Universal forceps for laparoscopic surgical instruments

Abstract

The present invention relates to a universal forceps for laparoscopic surgical instruments, which includes a handle mechanism operated by a user and an end effector mechanism. It further includes a head universal joint, a shaft rod connecting the handle mechanism and the effector mechanism, and a steel cable passing through the shaft rod and connecting the handle mechanism and the effector mechanism. A bent frame is provided between the upper end of the universal joint and the shaft rod, and a support chain is provided between the lower end of the universal joint and the end of the handle mechanism. The present invention can control the working head end of the laparoscopic instrument at the handle to flexibly adjust the angle and complete corresponding actions in the abdominal cavity, making the surgical operation more convenient, the doctor's hand more flexible, and the work during the surgical process more perfect. By replicating the handle movements into the laparoscope, the doctor's movements become more flexible, more actions can be completed inside the laparoscope, and the instrument can reach some dead corners that were previously inaccessible.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and specifically refers to a universal forceps for laparoscopic surgical instruments. Background Art

[0002] Currently, minimally invasive surgery has become the mainstream of current surgeries in surgical operations, which has the characteristics of small wounds and fast recovery. During minimally invasive surgery, surgical instruments need to enter the human body cavity through trocars to perform a series of actions such as grasping, shearing, and holding needles for intracavitary suture during the surgical process.

[0003] During minimally invasive surgery, one or several holes are often made. The surgical instruments are made into long rod shapes and divided into several channels for the surgical instruments to enter the abdominal cavity. The doctor observes the situation inside the abdominal cavity through the feedback of the lens on the screen. When the doctor works inside the abdominal cavity, by holding the handle part of the instrument and driving the direction of the trocar left, right, up, and down, the position of the surgical instrument is adjusted. There is a large blind area in the surgical angle, or the doctor needs to spend more energy to complete the surgical actions inside the cavity. The single type of surgical instrument inside the endoscope no longer meets the growing development of endoscopic technology and the needs of increasingly complex actions. In addition, the "chopstick effect" where the instruments get in each other's way during the operation of the currently increasingly mature single-port laparoscopic surgery has become a major obstacle restricting single-port laparoscopic surgery. For this reason, we propose a universal forceps for laparoscopic surgical instruments. Summary of the Invention

[0004] The purpose of the present invention is to solve the growing action requirements during the development of laparoscopic surgery, enabling doctors to complete more actions through simpler operations. Through this surgical platform, more positions inside the cavity can be reached. The present invention replicates the actions at the handle, so during the surgical process, there is no need to frequently cross the instruments to produce the "chopstick effect". By using this surgical platform for operation, doctors can master the single-port laparoscopic technology faster. To solve the deficiencies in the prior art, the present invention provides a universal forceps for laparoscopic surgical instruments to solve the problem that when the doctor works inside the abdominal cavity, by holding the handle part of the instrument and driving the direction of the trocar left, right, up, and down, the position of the surgical instrument is adjusted, resulting in a large blind area in the surgical angle, and in addition, the "chopstick effect" where the instruments get in each other's way often occurs during the operation of the currently increasingly mature single-port laparoscopic surgery.

[0005] To achieve the above object, the present invention is realized through the following technical solutions: A universal forceps for laparoscopic surgical instruments includes a handle mechanism operated by a user and an end effector mechanism, and further includes a head universal joint, a shaft rod connecting the handle mechanism and the effector mechanism, and a steel cable passing through the shaft rod and connecting the handle mechanism and the effector mechanism. A bent frame is provided between the upper end of the universal joint and the shaft rod, and a support chain is provided between the lower end of the universal joint and the end of the handle mechanism.

[0006] As an optimization, the handle mechanism includes a handle, a handle knob arranged at the end of the handle, and a trigger arranged at the lower end of the handle. A push-pull structure is arranged inside the handle, and the trigger controls the execution structure through the push-pull structure.

[0007] As an optimization, the push-pull structure includes a push-pull block arranged at the end of the handle and a return spring arranged between the push-pull block and the handle. The trigger pushes the push-pull block to move back and forth inside the handle.

[0008] As an optimization, there are at least five steel cables. One is the control wire, and the rest are medium wires. The control wire passes through the shaft rod to connect the execution mechanism and the push-pull block. The medium wires transmit the rotation angle of the ball head hinge I to the front-end ball head hinge II, realizing the rotation of the instrument end around the ball head center point and completing the replication of the action of the handle mechanism by the execution mechanism.

[0009] As an optimization, the execution mechanism includes a jaw arranged at the tail end and a ball head hinge I connecting the jaw and the shaft rod. The pulling movement of the steel cable is transmitted to the ball head hinge I, and the jaw rotates around the center point of the ball head hinge I.

[0010] As an optimization, the jaw includes an L-shaped first jaw, an L-shaped second jaw, and a rotating rod connecting the first jaw and the second jaw. A through groove is arranged at the first jaw near the right-angle end, the second jaw is inserted into the through groove, a spring is arranged between the first jaw and the second jaw, the rotating rod is rotatably connected to the second jaw, the first jaw is connected to the medium wire in the steel cable, and the second jaw is connected to the control wire in the steel cable.

[0011] As an optimization, the universal joint includes an outer ring fixedly connected to the bent frame and an inner ring arranged inside the outer ring. The inner ring is rotatably connected to the outer ring. One end of the bent frame is connected to the upper end of the outer ring, and the other end is connected to the shaft rod.

[0012] As an optimization, the shaft rod includes a main rod near the execution mechanism end and a hose connecting the main rod and the handle mechanism. One end of the bent frame is connected to the connection part of the hose and the main rod, and the other end is connected to the upper end of the universal joint. The hose is connected to the handle structure through a ball head hinge II.

[0013] As an optimization, two fixed seats are arranged on the inner side of the bent frame. A connecting rod is arranged between the two fixed seats. A shaft joint is sleeved on the connecting rod. The shaft joint slides on the connecting rod, and the end of the shaft joint away from the connecting rod is connected to the front end of the shaft rod.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0015] 1. It is capable of flexibly adjusting the angle of the actuator of the laparoscopic instrument at the handle, enabling the angle of the product's actuator, making the surgical operation more convenient, the doctor's hand more flexible, and the work during the surgical process more perfect.

[0016] 2. The cable is driven by the handle mechanism, and the actuator is driven by the cable, enabling the actuator to replicate the actions of the handle mechanism inside the laparoscope, making the doctor's actions more flexible and enabling more actions to be completed inside the laparoscope.

[0017] 3. The wrench pushes the push-pull structure, the push-pull structure drives the operating wire, and the operating wire drives the movement of the jaws, enabling the jaws to open and close. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] FIG Figure 1 is a schematic structural diagram of the present invention;

[0019] FIG Figure 2 is a schematic diagram of the handle mechanism of the present invention;

[0020] FIG Figure 3 is a front view of the present invention;

[0021] FIG Figure 4 is a cross-sectional view of the front view of the actuator of the present invention;

[0022] FIG Figure 5 is a schematic diagram of the actuator of the present invention;

[0023] FIG Figure 6 is a schematic diagram of the knuckle and the bending frame of the present invention.

[0024] Reference numerals shown in the drawings: 1, universal joint; 111, outer ring; 112, inner ring; 2, bending frame; 3, fixed seat; 4, knuckle; 5, handle mechanism; 51, handle; 52, trigger; 53, handle knob; 6, actuator; 61, jaws; 611, first jaw; 612, second jaw; 613, rotating rod; 62, ball joint Ⅰ; 7, shaft rod; 71, hose; 72, main rod; 8, support chain; 9, push-pull structure; 91, push-pull block; 92, return spring; 11, ball joint Ⅱ; 12, cable; 13, connecting rod. DETAILED DESCRIPTION OF THE INVENTION

[0025] The present invention will be further described below in conjunction with specific embodiments. As Figures 1 to 6 shown, a universal forceps for laparoscopic surgical instruments.

[0026] It should be understood that these embodiments are only used to illustrate the present invention and not to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the present application.

[0027] As Figure 1 and Figure 3 shown, the present invention discloses a universal forceps for laparoscopic surgical instruments, which includes a handle mechanism 5 operated by a user and an end effector mechanism 6, and further includes a first universal joint 1, a shaft rod 7 connecting the handle mechanism 5 and the effector mechanism 6, and a steel cable passing through the shaft rod 7 and connecting the handle mechanism 5 and the effector mechanism 6. A bent frame 2 is provided between the upper end of the universal joint 1 and the shaft rod 7, and a support chain 8 is provided between the lower end of the universal joint 1 and the end of the handle mechanism 5. The handle mechanism 5 drives the effector mechanism 6 to move through the steel cable. The universal joint 1 sleeves the wrist. When operating the handle mechanism 5, the palm operates the handle mechanism 5, and the universal joint 1 enables the handle mechanism 5 to rotate relative to the center of the universal joint 1, while the bent frame 2 and the shaft rod 7 remain stationary. When the handle mechanism 5 is rotated, the bent frame 2 and the support chain 8 can drive other mechanisms to rotate together.

[0028] As Figure 2 shown, the present invention is further configured as: the handle mechanism 5 includes a handle 51, a handle knob 53 provided at the end of the handle 51, and a trigger 52 provided at the lower end of the handle 51. A push-pull structure 9 is provided inside the handle 51. The trigger 52 controls the actuator through the push-pull structure 9. When the palm holds the handle 51, the thumb and index finger can rotate the handle knob 53, and drive the universal joint 1, the bent frame 2, and the shaft rod 7 to rotate together around the axis of the shaft rod 7 through the support chain 8, so as to realize the axial rotation of the head jaw 61. The support chain 8 is mainly connected between the handle 51 and the universal joint 1, and belongs to a flexible connection for the position of the center point at the front end of the handle 51 and can move freely; however, when the handle knob 53 rotates along the axial direction, the support chain 8 becomes a rigid connection and forcibly drives the universal joint 1 to rotate accordingly.

[0029] As Figure 2 shown, the present invention is further configured as: the push-pull structure 9 includes a push-pull block 91 provided at the end of the handle 51 and a return spring 92 provided between the push-pull block 91 and the handle 51. A groove is provided at the lower end of the push-pull block 91, and a protrusion is provided at one end of the trigger 52 close to the push-pull block 91. The protrusion of the trigger 52 is clamped in the groove of the push-pull block 91. The trigger 52 pushes the push-pull block 91 to move back and forth inside the handle 51. When the trigger 52 is pressed, the trigger 52 pushes the push-pull block 91 towards the handle 51, and the push-pull block 91 drives the steel cable to move, and the steel cable drives the closing of the end effector structure. When the trigger 52 is released, the push-pull block 91 returns to the end of the handle 51 under the action of the return spring 92, and the steel cable moves and resets inside the shaft rod 7, and the actuator 6 opens.

[0030] The present invention is further configured such that: there are at least five steel cables 12, one being a control wire and the rest being medium wires. The control wire passes through the shaft rod 7 to connect the actuator 6 and the push-pull block 91. The steel cables 12 are completely constrained within the closed channel of the shaft rod 7 and can only move back and forth. The handle mechanism 5 closes the actuator 6 through the control wire. The medium wires transmit the rotation angle of the handle mechanism 5 to the actuator 6 at the end, and the actuator 6 replicates the actions of the handle mechanism 5 through the medium wires.

[0031] As Figures 4 to 5 shown, the present invention is further configured such that: the actuator 6 includes a jaw 61 provided at the tail end and a ball joint I 62 connecting the jaw 61 and the shaft rod 7. The shape of the jaw 61 can be replaced according to different surgical requirements, and the jaw 61 can also be replaced with scissors to achieve the shearing function. The pulling movement of the steel cable 12 is transmitted to the ball joint I 62. The jaw 61 rotates around the center point of the ball joint I 62. By driving the steel cable 12 to perform a pulling movement through the handle mechanism 5, the action is transmitted to the ball joint I 62, and the steel cable 12 drives the jaw 61 to rotate, replicating the actions at the handle mechanism 5.

[0032] As Figure 4 shown, the present invention is further configured such that: the jaw 61 includes an L-shaped first jaw 611, an L-shaped second jaw 612, and a rotating rod 613 connecting the first jaw 611 and the second jaw 612. A through groove is provided at the first jaw 611 near the right-angle end. A spring is provided between the first jaw 611 and the second jaw 612. The second jaw 612 is inserted into the through groove. The rotating rod 613 is rotatably connected to the first jaw 611 and the second jaw 612. The first jaw 611 is connected to the medium wire in the steel cable 12, and the second jaw 612 is connected to the control wire in the steel cable 12. The handle mechanism 5 drives the steel cable to move. Among them, the medium wire transmits the transmission angle of the handle mechanism 5 to the first jaw 611. The first jaw 611 drives the second jaw 612 to rotate together, and the control wire drives the second jaw 612 to rotate to close the jaw.

[0033] As Figure 3 shown, the present invention is further configured such that: the universal joint 1 includes an outer ring 111 fixedly connected to the bent frame 2 and an inner ring 112 provided inside the outer ring 111. The inner ring 112 is rotatably connected to the outer ring 111. One end of the bent frame 2 is connected to the upper end of the outer ring 111, and the other end is connected to the shaft rod 7. The outside of the inner ring 112 is fixedly connected to a connecting ring through a connecting block. The connecting ring rotates inside the outer ring 111. The inner ring 112 of the universal joint 1 sleeves the wrist, and the outer ring 111 is fixed on the bent frame 2. When the palm holds the handle 51 and rotates the wrist while keeping the center of the wrist stationary, the axis of the handle 51 can rotate relative to the center point of the universal joint 1, while the bent frame 2 and the main rod 72 as a whole remain stationary.

[0034] As Figure 2 shown, the present invention is further configured as follows: the shaft rod 7 includes a main rod 72 near one end of the actuator 6 and a flexible hose 71 connecting the main rod 72 and the handle mechanism 5. One end of the bent frame 2 is connected to the connection part of the flexible hose 71 and the main rod 72, and the other end is connected to the upper end of the universal joint 1. The flexible hose 71 is connected to the handle 51 structure through a ball joint II 11. When the handle 51 structure rotates relative to the center point of the universal joint 1, the ball joint II 11 rotates relatively, and at the same time, the steel cable is pulled. Since the main rod 72 and the ball joint II 11 move simultaneously during rotation and the two ends of the flexible hose 71 are relatively stationary, there is no twisting and winding phenomenon inside the flexible hose, which has no adverse effect on the movement of the steel cable 12.

[0035] As Figure 6 shown, the present invention is further configured as follows: two fixing seats 3 are arranged inside the bent frame 2, a connecting rod 13 is arranged between the two fixing seats 3, a knuckle 4 is sleeved on the connecting rod 13, the knuckle 4 slides on the connecting rod 13, and one end of the knuckle 4 away from the connecting rod 13 is connected to the front end of the shaft rod 7. The knuckle ensures that no matter how the handle 51 moves, the front end at the ball joint II 11 thereof always remains horizontal, and the axis is parallel to the axis of the shaft rod 7.

[0036] The working principle of the present invention is as follows: the operator holds the handle mechanism 5 with the hand through the inner ring 112, and the outer ring 111 is fixed on the bent frame 2. When the palm holds the handle 51 and rotates the wrist, the angle of rotation of the handle 51 is transmitted to the actuator 6 through the intermediate wire. One end of the intermediate wire is connected to the first jaw 611, and the other end is connected to the handle knob 53. The ball joint I 621 makes the rotation angle of the actuator 6 the same as the angle of the handle 51. When the actuator 6 finds the accurate position, the operator presses the trigger 52 to push the push-pull block 91, and the push-pull block 91 drives the control wire to move. One end of the control wire is connected to the push-pull block 91, and the other end is connected to the second jaw 612 in the actuator 6. The control wire drives the actuator 6 to close the jaws 61. When the trigger 52 is released, the push-pull block 91 returns to the end of the handle 51 under the action of the return spring 92, and the steel cable moves and resets inside the shaft rod 7, driving the actuator 6 to open the jaws 61.

Claims

1. Universal forceps for laparoscopic surgical instruments, comprising a handle mechanism (5) operated by a user and an end effector mechanism (6), characterized in that: It also includes a head universal joint (1), a connecting handle mechanism (5), a shaft rod (7) of the actuator (6), and a steel cable (12) passing through the shaft rod (7) and connecting the handle mechanism (5) and the actuator (6). A bent frame (2) is provided between the upper end of the universal joint (1) and the shaft rod (7), and a support chain (8) is provided between the lower end of the universal joint (1) and the end of the handle mechanism (5); The actuator (6) includes a jaw (61) provided at the tail end and a ball joint I (62) connecting the jaw (61) and the shaft rod (7). The pulling movement of the steel cable (12) is transmitted to the ball joint I (62), and the jaw (61) rotates around the center point of the ball joint I (62); The jaw (61) includes an L-shaped first jaw (611), an L-shaped second jaw (612), and a rotating rod connecting the first jaw (611) and the second jaw (612). A through groove is provided near the right-angle end of the first jaw (611), and the second jaw (612) is inserted into the through groove. A spring is provided between the first jaw (611) and the second jaw (612). The rotating rod is rotatably connected to the second jaw (612). The first jaw (611) is connected to the intermediate wire in the steel cable (12), and the second jaw (612) is connected to the control wire in the steel cable (12); The universal joint (1) includes an outer ring (111) fixedly connected to the bent frame (2) and an inner ring (112) provided inside the outer ring (111). The inner ring (112) is rotatably connected to the outer ring (111). One end of the bent frame (2) is connected to the upper end of the outer ring (111), and the other end is connected to the shaft rod (7); The shaft rod (7) includes a main rod (72) near one end of the actuator (6) and a flexible hose (71) connecting the main rod (72) and the handle mechanism (5). One end of the bent frame (2) is connected to the connection point between the flexible hose (71) and the main rod (72), and the other end is connected to the upper end of the universal joint (1). The flexible hose (71) is connected to the handle (51) structure through a ball joint II (11); Two fixed seats (3) are provided inside the bent frame (2). A connecting rod (13) is provided between the two fixed seats (3). A shaft joint (4) is sleeved on the connecting rod (13). The shaft joint (4) slides on the connecting rod (13), and the end of the shaft joint (4) away from the connecting rod (13) is connected to the front end of the shaft rod (7).

2. The universal forceps for laparoscopic surgical instruments according to claim 1, characterized in that: The handle mechanism (5) includes a handle (51), a handle knob (53) provided at the end of the handle (51), and a trigger (52) provided at the lower end of the handle (51). A push-pull structure (9) is provided inside the handle (51), and the trigger (52) controls the actuator structure through the push-pull structure (9).

3. The universal forceps for endoscopic surgical instruments according to claim 2, characterized in that: The push-pull structure (9) includes a push-pull block (91) provided at the end of the handle (51) and a return spring (92) provided between the push-pull block (91) and the handle (51). The trigger (52) pushes the push-pull block (91) to move back and forth inside the handle (51).

4. The universal forceps for laparoscopic surgical instruments according to claim 3, characterized in that: The steel cables (12) are at least five in number, one being a control cable and the rest being medium cables. The control cable passes through the shaft rod (7) to connect the actuator (6) and the push-pull block (91).

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