Medical scissors and precision drive device

Abstract

The present invention discloses a medical scissors and a precision drive device. The medical scissors include a scissor part and a support connection part. One end of the support connection part is connected to the scissor part, and the other end is connected to the wrist joint part. The scissor part includes a scissor body, a hinge shaft, a cover part, and a drive wire. The precision drive device includes a motor, a connecting shaft, a small gear, a connecting cap, a precision lead screw, a large gear, a lead screw nut, and a support sleeve. The medical scissors of the present invention have a simple structure, are very convenient for assembly, disassembly, and cleaning. At the same time, the precision drive device provided by the present invention can provide a very precise driving force, effectively ensuring that the shearing force is controllable and greatly reducing the surgical risk.

Description

Technical Field

[0001] The present invention relates to a medical scissors and a precision drive device, and particularly to a medical surgical instrument that is convenient to clean and whose operating force can be precisely controlled, belonging to the field of medical devices.

Background Art

[0002] Medical robots are advanced devices used in current remote surgeries. They have the characteristics of precise operation, small trauma, and fast healing. It is estimated that the annual output value of this field is 700 billion US dollars. Currently, in the field of medical robots, relatively mature foreign companies include Intuitive Surgical / Olympus / Johnson & Johnson Ethicon / Covidien / Royal Philips, and domestic ones include MicroPort Medical / Shenzhen Jingfeng Medical / Beijing Shurei / Chengdu Zhongke Bons Medical Robotics Co., Ltd. At the same time, Shanghai Jiao Tong University / Harbin Institute of Technology / Tianjin University in China also have a lot of research. However, in terms of current products and patents, the existing medical scissors have a relatively complex structure, which will cause difficulties in assembly, especially extremely complex cleaning. At the same time, due to the insufficient precision of the existing drive device, the medical scissors are prone to accidentally injuring healthy tissues when cutting off diseased tissues, especially when the cutting route is a curve, the incidence of such medical accidents will be higher.

Summary of the Invention

[0003] In view of the above problems, the present invention provides a medical scissors and a precision drive device. The medical scissors are convenient to assemble and clean, and the drive device can provide a very precise driving force, which can effectively ensure that the shearing force of the medical scissors is controllable. The specific technical solution of the present invention is as follows:

[0004] A medical robotic arm includes a drive part, a flexible arm, a wrist joint part, and a medical scissors. It is characterized in that: the medical scissors include a scissor part and a support connection part. One end of the support connection part is connected to the scissor part, and the other end is connected to the wrist joint part; the scissor part includes a scissor body, a hinge shaft, a cover part, and a drive wire; the scissor body includes a cutting edge part and a rotating part. The rotating part is provided with a circular groove, a wire winding wheel, a shaft hole, and a wire guiding column; the cover part includes a cover top, a cover wall, a cover top through hole, a positioning blind hole, and a wire passing hole; the drive wire is wound around the wire winding wheel and guided by the wire guiding column. The cover wall is inserted into the circular groove of the rotating part. After being guided by the wire guiding column, the drive wire passes out from the wire passing hole. The wire guiding column is further inserted into the positioning blind hole of the cover part to facilitate assembly and limit; the hinge shaft sequentially passes through the support connection part, the cover top through hole, and the shaft hole to assemble and connect the scissor part and the support connection part.

[0005] Furthermore, the support connection part sequentially includes a connection part, a transition part, and a support part. The transition part connects the connection part and the support part. The support part is flat and further includes an opening and a through hole. The opening is used to install the scissor part and provide sufficient opening space range, and the through hole allows the hinge shaft to pass through.

[0006] Furthermore, the driving part includes a motor, a connecting shaft, a small gear, a connecting cap, a precision lead screw, a large gear, a lead screw nut, and a support sleeve. The connecting cap connects the driving wire and the precision lead screw. The motor is connected to the small gear through the connecting shaft. The small gear meshes with the large gear. The large gear is fixedly connected to the lead screw nut. The lead screw nut is in transmission connection with the precision lead screw. The support sleeve includes an upper sleeve and a lower sleeve. An upper baffle, a bearing, and a lower limit plate are arranged inside the upper sleeve. The upper baffle is fixedly connected to the upper sleeve through bolts. The lower limit plate is arranged at the inner bottom of the upper sleeve. The bearing is arranged between the upper baffle and the lower limit plate. The lower sleeve includes a sliding through hole. A sliding convex block is arranged at the bottom end of the precision lead screw, and the sliding convex block slides in the sliding through hole.

[0007] Furthermore, a connecting stud is arranged inside the connecting cap, and a corresponding threaded hole is arranged at the top of the precision lead screw. The driving wire is connected to the precision lead screw through the cooperation of the connecting stud and the threaded hole.

[0008] The present invention has the following beneficial technical effects: The medical scissors of the present invention have a simple structure, are very convenient for assembly, disassembly, and cleaning. At the same time, the precision driving device provided by the present invention can provide very precise driving force, effectively ensuring that the shearing force is controllable and greatly reducing the surgical risk. The structure layout of the present invention is compact and reasonable, with strong practicability and great economic and social value.

Description of the Drawings

[0009] Figure 1 It is a schematic overall drawing of the surgical instrument of the present invention;

[0010] Figure 2a It is a schematic drawing of the medical scissors of the present invention in the closed state;

[0011] Figure 2b It is a schematic drawing of the medical scissors of the present invention in the open state;

[0012] Figure 3 It is an exploded view of Figure 2;

[0013] Figure 4 It is a schematic drawing of the scissor body;

[0014] Figure 5 It is a schematic drawing of the cover part;

[0015] Figure 6 Schematic attached drawing of the support connection part;

[0016] Figure 7 Structural schematic drawing of the driving part;

[0017] Figure 8 is Figure 7 sectional view of.

Specific implementation manners

[0018] First, the specific features represented by the reference numerals in the attached drawings of the present invention are described, where: driving part 1, motor 11, connecting shaft 12, pinion 13, connecting cap 14, precision lead screw 15, sliding convex block 151, large gear 16, lead screw nut 17, support sleeve 18, upper sleeve 181, lower sleeve 182, sliding through hole 1821, upper baffle 183, bearing 184, lower limit plate 185, flexible arm 2, joint part 3, medical scissors 4, scissor part 5, scissor body 51, cutting edge part 511, rotating part 512, circular groove 513, wire winding wheel 514, shaft hole 515, wire guiding column 516, hinge shaft 52, cover part 53, cover top 531, cover wall 532, cover top through hole 533, positioning blind hole 534, wire passing hole 535, driving wire 54, support connection part 6, connection part 61, transition part 62, support part 63, opening 631, through hole 632.

[0019] Referring to Figure 1 , a medical robotic arm generally includes a driving part 1, a flexible arm 2, a wrist joint part 3, and a medical scissor 4, and the medical scissor 4 extends into the human body for surgical operations.

[0020] However, since the opening and closing of the medical scissor are driven by a driving wire, when the driving source is not precise enough, the opening and closing angle of the scissor body will be out of control, that is, it often shows that the opening and closing angle is too large. In this way, normal tissues are easily damaged during cutting, especially when the cutting path is not a straight line, this situation is more obvious. If the driving wire is pressed slightly loose, although the above problems can be prevented to a certain extent, the loose pressing makes it impossible for the operator to precisely control the operation force, thus causing certain troubles to precise surgery. Moreover, the existing medical scissor has a complex structure, and disassembly and assembly are extremely difficult, resulting in complex cleaning.

[0021] Referring to Figures 2a-2b , the present invention provides a medical scissor and a precision driving device. The medical scissor 4 provided by the present invention not only has a simple structure and is convenient to assemble, but also is easy to clean. It specifically includes a scissor part 5 and a support connection part 6. One end of the support connection part 6 is connected to the scissor part 5, and the other end is connected to the wrist joint part 3.

[0022] Referring to Figures 3-5, the scissor part 5 of the present invention includes a scissor body 51, a hinge shaft 52, a cover part 53, and a drive wire 54; wherein the scissor body 51 includes a cutting edge part 511 and a rotating part 512. The rotating part 512 is circular, and one side thereof is provided with a circular groove 513, a wire winding wheel 514, a shaft hole 515, and a wire guiding column 516. The cover part 53 includes a cover top 531, a cover wall 532, a cover top through hole 533, a positioning blind hole 534, and a wire passing hole 535. The drive wire 54 is wound around the wire winding wheel 514 to drive the rotation of the rotating part 512, and further drives the rotation of the cutting edge part 511. The drive wire 54 is guided by two wire guiding columns 516, and the distance between the two wire guiding columns 516 is smaller than the diameter of the wire winding wheel 514. On the one hand, this can prevent the drive wire 54 from falling off the wire winding wheel 514, and on the other hand, it can effectively tension the drive wire 54 to provide the necessary driving force. The cover wall 532 is inserted into the circular groove 513 of the rotating part 512. After being guided by the wire guiding column 516, the drive wire 54 passes out from the wire passing hole 535, and the wire guiding column 516 is further inserted into the positioning blind hole 534 of the cover part 53 to facilitate the limiting function, which is very convenient for assembly. Finally, the hinge shaft 52 sequentially passes through the support connection part 6, the cover top through hole 533, and the shaft hole 515 to assemble and connect the scissor part 5 and the support connection part 6.

[0023] Further referring to Figure 6 , the support connection part 6 sequentially includes a connection part 61, a transition part 62, and a support part 63. The transition part 62 connects the connection part 61 and the support part 63. The support part 63 is flat, and further includes an opening 631 and a through hole 632. The opening 631 is used to install the scissor part 5 and ensure a sufficient opening space range for the scissor body 51, and the through hole 632 allows the hinge shaft 52 to pass through for assembly.

[0024] As can be seen from the above introduction, the medical scissors of the present invention have a simple structure, are very convenient for assembly, disassembly, and extremely easy to clean.

[0025] To cooperate with the precise operation of the medical scissors of the present invention, the present invention provides a drive part 1 that can provide precise drive. Referring to Figures 7-8 , it includes a motor 11, a connecting shaft 12, a small gear 13, a connecting cap 14, a precision lead screw 15, a large gear 16, a lead screw nut 17, and a support sleeve 18.

[0026] The connecting cap 14 is used to connect the driving wire 54 and the precision lead screw 15. The connecting cap 14 is in the shape of a cap and can be sleeved on the precision lead screw 15. A connecting stud is provided inside the connecting cap 14, and a corresponding threaded hole is provided at the top of the precision lead screw 15. The driving wire 54 and the precision lead screw 15 are connected by the cooperation of the connecting stud and the threaded hole. This not only facilitates the assembly and connection between the two, but also enables the adjustment of the tension of the driving wire 54. For example, when it is found that the driving wire 54 is loose, only need to screw the connecting cap 14, so that the connecting stud inside the connecting cap 14 will penetrate into the precision lead screw 15, thereby realizing the tension of the driving wire 54. When the driving wire 54 is too tight, only need to screw the connecting cap 14 in the reverse direction to loosen the driving wire 54.

[0027] In the present invention, the motor 11 is connected to the pinion 13 through the connecting shaft 12. Among them, the connecting shaft 12 and the motor output shaft are connected by a key connection method, and the connecting shaft 12 can be fixedly connected to the pinion 13. The pinion 13 meshes with the large gear 16, and the large gear 16 is fixedly connected to the lead screw nut 17 by bolts, and the lead screw nut 17 is in transmission connection with the precision lead screw 15.

[0028] Furthermore, the support sleeve 18 includes an upper sleeve 181 and a lower sleeve 182. An upper baffle 183, a bearing 184, and a lower limit plate 185 are provided inside the upper sleeve 181. The upper baffle 183 is fixedly connected to the upper sleeve 181 by bolts. The lower limit plate 185 is arranged at the inner bottom of the upper sleeve 181, and the bearing 184 is arranged between the upper baffle 183 and the lower limit plate 185. The lower sleeve 182 includes a sliding through hole 1821, and a sliding convex block 151 is provided at the bottom end of the precision lead screw 15, and the sliding convex block 151 slides in the sliding through hole 1821.

[0029] The specific driving process of the present invention is as follows: The motor 11 drives the pinion 13 to rotate synchronously. The pinion 13 drives the large gear 16 to rotate, playing a role of the first-stage deceleration. The large gear 16 further drives the lead screw nut 17 to rotate synchronously. The lead screw nut 17 drives the precision lead screw 15 to move up and down. Since the precision lead screw 15 is a precision lead screw, it plays a role of the second-stage deceleration. In this way, the rotational motion of the motor is finally decelerated through two stages and is manifested as the precise up and down movement of the precision lead screw 15, ultimately realizing the precise drive of the driving wire 54, thereby ensuring the controllability of the shearing force.

[0030] It can be seen from the technical solution of the present invention that the medical scissors of the present invention have a simple structure, are very convenient for assembly, disassembly and cleaning. At the same time, the precision driving device provided by the present invention can provide a very precise driving force, effectively ensuring the controllability of the shearing force and greatly reducing the surgical risk. The structure layout of the present invention is compact and reasonable, has strong practicability, and has great economic and social value.

[0031] Finally, it should be noted that all inventions and creations that do not deviate from the core technical concept of the present invention should be considered to be included within the protection scope of the present invention.

Claims

1. A medical robotic arm, comprising a driving part (1), a flexible arm (2), a wrist joint part (3) and a medical scissors (4), characterized in that: The medical scissors (4) include a scissor part (5) and a support connection part (6). One end of the support connection part (6) is connected to the scissor part (5), and the other end is connected to the wrist joint part (3). The scissor part (5) includes a scissor body (51), a hinge shaft (52), a cover part (53), and a drive wire (54). The scissor body (51) includes a cutting edge part (511) and a rotating part (512). The rotating part (512) is provided with a circular groove (513), a wire winding wheel (514), a shaft hole (515), and a wire guiding column (516). The cover part (53) includes a cover top (531), a cover wall (532), a cover top through hole (533), a positioning blind hole (534), and a wire passing hole (535). The drive wire (54) is wound around the wire winding wheel (514) and guided by the wire guiding column (516). The cover wall (532) is inserted into the circular groove (513) of the rotating part (512). After being guided by the wire guiding column (516), the drive wire (54) passes out from the wire passing hole (535). The wire guiding column (516) is further inserted into the positioning blind hole (534) of the cover part (53) to facilitate assembly and limit. The hinge shaft (52) sequentially passes through the support connection part (6), the cover top through hole (533), and the shaft hole (515) to assemble and connect the scissor part (5) and the support connection part (6).

2. The medical robotic arm according to claim 1, characterized in that: The support connection part (6) sequentially includes a connection part (61), a transition part (62), and a support part (63). The transition part (62) connects the connection part (61) and the support part (63). The support part (63) is flat and further includes an opening (631) and a through hole (632). The opening (631) is used to install the scissor part (5) and provide a sufficient opening space range. The through hole (632) allows the hinge shaft (52) to pass through.

3. The medical robotic arm according to claim 1, characterized in that: The driving part (1) includes a motor (11), a connecting shaft (12), a pinion gear (13), a connecting cap (14), a precision lead screw (15), a large gear (16), a lead screw nut (17), and a support sleeve (18); the connecting cap (14) connects the driving wire (54) and the precision lead screw (15), the motor (11) is connected to the pinion gear (13) through the connecting shaft (12), the pinion gear (13) meshes with the large gear (16), the large gear (16) is fixedly connected to the lead screw nut (17), and the lead screw nut (17) is in transmission connection with the precision lead screw (15); the support sleeve (18) includes an upper sleeve (181) and a lower sleeve (182), an upper baffle (183), a bearing (184), and a lower limit plate (185) are arranged inside the upper sleeve (181), the upper baffle (183) is fixedly connected to the upper sleeve (181) by bolts, the lower limit plate (185) is arranged at the inner bottom of the upper sleeve (181), the bearing (184) is arranged between the upper baffle (183) and the lower limit plate (185), the lower sleeve (182) includes a sliding through hole (1821), a sliding convex block (151) is arranged at the bottom end of the precision lead screw (15), and the sliding convex block (151) slides in the sliding through hole (1821).

4. The medical robotic arm according to claim 3, characterized in that: A connecting stud is arranged inside the connecting cap (14), a corresponding threaded hole is arranged at the top of the precision lead screw (15), and the connection between the driving wire (54) and the precision lead screw (15) is realized by the cooperation of the connecting stud and the threaded hole.

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