A rope pretension detection device for surgical instruments

Abstract

The application relates to the field of surgical instruments and discloses a rope pretightening force detection device for a surgical instrument. The rope pretightening force detection device comprises a support and a detection probe movably connected with the support, the detection probe comprises a main rod connected with the support and a thimble, the thimble is elastically and slidably connected with the main rod and can axially displace relative to the main rod, simple and rapid pretightening force detection of a rope in a rope driving device is realized, the rope detection device can unify the rope pretightening force detection standard, is not interfered by human factors, the rope pretightening force under the same standard is kept consistent, and the accuracy and safety during the operation of the rope driving device are effectively increased.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of surgical instruments, in particular to a rope pre-tightening force detection device for surgical instruments. BACKGROUND

[0002] In minimally invasive surgery, surgical instruments are the main tools for doctors to complete various surgical tasks. A common minimally invasive surgery robot is composed of a doctor console, a patient surgery platform and a display device. The surgeon operates the input device at the doctor console and transmits the input to the patient surgery platform connected with the remotely operated surgical instrument. The surgical instrument generally includes surgical scissors, and the surgical scissors are generally pulled by a steel wire rope to reduce the size of the device entering the human body. The driving force is transmitted to the clamping mechanism through the pulling of the steel wire rope to realize the pitch, yaw and clamping freedom movement of the clamping mechanism. In order to achieve flexible and accurate control effect, the pre-tightening force of the steel wire rope needs to be strictly controlled within a fixed range, and the pre-tightening forces of the steel wire ropes need to be the same.

[0003] The existing steel wire rope pre-tightening force testing device is mainly aimed at large-diameter steel wire ropes with large bearing capacity and low precision requirements, and is not suitable for steel wire ropes with complex layout and small bending radius. For the steel wire ropes of the surgical instrument box driven by the rope, the pre-tightening force of the steel wire rope is generally pressed by workers by hand, but the personal feeling is very different, resulting in a large difference in the tightness of the steel wire rope, which cannot meet the precision requirements of the surgical instrument.

[0004] It is hoped that a detection device can be used to uniformly standardize, simply and accurately detect the pre-tightening force of the rope in the rope driving device, and avoid the interference of human factors. SUMMARY

[0005] The purpose of the present application is to provide a rope pre-tightening force detection device for surgical instruments, which can simply and accurately detect the pre-tightening force of the rope in the rope driving device.

[0006] To solve the above technical problems, an embodiment of the present application provides a technical scheme, which comprises:

[0007] A rope pre-tightening force detection device for surgical instruments comprises a support and a detection probe movably connected with the support. The detection probe comprises a main rod connected with the support and a top pin elastically and slidably connected with the main rod and capable of axially displacing relative to the main rod. The detection probe movably connected with the support and the top pin elastically and slidably connected with the main rod on the detection probe are provided to simply and quickly detect the pre-tightening force of the rope in the rope driving device.

[0008] Further, the rope pre-tightening force detection device is detachably fixed on the fixing frame of the rope to be detected or on the instrument box through the clamping portion, so that the pre-tightening force of the rope can be conveniently detected.

[0009] Further, the main rod is in a hollow cylindrical structure, the main rod is provided with an elastic component in the hollow cavity, and one end of the ejector pin is inserted into the main rod and abuts against one end of the elastic component. The ejector pin can be simply and effectively connected to the main rod in a sliding and elastic manner through the elastic component in the hollow cavity of the main rod.

[0010] Further, the detection probe further comprises a connecting cover sleeved on the side end of the main rod away from the support, the connecting cover is provided with a through hole, the ejector pin passes through the through hole and is connected to the through hole in a sliding manner, the ejector pin is provided with a radially protruding edge portion in the hollow cavity of the main rod, and the edge portion can be stopped by the connecting cover. Through the arrangement of the connecting cover, the connection between the ejector pin and the main rod is more stable and effective, the ejector pin and the main rod are prevented from being separated, and the ejector pin can be conveniently disassembled and replaced.

[0011] Further, the ejector pin is provided with a scale line and / or a marking block, the scale line is equidistantly arranged along the ejector pin in an axial direction, and the marking block can limit the axial movement distance of the ejector pin. Through the arrangement of the scale line or the arrangement of the marking block, or the arrangement of the scale line and the marking block at the same time, the axial movement distance of the ejector pin can be further recorded and recognized.

[0012] Further, the support rod is arranged on the support, and the moving block is fixedly connected to the detection probe and can drive the detection probe to axially displace relative to the support rod.

[0013] By arranging the moving block and the support rod which can slide relative to each other between the detection probe and the support, the position of the detection probe can be conveniently adjusted and maintained and replaced.

[0014] Further, the support rod is fixedly connected to the support and has a T-shaped cross section, the moving block is provided with a through gap corresponding to the shape of the support rod, and the support rod is connected to the moving block in a sliding manner through the gap. This is one of the connection modes of the moving block and the support, and through the design of the T-shaped cross section of the support rod, the sliding between the moving block and the support rod can be more stable, and the horizontal sliding of the moving block is prevented from affecting the measurement accuracy.

[0015] Further, the moving block comprises a first moving block and a second moving block which are detachably connected; the first moving block and / or the second moving block is connected with the supporting rod. The moving block can be a combination of two blocks, forming a through hole matched with the supporting rod, or a moving block forms a through hole matched with the supporting rod, and another moving block is fixedly connected with the detection probe, which can be selected according to actual needs.

[0016] Further, the supporting rod is a screw rod, both ends of the screw rod are rotationally connected with the support, and the moving block is threadedly connected on the screw rod. The supporting rod and the moving block can also be threadedly matched, so that the moving block can be relatively stably axially displaced along the screw rod by rotating the screw rod, which is another selection of the moving block and the supporting rod provided in the application.

[0017] Further, the top pin is provided with a groove matched with the to-be-detected rope at one end away from the main rod. The groove can be used to stably match the rope with the to-be-detected rope. BRIEF DESCRIPTION OF DRAWINGS

[0018] One or more embodiments are exemplarily illustrated by pictures in the drawings corresponding thereto, which do not constitute a limitation on the embodiments, and elements with the same reference numerals in the drawings represent similar elements, unless otherwise specified, and the drawings do not constitute a proportional limitation.

[0019] Figure 1 is a three-dimensional structure schematic diagram of a rope pre-tightening force detection device in an embodiment of the application;

[0020] Figure 2 is another angle three-dimensional structure schematic diagram of a rope pre-tightening force detection device in an embodiment of the application;

[0021] Figure 3 is another angle three-dimensional structure schematic diagram of a rope pre-tightening force detection device in an embodiment of the application;

[0022] Figure 4 is a cross-sectional structure schematic diagram of a moving block and a top pin in an embodiment of the application;

[0023] Figure 5 is a structure schematic diagram of a top pin and a top head in an embodiment of the application;

[0024] Figure 6 is a structure schematic diagram of a top pin provided with a scale mark in an embodiment of the application;

[0025] Figure 7 is a structure schematic diagram of a top pin provided with a mark block in an embodiment of the application;

[0026] Figure 8 is a use state schematic diagram of a rope pre-tightening force detection device in an embodiment of the application.

[0027] Fig. 1 is a bracket; Fig. 2 is a clamping portion; Fig. 3 is a support rod; Fig. 4 is a moving block; Fig. 41 is a first moving block; Fig. 42 is a second moving block; Fig. 43 is a fastener; Fig. 5 is a detection probe; Fig. 51 is a thimble; Fig. 52 is a main rod; Fig. 53 is an elastic component; Fig. 54 is a connecting sleeve; Fig. 55 is a top head; Fig. 6 is a rope driving device; Fig. 61 is a rope; and Fig. 7 is a fixed platform. DETAILED DESCRIPTION

[0028] To make the objectives, technical solutions and advantages of the present application clearer, the embodiments of the present application will be described in detail below with reference to the drawings. However, those skilled in the art can understand that, in the embodiments of the present application, many technical details are presented in order to make the readers better understand the present application. However, the technical solutions claimed by the claims of the present application can be implemented even without these technical details and based on various changes and modifications of the following embodiments.

[0029] As shown in Figure 1 , the rope pre-tightening force detection device for surgical instruments provided by the present application comprises a bracket 1 and a detection probe 5 movably connected with the bracket, the detection probe comprises a thimble 51 and a main rod 52 connected with the bracket, the thimble 51 is in elastic sliding connection with the main rod 52 and can axially displace relative to the main rod 52 along the thimble 51.

[0030] In one embodiment, as shown in Figures 2-3 , the rope pre-tightening force detection device provided by the present application comprises a bracket 1, one end face of the bracket 1 is provided with a clamping portion 2, the clamping portion can be clamped or inserted with a fixing device of a rope to be detected or directly with an instrument box with a rope driving device, to form a detachable fixed connection, the other end face movably connects a detection probe 5, one end of the detection probe 5 movably connected with the bracket is connected with a support rod 3, the support rod 3 is long strip-shaped, one end of the detection probe 5 is fixedly connected with a moving block 4, the detection probe 5 is movably connected with the support rod 3 through the moving block 4, the moving block 4 can axially displace relative to the support rod 3, thereby driving the detection probe 5 to axially change position along the support rod.

[0031] As shown in Figure 4 , Figure 5As shown, the detection probe 5 comprises a hollow cylindrical structure main rod 52, one end of which is movably connected with a thimble 51, the other end of which is fixedly connected with the moving block 4, the thimble 51 is long strip-shaped, one end face of the thimble 51 is provided with a top head 55 for clamping the rope, the top head 55 is a groove structure formed on the end face of the thimble 51, the groove can be a U-shaped groove, a V-shaped groove or an arc-shaped groove, the other end opposite to the top head 55 is connected with the main rod 52, and the end face is accommodated in the main rod, and a resilient member 53 is further arranged in the hollow accommodation space in the main rod, the resilient member 53 is preferably a spring, the resilient member 53 is arranged between the thimble 51 and the moving block 4, when the thimble 51 is axially forced towards the moving block 4, the resilient member 53 is compressed and deformed, the thimble 51 is displaced along the axial direction and approaches the moving block 4, and when the force applied to the thimble 51 is removed, the resilient member 53 is restored under the action of elastic deformation, and the thimble 51 is displaced along the axial direction and away from the moving block.

[0032] In order to prevent the thimble 51 from being separated from the main rod 52, in an embodiment, a connecting sleeve 54 is arranged between the thimble 51 and the main rod 52, the connecting sleeve 54 is a hollow cylindrical structure, one end of which is open, and the open end is arranged towards the main rod, the inner wall of the connecting sleeve 54 is fixedly sleeved on the outer wall of one end of the main rod 52, the other end is provided with a bottom wall, the center of the bottom wall is provided with a through hole, the through hole can accommodate the thimble 51 to pass in and out, wherein one end of the thimble 51 accommodated in the main rod 52 is provided with a radially protruding edge portion, the diameter of the edge portion is greater than the diameter of the through hole of the end of the connecting sleeve 54 and less than the inner diameter of the main rod 52, so that when the thimble 51 moves along the axial direction of the main rod 52 and away from the moving block 4, the thimble 51 can be stopped by the bottom wall of the end of the connecting sleeve 54 provided with the through hole, preventing the thimble 51 from being separated from the main rod 52, further, the connecting sleeve 54 is detachably sleeved on the main rod 52, when the thimble 51 needs to be replaced, the connecting sleeve 54 can be separated from the main rod 52, and the thimble 51 can be repaired and replaced.

[0033] The thimble 51 provided by the application is further provided with a groove-formed top head 55 at the end away from the main rod, and the body between the two end portions of the thimble 51 is of equal diameter structure, of course, in order to further optimize the mechanical properties of the thimble 51, the body of the thimble 51 can also be provided with a variable diameter structure, for example, the diameter of one end of the body of the thimble 51 close to the top head 55 is less than the diameter of the other end close to the edge portion, and the center axes of the parts of the variable diameter structure are the same.

[0034] As Figure 6As shown in the drawings, in one embodiment, the top pin 51 is further provided with a scale line 56, which is arranged equidistantly. When the top pin 51 is axially displaced in the direction of the moving block 4 under the pressure of external force, the moving distance of the top pin 51 is confirmed according to the distance change of the relative reference point of the scale line 56. For example, the end of the main rod 52 connected with the top pin 51 is taken as the reference point, and the moving distance of the top pin 51 is measured by comparing the moving distance of the scale line before and after the axial displacement of the top pin 51 relative to the main rod 52. Similarly, in the structure provided with the connecting sleeve 54, the outer surface of the bottom wall of the connecting sleeve 54 is taken as the reference point, and the moving distance of the top pin 51 is measured by comparing the moving distance of the scale line before and after the axial displacement of the top pin 51 relative to the main rod 52.

[0035] As shown in the drawings, Figure 7 As shown in the drawings, in one embodiment, the top pin 51 is further provided with a scale line 56, which is arranged equidistantly. When the top pin 51 is axially displaced in the direction of the moving block 4 under the pressure of external force, the moving distance of the top pin 51 is confirmed according to the distance change of the relative reference point of the scale line 56. For example, the end of the main rod 52 connected with the top pin 51 is taken as the reference point, and the moving distance of the top pin 51 is measured by comparing the moving distance of the scale line before and after the axial displacement of the top pin 51 relative to the main rod 52. Similarly, in the structure provided with the connecting sleeve 54, the outer surface of the bottom wall of the connecting sleeve 54 is taken as the reference point, and the moving distance of the top pin 51 is measured by comparing the moving distance of the scale line before and after the axial displacement of the top pin 51 relative to the main rod 52.

[0036] In the present application, the moving block 4 can be axially displaced relative to the support rod 3. The moving block 4 and the support rod 3 can be in sliding fit, or in rolling fit by means of balls, or in threaded fit. The specific structure can adopt the linear slide rail and the matching slide block in the prior art as the support rod 3 and the moving block 4. When this structure is adopted, the support rod 3 and the bracket 1 are in detachable fixed connection, so as to facilitate the maintenance of the moving block 4 and the support rod 3. Alternatively, the support rod 3 and the moving block 4 can be in sliding fit by means of clearance fit. Alternatively, a threaded rod with external threads can be used as the support rod 3, and a slide block with a through hole and internal threads matched with the external threads of the support rod is used as the moving block 4. When this structure is adopted, the support rod 3 passes through the through hole of the moving block 4 and is movably connected with the moving block 4. The support rod 3 is rotatably connected with the bracket 1. Preferably, the two ends of the support rod 3 are rotatably connected with the bracket. The support rod 3 is threadedly connected with the moving block 4 by passing through the through hole of the moving block 4. The moving block 4 is axially displaced along the support rod by the rotation of the support rod 3, so as to drive the detection probe 5 to axially displace along the support rod relative to the support rod 3. The above structures can meet the requirements of the present application.

[0037] The cooperation scheme of the moving block 4 and the support rod 3 will be described below. As shown in the drawings, Figure 4In one embodiment shown in the middle, the support rod 3 is fixedly connected with the bracket 1, the cross section of the support rod 3 is T-shaped structure, the moving block 4 comprises a first moving block 41 and a second moving block 42, the first moving block 41 is provided with a first notch 411, the first notch 411 is a U-shaped through hole matched with the wider surface of the cross section of the support rod 3, the second moving block 42 is provided with a second notch 421, the second notch 421 is a U-shaped through hole matched with the narrower surface of the cross section of the support rod 3, one side of the first notch 411 and the second notch 421 is assembled towards the support rod, the through hole formed by the first notch 411 and the second notch 421 is clearance fitted with the support rod 3, the moving block 4 is slidingly connected with the support rod 3; the first moving block 41 and the second moving block 42 are directly fixedly connected, which can be connected by bonding, welding and the like, preferably, the first moving block 41 and the second moving block 42 are detachably fixedly connected by a fastener 43, so as to facilitate the separation and disassembly of the moving block 4 and the support rod 3 when needed. Of course, a through hole matched with the support rod 3 can also be arranged on the first moving block 41, the first moving block 41 is slidingly connected with the support rod, and the second moving block 42 is directly fixedly connected with the detection probe 5, so as to be able to replace the detection probe 5 alone; during installation, the first moving block 41 is located on the side away from the ejector pin 51, the second moving block 42 is located on the side close to the ejector pin 51, the detection probe 5 is fixedly connected with the second moving block 42, the support rod 3 with T-shaped cross section and the matched moving block 4 can increase the stability of the moving block 4 when sliding relative to the support rod 3, and prevent the moving block 4 from shaking.

[0038] As shown in Figure 8 In use, the rope pretightening force detection device of the application is connected to the fixed platform 7 through the clamping part 2, the rope driving device 6 to be detected is installed on the fixed platform 7, the position of the moving block 4 is adjusted, the ejector pin 51 is vertically opposite to the rope 61, the top head 55 of the ejector pin 51 is clamped on the rope 61, the rope is continuously tightened, and then the retracting position of the ejector pin when the rope reaches the pretightening force standard is recorded. For multiple ropes 61 to be detected under the same standard, the position of the moving block 4 can be adjusted along the axial direction of the support rod 3, so that the top head 55 of the ejector pin 51 is clamped on another rope 61, the rope is continuously tightened, and the retracting position of the ejector pin 51 is observed. When the retracting position of the ejector pin 51 reaches the same standard, the detection is completed, and the process is repeated until the pretightening force detection of all ropes is completed. The retracting distance of the ejector pin can be marked on the ejector pin 51, recorded by a scale, or confirmed by an adjustable identification block.

[0039] Compared with the prior art, the rope driving device provided by the application realizes simple and rapid pre-tightening force detection of the rope in the rope driving device by arranging the detection probe movably connected with the support and arranging the ejector pin movably connected with the main rod on the detection probe, the rope detection device can unify the rope pre-tightening force detection standard, is not interfered by human factors, the rope pre-tightening force under the same standard is consistent, and the accuracy and safety of the rope driving device during operation are effectively increased.

[0040] Those skilled in the art can understand that the above-mentioned embodiments are specific examples for implementing the application, and in actual application, various changes can be made in form and details without departing from the spirit and scope of the application.

Claims

1. A rope pretension detection device for a surgical instrument, characterized by, The device comprises a support and a detection probe movably connected with the support; the detection probe comprises a main rod connected with the support and a top pin elastically and slidably connected with the main rod and capable of axial displacement relative to the main rod, one end surface of the top pin being provided with a top head for clamping the rope. The device further comprises a clamping portion fixedly connected with one end surface of the support, the clamping portion being used for clamping the rope fixation device to be detected or directly clamping or inserting the instrument box with the rope driving device. The other end surface of the support movably connects with the detection probe, one end of the support movably connected with the detection probe is connected with a support rod, one end of the detection probe is fixedly connected with a sliding block, the detection probe is movably connected with the support rod through the sliding block, and the sliding block can axially displace relative to the support rod, so as to drive the detection probe to axially change position along the support rod.

2. The rope pretension detection device according to claim 1, characterized by The main rod is a hollow cylindrical structure, the main rod is provided with an elastic member in the hollow cavity, and one end of the top pin is inserted into the main rod and abuts against one end of the elastic member.

3. The rope pretension detection device according to claim 2, characterized in that, The detection probe further comprises a connecting cover sleeved on the side end of the main rod away from the support, the connecting cover is provided with a through hole, the top pin passes through the through hole and is slidably connected with the through hole, the top pin is provided with a radially protruding edge portion in the hollow cavity of the main rod, and the edge portion can be stopped by the connecting cover.

4. The rope pretension detection device according to any one of claims 1 to 3, characterized in that, The top pin is provided with a scale line and / or a marking block; the scale line is equidistantly arranged along the axial direction of the top pin, and the marking block can limit the axial displacement distance of the top pin.

5. The rope pretension detection device according to claim 1, characterized by The support rod is fixedly connected with the support and has a T-shaped cross section, the sliding block is provided with a through gap corresponding to the shape of the support rod, and the support rod is slidably connected with the sliding block through the gap.

6. The rope pretension detection device according to claim 1, characterized by The sliding block comprises a first sliding block and a second sliding block which are detachably connected; the first sliding block and / or the second sliding block are connected with the support rod.

7. The rope pretension detection device according to claim 1, characterized by The support rod is a screw rod, both ends of the screw rod are rotatably connected with the support, and the sliding block is threadedly arranged on the screw rod.

8. The rope pretension detection device according to any one of claims 1 to 3, 5 to 7, characterized in that, One end of the top pin away from the main rod is provided with a groove for clamping the rope to be detected.

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