of the quick-change box is connected with the end of a tool with wrist function through a rotation shaft, and the quick-change box can quickly slide along a concave chute of the quick-change base, thereby realizing the replacement of surgical tools. And the limiting and locking mechanism arranged at the tail end of the quick-change base limits and fixes the quick-change box sliding into the quick-change base. The transmission mechanism is divided into four groups, the four groups of transmission mechanisms are similar in structure, and the four degrees of freedom of the tail end of the tool are finally realized in a wire transmission mode through servo motors respectively, and the wire fixing wheel assembly in the transmission mechanism can realize fixing and tensioning of transmission steel wires. The driving system consists of a servo motor and a harmonic reducer and is fixed on a base frame of the quick-change base through threaded connection. The device has the advantages of compact structure, light weight, reliable transmission, high quick-change efficiency and the like.
Chinese patent CN110384556a relates to a quick-change mechanism, an instrument clamping hand using the same, and a surgical robot, wherein the quick-change mechanism simultaneously realizes two functions of clamping a device to be fixed and locking a zero position through a buckle, or further realizes a function of shrinking and rotating a connector to the inside of a base housing. The quick-change mechanism belongs to a pure mechanical structure, can realize convenient and quick disassembly and replacement between the instrument clamping hand and the surgical robot base, and is time-saving, efficient and accurate in positioning.
The Chinese patent CN211381520U relates to a surgical instrument connecting device capable of being quickly assembled and disassembled, which solves the technical problems of high cost, low reliability and complex operation of an instrument replacement structure in the traditional minimally invasive surgical robot system, and comprises a poking card, a puncture outfit connecting seat, an instrument adapter seat and a quick-change interface, wherein the instrument adapter seat comprises a separation plate and a connecting plate seal ring, the separation plate is provided with a stepped hole, a middle connecting wheel is arranged in the stepped hole, the top surface of the middle connecting wheel is provided with two top surface waist-shaped holes, the bottom surface of the middle connecting wheel is provided with two bottom surface waist-shaped holes, the stepped hole is provided with a slot, and a bulge on the connecting plate seal ring is inserted into the slot; the side surface of the isolation plate is connected with a conductive copper sheet, the quick-change interface comprises a quick-change base, a shell, a driving assembly, a driving motor, a contact switch and a motor sliding shaft connecting seat, and the puncture outfit connecting seat is connected with a poking card. The utility model is widely applied to the technical field of medical appliances.
The above disclosed patents relate to the technical field of medical instruments, but the CN102119872B patent finally realizes four degrees of freedom of the tool end in a wire transmission mode, the structures of the CN110384556a and the CN211381520U patent are complex, and the above disclosed three patents do not relate to the separation arrangement of a transmission rod between an actuator end and an instrument power box end, and the above mentioned technical problems still exist.
Disclosure of Invention
Based on the technical problems, the invention provides a surgical instrument and a disassembly and assembly method thereof;
In order to achieve the purpose of the invention, the technical scheme adopted by the invention is as follows:
The surgical instrument comprises a driving unit and an executing unit, wherein the driving unit comprises an instrument power box and a first plug-in module, the executing unit comprises an actuator and a second plug-in module, the first plug-in module comprises a first coupling part, the second plug-in module comprises a second coupling part, the first coupling part and the second coupling part are coupled, the instrument power box comprises a power transmission module, the power transmission module is connected with the first plug-in module, and the lower end of the second plug-in module is connected with the actuator.
Further, the first plug module comprises a first plug base and a plurality of upper plug assemblies, the upper plug assemblies are arranged on the first plug base, a first coupling part is arranged at the tail end of each upper plug assembly, and one end of the power transmission module is rigidly connected with each upper plug assembly.
Further, the first plug-in module still includes first elastic element, first tensioning separation blade and first manual hasp, first elastic element includes first tensioning spring and first locking spring, and the one end and the first tensioning separation blade of first tensioning spring are connected, and first locking spring links to each other with first manual hasp.
Further, the upper end part of the upper pair of plug assemblies is provided with a clamping groove, and a plurality of poking sheets are arranged on the outer side of the first tensioning baffle.
Further, the first plug base comprises a first notch and a first rotating shaft, one end of the first manual lock catch is provided with a first lock tongue, the first notch is formed in a position corresponding to the first lock tongue and is matched with the first lock tongue, and the first rotating shaft penetrates through the first tensioning baffle to be inserted into the first tensioning spring.
Further, the first plug base further comprises a first base connecting rod, a third notch is formed in one end of the first base connecting rod, a fourth notch is formed in one end of the first lock tongue, and in a decoupling state, the fourth notch is matched with a poking piece of the first tensioning baffle.
Further, the first plug-in module further comprises a first supporting piece, the upper end of the first supporting piece is connected with the power transmission module, and the lower end of the first supporting piece is connected with the first plug base.
Further, the second plug module comprises a second plug base and a plurality of lower plug assemblies, the lower plug assemblies are arranged on the second plug base, and the tail ends of the lower plug assemblies are provided with second coupling parts.
Further, the second plug-in module further comprises a second elastic unit, a second tensioning baffle and a second manual lock catch, the second elastic unit comprises a second tensioning spring and a second locking spring, one end of the second tensioning spring is connected with the second tensioning baffle, and the second locking spring is connected with the second manual lock catch.
Further, the lower end part of the lower pair of plug assemblies is provided with a clamping groove, and a plurality of poking sheets are arranged on the outer side of the second tensioning baffle.
Further, the second plug base comprises a second notch and a second rotating shaft, one end of the second manual lock catch is provided with a second lock tongue, the second notch is arranged at a position corresponding to the second lock tongue and is matched with the second lock tongue, and the second rotating shaft penetrates through the second tensioning baffle to be inserted into the second tensioning spring.
Further, the plug base further comprises a second base connecting rod, a fifth notch is formed in one end of the second base connecting rod, a sixth notch is formed in one end of the second lock tongue, the fifth notch is matched with the poking piece of the first tensioning baffle in a coupling state, the third notch is matched with the poking piece of the second tensioning baffle in a decoupling state, and the sixth notch is matched with the poking piece of the second tensioning baffle in a decoupling state.
Further, the second plug-in module further comprises a second supporting piece, and the upper end of the second supporting piece is connected with the second plug base.
Further, the actuator comprises a power driving module and an actuator base, one end of the power driving module is rigidly connected with the lower pair of plug assemblies, and the actuator base is connected with the lower end of the second supporting piece.
A method of assembling and disassembling a surgical instrument comprising the surgical instrument of any one of claims 1-14, the first docking module further comprising a first positioning member and a first indicator, the second docking module further comprising a second positioning member and a second indicator;
The mounting step comprises the following steps:
Step S1, in an initial state, a fourth notch of the first manual lock catch clamps a pulling piece of the first tensioning baffle plate;
s2, aligning the first indication mark and the second indication mark;
Step S3, simultaneously pressing the first manual lock catch and the second manual lock catch, correspondingly inserting the end part of the second base connecting rod on the second plug-in module into the first notch and contacting with the end surface of the first plug base, correspondingly inserting the end part of the first base connecting rod on the first plug-in module into the second notch and contacting with the end surface of the second plug base, and propping the second tensioning baffle by the first positioning piece and propping the first tensioning baffle by the second positioning piece;
S4, rotating the second plug-in module, wherein the end part of the second base connecting rod completely enters the first notch, the end part of the first base connecting rod completely enters the second notch, the first coupling part is coupled with the second coupling part, the first manual lock catch and the second manual lock catch are released, the first lock tongue is locked in the second notch under the action of the first locking spring, and the second lock tongue is locked in the first notch under the action of the second locking spring;
S5, finishing installation;
the disassembly step comprises the following steps:
step 1, confirming whether an actuator reaches a specified state, and if not, controlling the actuator to reach the state through a power box and then carrying out a disassembling action;
step 2, simultaneously pressing the first manual lock catch and the second manual lock catch, and rotating the second plug-in module to align the first indication mark and the second indication mark;
step 3, the second plug-in module is pulled out, so that the end part of the second base connecting rod is completely separated from the first notch, the end part of the first base connecting rod is completely separated from the second notch, and the first coupling part and the second coupling part are decoupled;
Step 4, the end part of the second base connecting rod on the second plug-in module is pulled out of the first notch and is separated from contact with the end surface of the first plug base, the end part of the first base connecting rod on the first plug-in module is pulled out of the second notch and is separated from contact with the end surface of the second plug base, the first positioning piece releases the second tensioning baffle plate, and the second positioning piece releases the first tensioning baffle plate;
and 5, finishing the disassembly.
Compared with the prior art, the invention has the following beneficial effects:
(1) The structure adopted by the invention can quickly separate and replace the instrument power box end and the actuator end, the instrument power box can be repeatedly utilized, and the use cost is reduced;
(2) The invention has simple structure and easy operation, provides working efficiency, reduces the complicated disinfection procedure after the use of the actuator end, and lightens the working intensity for medical staff.
(3) The drive in the present application is not limited to cables, but cable drives may be replaced with rigid component drives, such as rigid rod drives.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
fig. 2 is a schematic structural view of a driving unit in the first embodiment;
FIG. 3 is a bottom schematic view of the instrument power pack;
FIG. 4 is an exploded view of a first jack module;
FIG. 5 is an enlarged view of a portion of FIG. 4;
FIG. 6 is an exploded view of a second jack module;
FIG. 7 is a schematic view of the structure of the actuator in the first embodiment;
FIG. 8 is a partially installed schematic illustration of the first embodiment;
Fig. 9 is a schematic cross-sectional view of a first pair of plugs in the first embodiment;
FIG. 10 is a schematic diagram showing the connection of the first coupling portion and the second coupling portion in the embodiment;
FIG. 11 is a schematic view showing the connection of the first tensioning flap to the fifth slot in the first embodiment;
FIG. 12 is a schematic view of the connection of the second tensioning flap to the third slot in the first embodiment;
FIG. 13 is a partial schematic view of a first tensioning flap and a fifth slot in the first embodiment;
FIG. 14 is a partial schematic view of a second tensioning flap and a third slot in the first embodiment;
fig. 15 is a schematic structural view of a second embodiment;
FIG. 16 is a schematic diagram of an execution unit in a second embodiment;
Fig. 17 is a schematic structural view of a first jack module in the second embodiment;
The reference numerals are as follows.1. A drive unit; 10, an instrument power box; 101, a power transmission module; the first gear, 1011, the second cable, 1013, the third cable, 1014, the fourth cable, 1015, the fifth cable, 1016, sixth cable, 1017, the pulley assembly, 11, the first plug module, 110, the first socket, 1101, the first slot, 1102, the first positioning element, 1103, the first base-seat connecting rod, 1104, the first rotary shaft, 1105, third slot, 111, the upper pair of plug assemblies, 1110, the first coupling portion, the second upper pair of plug, 1112, the second upper pair of plug, 1113, the third upper pair of plug, 1114, the fourth upper pair of plug, 1115, the fifth upper pair of plug, 1116, the fourth upper pair of plug, 112, the first spring, 1142, the first locking spring, 115, the second tensioning tab, 1150, the second housing, 202, 2, the second housing, 2, 202, 2, the second housing, the fourth housing, the fifth housing, the fourth housing, the fifth housing, the fourth, the fifth housing, the fifth, the plug, the fifth, the plug, plug, plug pair, 2116, sixth lower plug pair, 212, second manual strike, 2121, second latch, 2122, sixth notch, 213, second support, 214, second resilient unit, 2141, second tension spring, 2142, second locking spring, 215, second tension flap, 221, seventh cable, 222, eighth cable, 223, ninth cable, 224, tenth cable, 225, tenth cable, 226, twelfth cable, 23, rigid drive rod assembly, 24, push rod assembly.
Detailed Description
In order to make the objects and technical solutions of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below with reference to examples.
Example 1
According to the surgical instrument shown in fig. 1-14, the surgical instrument comprises a driving unit 1 and an executing unit 2, wherein the driving unit 1 comprises an instrument power box 10 and a first plug-in module 11, the executing unit 2 comprises an actuator 20 and a second plug-in module 21, the first plug-in module 11 comprises a first coupling part 1110, the second plug-in module 21 comprises a second coupling part 2110, the first coupling part 1110 and the second coupling part 2110 are coupled, the instrument power box 10 comprises a power transmission module 101, the power transmission module 101 is connected with the first plug-in module 11, the lower end of the second plug-in module 21 is connected with the actuator 20, the power transmission module 101 drives the first plug-in module 11 to move, and the first plug-in module 11 drives the second plug-in module 21 coupled with the first plug-in module, and then the second plug-in module 21 drives the actuator 20 connected with the second plug-in module.
The first plugging module 11 includes a first plug base 110 and a plurality of upper plug assemblies 111, as shown in fig. 4, six upper plug assemblies 111 are arranged on the upper plug assemblies 111, and may be a first upper plug 1111, a second upper plug 1112, a third upper plug 1113, a fourth upper plug 1114, a fifth upper plug 1115, and a sixth upper plug 1116, the upper plug assemblies 111 are mounted on the first plug base 110, at least one slot is provided at an upper end of the upper plug assemblies 111, a first coupling portion 1110 is provided at an end of the upper plug assemblies 111, and one end of the power transmission module 101 is rigidly connected with the upper plug assemblies 111. The first coupling portion 1110 on the upper pair of plug assemblies 111 as shown in fig. 10 may be provided in a hole-like structure but is not limited to the hole-like structure. The axial cross section of the upper pair of plug assemblies 111 shown in fig. 9 may be a sector, a quadrangle, etc. for ensuring that the respective upper pair of plugs do not rotate themselves, except for a circle.
The first plugging module 11 further includes a first elastic unit 114, a first tensioning baffle 115, and a first manual lock catch 112, where the first elastic unit 114 includes a first tensioning spring 1141 and a first locking spring 1142, one end of the first tensioning spring 1141 is connected to the first tensioning baffle 115, and the first locking spring 1142 is connected to the first manual lock catch 112. The first manual latch 112 is disposed on an outer surface of the first plug base 110. The upper end of the upper pair of plug assemblies 111 is provided with a clamping groove, and a plurality of pulling pieces 1150 are arranged outside the first tensioning baffle 115.
The first plug base 110 further includes a first notch 1101, a first base connecting rod 1103, and a first rotating shaft 1104, one end of the first manual lock catch 112 is provided with a first lock tongue 1121, the first notch 1101 is opened at a position corresponding to the first lock tongue 1121, and the first notch 1101 is matched with the first lock tongue 1121, when the first plug module 11 and the second plug module 21 are in butt joint, the first lock tongue 1121 is inserted into the first notch 1101 to limit the degree of freedom of the first plug base 110. A third notch 1105 is formed at one end of the first base connecting rod 1103, a fourth notch 1122 is formed at one end of the first locking tongue 1121, and the first rotation shaft 1104 is inserted into the first tension spring 1141 through the first tension baffle 115.
The first plug-in module 11 further includes a first supporting member 113, an upper end of the first supporting member 113 is connected with the power transmission module 101, and a lower end of the first supporting member 113 is connected with the first plug base 110. The first supporting member 113 has a slot on an outer surface thereof, the first manual locking device 112 is movably disposed on an inner side of the first supporting member 113 corresponding to the slot, and the first locking spring 1142 and the first manual locking device 115 are disposed on a same horizontal line along an axial direction of the first supporting member 113.
As shown in the instrument power box 10 of fig. 2, a cable assembly, a pulley assembly 1017 and a gear 1010 may be provided on the power transmission module 101 in the instrument power box 10, a rotating shaft on the gear 1010 passes through a bottom plate of the instrument power box 10, and the gear 1010 passes through the rotating shaft of the bottom plate and is connected with the upper end of the first support member 113 by welding or other rigid connection manner. The reel assembly 1017 shown in fig. 2 includes a first reel, a second reel, and a third reel.
The cable assembly as shown in fig. 3 and 4 includes a first cable 1011, a second cable 1012, a third cable 1013, a fourth cable 1014, a fifth cable 1015, and a sixth cable 1016, the first cable 1011 and the second cable 1012 are wound on a first reel, the third cable 1013 and the fourth cable 1014 are wound on a second reel, the fifth cable 1015 and the sixth cable 1016 are wound on a third reel, and one end of the first cable 1011 is rigidly connected to the upper counter plug assembly, one end of the second cable 1012 is rigidly connected to the second upper counter plug 1112, one end of the third cable 1013 is rigidly connected to the third upper counter plug 1113, one end of the fourth cable 1014 is rigidly connected to the fourth upper counter plug 1114, one end of the fifth cable 1015 is rigidly connected to the fifth upper counter plug 1115, and one end of the sixth cable 1016 is rigidly connected to the sixth upper counter plug 1116. The upper pair of plug assemblies 111 mounted on the first plug base 110 can realize up-and-down movement along the axial direction of the first support 113 by the retraction of the cable assembly, and the shape of the upper pair of plug assemblies 111 itself restricts the rotational movement thereof. The number of cables and the number of reels are not limited, and the ratio of the number of cables to the number of reels is preferably 2:1.
The second plug module 21 includes a second plug base 210 and a plurality of lower pair of plug assemblies 211, where the lower pair of plug assemblies 211 are mounted on the second plug base 210, at least one slot is provided at a lower end of the lower pair of plug assemblies 211, a second coupling portion 2110 is provided at an upper end of the lower pair of plug assemblies 211, the shape of the second coupling portion 2110 is not limited, the second coupling portion 2110 and the first coupling portion 1110 are coupled to each other, and the second coupling portion 2110 on the lower pair of plug assemblies 211 as shown in fig. 10 may be cylindrical but is not limited to a cylindrical structure. As shown in fig. 6, six lower pairs of pins are arranged on the lower pair of pin assemblies 211, and the lower pairs of pin assemblies 211 can be a first lower pair of pins 2111, a second lower pair of pins 2112, a third lower pair of pins 2113, a fourth lower pair of pins 2114, a fifth lower pair of pins 2115 and a sixth lower pair of pins 2116, and the axial cross section of the lower pair of pin assemblies 211 can be a sector, a quadrangle and the like, which is the same as the cross section of the upper pair of pin assemblies, and is used for ensuring that the lower pairs of pins do not rotate themselves, except for a circle.
The second plugging module 21 further includes a second elastic unit 214, a second tensioning baffle 215, a second manual lock catch 212, and a second supporting member 213, where the second elastic unit 214 includes a second tensioning spring 2141 and a second locking spring 2142, one end of the second tensioning spring 2141 is connected to the second tensioning baffle 215, and the second locking spring 2142 is connected to the second manual lock catch 212. The lower end of the lower pair of plug assemblies 211 is provided with a clamping groove, and a plurality of pulling pieces 1150 are arranged outside the second tensioning baffle 215. The second manual latch 212 is disposed on an outer surface of the second plug base 210, and a second latch 2121 is disposed at one end of the second manual latch 212, where the second latch 2121 limits the degree of freedom of the second plug base 210. The upper end of the second supporting member 213 is connected to the second plug base 210, a slot is formed on the outer surface of the second supporting member 213, the second manual lock catch 212 is movably disposed on the inner side of the second supporting member 213 corresponding to the slot, and the second locking spring 2142 and the second manual lock catch 212 are located on the same horizontal line along the axial direction of the second supporting member 213.
The second plug base 210 includes a second notch 2101, a second base connecting rod 2103 and a second rotating shaft 2104, one end of the second manual lock catch 212 is provided with a second lock tongue 2121, the second notch 2101 is opened at a position corresponding to the second lock tongue 2121, the second notch 2101 is matched with the second lock tongue 2121, one end of the second base connecting rod 2103 is provided with a fifth notch 2105, and one end of the second lock tongue 2121 is provided with a sixth notch 2122.
Specifically, in the coupling state, the third notch 1105 is matched with the pulling piece 1150 of the second tensioning baffle 215, so that when the first plug base 110 rotates, the first base connecting rod 1103 can be driven to rotate, the second tensioning baffle 215 can also rotate along with the pulling piece 1150 of the first tensioning baffle 115, the fifth notch 2105 is matched with the pulling piece 1150 of the first tensioning baffle 115, so that when the second plug base 210 rotates, the second base connecting rod 2103 can be driven to rotate, the first tensioning baffle 115 is also guaranteed to rotate along with the pulling piece 1150 of the first tensioning baffle 115, and when in coupling, the pulling pieces 1150 of the second tensioning baffle 215 are matched with the clamping grooves of the upper plug assembly 111, and the pulling pieces 1150 of the second tensioning baffle 215 are matched with the clamping grooves of the lower plug assembly 211. In the decoupled state, the fourth notch 1122 is engaged with the pulling piece 1150 of the first tensioning baffle 115, the sixth notch 2122 is engaged with the pulling piece 1150 of the second tensioning baffle 215, and the pulling pieces 1150 of the first tensioning baffle 115 are separated from the clamping grooves of the upper counter plug assembly 111, and the pulling pieces 1150 of the second tensioning baffle 215 are separated from the clamping grooves of the lower counter plug assembly 211.
The actuator 20 includes a power driving module and an actuator base 201, wherein one end of the power driving module is rigidly connected to the lower pair of plug assemblies 211, and the actuator base 201 is connected to the lower end of the second support 213.
The power driving module on the actuator 20 shown in fig. 7 comprises a clamping jaw assembly 202, a rotating shaft assembly 203, a pitching module 204 and a guide wheel assembly 205, wherein the actuator base 201 is connected with the lower end of the second supporting piece 213, the rotating shaft assembly 203 comprises a first joint rotating shaft 2031, a second joint rotating shaft 2032 and a third joint rotating shaft 2033, the guide wheel assembly 205 is provided with a first group of guide wheels 2051, a second group of guide wheels 2052, a third group of guide wheels 2053 and a fourth group of guide wheels 2054, and each group of guide wheels comprises an inner side guide wheel and an outer side guide wheel. The outer guide wheels of the first and third sets of guide wheels 2051 and 2053 are wound with the same cable, the seventh cable 221 is provided, the seventh cable 221 is guided through the actuator base 201 via the guide grooves on the guide wheels, enters the second support 213 and is connected with the first lower pair of plugs 2111, the outer guide wheels of the second and fourth sets of guide wheels 2052 and 2054 are wound with the same cable, the eighth cable 222 is provided, the eighth cable 222 is guided through the guide grooves on the guide wheels, enters the second support 213 via the guide grooves on the guide wheels, and is connected with the second lower pair of plugs 2112, the inner guide wheels of the first and third sets of guide wheels 2051 are wound with the same cable 223, the ninth cable 223 is guided through the guide grooves on the guide wheels, enters the second support 213 via the guide grooves on the actuator base 201, is connected with the third lower pair of plugs 2113, the eighth cable 222 is provided, the inner guide wheels 222 are guided through the guide grooves on the guide wheels, enters the second support 213 via the guide grooves on the guide wheels, and the fourth cable module 224 is connected with the second lower pair of guide wheels, and the tenth cable 213 via the guide grooves on the guide wheels 205, and the tenth cable module 224 is provided, and the fourth cable is wound with the upper guide wheels 204 via the guide grooves on the guide wheels. The eleventh cable 225 is guided through the actuator base 201 into the second support 213 via a guide slot on the pitch module 204 and is connected to the fifth lower pair of plugs 2115, and the twelfth cable 226 is guided through the actuator base 201 into the second support 213 via a guide slot on the pitch module 204 and is connected to the sixth lower pair of plugs 2116.
The clamping jaw assembly 202 is provided with a first clamping jaw 2021 and a second clamping jaw 2022, the first clamping jaw 2021 and the second clamping jaw 2022 are connected to the pitching module 204 through a first joint shaft 2031, a first guide wheel 2051 and a second guide wheel 2052 are respectively fixed on the outer side of the pitching module 204 through a second joint shaft 2032, a third guide wheel 2053 and a fourth guide wheel 2054 are respectively arranged on the outer side of the lower end portion of the pitching module 204 through a third joint shaft 2033, and an actuator base 201 is arranged on the outer side of the third guide wheel 2053 and the fourth guide wheel 2054 through the third joint shaft 2033.
The first jack module 11 further comprises a first positioning member 1102 and a first indicator, the second jack module 21 further comprises a second positioning member 2102 and a second indicator,
According to a method of installing a surgical instrument shown in fig. 1-14, the steps of installing:
Step S1, in an initial state, the fourth notch 1122 clamps the pulling piece 1150 of the first tensioning baffle 115, the sixth notch 2122 clamps the pulling piece 1150 of the second tensioning baffle 215, and the pulling piece 1150 plays a role in positioning;
Step S2, aligning a first indication mark and a second indication mark, wherein the first indication mark and the second indication mark can be set as notch features or other features which can play a role in identification, and the purpose is mainly to ensure that the first plugging module 11 and the second plugging module 21 can realize splicing along the axial direction of the first supporting piece 113 and the second supporting piece 213;
Step S3, simultaneously pressing the first manual lock catch 112 and the second manual lock catch 212, correspondingly inserting the end part of the second base connecting rod 2103 on the second plug-in module 21 into the first notch 1101 and contacting the end surface of the first plug base 110, correspondingly inserting the end part of the first base connecting rod 1103 on the first plug-in module 11 into the second notch 2101 and contacting the end surface of the second plug base 210, wherein the first positioning piece 1102 props against the second tensioning baffle 215, and the second positioning piece 2102 props against the first tensioning baffle 115;
In step S4, the second plug-in module 21 is rotated, the end part of the second base connecting rod 2103 completely enters the first notch 1101, the end part of the first base connecting rod 1103 completely enters the second notch 2101, the first coupling part 1110 is coupled with the second coupling part 2110, the first manual lock catch 112 and the second manual lock catch 212 are released, the first manual lock catch 112 is locked in the second notch 2101 under the action of the first locking spring 1142, and the second manual lock catch 212 is locked in the first notch 1101 under the action of the second locking spring 2142, so that the positions of the first plug-in module 11 and the second plug-in module 21 are ensured to be fixedly locked. The principle of rotating the first plug-in module 11 and rotating the second plug-in module 21 is the same.
S5, finishing installation;
Specifically, in the initial state, when the first tensioning baffle 115 is not plugged with a product, the pulling piece 1150 of the first tensioning baffle 115 is inserted into the clamping groove of each upper pair of plugs and is matched with the first tensioning spring 1141, the first upper pair of plugs 1111, the second upper pair of plugs 1112, the third upper pair of plugs 1113, the fourth upper pair of plugs 1114, the fifth upper pair of plugs 1115, the sixth upper pair of plugs 1116 in the upper pair of plug assembly 111 are limited, and the initial tensioning force of the first cable 1011, the second cable 1012, the third cable 1013, the fourth cable 1014, the fifth cable 1015 and the sixth cable 1016 is maintained, under the combined tensioning force of the first cable 1011, the second cable 1012, the third cable 1013, the fourth cable 1014, the fifth cable 1015 and the sixth cable, the pulling piece 1150 is tightly attached to the end surfaces in the clamping grooves of each upper pair of plugs, the first tensioning spring 1141 is in the compressed state in this state, and the first tensioning spring 1141 pushes the first tensioning baffle 115 to provide the tensioning force of the first tensioning baffle 115 to the second cable 1016, and the tensioning force of the second cable 1016 can be ensured by the rotation of the base 210 depending on the tensioning force of the selected cable.
When the first jack module 11 and the second jack module 21 are in butt joint, the second plug base connecting rod 2103 and the second positioning piece 2102 bear against the first tensioning baffle 115, at this time, the pulling piece 1150 of the first tensioning baffle 115 is clamped in the fifth notch 2105 of the second plug base connecting rod 2103, as shown in fig. 11, when the second plug base 210 rotates, the first tensioning baffle 115 also rotates synchronously, at this time, the pulling piece 1150 of the first tensioning baffle 115 moves away from the clamping grooves of each upper pair plug in the upper pair plug assembly 111, and then each pair plug can move up and down in the first plug base 110 along the axial direction of the first supporting piece 113.
According to a method of removing a surgical instrument shown in fig. 1-14, the removing steps are:
step 1, confirming whether the actuator 20 reaches a designated state, and if not, controlling the state to be reached through the instrument power box 10 and then carrying out the disassembling action, wherein the designated state refers to an initial state when the actuator 20 is assembled;
Step 2, simultaneously pressing the first manual lock catch 112 and the second manual lock catch 212, and rotating the second plugging module 21 to align the first indication mark with the second indication mark;
Step 3, the second plugging module 21 is pulled out, so that the end part of the second base connecting rod 2103 is completely separated from the first notch 1101, the end part of the first base connecting rod 1103 is completely separated from the second notch 2101, and the first coupling part 1110 and the second coupling part 2110 are decoupled;
Step 4, the end part of the second base connecting rod 2103 on the second plug-in module 21 is pulled out of the first notch 1101 and is out of contact with the end surface of the first plug base 110, the end part of the first base connecting rod 1103 on the first plug-in module 11 is pulled out of the second notch 2101 and is out of contact with the end surface of the second plug base 210, the first positioning piece 1102 releases the second tensioning baffle 215, the second positioning piece 2102 releases the first tensioning baffle 115, the first manual lock catch 112 and the second manual lock catch 212 are released, the fourth notch 1122 is used for clamping a pulling piece 1150 of the first tensioning baffle 115, and the sixth notch 2122 is used for clamping a pulling piece 1150 of the second tensioning baffle 215;
and 5, finishing the disassembly.
In the process of installation and disassembly, the actuator 20 can be replaced at any time, the instrument power box 10 can be reused, and the cost is reduced.
Example 2
According to one surgical instrument shown in fig. 15-17, this embodiment differs from embodiment 1 in that the cable assembly in the power transmission module 101 is replaced with a rigid transmission rod assembly 23, the rigid transmission rod assembly 23 has a power transmission function, for example, the rigid transmission rod assembly 23 in fig. 13, and the actuator push rod assembly 24 in the actuator unit 2 replaces the seventh cable 221, the eighth cable 222, the ninth cable 223, the tenth cable 224, the eleventh cable 225, and the twelfth cable 226 to realize the power transmission function, as shown in fig. 14. Wherein the rigid transmission rod assembly 23 is rigidly connected with the upper counter plug in the upper counter plug assembly 111 and can drive the upper counter plug to move up and down, the actuator push rod assembly 24 is rigidly connected with the lower counter plug in the lower counter plug assembly 211, and the actuator push rod assembly 24 can control the actuator 20 to realize the actions of clamping, cutting, swaying and the like.
The detents in the first tensioning tab 115 as in fig. 17 position each pair of plugs in the upper pair of plug assemblies 111 to ensure that each pair of plugs in the upper pair of plug assemblies 111 extends a certain height above the location of the first plug base 110.
15-17, The operation is performed on the same principle as that of the embodiment 1, that before the mating, the pairs of plugs in the first plug-in module 11 are limited to the initial state position by the first tensioning baffle 115, and the pairs of plugs in the second plug-in module 21 are limited to the initial state position by the second tensioning baffle 215, and the fixing of the positions of the first tensioning baffle 115 and the second tensioning baffle 215 is the same as that of the embodiment 1, and is fixedly maintained by the first manual latch 112 and the second manual latch 212. When the indication position is aligned, the first manual lock catch 112 and the second manual lock catch 212 are pushed to insert the first jack module 11 into the second jack module 21, the poking piece 1150 of the first tensioning baffle 115 is clamped into the clamping groove of the first plug base 110 in the inserting process until the first base connecting rod 1103 abuts against the first plug base 110, the axial position is completely abutted, then the second jack module 21 is rotated for a certain angle until the second jack module 21 cannot be rotated, at the moment, the end part of the first base connecting rod 1103 is embedded into the second notch 2101, the first coupling part 1110 of the first jack module 11 and the second coupling part 2110 of the second jack module 21 are coupled, the poking piece 1150 rotates together with the second jack module 21, the rotary abutting is completed, and the abutting is completed after the first manual lock catch 112 and the second manual lock catch 212 are released. After the use is finished, the operation returns to the set position of the initial state, and the process flashback is operated to complete the disassembling process, so that the execution unit 2 can be disassembled.
The foregoing is a description of embodiments of the invention, which are specific and detailed, but are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention.
Claims (10)
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| CN202110384828.1A CN115192093B (en) | 2021-04-09 | 2021-04-09 | Surgical instrument and disassembly and assembly method thereof |
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| CN202110384828.1A CN115192093B (en) | 2021-04-09 | 2021-04-09 | Surgical instrument and disassembly and assembly method thereof |
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| CN116158829B (en) * | 2022-12-30 | 2025-11-18 | 杭州华匠医学机器人有限公司 | Coupling device and instrument control system |
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| CN102113902A (en) * | 2009-12-02 | 2011-07-06 | Tyco医疗健康集团 | Adapter for use between surgical handle assembly and surgical end effector |
| CN215273290U (en) * | 2021-04-09 | 2021-12-24 | 敏捷医疗科技(苏州)有限公司 | Surgical instrument with separated structure |
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| JP4763420B2 (en) * | 2005-10-27 | 2011-08-31 | オリンパスメディカルシステムズ株式会社 | Endoscope operation assistance device |
| US7845537B2 (en) * | 2006-01-31 | 2010-12-07 | Ethicon Endo-Surgery, Inc. | Surgical instrument having recording capabilities |
| US8157145B2 (en) * | 2007-05-31 | 2012-04-17 | Ethicon Endo-Surgery, Inc. | Pneumatically powered surgical cutting and fastening instrument with electrical feedback |
| DE102009045749A1 (en) * | 2009-10-15 | 2011-04-21 | Aesculap Ag | Surgical instrument |
| US9597104B2 (en) * | 2012-06-01 | 2017-03-21 | Covidien Lp | Handheld surgical handle assembly, surgical adapters for use between surgical handle assembly and surgical end effectors, and methods of use |
| CN203220403U (en) * | 2013-01-29 | 2013-10-02 | 北京中法派尔特医疗设备有限公司 | Electric surgery binding appliance |
| WO2018049217A1 (en) * | 2016-09-09 | 2018-03-15 | Intuitive Surgical Operations, Inc. | Push-pull surgical instrument end effector actuation using flexible tension member |
| CN108888301B (en) * | 2018-05-29 | 2021-04-23 | 上海微创医疗机器人（集团）股份有限公司 | Snake-shaped surgical instrument |
| US11369449B2 (en) * | 2018-09-20 | 2022-06-28 | Board Of Regents Of The University Of Nebraska | Modular cable-driven surgical robots |
| CN112472177B (en) * | 2020-11-25 | 2022-05-13 | 敏捷医疗科技(苏州)有限公司 | Linear cutting anastomat with pre-pressing tissue thickness feedback prompt function |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102113902A (en) * | 2009-12-02 | 2011-07-06 | Tyco医疗健康集团 | Adapter for use between surgical handle assembly and surgical end effector |
| CN215273290U (en) * | 2021-04-09 | 2021-12-24 | 敏捷医疗科技(苏州)有限公司 | Surgical instrument with separated structure |
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