CN120168055A

CN120168055A - A multi-joint endoscope hand-controlled instrument

Info

Publication number: CN120168055A
Application number: CN202510459703.9A
Authority: CN
Inventors: 王翔
Original assignee: Hefei Zhongke Ruiwo Medical Technology Co ltd
Current assignee: Hefei Zhongke Ruiwo Medical Technology Co ltd
Priority date: 2025-04-14
Filing date: 2025-04-14
Publication date: 2025-06-20

Abstract

The invention provides a multi-joint endoscope hand-controlled instrument. The multi-joint endoscope hand control apparatus includes an operating clamp, a control mechanism and a hand control assembly. The control mechanism comprises a shell and a winding wheel assembly, wherein the surface of the shell is movably provided with two winding wheel assemblies which are vertically arranged relatively, each winding wheel assembly is provided with two opposite traction ends, the traction ends are connected with the joint part of the operating forceps after being guided by direction changes, and the two groups of winding wheel assemblies are bent in four directions by being matched with the traction operating forceps in a dislocation manner. The hand control assembly comprises a positioning ball, a control chain and a handle, wherein the middle shaft end of the handle is connected with the positioning ball, the positioning ball is movably embedded in the shell, two control chains are arranged outside the handle, and the two control chains drive the two wheel winding assemblies in a one-to-one correspondence manner. According to the invention, the wheel winding assembly is driven by rotation of the handle, so that the operating forceps are bent along with the rotation direction of the handle, no reaction force is required to be applied, unexpected displacement is avoided, the operation precision and the operation safety are improved, and the whole volume of the equipment is small.

Description

Multi-joint endoscope hand-controlled instrument

Technical Field

The invention relates to the technical field of medical instruments, in particular to a multi-joint endoscope hand-controlled instrument.

Background

The endoscope hand-controlled instrument is used as a core tool of minimally invasive surgery, and the structural design of the endoscope hand-controlled instrument directly relates to the safety and the operation efficiency of the surgery. The existing typical products mainly realize end effector control through a reverse force application mechanism, namely when an operator applies reverse force to a handle, the mechanical signals are converted into opening and closing or rotating actions of the forceps heads through a transmission system. While this mechanical transmission system ensures high precision operation, it exposes structural deficiencies in clinical practice that need to be addressed.

In particular, the end effector of the inner body section inevitably moves in conjunction when the outer body section is subjected to a reverse force. Such unintended displacement presents two potential risks, one of which is that the involuntary movement of the end effector may cause mechanical damage to adjacent tissue when the instrument is operated within a narrow anatomical space, and the other of which is that the elastic deformation of the guide rod during the application of force may change the actual displacement of the end effector, resulting in reduced accuracy of operation. This contradiction is particularly pronounced in deep luminal procedures and in fine anatomic separation procedures.

Disclosure of Invention

Based on this, it is necessary to provide a multi-joint endoscopic hand control apparatus which solves the problem that the movement of the front end binding clip by applying a reverse force to the existing hand control apparatus causes unexpected displacement.

In order to solve the technical problems, the invention adopts the following technical scheme:

a multi-joint endoscope hand-controlled apparatus mainly comprises an operating clamp, a control mechanism and a hand-controlled assembly.

The control mechanism comprises a shell and a winding wheel assembly, wherein the surface of the shell is movably provided with two winding wheel assemblies which are vertically arranged relatively, each winding wheel assembly is provided with two opposite traction ends, the traction ends are connected with the joint part of the operating forceps after being guided by direction changes, and the two groups of winding wheel assemblies are bent in four directions by being matched with the traction operating forceps in a dislocation manner.

The hand control assembly comprises a positioning ball, control chains and a handle, wherein the handle is positioned at one end of the casing, which is away from the operating forceps, the middle shaft end of the handle is connected with the positioning ball, the positioning ball is movably embedded in the casing and is internally provided with a channel, two control chains are arranged outside the handle and correspondingly drive two wheel winding assemblies, and when the handle rotates in one of four directions of the operating forceps by taking the positioning ball as the center, the control chains are correspondingly linked to drive the operating forceps to bend in the same direction.

The winding wheel assembly comprises a winding wheel, steel wire ropes, a pulley bearing table and a turning pulley, wherein the pulley bearing table is arranged in the machine shell and is coaxially arranged with the machine shell, the turning pulley corresponding to the number of the steel wire ropes is rotatably connected to the pulley bearing table, the winding wheel is rotatably arranged on the machine shell, two winding grooves are formed in the winding wheel, one ends of the two steel wire ropes are correspondingly wound in the two winding wheels of the winding wheel in opposite directions, and the other ends of the two steel wire ropes are used as traction ends and are connected with joint parts of the operating pliers after being adjusted by the turning pulley.

Further, the surface thread connection of casing has the locking knob, and locking knob staggers the setting with the round wheel subassembly, and the tip is located the location ball in the casing by.

The operation pliers comprise pliers heads, a multi-joint framework and an outer pipe which are sequentially connected, the tail end of the outer pipe is communicated with the machine shell, four through holes distributed circumferentially are formed in each joint of the multi-joint framework to form four groups of through holes located on the same linearity, and four steel wire ropes of the two winding wheel assemblies penetrate through the through holes of the multi-joint framework in a one-to-one correspondence mode and are connected with the head end of the multi-joint framework.

Further, the inner wall edge of the outer tube is provided with traction channels matched with the four steel wire ropes, and the center of the outer tube is provided with a central channel.

Further, the clamp head is provided with a clamping part and a connecting part, the connecting part is rotationally connected with the multi-joint framework, a central rope is arranged at the connecting part of the clamping part and the connecting part, and the central rope penetrates through the center of the multi-joint framework, the central channel of the outer tube and the channel in the positioning ball to be connected with the handle.

The handle comprises a handle shell, a trigger and a middle shaft sleeve, wherein the middle shaft sleeve is connected to the center of the head end of the handle shell, the middle shaft sleeve is used as the middle shaft end of the handle to penetrate through the positioning ball and fixedly connected with the positioning ball, the trigger is rotatably arranged at the tail end of the handle shell, a center rope penetrates through the middle shaft sleeve and is connected with the trigger, and the trigger drives the center rope to control the opening and closing of the clamping part.

Further, an autorotation knob for driving the central rope to autorotate is movably arranged in the handle shell, and part of the outer edge part of the autorotation knob is positioned outside the handle shell.

Further, a guiding wheel for guiding the steel wire rope to orderly enter the inside of the shell is arranged outside the shell.

Further, the outer surface of the casing is provided with an arc-shaped shielding cover for protecting the reel.

Compared with the prior art, the invention has the beneficial effects that:

1. The wheel winding assembly is driven by the rotation of the handle to enable the operating forceps to bend along with the rotation direction of the handle, no reaction force is required to be applied, unexpected displacement is avoided, the operating precision and the operating safety are improved, the whole size of the device is small, the occupied space is small, and the operation is simple and convenient;

2. Can fix the hand control assembly through the locking knob, it is spacing through the locking knob when not needing the adjustment operation pincers, can keep the current bending angle of operation pincers, reduce the risk of maloperation, in addition, realize the autogiration of binding clip through the rotation knob, can satisfy that whole apparatus possesses 6 degrees of freedom with the cooperation of round wheel subassembly.

Drawings

The disclosure of the present invention is described with reference to the accompanying drawings. It is to be understood that the drawings are designed solely for the purposes of illustration and not as a definition of the limits of the invention. In the drawings, like reference numerals are used to refer to like parts. Wherein:

FIG. 1 is a perspective view of a multi-joint endoscopic hand control apparatus of the present invention;

FIG. 2 is a schematic view of the construction of the operating pliers based on FIG. 1;

FIG. 3 is a schematic structural view of the multi-joint skeleton based on FIG. 2;

FIG. 4 is a schematic view of the internal structure of the enclosure based on FIG. 1;

FIG. 5 is a schematic view of a pulley bearing sleeve based on FIG. 4;

FIG. 6 is a schematic illustration of the connection of the control chain to the wrap wheel assembly based on FIG. 1;

fig. 7 is a schematic view of the internal structure of the handle based on fig. 6.

The drawing comprises a handle pliers (1), a pliers head (11), a multi-joint framework (12), a outer pipe (13), a central rope (14), a control mechanism (2), a control mechanism (21), a machine shell (22), a winding wheel assembly (221), a winding wheel (222), a pulley bearing table (223), a turning pulley (224), a steel wire rope (23), a locking knob (3), a manual control assembly (31), a positioning ball (32), a control chain (33), a handle (331), a handle shell (332), a trigger (333), a middle shaft sleeve (334) and a rotation knob.

Detailed Description

It is to be understood that, according to the technical solution of the present invention, those skilled in the art may propose various alternative structural modes and implementation modes without changing the true spirit of the present invention. Accordingly, the following detailed description and drawings are merely illustrative of the invention and are not intended to be exhaustive or to limit the invention to the precise form disclosed.

Referring to fig. 1, the present invention is directed to a multi-joint endoscopic hand control apparatus, generally comprising an operating clamp 1, a control mechanism 2 and a hand control assembly 3.

As shown in fig. 2 and 3, the operating forceps 1 includes a forceps head 11, a multi-joint skeleton 12, and an outer tube 13, which are sequentially disposed. The outer tube 13 is preferably made of flexible materials, four traction channels are formed in the edge of the inner wall of the outer tube 13, the four traction channels are distributed circumferentially, and a center channel is formed in the center of the outer tube 13. Each section of the multi-joint skeleton 12 realizes rotation in one relative direction, two sections of joints can realize rotation in two relative directions, and bending rotation in two relative directions can be realized through the multi-section joints. Each joint of the multi-joint skeleton 12 has four through holes distributed circumferentially to form four groups of through holes on the same linearity, and the center of the multi-joint skeleton 12 is also provided with a hole.

The clamp head 11 is divided into a clamping part and a connecting part, the connecting part is rotationally connected with the multi-joint skeleton 12, a central rope 14 is arranged at the connecting part of the clamping part and the connecting part, the clamping part can be driven to open and close by the central rope 14, the connecting mode of the central rope 14 and the clamp head 11 can adopt the conventional connecting mode, for example, a middle soft mandrel is arranged at the side part of the clamping part and is communicated with a central channel of the multi-joint skeleton 12 by the middle soft mandrel, and the middle soft mandrel is hollow, so that the central rope 14 is convenient to connect with the clamping part. The central rope 14 passes through the center of the multi-joint skeleton 12 and the central channel of the outer tube 13, and then passes through the shell 21 of the control mechanism 2 to be connected with the trigger 332 of the handle 33, and in the initial state, the clamp head 11 is in an open state, and the clamp head 11 can be in a closed state by pressing the trigger 332 to pull the central rope 14.

As shown in fig. 4 and 5, the control mechanism 2 mainly includes a casing 21 and a winding wheel assembly 22, and the winding wheel assembly 22 is two, and the two are mutually perpendicular in space. Reel assembly 22 basically comprises a reel 221, a wire rope 224, a pulley mount 222 and a diverting pulley 223. The reel 221 is rotatably connected to the surface of the housing 21, and an arc-shaped shielding cover is additionally provided on the outer surface of the housing 21 to semi-shield the reel 221 for protecting the reel 221 and the wire rope 224 wound around the surface of the reel 221.

Since the reel 221 is provided with two winding grooves, one steel wire rope 224 is wound in each winding groove, and the winding directions of the steel wire ropes 224 in the two winding grooves are opposite, so that one steel wire rope 224 is in a rope loosening state and the other steel wire rope 224 is in a tightening state when the reel 221 rotates. One end of the wire rope 224 is secured within the reel 221 and the other end is the trailing end of the reel assembly 22.

The pulley carrying table 222 is installed inside the casing 21, and since there are four steel wires 224, there are four diverting pulleys 223 on the pulley carrying table 222. The diverting pulley 223 diverts the two wire ropes 224 on the same reel 221, thereby effecting synchronous and equidirectional movement of the operating pliers 1 with the handle 33. Therefore, after being guided by the direction-changing pulley 223, the wire rope 224 is connected to the head end of the multi-joint skeleton 12 through the traction channel of the outer tube 13 and the through hole of the multi-joint skeleton 12. Because of the two reel assemblies 22, there are four wire ropes 224 to effect rotation of the multi-joint skeleton 12 in four directions. It should be emphasized that the reel 221 is located at the outer surface of the housing 21, and the diverting pulley 223 is located inside the housing 21, and in order to avoid the four wire ropes 224 from being entangled with each other, a guide wheel for guiding the wire ropes 224 into the interior of the housing 21 is provided at the outside of the housing 21.

As shown in fig. 6 and 7, the hand-held assembly is mainly composed of a positioning ball 31, a control chain 32 and a handle 33. The positioning ball 31 is located in the casing 21, a cavity capable of containing the positioning ball 31 is preset in the casing 21, the positioning ball 31 is embedded in the cavity and does not affect rotation of the positioning ball 31, a hole forming channel is formed in the center of the positioning ball 31 along the length direction of the casing 21 and is used for being connected with the handle 33, the tail end of the casing 21 is provided with an opening, the handle 33 is convenient to link the positioning ball 31 to perform offset rotation, and the positioning ball 31 is used as a rotating circle center of the handle 33.

The handle 33 includes a handle shell 331, a trigger 332, and a middle sleeve 333. The center of the head end of the handle shell 331 is connected with a middle shaft sleeve 333, the middle shaft sleeve 333 is hollow, the middle shaft sleeve 333 is used as the center shaft end of the handle 33 to penetrate through the hole of the center of the positioning ball 31 and fixedly connected with the hole, the trigger 332 is rotatably arranged at the tail end of the handle shell 331, the trigger 332 is used for driving the center rope 14, and the center rope 14 can penetrate through the middle shaft sleeve 333 and be connected with the trigger 332. The interior of the handle shell 331 has a sleeve for guiding the center cord 14 through the handle shell 331 and connected to the trigger 332.

Rotation of the binding clip 11 can be achieved by driving the central cord 14 to rotate. An auto-rotation knob 334 is provided inside the grip case 331, and the diameter of the auto-rotation knob 334 is larger than that of the grip case 331, so that a part of the outer peripheral portion of the auto-rotation knob 334 is located outside the grip case 331. The sleeve is driven to rotate by the rotation knob 334, thereby driving the rotation of the center rope 14. In order not to influence the trigger 332 to drive the central rope 14, the tail end of the central rope 14 and the trigger 332 are in a rotary connection mode, the inner wall of the sleeve is provided with limiting teeth, the length direction of the limiting teeth is consistent with the axial direction of the sleeve, and tooth grooves or tooth-shaped protrusions matched with the limiting teeth are arranged on the outer surface of the part of the central rope 14 inside the sleeve, so that the central rope 14 can be driven to rotate by the rotation of the sleeve, the clamp head 11 is driven to rotate, and meanwhile, the trigger 332 is not influenced to drive the central rope 14 to control the clamp head 11 to open and close.

The handle case 331 is connected to the reel 221 via the control chain 32, and when the handle 33 rotates in one of four directions of the operating pliers 1 about the positioning ball 31, the control chain 32 links the corresponding reel unit 22 to drive the operating pliers 1 to bend in the same direction. If the bending direction of the operating pliers 1 does not need to be adjusted, the positioning ball 31 can be limited by the locking knob 23, namely, the locking knob 23 is connected to the casing 21 in a threaded manner, when the locking knob 23 is screwed, the end part of the locking knob 23 is tightly attached to the positioning ball 31, so that the purpose of positioning the handle 33 is achieved, and at the moment, the control chain 32 cannot drive the reel 221 to rotate, so that the purpose of fixing the pliers head 11 is driven.

In practice, the operating pliers 1 have three modes of movement,

1. The opening and closing of the operating forceps 1 are controlled by a trigger 332;

2. The operation clamp 1 can be driven to rotate by rotating the rotation knob 334;

3. The locking knob 23 is separated from the positioning ball 31, the handle 33 is driven, the control chain 32 drives the corresponding reel 221, one of the two steel wires 224 on the reel 221 is tensioned, the other is loosened, the multi-joint skeleton 12 moves towards the direction of the tensioned steel wire 224, and the operation clamp 1 bends synchronously in the same direction along with the movement of the handle 33, and the maximum bending angle is 90 degrees.

According to the embodiment, the wheel winding assembly 22 is driven by rotation of the handle 33 to enable the operating forceps 1 to bend along with the rotation direction of the handle 33, no reaction force is required to be applied, unexpected displacement is avoided, operation accuracy and operation safety are improved, the whole size of the device is small, occupied space is small, operation is simple and convenient, the hand control assembly 3 can be fixed through the locking knob 23, when the operating forceps 1 does not need to be adjusted, the current bending angle of the operating forceps 1 can be kept, the risk of misoperation is reduced, in addition, the self-rotation of the forceps head 11 is realized through the self-rotation knob 334, and the whole instrument can be provided with 6 degrees of freedom through cooperation with the wheel winding assembly 22.

The technical scope of the present invention is not limited to the above description, and those skilled in the art may make various changes and modifications to the above-described embodiments without departing from the technical spirit of the present invention, and these changes and modifications should be included in the scope of the present invention.

Claims

1. A multi-joint endoscopic hand control apparatus, comprising:

an operating clamp (1);

the control mechanism (2) comprises a shell (21) and a winding wheel assembly (22), wherein the surface of the shell (21) is movably provided with two winding wheel assemblies (22), the two winding wheel assemblies (22) are oppositely and vertically arranged, each winding wheel assembly (22) is provided with two opposite traction ends, the traction ends are connected with the joint part of the operating forceps (1) after being guided by direction change, and the two groups of winding wheel assemblies (22) are in dislocation fit with the four directions of the traction operating forceps (1) to bend;

The manual control assembly (3) comprises a positioning ball (31), a control chain (32) and a handle (33), wherein the handle (33) is located at one end of the casing (21) which is away from the operating forceps (1), the middle shaft end of the handle (33) is connected with the positioning ball (31), the positioning ball (31) is movably embedded in the casing (21) and is internally provided with a channel, the two control chains (32) are arranged outside the handle (33), the two control chains (32) drive the two wheel winding assemblies (22) in a one-to-one correspondence manner, and when the handle (33) rotates towards one of four directions of the operating forceps (1) by taking the positioning ball (31) as a center, the control chain (32) is linked to drive the operating forceps (1) to bend towards the same direction.

2. The multi-joint endoscope hand control instrument according to claim 1, wherein the reel assembly (22) comprises a reel (221), steel wire ropes (224), a pulley bearing table (222) and a turning pulley (223), the pulley bearing table (222) is installed inside the machine shell (21) and is coaxially arranged with the machine shell (21), the turning pulleys (223) corresponding to the number of the steel wire ropes (224) are rotatably connected to the pulley bearing table (222), the reel (221) is rotatably arranged on the machine shell (21), two winding grooves are formed in the reel (221), one ends of the two steel wire ropes (224) are correspondingly wound in the two reels (221) of the reel (221) in opposite directions, and the other ends of the two steel wire ropes are used as traction ends and are connected with joint parts of the operating forceps (1) after being adjusted by the turning pulleys (223).

3. The multi-joint endoscope hand control device according to claim 1, characterized in that the surface of the casing (21) is connected with a locking knob (23) in a threaded manner, the locking knob (23) is arranged in a staggered manner with the wheel winding assembly (22), and the end part of the locking knob is positioned beside a positioning ball (31) in the casing (21).

4. The multi-joint endoscope hand-controlled instrument according to claim 2, wherein the operating forceps (1) comprises a forceps head (11), a multi-joint framework (12) and an outer tube (13) which are sequentially connected, the tail end of the outer tube (13) is communicated with the shell (21), four through holes distributed circumferentially are formed in each joint of the multi-joint framework (12) to form four groups of through holes positioned on the same linearity, and four steel wire ropes (224) of two winding wheel assemblies (22) penetrate through the through holes of the multi-joint framework (12) in a one-to-one correspondence manner and are connected with the head end of the multi-joint framework (12).

5. The multi-joint endoscope hand-controlled apparatus according to claim 4, wherein a traction channel matched with four steel wire ropes (224) is arranged at the edge of the inner wall of the outer tube (13), and a center channel is arranged at the center of the outer tube (13).

6. The hand-controlled instrument for multi-joint endoscope according to claim 5, characterized in that the forceps head (11) has a clamping part and a connecting part, the connecting part is rotatably connected with the multi-joint skeleton (12), a central rope (14) is arranged at the connecting part of the clamping part and the connecting part, and the central rope (14) penetrates through the center of the multi-joint skeleton (12), the central channel of the outer tube (13) and the channel inside the positioning ball (31) to be connected with the handle (33).

7. The multi-joint endoscopic hand control instrument according to claim 6, wherein the handle (33) comprises a handle shell (331), a trigger (332) and a middle shaft sleeve (333), the middle shaft sleeve (333) is connected to the center of the head end of the handle shell (331), the middle shaft sleeve (333) penetrates through the positioning ball (31) as the center shaft end of the handle (33) and is fixedly connected with the positioning ball, the trigger (332) is rotatably arranged at the tail end of the handle shell (331), the center rope (14) penetrates through the middle shaft sleeve (333) and is connected with the trigger (332), and the trigger (332) drives the center rope (14) to control the opening and closing of the clamping position.

8. The multi-joint endoscope hand-controlled apparatus according to claim 7, wherein an autorotation knob (334) for driving the center rope (14) to autorotate is movably provided inside the handle case (331), and a part of an outer edge portion of the autorotation knob (334) is located outside the handle case (331).

9. The multi-joint endoscopic hand control instrument of claim 2 wherein the exterior of the housing (21) is provided with guide wheels for guiding the wire rope (224) into the interior of the housing (21) in an orderly fashion.

10. The multi-joint endoscopic hand control instrument of claim 2 wherein the outer surface of the housing (21) is provided with an arcuate shield for shielding the reel (221).