CN104739469A - Flexible drive element, end effector and surgical operating instrument - Google Patents
Flexible drive element, end effector and surgical operating instrument Download PDFInfo
- Publication number
- CN104739469A CN104739469A CN201310756202.4A CN201310756202A CN104739469A CN 104739469 A CN104739469 A CN 104739469A CN 201310756202 A CN201310756202 A CN 201310756202A CN 104739469 A CN104739469 A CN 104739469A
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- China
- Prior art keywords
- drive element
- tow
- soft drive
- pair
- end effector
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
Abstract
The invention relates to the technical field of medical instruments and discloses a flexible drive element, an end effector and a surgical operating instrument. The flexible drive element comprises a head portion, a tail portion and a plate stress bending portion, the plate stress bending portion between the head portion and the tail portion and comprises a plurality of metal filaments and a flexible seal sleeve, and the flexible seal sleeve covers the plurality of metal filaments which extend along the length direction of the flexible drive element. In the technical scheme, the plurality of metal filaments enable the stress bending portion to have certain rigidity and flexibility and can be relatively fixed by the flexible seal sleeve, and accordingly surface friction of the flexible drive element can be reduced, and rigidity of the flexible drive element can be further improved. The flexible drive element is capable of effectively transferring driving forces required by instruments and less prone to destructive permanent deformation during turning, triggering and retracting, and accordingly difficulty in operation of surgical operating instruments is greatly lowered for surgeons, and simplicity and convenience in a machining process are achieved due to reduction of a welding procedure.
Description
Technical field
The present invention relates to technical field of medical instruments, particularly relate to a kind of soft drive element, end effector and surgical operating instrument.
Background technology
Stapler is a kind of surgical operating instrument often used in surgical operation, has the function of cutting and suture tissue.As shown in Figure 1a, stapler mainly comprises: handle 100, slender bodies 200 and end effector 300, wherein, handle 100 is for being gripped by operator and operating, control to provide and drive, the distally of handle 100 (during operation be nearside near the side of operator, the side away from operator is distally) is connected with end effector 300 by slender bodies 200, and end effector 300 is in the driving of handle 100 and perform cutting to tissue under controlling and sew up.End effector can be divided into orthoscopic and curve formula two kinds according to its structure type, wherein, as illustrated in figs. ia and ib, curves the nail anvil arm 301 of formula end effector and nail kit arm 302 and can rotate around pivotal axis 303 and be locked in and suitable curve angle.
To curve in formula end effector the soft drive element being generally all configured with and can curving with the rotation of nail anvil arm and nail kit arm, as illustrated in figure 1 c, the body of this soft drive element 212 adopts the stitch welding of multi-disc sheet material to form, the proximal end 270 of soft drive element 212 is connected with drive rod (not shown), and the distal end portion 284 of soft drive element 212 is provided with blade 287 and for the closure pin 286 of closed end executor and closure flange (not shown).During use, operator curves end effector, tissue to be cut is placed in the clamp of nail anvil arm and the formation of nail kit arm, driving handle makes drive rod axis advance in the end effector curved to promotion soft drive element 212, closure pin 286 and closure flange will drive the nail anvil arm of end effector relative with nail kit arm closed and by clamp tissue, then soft drive element 212 drives the ejector pin slide block in nail kit arm to promote nail pushing device successively, nail pushing device and then staple is released nail kit and completes percussion, blade 287 cuts the tissue be clamped in clamp, thus complete cutting and the stitching of tissue.
The defect that prior art exists is, soft drive element is in assembling uses, solder joint sealing-off is easily there is between sheet material and sheet material, this can cause the flexure between sheet material with sheet material to be separated, soft drive element or effectively cannot transmit the driving force needed for apparatus not due to rigidity, or (thrum gonosome produces distortion under external force to produce destructive permanent deformation, after external force disappears, distortion is irrecoverable), have influence on driving stroke, these all can increase the difficulty of surgeon manipulate surgical operating theater instruments, and the processing technique of this soft drive element is also comparatively complicated.This problem exists equally in other the similar surgical operating instrument comprising soft drive element.
Summary of the invention
The object of this invention is to provide a kind of soft drive element, end effector and surgical operating instrument, this soft drive element has preferably rigidity and flexibility, effectively can transmit the driving force needed for apparatus, not easily there is destructive permanent deformation, greatly can reduce the difficulty of surgeon manipulate surgical operating theater instruments, and processing technique is also comparatively easy.
The soft drive element that the embodiment of the present invention provides, comprises head, afterbody and the stressed bending section of the tabular between described head and described afterbody, wherein:
The stressed bending section of described tabular comprises the many tow that the length direction along described soft drive element extends, and the flexible cover of coated described many tow.
In technical solution of the present invention, many tow make stressed bending section have certain rigidity and flexibility, and flexible cover can be relatively fixing by many tow, reduce the frictional force of soft drive element surface, also can improve the rigidity of soft drive element further.Soft drive element effectively can transmit the driving force needed for apparatus, curving, pull the trigger and rollback time, not easily there is destructive permanent deformation, greatly can reduce the difficulty of surgeon manipulate surgical operating theater instruments, and owing to decreasing welding sequence, processing technique is also comparatively easy.
Preferably, described in the every bar in described many tow, the silk of tow is tinsel.
Optionally, described many tow woollen yarn knitting is silk ribbon.
Optionally, described many tow are arranged as at least one deck, and with in the described tow of layer, adjacent two described tow solid matters arrange or interval is arranged.
Above two embodiments all can make stressed bending section reach rigidity and the flexibility of needs, and processing technique is easy, and cost is lower.
When many tow be arranged as at least one deck time, optionally, described tow is linearity, polyline shaped or curvilinear tow, and/or, the silk spiral turn of described tow around.The form changing tow can change the flexibility of stressed bending section, can select suitable shape, make stressed bending section have preferably rigidity and flexibility according to the concrete material characteristic of silk.
Preferably, in described many tow, be folded with at least one transmission cable, or, be folded with transmission cable in the silk of tow described at least one; Described transmission cable comprises cable or optical cable.Transmission cable can be used for transmission of control signals or video signal, is conducive to the controlling functions enriching surgical operating instrument, improves the accuracy of operation.
Optionally, described flexible cover is the injection molding flexible big envelope or the extrusion molding flexible cover that take shape in described many tow surfaces.The processing technique of flexible cover is easy, and molding reliability is higher, and many tow reliably can be fixed.
Optionally, described flexible cover and described head and/or described afterbody is welded to connect, riveting or interference are connected together.These connected modes all can realize the reliable connection between parts.
Preferably, described head has a pair first snap fits, described afterbody has a pair second snap fits, and the stressed bending section of described tabular has a pair the 3rd snap fits engaging with described a pair first snap fit interference and engages the 4th snap fit of a pair with described a pair second snap fit interference.
Optionally, described flexible cover and described head and/or described afterbody are structure as a whole.The program can simplify processing, assembly technology further.
The end effector that the embodiment of the present invention provides comprises the soft drive element described in aforementioned arbitrary technical scheme.In this end effector, soft drive element effectively can transmit the driving force needed for apparatus, and destructive permanent deformation not easily occurs, and drives stroke comparatively accurate, greatly reduces the difficulty of surgeon manipulate surgical operating theater instruments.
The surgical operating instrument that the embodiment of the present invention provides, comprise the end effector of preceding solution, the soft drive element of this surgical operating instrument effectively can transmit the driving force needed for apparatus, not easily there is destructive permanent deformation, make apparatus have preferably performance accuracy and dependability.
Accompanying drawing explanation
Fig. 1 a is stapler overall structure schematic diagram;
Fig. 1 b is that end effector curves schematic diagram;
Fig. 1 c is existing a kind of soft drive component structure schematic diagram;
Fig. 2 a is the structural representation of one embodiment of the invention soft drive element;
Fig. 2 b is the assembling detail schematic diagram of Fig. 2 a illustrated embodiment;
Fig. 2 c is wire bundle structural representation;
Fig. 2 d is the tabular stressed bending section partial structurtes schematic diagram that wire bundle solid matter is arranged;
Fig. 2 e is the spaced tabular of wire bundle stressed bending section partial structurtes schematic diagrams;
Fig. 3 is the structural representation of another embodiment of the present invention soft drive element;
Fig. 4 a is the end effector structures schematic diagram of the embodiment of the present invention;
Fig. 4 b is the internal structure schematic diagram of embodiment of the present invention end effector.
Reference numeral:
100-hands handle; 200-slender bodies; 300-end effector; 301-nail anvil arm; 302-nail kit arm;
303-pivotal axis; 212-soft drive element; 270-proximal end; 284-distal end portion; 287-blade;
286-closure pin; 210-curves connecting rod; 1-head; 2-afterbody; The stressed bending section of 3-tabular; 4-tow;
40-silk; 5-flexible cover; 6-transmission cable; 7-first snap fit; 8-second snap fit; 9-the 3rd snap fit;
10-the 4th snap fit.
Detailed description of the invention
In order to effectively transmit the driving force needed for apparatus, reduce the destructive permanent deformation of soft drive element, and then reduce the difficulty of surgeon manipulate surgical operating theater instruments, embodiments provide a kind of soft drive element, end effector and surgical operating instrument.In technical solution of the present invention, the stressed bending section of tabular comprises the many tow that the length direction along soft drive element extends, and the flexible cover of coated many tow.Many tow makes stressed bending section have certain rigidity and flexibility, and flexible cover can be relatively fixing by many tow, and can reduce the frictional force of soft drive element surface, also can improve the rigidity of soft drive element further.Soft drive element effectively can transmit the driving force needed for apparatus, curving, pull the trigger and rollback time, not easily there is destructive permanent deformation, greatly can reduce the difficulty of surgeon manipulate surgical operating theater instruments, and owing to decreasing welding sequence, processing technique is also comparatively easy.For making the object, technical solutions and advantages of the present invention clearly, by the following examples the present invention is described in further detail.
As shown in Figure 2 a and 2 b, the soft drive element of the embodiment of the present invention, comprise the stressed bending section 3 of head 1, afterbody 2 and the tabular between head 1 and afterbody 2, wherein: the stressed bending section 3 of tabular comprises the many tow 4 that the length direction along soft drive element extends, and the flexible cover 5 of coated many tow 4.
In various embodiments of the present invention, head 1 refers to the distal end portion part of soft drive element, and afterbody 2 refers to the proximal end part of soft drive element.Head 1 can arrange blade and the closing structure (such as I-beam or Wang Ziliang etc.) for closed end executor, and afterbody 2 can engage with drive rod.As shown in Figure 2 c, every bar tow 4 comprises many silks 40, and many silk 40 spiral turn are around formation tow.Silk 40 should have preferably elasticity and toughness, such as, can select the tinsel such as steel wire or spring wire, also can adopt nonmetal wire.The cross sectional shape of silk 40 is not limit, such as, can be circular, ellipse or polygon (such as triangle, square) etc.
Preferably, described flexible cover 5 is for taking shape in injection molding flexible big envelope or the extrusion molding flexible cover on described many tow 4 surface.Flexible cover 5 is directly molded on many tow 4 surface by Shooting Technique or expressing technique, and processing technique is easy, and molding reliability is higher, and flexible cover 5 and many tow 4 are moulded and connect, and many tow 4 reliably can be fixed.In other embodiments of the invention, flexible cover 5 also can by being assembled together with many tow 4 after Shooting Technique or expressing technique molding again.
Many tow 4 can be knitted as silk ribbon, also can be arranged as one or more layers.When many tow 4 are arranged as one or more layers, adjacent two tow 4 can be arranged (as shown in Figure 2 d) or interval and arrange (as shown in Figure 2 e) and fixed by flexible cover 5 by solid matter.By adjusting woollen yarn knitting form or the spread pattern of tow 4, the stressed bending section 3 of tabular can be made to reach rigidity and the flexibility of needs, and the processing technique of the stressed bending section of tabular 3 is easy, and cost is lower.
In technical solution of the present invention, many tow 4 makes the stressed bending section of tabular 3 have certain rigidity and flexibility, flexible cover 5 can be relatively fixing by many tow 4, and can reduce the frictional force of soft drive element surface, also can improve the rigidity of soft drive element further.Soft drive element effectively can transmit the driving force needed for apparatus, curving, pull the trigger and rollback time, not easily there is destructive permanent deformation, greatly can reduce the difficulty of surgeon manipulate surgical operating theater instruments, and owing to decreasing welding sequence, processing technique is also comparatively easy.
When many tow 4 be arranged as at least one deck time, tow 4 can be linearity, polyline shaped or curvilinear tow.Fig. 2 b is depicted as the tow 4 of linearity.Change the form of tow 4 can change the stressed bending section of tabular 3 flexibility (tow of linearity than polyline shaped or curvilinear tow flexibility larger), suitable shape can be selected according to the concrete material characteristic of silk 40, make the stressed bending section 3 of tabular have preferably rigidity and flexibility.
Preferably, in many tow, be folded with at least one transmission cable, or, be folded with transmission cable in the silk of at least one tow.Please refer to shown in Fig. 2 e, soft drive element also comprises in the transmission cable 6(structure that is located in the silk 40 of tow 4 and comprises cable core and cable cover), transmission cable 6 can be cable or optical cable.Transmission cable 6 also can directly be located in many tow 4, and such as, transmission cable 6 is arranged side by side with many tow 4 (as shown in Figure 2 d) or knits together with many tow 4 as silk ribbon.
Cable can be used for transmitting the signal of telecommunication, and optical cable can be used for communicating optical signals.Transmission cable 6 transmission of control signals or video signal can be utilized, be conducive to the controlling functions enriching surgical operating instrument, improve the accuracy of operation.Such as, utilize transmission cable 6 transmission video signal, can in the situation that performs an action of remote monitoring end effector.When transmission cable 6 is located in the silk 40 of tow 4, setting position is not limit, such as, can be positioned at the core of tow 4, coaxially arranges with tow 4, together with also can twisting around with the silk 40 of tow 4.
Described flexible cover 5 can be welded to connect with described head 1 and/or described afterbody 2, riveting or interference are connected together.These connected modes all can realize the reliable connection between parts.As shown in Figure 2 b, head 1 has a pair first snap fits 7, and afterbody 2 has a pair second snap fits 8, and the stressed bending section 3 of tabular has a pair the 3rd snap fits 9 engaged with a pair first snap fit 7 interference and a pair the 4th snap fits 10 engaged with a pair second snap fit 8 interference.First snap fit 7, second snap fit 8, the 3rd snap fit 9 and the 3rd snap fit 10 can be formed by Sheet Metal Forming Technology.
In addition, flexible cover 5 also can be structure as a whole with head 1 or afterbody 2, or flexible cover 5, head 1, afterbody 2 three are structure as a whole, and by Shooting Technique or expressing technique molding, processing technique is easier, and can reduce assembly process.In embodiment illustrated in fig. 3, flexible cover 5 and afterbody 2 are structure as a whole.
As shown in figures 4 a and 4b, the embodiment of the present invention additionally provides a kind of end effector, comprises the soft drive element 212 of aforementioned any embodiment.Curving connecting rod 210 by driving can make the nail anvil arm 301 of end effector and nail kit arm 302 rotate around pivotal axis 303, thus end effector is curved.By driving handle, drive rod axis is advanced to promotion soft drive element 212 in the end effector curved, closing, to the cutting organized and stitching of end effector can be carried out.In this end effector, soft drive element 212 effectively can transmit the driving force needed for apparatus, and destructive permanent deformation not easily occurs, and drives stroke comparatively accurate, greatly reduces the difficulty of surgeon manipulate surgical operating theater instruments.
It is worth mentioning that, end effector is not limited to the end effector having cutting and sew up function, as long as end effector is for curving formula and needing soft drive element drives, all can adopt the soft drive element that the embodiment of the present invention provides.Such as, only there is cutting function or only there is the formula that the curves end effector etc. sewing up function.
The surgical operating instrument that the embodiment of the present invention provides, comprise the end effector of preceding solution, the soft drive element of this surgical operating instrument effectively can transmit the driving force needed for apparatus, not easily there is destructive permanent deformation, make apparatus have preferably performance accuracy and dependability.
Obviously, those skilled in the art can carry out various change and modification to 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 (12)
1. a soft drive element, is characterized in that, the stressed bending section of tabular (3) comprising head (1), afterbody (2) and be positioned between described head (1) and described afterbody (2), wherein:
The stressed bending section of described tabular (3) comprises the many tow (4) that the length direction along described soft drive element extends, and the flexible cover (5) of coated described many tow (4).
2. soft drive element as claimed in claim 1, it is characterized in that, described in the every bar in described many tow (4), the silk (40) of tow (4) is tinsel.
3. soft drive element as claimed in claim 1, is characterized in that, described many tow (4) woollen yarn knitting is silk ribbon.
4. soft drive element as claimed in claim 1, it is characterized in that, described many tow (4) are arranged as at least one deck, and with in the described tow of layer (4), adjacent two described tow (4) solid matters are arranged or interval is arranged.
5. soft drive element as claimed in claim 4, is characterized in that, described tow (4) is linearity, polyline shaped or curvilinear tow, and/or, silk (40) spiral turn of described tow (4) around.
6. soft drive element as claimed in claim 4, is characterized in that, be folded with at least one transmission cable (6) in described many tow (4), or, be folded with transmission cable (6) in the silk (40) of tow described at least one (4); Described transmission cable (6) comprises cable or optical cable.
7. the soft drive element as described in any one of claim 1 ~ 6, is characterized in that, described flexible cover (5) is for taking shape in injection molding flexible big envelope or the extrusion molding flexible cover on described many tow surfaces.
8. soft drive element as claimed in claim 7, is characterized in that, described flexible cover (5) is with described head (1) and/or described afterbody (2) is welded to connect, riveting or interference are connected together.
9. soft drive element as claimed in claim 8, it is characterized in that, described head (1) has a pair first snap fits (7), described afterbody (2) has a pair second snap fits (8), and the stressed bending section of described tabular (3) has a pair the 3rd snap fits (9) engaging with the interference of described a pair first snap fits (7) and engages the 4th snap fit (10) of a pair with the interference of described a pair second snap fits (8).
10. soft drive element as claimed in claim 7, is characterized in that, described flexible cover (5) is structure as a whole with described head (1) and/or described afterbody (2).
11. 1 kinds of end effectors, is characterized in that, comprise the soft drive element (212) according to any one of claim 1 ~ 10.
12. 1 kinds of surgical operating instruments, is characterized in that, comprise end effector as claimed in claim 11.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310756202.4A CN104739469B (en) | 2013-12-27 | 2013-12-27 | Flexible drive element, end effector and surgical operating instrument |
| PCT/CN2014/088135 WO2015096530A1 (en) | 2013-12-27 | 2014-10-08 | Flexible drive element, end effector and surgical instrument |
| US15/190,369 US10368866B2 (en) | 2013-12-27 | 2016-06-23 | Flexible drive member, end-effector, and surgical instrument using the same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310756202.4A CN104739469B (en) | 2013-12-27 | 2013-12-27 | Flexible drive element, end effector and surgical operating instrument |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104739469A true CN104739469A (en) | 2015-07-01 |
| CN104739469B CN104739469B (en) | 2017-02-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310756202.4A Active CN104739469B (en) | 2013-12-27 | 2013-12-27 | Flexible drive element, end effector and surgical operating instrument |
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| Country | Link |
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| CN (1) | CN104739469B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109688948A (en) * | 2016-09-09 | 2019-04-26 | 直观外科手术操作公司 | Wrist framework |
| CN109788952A (en) * | 2016-09-09 | 2019-05-21 | 直观外科手术操作公司 | Stitching unstrument girder construction |
| CN114587467A (en) * | 2022-03-21 | 2022-06-07 | 宝玛医疗科技(无锡)有限公司 | Anastomat for protecting cutting knife from bending |
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| US20030045900A1 (en) * | 2001-08-29 | 2003-03-06 | Hahnen Kevin F. | Medical instrument |
| CN101224126A (en) * | 2007-01-11 | 2008-07-23 | 伊西康内外科公司 | Curved end effector for a surgical stapling device |
| CN203736252U (en) * | 2013-12-27 | 2014-07-30 | 瑞奇外科器械(中国)有限公司 | Flexible driving element, end effector and surgical operating instrument |
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| US20030045900A1 (en) * | 2001-08-29 | 2003-03-06 | Hahnen Kevin F. | Medical instrument |
| CN101224126A (en) * | 2007-01-11 | 2008-07-23 | 伊西康内外科公司 | Curved end effector for a surgical stapling device |
| CN101224124A (en) * | 2007-01-11 | 2008-07-23 | 伊西康内外科公司 | Surgical stapling device having supports for a flexible drive mechanism |
| CN203736252U (en) * | 2013-12-27 | 2014-07-30 | 瑞奇外科器械(中国)有限公司 | Flexible driving element, end effector and surgical operating instrument |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109688948A (en) * | 2016-09-09 | 2019-04-26 | 直观外科手术操作公司 | Wrist framework |
| CN109788952A (en) * | 2016-09-09 | 2019-05-21 | 直观外科手术操作公司 | Stitching unstrument girder construction |
| JP2019526386A (en) * | 2016-09-09 | 2019-09-19 | インテュイティブ サージカル オペレーションズ， インコーポレイテッド | Stapler beam structure |
| US11166773B2 (en) | 2016-09-09 | 2021-11-09 | Intuitive Surgical Operations, Inc. | Stapler beam architecture |
| JP7130627B2 (en) | 2016-09-09 | 2022-09-05 | インテュイティブ サージカル オペレーションズ， インコーポレイテッド | stapler beam structure |
| US11806016B2 (en) | 2016-09-09 | 2023-11-07 | Intuitive Surgical Operations, Inc. | Wrist architecture |
| CN114587467A (en) * | 2022-03-21 | 2022-06-07 | 宝玛医疗科技(无锡)有限公司 | Anastomat for protecting cutting knife from bending |
| CN114587467B (en) * | 2022-03-21 | 2023-10-27 | 宝玛医疗科技(无锡)有限公司 | Anastomat for protecting cutter from bending |
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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. |