Multifunctional grasping forceps for minimally invasive surgery

Abstract

The present invention relates to a multifunctional grasping forceps for minimally invasive surgery, comprising a clamping part, a mounting part, and a motion control mechanism; the motion control mechanism is used to control the movement of the mounting part, and the mounting part is used to drive the movement of the clamping part; the clamping part comprises a first clamping part and a second clamping part; the first clamping part is movably connected to the second clamping part; the mounting part comprises a first mounting part and a second mounting part; the first mounting part is used to control the opening and closing of the first clamping part; the second mounting part connects the first clamping part and the second clamping part, and is used to control their relative movement so that the first clamping part and the second clamping part have an angle; the motion control mechanism comprises a first motion control mechanism and a second motion control mechanism; the first motion control mechanism controls the movement of the first mounting part, and the second motion control mechanism is used to control the movement of the second mounting part. The advantages of the grasping forceps are that the two modes of firm grasping and non-invasive grasping can be realized, the structure is simple, the operation is convenient, and a bipolar electrocoagulation function is provided.

Description

Technical Field

[0001] The invention relates to the technical field of medical instruments, in particular to a multifunctional grasping forceps for minimally invasive surgery. Background Art

[0002] Various endoscopic surgeries or robotic surgeries have become the most popular minimally invasive surgical methods, and the da Vinci surgical robot has been updated to the fourth generation. This latest model is being adopted all over the world to provide patients with better, faster and more accurate surgical treatment. The current grasping forceps used in robotic surgery are electric straight grasping forceps with teeth. Because the current mechanical feedback system of robotic surgery is not perfect, the surgeon cannot sense the clamping force through the handle when clamping the tubular soft tissue that needs to be retained (such as ureters and blood vessels), and the pulling force is too large and the time is too long without knowing it. Traditional endoscopic surgery also has similar problems.

[0003] Chinese patent document CN208511134U discloses an ultra-thin endoscopic surgical forceps, including a forceps core assembly, a forceps rod assembly, a connecting nut, a front handle, a pull rod rear joint, a rear handle, and a handle screw. The forceps core assembly is sleeved on the forceps rod assembly, the forceps core assembly and the forceps rod assembly are fixedly connected, the pull rod of the forceps core assembly passes through the forceps rod assembly and is fixedly connected to the pull rod rear joint, the pull rod rear joint passes through the front handle and is connected to the rear handle, the front handle and the rear handle are hinged by the handle screw, the connecting nut is sleeved on the forceps rod assembly and is fixedly connected to the front handle, the forceps core assembly is connected to the upper forceps head auxiliary pin hole and the lower forceps head auxiliary pin hole respectively through the auxiliary pin shafts of the two connecting pieces, the front end of the pull rod front joint is hinged to the two connecting pieces through the pull rod pin through the pull rod pin holes of the two connecting pieces, and the rear end of the pull rod front joint is fixedly connected to the pull rod; the problem solved is: the forceps heads at the front end of the forceps cup are misaligned with each other when closed, and the problem of the above-mentioned single clamping function and difficulty in achieving non-invasive grasping of the corresponding soft tissue cannot be solved.

[0004] In summary, there is an urgent need for a multifunctional grasping forceps for minimally invasive surgery that can achieve both firm grasping and non-invasive grasping modes, has a simple structure, is easy to operate, and has a bipolar electrocoagulation function. Summary of the invention

[0005] The purpose of the present invention is to provide a multifunctional grasping forceps for minimally invasive surgery that can realize two modes of firm grasping and non-invasive grasping, has a simple structure, is easy to operate, and has a bipolar electrocoagulation function.

[0006] To achieve the above object, the technical solution adopted by the present invention is:

[0007] A multifunctional grasping forceps for minimally invasive surgery, comprising a clamping part, a mounting part, and a motion control mechanism; the motion control mechanism is used to control the movement of the mounting part, and the mounting part is used to drive the movement of the clamping part; the clamping part comprises a first clamping part and a second clamping part; the first clamping part is movably connected to the second clamping part; the mounting part comprises a first mounting part and a second mounting part; the first mounting part is used to control the opening and closing of the first clamping part; the second mounting part connects the first clamping part and the second clamping part, and is used to control the relative movement of the first clamping part and the second clamping part, so that the first clamping part and the second clamping part have an angle; the motion control mechanism comprises a first motion control mechanism and a second motion control mechanism; the first motion control mechanism controls the movement of the first mounting part, and the second motion control mechanism is used to control the movement of the second mounting part.

[0008] As a preferred technical solution, the movable angle between the first clamping part and the second clamping part is 150-180°.

[0009] As a preferred technical solution, the first mounting portion includes a guide groove and a first rotation hinge, wherein the guide groove is two parallel and intersecting guide rails in an X shape, and the first rotation hinge is the rotation center of the opening and closing movement of the first clamping portion.

[0010] As a preferred technical solution, the first motion control mechanism is a T-shaped pull rod, and the two ends of the T-shape are respectively placed in the guide groove and are slidably connected to the guide groove.

[0011] As a preferred technical solution, the second mounting portion includes a second rotating hub, wherein the second rotating hub is provided with a gear structure, the gear structure is fixed on the second rotating hub or independently sleeved on the outer wall of the first rotating hub, and correspondingly, the first rotating hub is also provided with a gear structure.

[0012] As a preferred technical solution, the second motion control mechanism is a gear transmission mechanism, which realizes the transmission connection between the first rotating hub and the second rotating hub through a plurality of gears.

[0013] As a preferred technical solution, the first rotating hub is further provided with a driving groove, and correspondingly, the second motion control mechanism further includes a driving wire, and the driving wire is adapted to the driving groove to drive the first rotating hub to rotate.

[0014] As a preferred technical solution, the second clamping portion is provided with metal electrode sheets on its clamping surface, and correspondingly, each metal electrode sheet is connected with a wire.

[0015] Another object of the present invention is to provide a surgical instrument that can achieve both firm grasping and non-invasive grasping modes, has a simple structure, is easy to operate, and has a bipolar electrocoagulation function.

[0016] A surgical instrument comprises the multifunctional grasping forceps for minimally invasive surgery described in the present invention.

[0017] As a preferred technical solution, the surgical instrument further includes an end drive unit, and the end drive unit can drive the motion control mechanism to control the movement of the clamping part.

[0018] The present invention has the advantages that:

[0019] 1. The multifunctional grasping forceps for minimally invasive surgery described in the present invention include a first clamping part and a second clamping part movably connected by a second rotating hinge, and a certain angle can be formed between the clamping parts so that a certain gap is retained between the clamping surfaces, which is suitable for clamping tubular soft tissues that need to be retained and can protect important tissues in minimally invasive surgery.

[0020] 2. The present invention includes two modes: straight forceps and bending forceps, which can be switched freely to adapt to the ever-changing surgical environment, adapt to the robotic surgical system, and are flexible to use and easy to operate.

[0021] 3. The clamping part of the present invention is provided with a metal electrode sheet, which can realize the bipolar electrocoagulation function through the wire and effectively play the role of electrocoagulation hemostasis. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Attached Figure 1 It is a schematic diagram of a multifunctional grasping forceps for minimally invasive surgery of the present invention.

[0023] Attached Figure 2 It is a schematic diagram of another state of the multifunctional grasping forceps for minimally invasive surgery of the present invention.

[0024] Attached Figure 3 It is a partial perspective view of a multifunctional grasping forceps for minimally invasive surgery according to the present invention.

[0025] Attached Figure 4 This is a schematic diagram of the coordination of the first rotating hub of the multifunctional grasping forceps for minimally invasive surgery of the present invention.

[0026] Attached Figure 5 It is a schematic diagram of the first rotating hub component of another multifunctional grasping forceps for minimally invasive surgery of the present invention.

[0027] Attached Figure 6 It is a schematic diagram of the coordination of the first rotating hub of another multifunctional grasping forceps for minimally invasive surgery of the present invention.

[0028] Attached Figure 7 It is a schematic diagram of a surgical instrument of the present invention. DETAILED DESCRIPTION

[0029] The present invention will be further described below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention. In addition, it should be understood that after reading the content of the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms fall within the scope limited by the appended claims of the application equally.

[0030] The reference numerals and components involved in the drawings are as follows:

[0031] 1. Clamping part 2. Mounting part 3. Motion control mechanism

[0032] 4. Final drive unit 11. First clamping unit 12. Second clamping unit

[0033] 21. First mounting portion 22. Second mounting portion 23. Gear structure

[0034] 31. First motion control mechanism 32. Second motion control mechanism 41. Connecting pipe

[0035] 121.Metal electrode sheet 211.Guide groove 212.First rotating hub

[0036] 221. Second rotating hub 311. T-type pull rod 321. Driving wire

[0037] 2121 drive slot

[0038] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may also be a centered element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a centered element at the same time. When an element is considered to be "coupled" to another element, it may be directly coupled to the other element or there may be a centered element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method. The terms "distal end" and "proximal end" used herein are directional terms, which are commonly used terms in the field of interventional medical devices, wherein the "distal end" refers to the end away from the operator during surgery, and the "proximal end" refers to the end close to the operator during surgery.

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0040] Example 1

[0041] Please see attached Figure 1 , Attachment Figure 2 , attached Figure 1 This is a schematic diagram of a multifunctional grasping forceps for minimally invasive surgery of the present invention, with Figure 2 1 is a schematic diagram of another state of a multifunctional grasping forceps for minimally invasive surgery of the present invention; a multifunctional grasping forceps for minimally invasive surgery comprises a clamping part 1, a mounting part 2, and a motion control mechanism 3; the motion control mechanism 3 controls the movement of the mounting part 2, and the mounting part 2 drives the opening and closing movement of the clamping part 1; the clamping part 1 comprises a first clamping part 11 and a second clamping part 12, the mounting part 2 comprises a first mounting part 21 and a second mounting part 22, and the motion control mechanism 3 comprises a first motion control mechanism 31 and a second motion control mechanism 32 (not shown in the figure);

[0042] The first mounting portion 21 includes a guide groove 211 and a first rotating hub 212, wherein the guide groove 211 is two parallel and intersecting guide rails in an X shape, and the first rotating hub 212 is provided with a gear structure 23 as the rotation center of the opening and closing movement of the first clamping portion 11, and the first clamping portion 11 can perform opening and closing movement around the first rotating hub 212;

[0043] The second mounting portion 22 includes a second rotating hub 221 with a gear structure 23. The first clamping portion 11 and the second clamping portion 12 are movably connected via the second rotating hub 221. The second clamping portion 12 can rotate relative to the first clamping portion 11 around the second rotating hub 221. The rotation angle range is 150-180°.

[0044] The first motion control mechanism 31 is a T-shaped pull rod 311, and the two ends of the T-shaped pull rod 311 are respectively placed in two guide grooves 211 of the first mounting portion 21 that are parallel and cross-distributed in an X shape, and are slidably connected thereto;

[0045] Please see attached Figure 3 , attached Figure 3 It is a partial perspective view of a multifunctional grasping forceps for minimally invasive surgery of the present invention; the second motion control mechanism 32 is a gear transmission mechanism, which realizes the transmission connection between the first rotating hub 212 and the second rotating hub 221 through a plurality of gears, and the plurality of gears are arranged in the first clamping part 11. In order to make the first rotating hub 212 simultaneously control the relative reverse movement of the left and right second clamping parts 12, the number of transmission gears in the left and right first clamping parts 11 should be an odd number on one side and an even number on the other side;

[0046] Please see attached Figure 4 , attached Figure 41 is a schematic diagram of the first rotating hub of the multifunctional grasping forceps for minimally invasive surgery of the present invention; the first rotating hub 212 is further provided with a driving groove 2121, and correspondingly, the second motion control mechanism 32 further includes a driving wire 321, which is matched with the driving groove 2121 to drive the first rotating hub 212 to rotate, and then drives the first clamping part 11 to rotate relative to the second clamping part 12 through gear transmission;

[0047] The second clamping part 12 is also provided with a metal electrode sheet 121 on its clamping surface. Each metal electrode sheet 121 is connected to a wire. The wire can be inserted into the clamping part 1 to realize the bipolar electrocoagulation function. It should be understood that the second clamping part 12 can also be provided with a metal electrode sheet 121 on its clamping surface, so that the whole set of forceps has a bipolar electrocoagulation function.

[0048] Method of use of the present invention: The T-shaped pull rod 311 of the first motion control mechanism 31 of the present invention performs up and down linear motion. During the motion, the first clamping part 11 is rotated around the first rotating hub 212 through the guide groove 211 to realize the opening and closing of the first clamping part 11. At this time, when the first clamping part 11 and the second clamping part 12 are 180°, the multifunctional grasping forceps for minimally invasive surgery described in the present invention are equivalent to the straight forceps mode, which can firmly grasp the corresponding soft tissue. When non-invasive grasping of tubular soft tissue (such as ureters and blood vessels) is required, the first rotating hub 212 can be driven to rotate through the sliding drive wire 321, and then the second rotating hub 221 can be driven to rotate through the gear transmission, so that the second clamping part 12 is at a certain angle to the first clamping part 11, so that a certain gap is formed during clamping to realize non-invasive grasping of tubular soft tissue; when bipolar electrocoagulation is required, the wire connected to the external power supply equipment is connected, and the metal electrode sheet 121 on the clamping surface is used to realize the bipolar electrocoagulation function.

[0049] It should be noted that: the multifunctional grasping forceps for minimally invasive surgery of the present invention includes a clamping part 1, which can realize the clamping of soft tissue, and the clamping part 1 includes a first clamping part 11 and a second clamping part 12, and the first clamping part 11 and the second clamping part 12 are movably connected to form a certain angle, so that in the clamping process of the present invention, a certain gap is left between the clamping surfaces, and non-invasive grasping of tubular soft tissue can be realized; the movable angle between the first clamping part 11 and the second clamping part 12 is 150-180°, and the size of the gap can be flexibly adjusted according to actual needs; the mounting part 2 of the present invention includes a first mounting part 21 and a second mounting part 22, and the first mounting part 21 includes a guide groove 211 and a first rotating hub 212, wherein the guide groove 21 1 are two parallel and intersecting guide rails in an X shape, the first rotating hub 212 is the rotation center of the opening and closing movement of the first clamping part 11, and the guide groove 211 cooperates with the first rotating hub 212 to realize the opening and closing movement of the clamping part 1; the first motion control mechanism 31 is a T-shaped pull rod 311, and its two ends of the T are respectively placed in the guide groove 211 and are slidably connected to the guide groove 211, and the remote control of the opening and closing of the clamping part 1 is realized by the movement of the T-shaped pull rod 311 in the guide groove 211; the second mounting part 22 includes a second rotating hub 221, wherein the second rotating hub 221 is provided with a gear structure 23, and correspondingly, the first rotating hub 212 is also provided with a gear structure 23, and the second motion control mechanism 32 It is a gear transmission mechanism, so that it can realize the linkage between the second rotating hub 221 and the first rotating hub 212 through gear transmission; the first rotating hub 212 is also provided with a driving groove 2121, and correspondingly, the second motion control mechanism 32 also includes a driving wire 321, and the driving wire 321 is adapted to the driving groove 2121 to drive the first rotating hub 212 to rotate, which can realize the remote operation of the relative movement of the second clamping part 12 and the first clamping part 11; the second clamping part 12 is provided with a metal electrode sheet 121 on its clamping surface, and correspondingly, each metal electrode sheet 121 is connected with a wire, which can realize the bipolar electrocoagulation function.

[0050] Example 2

[0051] Please see attached Figure 5 , Attachment Figure 6 , attached Figure 5 is a schematic diagram of the first rotating hub component of another multifunctional grasping forceps for minimally invasive surgery of the present invention, Figure 6This is another schematic diagram of the first rotating hub of the multifunctional grasping forceps for minimally invasive surgery of the present invention. This embodiment is basically the same as the first embodiment, except that the two sets of gear structures 23 on the first rotating hub 212 are independently sleeved on the outer wall of the first rotating hub 212, and can rotate independently relative to the first rotating hub 212. Accordingly, the two sets of gear structures 23 have independent motion control mechanisms 3, namely, two sets of driving grooves 2121 and corresponding driving wires 321. It should be noted that the relative rotation of the left and right second clamping parts 12 can be independently controlled by the driving wires 321. Therefore, the number of transmission gears in the left and right first clamping parts 11 can be consistent, and the change of the control structure does not affect the use efficiency of the present invention.

[0052] Example 3

[0053] Please see attached Figure 7 , attached Figure 7 It is a schematic diagram of a surgical instrument of the present invention; a surgical instrument, including the multifunctional grasping forceps for minimally invasive surgery described in the present invention, and also including an end drive unit 4, and a connecting tube 41 connected to the end drive unit 4, the first motion control mechanism 31 and the second motion control mechanism 32 are connected to the end drive unit 4, and the end drive unit 4 is used to achieve remote control of the drive wire 321 and the T-type pull rod 311, thereby achieving corresponding movement of the clamping part 1, and also achieving control of the bipolar electrocoagulation function through the wire. It should be noted that the end drive unit 4 can be a manual drive component (such as a knob, a rocker, a lever handle, a pull rod, etc.) that mechanically drives the drive wire 321 and the T-type pull rod 311, or an automatic drive component such as an electric drive (such as a motor, a piston drive, etc.), which is suitable for both traditional laparoscopic and other endoscopic surgeries and for assembly with the operating end of a surgical robot.

[0054] The above is only a preferred embodiment of the present invention. It should be pointed out that ordinary technicians in this technical field can make several improvements and supplements without departing from the principle of the present invention. These improvements and supplements should also be regarded as the scope of protection of the present invention.

Claims

1. A multifunctional grasping forceps for minimally invasive surgery, characterized in that: It includes a clamping part, a mounting part, and a motion control mechanism; the motion control mechanism is used to control the motion of the mounting part, and the mounting part is used to drive the motion of the clamping part; The clamping part includes a first clamping part and a second clamping part; the first clamping part is movably connected to the second clamping part; The mounting portion includes a first mounting portion and a second mounting portion; the first mounting portion is used to control the opening and closing of the first clamping portion; the second mounting portion connects the first clamping portion and the second clamping portion, and is used to control the relative movement of the first clamping portion and the second clamping portion, so that the first clamping portion and the second clamping portion have an angle; The motion control mechanism includes a first motion control mechanism and a second motion control mechanism; the first motion control mechanism controls the motion of the first mounting portion, and the second motion control mechanism is used to control the motion of the second mounting portion. The movable angle between the first clamping portion and the second clamping portion is 150-180°. The first mounting portion includes a guide groove and a first rotating hinge, wherein the guide groove is two parallel and intersecting guide rails in an X shape, and the first rotating hinge is the rotation center of the opening and closing motion of the first clamping portion. The first motion control mechanism is a T-shaped pull rod, and the two ends of the T-shaped pull rod are respectively placed in the guide groove and are slidably connected to the guide groove. The second mounting portion includes a second rotating hinge, wherein the The second rotating hub is provided with a gear structure, and the gear structure is fixed on the second rotating hub. Correspondingly, the first rotating hub is also provided with a gear structure. The second motion control mechanism is a gear transmission mechanism, which realizes the transmission connection between the first rotating hub and the second rotating hub through a plurality of gears. The first rotating hub is also provided with a driving groove. Correspondingly, the second motion control mechanism also includes a driving wire, and the driving wire is adapted to the driving groove to drive the first rotating hub to rotate. A plurality of gears are provided in the first clamping part. In order to enable the first rotating hub to simultaneously control the relative reverse movement of the left and right second clamping parts, the number of transmission gears in the left and right first clamping parts should be an odd number on one side and an even number on the other side.

2. The multifunctional grasping forceps for minimally invasive surgery according to claim 1, characterized in that: The second clamping portion is provided with metal electrode sheets on its clamping surface, and correspondingly, each metal electrode sheet is connected with a wire.

3. A surgical instrument, characterized in that: Including the multifunctional grasping forceps for minimally invasive surgery as described in claim 1 or 2.

4. The surgical instrument according to claim 3, characterized in that: The surgical instrument further includes an end drive unit, which is capable of driving the motion control mechanism to control the motion of the clamping unit.

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