CN101143090B - Abdominoscope multifunctional mechanical claw - Google Patents
Abdominoscope multifunctional mechanical claw Download PDFInfo
- Publication number
- CN101143090B CN101143090B CN2007100418582A CN200710041858A CN101143090B CN 101143090 B CN101143090 B CN 101143090B CN 2007100418582 A CN2007100418582 A CN 2007100418582A CN 200710041858 A CN200710041858 A CN 200710041858A CN 101143090 B CN101143090 B CN 101143090B
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- finger
- thumb
- pawl
- saves
- drive link
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Abstract
The invention discloses a multifunctional mechanical claw of a cavascope, including a principal rod, a first finger cover and a thumb cover which are arranged at the lateral side of the tail of the principal rod, a first finger claw and a thumb claw which are arranged at the head of the principal, a handle at the lateral side of the tail of the principal rod and an electric knife faucet at the tail of the principal. The invention designs two joints at the first finger claw and the thumb claw, which can simulate the functions of the first finger and the thumb to a certain extent and can finish the complex operation. On the other hand, the drive ratio between the claws and the finger covers is approximate 1 to 1, so the operator can feel the pressure and the tension between the first finger claw and the thumb claw to a certain extent by the first finger cover and the thumb cover, which is favorable for the operator to judge and operate during the operation.
Description
Technical field
The present invention relates to be used for a kind of apparatus of endoscope-assistant surgery, relate in particular to a kind of chamber mirror multi-functional mechanical pawl of simulating staff first finger and thumb function.
Background technology
Minimally Invasive Surgery based on chamber mirror apparatus is an operating developing direction of 21 century, also represented sophisticated technology of present surgical field, it has characteristics such as operation wound is little, amount of bleeding is few, patient's post-operative recovery is fast, attractive in appearance, all has in the large and medium-sized hospital of China and carries out.Endoscope-assistant surgery has special operating theater instruments, it is elongated, exquisite, be used for penetrating body wall or pass through the physiology lacuna, the doctor controls the motion and the operation of the apparatus head end workpiece that is positioned at patient's body lumen by the operating grip that is controlled at patient's body external cavity mirror apparatus tail end, thereby the doctor can undergo surgery by little otch or physiology passage.The function of chamber mirror apparatus and doctor have determined the success or not of operation to the proficiency level of this apparatus.At present, chamber mirror apparatus can satisfy simple operation demand, but operation for complexity, still need to carry out open surgery, reason be following some: 1, present chamber mirror apparatus is mainly formed by clamping, collude, press from both sides, cut etc., its flexibility ratio can not show a candle to staff, thus can't finish complicated operations, such as the knotting etc.; 2, present chamber mirror apparatus lacks accurate touch-pressure sensation transmission, and the soft durometer that operative doctor can't the perception specific part in operation process is such as distinguishing calculus and tumor, tumor border or the like problem.Above-mentioned reason has limited further developing of Minimally Invasive Surgery.
Summary of the invention
The object of the present invention is to provide a kind of chamber mirror multi-functional mechanical pawl that is easy to control that can simulate staff first finger and thumb function.
In order to achieve the above object, the technical solution used in the present invention is:
Mobile jib tail end side is provided with first finger cover and thumbstall, be rotationally connected by rotating shaft and mobile jib respectively, described first finger cover is connected by the rotating shaft by therebetween of first finger cover joint far away and the nearly joint of first finger cover and forms, and described thumbstall closely saves rotating shaft by therebetween by thumbstall joint far away and thumbstall and is connected and forms; The mobile jib head end is provided with first finger pawl and thumb pawl, be rotationally connected by rotating shaft and mobile jib respectively, described first finger pawl is connected by the rotating shaft by therebetween of first finger pawl joint far away and the nearly joint of first finger pawl and forms, and described thumb pawl closely saves rotating shaft by therebetween by thumb pawl joint far away and thumb pawl and is connected and forms; Be provided with first finger drive link and thumb drive link in the mobile jib, described first finger drive link closely saves drive link and first finger by first finger and far saves drive link and form, first finger closely saves the drive link front end and the nearly joint of first finger pawl is rotationally connected, its rear end and the nearly joint of first finger cover are rotationally connected, first finger far saves the drive link front end and first finger pawl joint far away is rotationally connected, and its rear end and first finger cover joint far away are rotationally connected; Described thumb drive link closely saves drive link and thumb by thumb and far saves drive link and form, thumb closely saves the drive link front end and the nearly joint of thumb pawl is rotationally connected, the nearly joint of its rear end and thumbstall is rotationally connected, thumb far saves the drive link front end and thumb pawl joint far away is rotationally connected, and its rear end and thumbstall joint far away is rotationally connected; Mobile jib tail end side is provided with the hands handle; The mobile jib tail end is provided with the electric knife socket.
Described electric knife socket is drawn two electric knife leads, closely saves the tail end welding that drive link and first finger closely save drive link with thumb respectively.
Except that the opposite face at tip, all be coated with insulating barrier on described first finger pawl and the thumb pawl.
The beneficial effect that the present invention has is:
On the one hand, the present invention has simulated the function of first finger and thumb, has designed two joints on first finger pawl and thumb pawl respectively, thereby can substitute the function of first finger and thumb to a certain extent, more flexible than present existing chamber mirror apparatus, thus more complicated operation technique can be finished; On the other hand, according to approximate 1: 1 gear ratio, thereby the patient can be by first finger cover and thumbstall between pawl and the fingerstall, and pressure and the tension force between perception first finger pawl and the thumb pawl to a certain extent helps the patient and judges in art and operate.
Description of drawings
Fig. 1 is a schematic perspective view of the present invention;
Fig. 2 is a front view of the present invention;
Fig. 3 is the profile of A-A line among Fig. 2;
Fig. 4 is an internal structure sketch map of the present invention;
Fig. 5 is the partial sectional view of head of the present invention;
Fig. 6 is the partial sectional view of afterbody of the present invention;
Fig. 7 is the schematic perspective view that the present invention grips state in use;
Fig. 8 be the present invention in use gripper be in the sketch map of softened state;
Fig. 9 be the present invention in use gripper be in the sketch map of straight configuration;
Figure 10 be the present invention in use gripper be in the sketch map of kneading state;
Figure 11 is the surface-coated insulating barrier sketch map of gripper of the present invention;
Among the figure: 1, mobile jib, 2, first finger cover joint far away, 3, thumbstall far saves, 4, the nearly joint of first finger cover, 5, thumbstall closely saves, and 6, the first finger pawl far saves, 7, the thumb pawl far saves, and 8, the first finger pawl closely saves, and 9, the thumb pawl closely saves, 10, handle, 11, the electric knife wiring, 12, first finger closely saves drive link, 13, thumb closely saves drive link, 14, first finger far saves drive link, 15, thumb far saves drive link, 16, the mobile jib core, 17, the electric knife socket, 18, the electric knife lead, 19, patient's right hand, 20, first finger pawl insulating barrier, 21, thumb pawl insulating barrier, 22, first finger pawl exposed metal/bare metal district, 23, thumb pawl exposed metal/bare metal district.
The specific embodiment
As shown in Figure 1 and Figure 2, the present invention includes mobile jib 1, the first finger cover and the thumbstall of mobile jib 1 tail end, the first finger pawl of mobile jib 1 head end and thumb pawl.Wherein the first finger cover comprises first finger cover joint 2 far away and the nearly joint 4 of first finger cover, and both are rotationally connected by axle, and the nearly joint of first finger cover 4 sides by axle and mobile jib 1 tail end are rotationally connected.Thumbstall comprises thumbstall joint 3 far away and the nearly joint 5 of thumbstall, and both are rotationally connected by axle, and thumbstall closely saves 5 sides by axle and mobile jib 1 tail end and is rotationally connected.The first finger pawl comprises first finger pawl joint 6 far away and the nearly joint 8 of first finger pawl, and both are rotationally connected by axle, and the nearly joint of first finger pawl 8 sides by axle and mobile jib 1 head end are rotationally connected.The thumb pawl comprises thumb pawl joint 7 far away and the nearly joint 9 of thumb pawl, and both are rotationally connected by axle, and the nearly joint of thumb pawl 9 sides by axle and mobile jib 1 head end are rotationally connected.
As Fig. 3, Fig. 4, Fig. 5, shown in Figure 6, be provided with the mobile jib core of making by insulant 16 in the mobile jib 1 of the present invention, mobile jib core 16 has four through holes, passes through for four drive links.The nearly joint 4 of first finger cover closely saves drive link 12 with the nearly joint 8 of first finger pawl by first finger and carries out transmission; First finger cover joint 2 far away far saves drive link 14 with first finger pawl joint 6 far away by first finger and carries out transmission; The nearly joint 5 of thumbstall closely saves drive link 13 with the nearly joint 9 of thumb pawl by thumb and carries out transmission; Thumbstall joint 3 far away far saves drive link 15 with thumb pawl joint 7 far away by thumb and carries out transmission.
As Fig. 1, Fig. 6, shown in Figure 7, mobile jib of the present invention 1 tail end side is provided with handle 10, holds with middle finger, fourth finger and three fingers of little finger of toe for operator.Mobile jib 1 tail end is provided with electric knife socket 17, with the electric knife wiring 11 that is connected the electric knife main frame to coupling, electric knife socket 17 is drawn two electric knife leads 18, closely saves the end welding that drive link 12 and thumb closely save drive link 13 with first finger respectively.Make two electric knife leads 18 far save 7 conductings with first finger pawl joint 6 far away and paw respectively.
As Fig. 7, Fig. 8, Fig. 9, shown in Figure 10, the present invention in use, the middle finger of the operator right hand 19, fourth finger and three fingers of little finger of toe hold handle 10, first finger enters first finger cover joint 2 far away, thumb enters thumbstall joint 3 far away, and operator is by moving self first finger and the thumb first finger pawl and the thumb pawl that come the control device front end.When first finger and thumb strut, the first finger pawl and the thumb pawl of apparatus front end also strut thereupon, and when first finger and thumb stretched, the first finger pawl and the thumb pawl of apparatus front end also stretched thereupon, when first finger and thumb kneading, the first finger pawl of apparatus front end and thumb pawl are also mediated thereupon.
As shown in figure 11, the nearly joint of the first finger pawl of head end of the present invention joint 6 far away and first finger pawl 8 is made by metal material, and its periphery lining first finger pawl insulating barrier 20 leaves the first finger pawl exposed metal/bare metal district 22 that is not insulated floor covering at first finger pawl joint far away 6 medial surface; The nearly joint of thumb pawl joint 7 far away and thumb pawl 9 is made by metal material, its periphery lining thumb pawl insulating barrier 21, and thumb pawl joint far away 7 medial surface leave the thumb pawl exposed metal/bare metal district 23 that is not insulated floor covering.First finger pawl exposed metal/bare metal district 22 and thumb pawl exposed metal/bare metal district 23 use for one pole in the operation process or bipolar high frequency electric knife.
The doctor is in minimal invasive surgical procedures, can utilize this invention, artificial hand's the first finger and the function of thumb, and the activity of first finger and thumb has accounted for the overwhelming majority in five fingers, the motion of thumb and first finger is independent separately in addition, thereby this invention can assist the doctor to implement the Minimally Invasive Surgery that some need complex operations, makes that also using the higher operation of traditional mis instruments difficulty becomes simple relatively.
The above-mentioned specific embodiment is used for the present invention that explains, rather than limits the invention, and in the protection domain of spirit of the present invention and claim, any modification and change to the present invention makes all fall into protection scope of the present invention.
Claims (3)
1. chamber mirror multi-functional mechanical pawl, it is characterized in that: mobile jib (1) tail end side is provided with first finger cover and thumbstall, be rotationally connected by rotating shaft and mobile jib (1) respectively, described first finger cover closely saves (4) rotating shaft by therebetween by first finger cover joint far away (2) and first finger cover and is connected and forms, and described thumbstall far saves (3) by thumbstall and closely saves (5) rotating shaft by therebetween with thumbstall and be connected and form; Mobile jib (1) head end is provided with first finger pawl and thumb pawl, be rotationally connected by rotating shaft and mobile jib (1) respectively, described first finger pawl far saves (6) and first finger pawl by the first finger pawl and closely saves (8) rotating shaft by therebetween and be connected and form, and described thumb pawl far saves (7) and thumb pawl by the thumb pawl and closely saves (9) rotating shaft by therebetween and be connected and form; Be provided with first finger drive link and thumb drive link in the mobile jib (1), described first finger drive link closely saves drive link (12) and first finger by first finger and far saves drive link (14) and form, first finger closely saves drive link (12) front end and first finger pawl and closely saves (8) and be rotationally connected, its rear end and the first finger nearly joint of cover (4) are rotationally connected, first finger far saves drive link (14) front end and first finger pawl and far saves (6) and be rotationally connected, and its rear end and first finger cover joint far away (2) are rotationally connected; Described thumb drive link closely saves drive link (13) and thumb by thumb and far saves drive link (15) and form, thumb closely saves drive link (13) front end and thumb pawl and closely saves (9) and be rotationally connected, its rear end and thumbstall closely save (5) and are rotationally connected, thumb far saves drive link (15) front end and thumb pawl and far saves (7) and be rotationally connected, and its rear end and thumbstall far save (3) and be rotationally connected; Mobile jib (1) tail end side is provided with handle (10); Mobile jib (1) tail end is provided with electric knife socket (17).
2. according to a kind of chamber mirror multi-functional mechanical pawl described in the claim 1, it is characterized in that: described electric knife socket (17) is drawn two electric knife leads (18), closely saves the tail end welding that drive link (13) and first finger closely save drive link (12) with thumb respectively.
3. according to a kind of chamber mirror multi-functional mechanical pawl described in the claim 1, it is characterized in that: except that the opposite face at tip, all be coated with insulating barrier on described first finger pawl and the thumb pawl.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007100418582A CN101143090B (en) | 2007-06-12 | 2007-06-12 | Abdominoscope multifunctional mechanical claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007100418582A CN101143090B (en) | 2007-06-12 | 2007-06-12 | Abdominoscope multifunctional mechanical claw |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101143090A CN101143090A (en) | 2008-03-19 |
| CN101143090B true CN101143090B (en) | 2010-07-07 |
Family
ID=39205954
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007100418582A Expired - Fee Related CN101143090B (en) | 2007-06-12 | 2007-06-12 | Abdominoscope multifunctional mechanical claw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101143090B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113288440B (en) * | 2021-07-06 | 2022-11-04 | 合肥工业大学 | Minimally invasive interventional operation robot based on multi-segment continuum series connection structure |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5403332A (en) * | 1993-11-15 | 1995-04-04 | Christoudias; George C. | Maritsa tissue approximator and method of using the same |
| US6425896B1 (en) * | 1999-07-28 | 2002-07-30 | Forschungszentrum Karlsruhe Gmbh | Endoscopically useable instrument for coagulation by means of high frequency and for the serving of coagulated tissue areas |
| US6673092B1 (en) * | 1998-07-25 | 2004-01-06 | Karl Storz Gmbh & Co. Kg | Medical forceps with two independently moveable jaw parts |
-
2007
- 2007-06-12 CN CN2007100418582A patent/CN101143090B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5403332A (en) * | 1993-11-15 | 1995-04-04 | Christoudias; George C. | Maritsa tissue approximator and method of using the same |
| US6673092B1 (en) * | 1998-07-25 | 2004-01-06 | Karl Storz Gmbh & Co. Kg | Medical forceps with two independently moveable jaw parts |
| US6425896B1 (en) * | 1999-07-28 | 2002-07-30 | Forschungszentrum Karlsruhe Gmbh | Endoscopically useable instrument for coagulation by means of high frequency and for the serving of coagulated tissue areas |
Non-Patent Citations (1)
| Title |
|---|
| JP特开平8-126645A 1996.05.21 |
Also Published As
| Publication number | Publication date |
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| CN101143090A (en) | 2008-03-19 |
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