A grabbing clamp and magnetic attraction pulling device

Abstract

The application discloses a grabbing clamp and magnetic attraction pulling device, and relates to the technical field of medical apparatuses. The grabbing clamp comprises a grabbing rod mechanism and a chuck mechanism which are connected through magnetic attraction, the grabbing rod mechanism comprises a fixed handle and a rotating handle which is rotationally connected to the fixed handle through a first rotating shaft, a sleeve is connected to the fixed handle, a push rod is arranged in the sleeve, the rotating handle is clamped with the push rod, the rotating handle can drive the push rod to make reciprocating linear motion along the extension direction of the push rod, the chuck mechanism comprises a connecting rod and a first clamping arm which is connected to the connecting rod, a second clamping arm is rotationally connected to the first clamping arm through a second rotating shaft, a top rod which is in abutment with the second clamping arm is arranged in the connecting rod, the push rod drives the top rod to make reciprocating linear motion, so that the second clamping arm is driven to move close to or away from the first clamping arm. The operation efficiency can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a grasping forceps and a magnetic attraction pulling device. BACKGROUND

[0002] Nowadays, endoscopic surgery as a new type of surgery is more and more favored by doctors and patients. Compared with traditional open surgery, endoscopic surgery has the advantages of small incision, less pain, fast recovery, less bleeding, good appearance, etc. During the operation, due to the difference of the operation site, when some tissues and organs need to be cut and peeled, the surrounding tissues need to be pulled to expose the required visual field.

[0003] In the prior art, a magnetic attraction pulling device is generally used to pull tissues to expose the required visual field, which is composed of a pulling clamp and an external magnet. The pulling clamp is used to clamp the tissues to be pulled, and the external magnet is used to drive the tissues to be pulled to move under the action of magnetic force through the pulling clamp. However, the existing pulling clamp is pulled and clamped by a surgical forceps, which is complex to operate and causes certain surgical risks. SUMMARY

[0004] The purpose of the present application is to provide a grasping forceps and a magnetic attraction pulling device which can improve the operation efficiency.

[0005] The embodiment of the present application is implemented as follows:

[0006] In one aspect of the embodiment of the present application, a grasping forceps is provided, which comprises a magnetic attraction connected grasping rod mechanism and a chuck mechanism. The grasping rod mechanism comprises a fixed handle and a rotating handle connected to the fixed handle through a first rotating shaft. A sleeve is connected to the fixed handle. A push rod is arranged in the sleeve. The rotating handle is clamped with the push rod. The rotating handle can drive the push rod to make reciprocating linear motion along the extension direction thereof. The chuck mechanism comprises a connecting rod and a first clamping arm connected to the connecting rod. A second clamping arm is connected to the first clamping arm through a second rotating shaft. A top rod is arranged in the connecting rod and abuts against the second clamping arm. The push rod drives the top rod to make reciprocating linear motion, so as to drive the second clamping arm to approach or move away from the first clamping arm.

[0007] Optionally, as an implementable way, two oppositely arranged clamping hooks are rotatably connected to the sleeve. The two clamping hooks are clamped with the connecting rod. A sleeve rod is arranged between the sleeve and the push rod. A connecting handle is connected to the sleeve rod. The connecting handle drives the sleeve rod to make reciprocating linear motion along the extension direction thereof to drive the two clamping hooks to approach or move away.

[0008] Optionally, as an implementable method, a top block is connected to the end of the sleeve rod, the top block is disposed near the clamping mechanism and can abut against the two hooks, the sleeve rod is driven to move away from the clamping mechanism, and the top block can lift the two oppositely disposed hooks.

[0009] Optionally, as an implementable method, both hooks are provided with sliding grooves, the sleeve is connected with a guide pin, and the push rod is also provided with a guide groove. The extension direction of the sliding groove and the extension direction of the guide groove form a preset angle. The guide pin is slidably disposed in the guide groove and the sliding groove. The sleeve is driven to move away from the clamping mechanism so as to drive the two hooks away from each other.

[0010] Alternatively, as an implementable method, the sleeve is rotatably connected to the fixed handle via a rotating wheel, the rotating wheel rotating radially around the sleeve to drive the sleeve, the sleeve rod, and the clamping mechanism that holds the sleeve rod to rotate.

[0011] Optionally, as an implementable method, the connecting rod is provided with a first receiving groove, in which a first magnetic block is disposed, and the sleeve is provided with a second receiving groove, in which a second magnetic block corresponding to the first magnetic block is disposed.

[0012] Optionally, as an implementable method, a first reset member is provided between the sleeve and the sleeve rod, and a second reset member is provided between the sleeve and the push rod.

[0013] Optionally, as an implementable method, both the fixed handle and the rotating handle are provided with spring pieces, and the two spring pieces abut against each other.

[0014] Alternatively, as an implementable method, a third reset element is provided between the hook and the sleeve.

[0015] In another aspect of the embodiments of this application, a magnetic attraction and pulling device is provided, including an external magnetic robotic arm and a gripper as described in any of the above, wherein the external magnetic robotic arm magnetically pulls the clamping mechanism on the gripper by a permanent magnet.

[0016] The beneficial effects of the embodiments of this application include:

[0017] The gripper and magnetic traction device provided in this application includes a gripping rod mechanism and a clamping head mechanism magnetically connected, so that the clamping head mechanism can disengage from the gripping rod mechanism after clamping tissue. The gripping rod mechanism includes a fixed handle and a rotating handle rotatably connected to the fixed handle via a first rotating shaft. A sleeve is connected to the fixed handle, and a push rod is disposed inside the sleeve. The rotating handle is engaged with the push rod, and the rotating handle can drive the push rod to perform reciprocating linear motion along its extension direction. The clamping head mechanism includes a connecting rod and a first clamping arm connected to the connecting rod. A second clamping arm is rotatably connected to the first clamping arm via a second rotating shaft. The device is equipped with a push rod that abuts against the second clamping arm. The push rod drives the push rod to reciprocate linearly, causing the second clamping arm to move closer to or away from the first clamping arm. This causes the drive handle to rotate toward the fixed handle, and the push rod to move toward the clamping mechanism, thereby driving the push rod to move. This causes the first and second clamping arms to open to clamp the tissue. The drive handle rotates away from the fixed handle, and the push rod moves away from the clamping mechanism. The first and second clamping arms clamp the tissue, simplifying the clamping operation during the tissue traction process. After clamping the tissue, the gripping rod mechanism can disengage from the clamping mechanism, facilitating the magnetic suction of the clamping mechanism. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is one of the structural schematic diagrams of the gripper provided in the embodiments of this application;

[0020] Figure 2 This is a schematic diagram of the gripper mechanism provided in the embodiments of this application;

[0021] Figure 3 This is a second schematic diagram of the gripper structure provided in the embodiments of this application;

[0022] Figure 4 This is the third schematic diagram of the gripper structure provided in the embodiments of this application;

[0023] Figure 5 The fourth schematic diagram of the gripper structure provided in the embodiments of this application.

[0024] Icons: 100-Grip clamp; 110-Grip lever mechanism; 111-Fixed handle; 1111-Spring; 112-Rotating handle; 1121-First rotating shaft; 113-Sleeve; 1131-First reset component; 114-Push rod; 1141-Second reset component; 1142-Guide groove; 115-Sleeve rod; 1151-Top block; 1152-First magnetic block; 1153-Guide pin; 116-Hook; 1161-Slide groove; 1162-Third reset component; 117-Connecting handle; 118-Rotating wheel; 120-Chuck mechanism; 121-Connecting rod; 1211-Second magnetic block; 122-First clamping arm; 1221-Second rotating shaft; 123-Second clamping arm; 124-Top rod. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0026] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0027] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0028] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0029] Please refer to Figure 1 and Figure 2This embodiment provides a gripper 100, including a gripping rod mechanism 110 and a clamping head mechanism 120 magnetically connected. The gripping rod mechanism 110 includes a fixed handle 111 and a rotating handle 112 rotatably connected to the fixed handle 111 via a first rotating shaft 1121. A sleeve 113 is connected to the fixed handle 111, and a push rod 114 is provided inside the sleeve 113. The rotating handle 112 is engaged with the push rod 114. The rotating handle 112 can drive the push rod 114 to perform reciprocating linear motion along its extension direction. The clamping head mechanism 120 includes a connecting rod 121 and a first clamping arm 122 connected to the connecting rod 121. A second clamping arm 123 is rotatably connected to the first clamping arm 122 via a second rotating shaft 1221. A push rod 124 is provided inside the connecting rod 121 to abut against the second clamping arm 123. The push rod 114 drives the push rod 124 to perform reciprocating linear motion to drive the second clamping arm 123 to move closer to or away from the first clamping arm 122.

[0030] Specifically, when the gripper 100 is in operation, the gripping rod mechanism 110 and the clamping head mechanism 120 are first magnetically connected. The rotating handle 112 is manually driven to rotate relative to the fixed handle 111, so that the rotating handle 112 moves toward the fixed handle 111, thereby driving the push rod 114 connected to the rotating handle 112 to move toward the clamping head mechanism 120. The push rod 114 pushes the top rod 124 to move toward the second clamping arm 123, so that the second clamping arm 123 rotates away from the first clamping arm 122, causing the first clamping arm 122 and the second clamping arm 123 to open. After the rotating handle 112 is released, the second clamping arm 123 rotates toward the first clamping arm 122 to clamp part of the tissue. At this time, the magnetically connected gripping rod mechanism 110 and clamping head mechanism 120 are disconnected, the gripping rod mechanism 110 is removed, and then magnetically connected to the clamping head mechanism 120 through the external magnetic block, so that the tissue clamped by the clamping head mechanism 120 is lifted to expose the field of vision required for surgery. A torsion spring is provided between the first clamping arm 122 and the second clamping arm 123 to ensure the stability of the clamping action.

[0031] The gripper 100 provided in this application includes a gripping rod mechanism 110 and a clamping head mechanism 120 magnetically connected, so that the clamping head mechanism 120 can disengage from the gripping rod mechanism 110 after clamping tissue. The gripping rod mechanism 110 includes a fixed handle 111 and a rotating handle 112 rotatably connected to the fixed handle 111 via a first rotating shaft 1121. A sleeve 113 is connected to the fixed handle 111, and a push rod 114 is disposed inside the sleeve 113. The rotating handle 112 is engaged with the push rod 114, and the rotating handle 112 can drive the push rod 114 to perform reciprocating linear motion along its extension direction. The clamping head mechanism 120 includes a connecting rod 121 and a first clamping arm 122 connected to the connecting rod 121. A second clamping arm 123 is rotatably connected to the first clamping arm 122 via a second rotating shaft 1221. A push rod 124 is provided inside 121 to abut against the second clamping arm 123. The push rod 114 drives the push rod 124 to reciprocate linearly, so as to drive the second clamping arm 123 to move closer to or away from the first clamping arm 122, so that the drive rotating handle 112 rotates toward the fixed handle 111, and the push rod 114 moves toward the clamping mechanism 120, so as to drive the push rod 124 to move, so that the first clamping arm 122 and the second clamping arm 123 open to clamp the tissue. The drive rotating handle 112 rotates away from the fixed handle 111, and the push rod 114 moves away from the clamping mechanism 120. The first clamping arm 122 and the second clamping arm 123 clamp the tissue, which simplifies the clamping operation during the tissue traction process. After clamping the tissue, the gripping rod mechanism 110 can be disengaged from the clamping mechanism 120 to facilitate the magnetic suction of the clamping mechanism 120.

[0032] In one possible embodiment of this application, such as Figure 3 and Figure 4 As shown, two oppositely arranged hooks 116 are rotatably connected to the sleeve 113. The two hooks 116 are held by the connecting rod 121. A sleeve rod 115 is provided between the sleeve 113 and the push rod 114. A connecting handle 117 is connected to the sleeve rod 115. The connecting handle 117 drives the sleeve rod 115 to reciprocate linearly along its extension direction to drive the two hooks 116 to move closer or further away.

[0033] Specifically, after the chuck mechanism 120 clamps the tissue, the connecting handle 117 drives the sleeve rod 115 away from the chuck mechanism 120, so that the sleeve rod 115 drives the two oppositely arranged hooks 116 to rotate away from each other, thereby disengaging the two hooks 116 from the connecting rod 121. The connecting handle 117 then drives the sleeve rod 115 towards the chuck mechanism 120, so that the sleeve rod 115 drives the two oppositely arranged hooks 116 to rotate closer together, and the two hooks 116 clamp the connecting rod 121.

[0034] Furthermore, the connecting rod 121 is provided with a first receiving groove, and a first magnetic block 1152 is provided in the first receiving groove. The sleeve rod 115 is provided with a second receiving groove, and a second magnetic block 1211 corresponding to the first magnetic block 1152 is provided in the second receiving groove.

[0035] When the connecting handle 117 moves the sleeve 115 away from the chuck mechanism 120, the second magnetic block 1211, located in the second receiving groove, moves away from the first magnetic block 1152, located in the first receiving groove, thereby disengaging the gripping rod mechanism 110 and the chuck mechanism 120 from their magnetic connection. This allows the gripping rod mechanism 110 to be removed after the chuck mechanism 120 has clamped the tissue.

[0036] After the surgical procedure is completed, the drive connecting handle 117 moves the sleeve 115 away from the clamping mechanism 120, causing the two hooks 116 to open away from each other. The drive gripping mechanism 110 moves closer to the clamping mechanism 120, causing the second magnet 1211 to magnetically attract the first magnet 1152. Then, the drive connecting handle 117 moves the sleeve 115 towards the clamping mechanism 120, causing the sleeve 115 to move towards the connecting rod 121. The two hooks 116 clamp the connecting rod 121, and the gripping mechanism 110 and the clamping mechanism 120 magnetically attract and hold each other.

[0037] The manual drive rotates the handle 112 relative to the fixed handle 111, so that the handle 112 moves toward the fixed handle 111, thereby driving the push rod 114 connected to the handle 112 to move toward the chuck mechanism 120. The push rod 114 pushes the top rod 124 toward the second clamping arm 123, so that the second clamping arm 123 rotates away from the first clamping arm 122, thereby opening the first clamping arm 122 and the second clamping arm 123, so that the chuck mechanism 120 can be taken out by the gripping rod mechanism 110.

[0038] In one possible embodiment of this application, such as Figure 3 As shown, a top block 1151 is connected to the end of the sleeve rod 115. The top block 1151 is located near the chuck mechanism 120 and can abut against the two hooks 116. When the sleeve rod 115 is driven away from the chuck mechanism 120, the top block 1151 can lift up the two oppositely arranged hooks 116.

[0039] Specifically, a top block 1151 is provided at the end of the sleeve rod 115 facing the chuck mechanism 120. Two hooks 116 have inclined surfaces that cooperate with the top block 1151, and these inclined surfaces are set at acute angles. When the sleeve rod 115 is driven away from the chuck mechanism 120, the top block 1151 abuts against the inclined surfaces of the two hooks 116. During this movement, the top block 1151 can lift the two opposing hooks 116, thus disengaging them from the connecting rod 121.

[0040] In one possible embodiment of this application, such as Figure 4 As shown, both hooks 116 are provided with sliding grooves 1161, the sleeve rod 115 is connected with a guide pin 1153, and the push rod 114 is also provided with a guide groove 1142. The extension direction of the sliding groove 1161 and the extension direction of the guide groove 1142 form a preset angle. The guide pin 1153 is slidably disposed in the guide groove 1142 and the sliding groove 1161. The sleeve rod 115 is driven to move away from the chuck mechanism 120, so as to drive the two hooks 116 away from each other.

[0041] Furthermore, a third reset element 1162 is provided between the hook 116 and the sleeve 113. When the connecting handle 117 is released, the two hooks 116 will reset.

[0042] Specifically, the extension direction of the guide groove 1142 is consistent with the extension direction of the push rod 114. When the sleeve rod 115 is driven away from the chuck mechanism 120, the guide pin 1153 connected to the sleeve rod 115 slides relative to the guide groove 1142 and the slide groove 1161, so that the two hooks 116 rotate around their respective axes by a preset angle until the guide groove 1142 and the slide groove 1161 are parallel. At this time, the two hooks 116 open to their limit position, so that the two hooks 116 are disengaged from the connecting rod 121.

[0043] In one possible embodiment of this application, such as Figure 1 As shown, the sleeve 113 is rotatably connected to the fixed handle 111 via a rotating wheel 118. The rotating wheel 118 rotates radially around the sleeve 113 to drive the sleeve 113, the sleeve rod 115, and the clamping mechanism 120 that holds the sleeve rod 115 to rotate.

[0044] Specifically, a locking protrusion is provided at the end of the sleeve 115 facing the connecting rod 121, and a locking groove is provided at the corresponding position on the connecting rod 121. The locking protrusion engages with the locking groove, so that when the drive wheel 118 rotates radially around the sleeve 113, it drives the sleeve 113, the sleeve 115, and the chuck mechanism 120 that holds the sleeve 115 to rotate. This allows the chuck mechanism 120 to clamp the tissue to be clamped at a certain angle.

[0045] For example, a slot can be provided on the outer wall of the connecting rod 121, and a protrusion can be provided at the corresponding position of the sleeve rod 115, so that the connecting rod 121 is engaged with the sleeve rod 115, and the connecting rod 121 is rotated by rotating the sleeve rod 115.

[0046] In one possible embodiment of this application, such as Figure 1 As shown, a first reset member is provided between the sleeve 113 and the sleeve rod 115, and a second reset member 1141 is provided between the sleeve 113 and the push rod 114.

[0047] Specifically, a first reset member is provided between the sleeve 113 and the sleeve rod 115. When the connecting handle 117 is manually driven to move the sleeve rod 115 away from the chuck mechanism 120 so that the two hooks 116 open, the first reset member resets the sleeve 113 and the sleeve rod 115 after the connecting handle 117 is released. A second reset member 1141 is provided between the sleeve 113 and the push rod 114. When the rotating handle 112 is manually driven to rotate relative to the fixed handle 111, the push rod 114 connected to the rotating handle 112 moves toward the chuck mechanism 120. The push rod 114 pushes the top rod 124 toward the second clamping arm 123 so that the second clamping arm 123 rotates away from the first clamping arm 122, so that the first clamping arm 122 and the second clamping arm 123 open. After the rotating handle 112 is released, the second reset member 1141 resets the push rod 114 relative to the sleeve 113.

[0048] In one possible embodiment of this application, such as Figure 5 As shown, both the fixed handle 111 and the rotating handle 112 are provided with spring pieces 1111, and the two spring pieces 1111 abut against each other.

[0049] Specifically, spring pieces 1111 are provided on both the fixed handle 111 and the rotating handle 112. When the fixed handle 111 and the rotating handle 112 are manually driven to approach each other, the two spring pieces 1111 abut against each other and accumulate elastic potential energy under the drive. When the fixed handle 111 and the rotating handle 112 are released, the two spring pieces 1111 fix the fixed handle 111 and the rotating handle 112 to return to their original positions.

[0050] This application also discloses a magnetic attraction and traction device, including an external magnetic robotic arm and the gripper 100 from the foregoing embodiments. This magnetic attraction and traction device has the same structure and beneficial effects as the gripper 100 from the foregoing embodiments. The structure and beneficial effects of the gripper 100 have been described in detail in the foregoing embodiments and will not be repeated here.

[0051] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A gripper, characterized in that, The device includes a magnetically connected gripping rod mechanism and a clamping mechanism. The gripping rod mechanism includes a fixed handle and a rotating handle rotatably connected to the fixed handle via a first rotating shaft. A sleeve is connected to the fixed handle, and a push rod is disposed inside the sleeve. The rotating handle engages with the push rod, and the rotating handle can drive the push rod to reciprocate linearly along its extension direction. The clamping mechanism includes a connecting rod and a first clamping arm connected to the connecting rod. A second clamping arm is rotatably connected to the first clamping arm via a second rotating shaft. A push rod is disposed inside the connecting rod that abuts against the second clamping arm. The push rod drives the push rod to reciprocate linearly, thereby causing the second clamping arm to move closer to or away from the first clamping arm. Two opposing hooks are rotatably connected to the sleeve, and the two hooks engage with the connecting rod. A sleeve rod is disposed between the sleeve and the push rod, and a connecting handle is connected to the sleeve rod. The connecting handle drives the sleeve rod to reciprocate linearly along its extension direction, thereby causing the two hooks to move closer to or away from each other.

2. The gripper according to claim 1, characterized in that, The sleeve rod is connected to a top block at its end. The top block is located near the clamping mechanism and can abut against the two hooks. The sleeve rod is driven to move away from the clamping mechanism, and the top block can lift up the two oppositely arranged hooks.

3. The gripper according to claim 1, characterized in that, Both hooks are provided with a sliding groove, the sleeve is connected with a guide pin, and the push rod is also provided with a guide groove. The extension direction of the sliding groove and the extension direction of the guide groove form a preset angle. The guide pin is slidably disposed in the guide groove and the sliding groove. The sleeve is driven to move away from the clamping mechanism so as to drive the two hooks away from each other.

4. The gripper according to claim 1, characterized in that, The sleeve is rotatably connected to the fixed handle via a rotating wheel. The rotating wheel rotates radially around the sleeve to drive the sleeve, the sleeve rod, and the clamping mechanism that holds the sleeve rod to rotate.

5. The gripper according to claim 1, characterized in that, The connecting rod is provided with a first receiving groove, and a first magnetic block is provided in the first receiving groove. The sleeve is provided with a second receiving groove, and a second magnetic block corresponding to the first magnetic block is provided in the second receiving groove.

6. The gripper according to claim 1, characterized in that, A first reset element is provided between the sleeve and the sleeve rod, and a second reset element is provided between the sleeve and the push rod.

7. The gripper according to claim 1, characterized in that, Both the fixed handle and the rotating handle are provided with spring pieces, and the two spring pieces abut against each other.

8. The gripper according to claim 2, characterized in that, A third reset element is provided between the hook and the sleeve.

9. A magnetic attraction and pulling device, characterized in that, The invention includes an external magnetic robotic arm and a gripper as described in any one of claims 1-8, wherein the external magnetic robotic arm uses a permanent magnet to magnetically pull the gripper's clamping mechanism.

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