Quick change device for endoscopic surgical instruments and driving thereof

Abstract

The application discloses a quick change device for endoscopic surgical instruments and driving thereof, which comprises a motion platform, a driving platform and a surgical instrument; the motion platform is provided with a guide rail extending in a horizontal direction and a driving mechanism; the driving platform is reciprocally slidably installed on the motion platform along the guide rail and is provided with a clutch mechanism, the quick change mechanism and the control module; the clutch mechanism is used for realizing the engagement and separation of the driving mechanism and the driving platform; the quick change mechanism is used for realizing the quick disassembly and assembly of the surgical instrument; and the control module controls the action of the surgical instrument through electromagnetic adsorption. The quick change device can realize the quick replacement of the surgical instrument in operation and can enable a doctor to manually control the axial movement of the surgical instrument, thereby improving the operation efficiency.

Description

Technical Field

[0001] This invention relates to the field of surgical technology, and more specifically to a quick-change device for endoscopic surgical instruments and their drive. Background Technology

[0002] Endoscopic surgery involves complex procedures, requiring frequent changes of surgical instruments to perform various surgical operations such as dissection, exploration, grasping, cauterization, and electrocoagulation for hemostasis. For example, nucleus pulposus forceps are used for grasping, electrocoagulation devices are used for hemostasis, and drills are used for grinding. However, current endoscopic surgery procedures involve cumbersome instrument changes and long operation times, resulting in low surgical efficiency. Summary of the Invention

[0003] This invention provides a quick-change device for endoscopic surgical instruments and their drive, which enables rapid intraoperative instrument replacement and allows surgeons to manually control the axial movement of the surgical instruments, thereby improving surgical efficiency.

[0004] The present invention adopts the following specific technical solution:

[0005] A quick-change device for endoscopic surgical instruments and their drive, the quick-change device comprising a motion platform, a drive platform, and surgical instruments;

[0006] The motion platform is equipped with a guide rail extending in the horizontal direction and a drive mechanism.

[0007] The drive platform is slidably mounted on the motion platform along the guide rail and is equipped with a clutch mechanism, a quick-change mechanism, and a control module. The clutch mechanism is used to engage and disengage the drive mechanism from the drive platform. The quick-change mechanism is used to quickly assemble and disassemble the surgical instruments. The control module controls the movement of the surgical instruments via electromagnetic adsorption.

[0008] Furthermore, the quick-change mechanism includes a slide, a pressing block, and a compression spring;

[0009] The slide block is fixedly installed on the drive platform and is provided with a first slide groove extending in the horizontal direction; the extension direction of the first slide groove is perpendicular to the extension direction of the guide rail.

[0010] The drive platform is provided with a second slide corresponding to the position of the first slide;

[0011] The bottom end of the pressing block matches the shape of the first groove and is slidably installed in the first groove;

[0012] The compression spring is installed in the first slide groove and abuts against the pressing block and the slide base;

[0013] The top of the pressing block is provided with a hook;

[0014] The surgical instrument is provided with a snap-fit ​​hole corresponding to the position of the snap hook;

[0015] The drive platform is provided with a positioning groove for engaging and positioning the surgical instruments.

[0016] When the hook passes through the second groove and enters the locking hole, the hook engages the surgical instrument in the positioning groove under the elastic force of the compression spring, locking the surgical instrument to the drive platform; when the hook is pushed to overcome the elastic force of the compression spring, the surgical instrument is unlocked.

[0017] Furthermore, the cross-sectional shape of the first groove is non-circular.

[0018] Furthermore, the cross-sectional shape of the first groove is an arc shape.

[0019] Furthermore, the drive mechanism includes a motor, a lead screw, and a lead screw nut;

[0020] The lead screw is rotatably mounted on the motion platform;

[0021] The motor is fixedly installed on the motion platform and fixedly connected to one end of the lead screw, for driving the lead screw to rotate;

[0022] The lead screw nut is screwed to the lead screw;

[0023] The clutch mechanism is used to engage and disengage with the lead screw nut.

[0024] Furthermore, the clutch mechanism includes a clutch stop plate, a spring, and a support fixedly connected to the drive platform; the support is loosely fitted around the outer periphery of the lead screw and is provided with a third sliding groove; the stop plate is slidably installed in the third sliding groove and is provided with a through hole for the lead screw to pass through; the spring is installed in the third sliding groove and abuts against the stop plate and the support.

[0025] The lead screw nut is provided with a snap-fit ​​groove;

[0026] When the drive platform engages with the drive mechanism, the baffle is engaged in the engagement groove, and the lead screw nut and the support are circumferentially limited by the circumferential limiting structure. The lead screw nut drives the drive platform to slide along the guide rail through the baffle.

[0027] When the drive platform is separated from the drive mechanism, the baffle is located outside the snap-fit ​​groove and separated from the lead screw nut, and the drive platform can slide freely along the guide rail.

[0028] Furthermore, the circumferential limiting structure is a concave-convex mating structure provided on the lead screw nut and the support.

[0029] Furthermore, the convex-concave mating structure is composed of a ring of teeth disposed on the lead screw nut facing the support and another ring of teeth disposed on the support;

[0030] The teeth of the lead screw nut are fitted into the grooves between adjacent teeth of the support.

[0031] Furthermore, the control module consists of multiple drive units fixedly installed on the drive platform;

[0032] Each drive unit consists of a linear actuator motor, a sensor, a connector, and an electromagnet. The electromagnet is mounted on the end of the output shaft of the linear actuator motor via the connector, and is used to drive the electromagnet to move. The electromagnet generates magnetic force and is attracted to the surgical instrument by magnetic force. The sensor is arranged parallel to the output shaft of the linear actuator motor and is fixedly connected to the connector, and is used to calibrate the initial position of the surgical instrument.

[0033] Furthermore, the connector is provided with a sensor guide hole and a groove on the side opposite to the linear push rod motor;

[0034] The electromagnet is housed within the groove;

[0035] One end of the sensor passes through the sensor guide hole.

[0036] Beneficial effects:

[0037] The quick-change device of the present invention is used for endoscopic surgical instruments and their drive. The quick-change device is equipped with a clutch mechanism, a quick-change mechanism and a control module on the drive platform. The clutch mechanism is used to realize the engagement and disengagement of the drive mechanism and the drive platform, and the quick-change mechanism is used to realize the rapid assembly and disassembly of surgical instruments. The control module controls the movement of surgical instruments through electromagnetic adsorption. Therefore, the above-mentioned quick-change device can realize the rapid replacement of surgical instruments during the operation and can manually control the surgical instruments to slide in and out of the human body along the guide rail, shortening the replacement time of surgical instruments and improving the efficiency of endoscopic surgery. Attached Figure Description

[0038] Figure 1 This is a three-dimensional structural diagram of the quick-change device of the present invention;

[0039] Figure 2 This is a schematic diagram of the quick-change device of the present invention when it is separated from the surgical instrument;

[0040] Figure 3This is a structural diagram of the quick-change mechanism;

[0041] Figure 4 This is a schematic diagram of the clutch mechanism when it is disengaged;

[0042] Figure 5 This is a schematic diagram of the clutch mechanism when it is engaged.

[0043] Figure 6 This is a schematic diagram of the baffle plate structure;

[0044] Figure 7 This is a structural schematic diagram of the support;

[0045] Figure 8 This is a schematic diagram of the screw nut structure;

[0046] Figure 9 This is a schematic diagram of the slide block structure;

[0047] Figure 10 This is a schematic diagram of the pressing block.

[0048] Figure 11 This is a schematic diagram of the control module.

[0049] Figure 12 This is a structural schematic diagram of the connector.

[0050] Figure label:

[0051] 1-Motion platform; 2-Drive platform; 3-Surgical instrument; 11-Motor; 12-Lead screw; 13-Lead screw nut; 21-Control module; 22-Slide; 23-Pressing block; 24-Baffle; 25-Support; 131-Snap-fit ​​groove; 132-Gear; 211-Linear push rod motor; 212-Sensor; 213-Connector; 214-Electromagnet; 221-First slide groove; 231-Hook; 241-Through hole; 251-Third slide groove; 2131-Sensor guide hole; 2132-Groove. Detailed Implementation

[0052] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0053] like Figure 1 and Figure 2As shown in the structure, this embodiment provides a quick-change device for endoscopic surgical instruments and their drives. The quick-change device includes a motion platform 1, a drive platform 2, and surgical instruments 3. The motion platform 1 is provided with a guide rail extending in a horizontal direction and a drive mechanism. The motion platform 1 provides the motion basis for the drive platform 2 and the surgical instruments 3 mounted on the drive platform 2, and guides the reciprocating linear motion of the drive platform 2 through the guide rail. The drive platform 2 is slidably mounted on the motion platform 1 along the guide rail and is provided with a clutch mechanism, a quick-change mechanism, and a control module 21. The clutch mechanism is used to realize the engagement and disengagement of the drive mechanism and the drive platform 2. The quick-change mechanism is used to realize the rapid assembly and disassembly of the surgical instruments 3. The control module 21 controls the movement of the surgical instruments 3 through electromagnetic adsorption.

[0054] The aforementioned quick-change device is used for endoscopic surgical instruments and their drives. The quick-change device is equipped with a clutch mechanism, a quick-change mechanism, and a control module 21 on the drive platform 2. The clutch mechanism is used to engage and disengage the drive mechanism from the drive platform 2, and the quick-change mechanism is used to quickly assemble and disassemble the surgical instruments 3. The control module 21 controls the movement of the surgical instruments 3 through electromagnetic adsorption. Therefore, by using the aforementioned quick-change device, it is possible to quickly change the surgical instruments 3 during the operation and to manually control the surgical instruments 3 to slide along the guide rail into and out of the human body, thereby shortening the replacement time of the surgical instruments 3 and improving the efficiency of endoscopic surgical operations.

[0055] like Figure 3 , Figure 9 and Figure 10 As shown, the quick-change mechanism of the aforementioned quick-change device includes a slide 22, a pressing block 23, and a compression spring. The slide 22 is fixedly installed on the drive platform 2 and is provided with a first slide groove 221 extending horizontally. The cross-sectional shape of the first slide groove 221 is non-circular, such as rectangular, trapezoidal, regular polygonal, dovetail, or arc-shaped. The extending direction of the first slide groove 221 is perpendicular to the extending direction of the guide rail. The drive platform 2 is provided with a second slide groove 251 corresponding to the position of the first slide groove 221. The bottom end of the pressing block 23 is provided with a shape that matches the cross-sectional shape of the first slide groove 221, so as to fit the shape of the first slide groove 221 and slide within the first slide groove 221. The compression spring is installed within the first slide groove 221 and abuts against the pressing block 23 and the slide 22. Figure 10 As shown, the top of the pressing block 23 is provided with a hook 231; the surgical instrument 3 is provided with a locking hole corresponding to the position of the hook 231; the drive platform 2 is provided with a positioning groove for locking and positioning the surgical instrument 3; when the hook 231 passes through the second slide groove 251 and enters the locking hole, under the elastic force of the compression spring, the hook 231 locks the surgical instrument 3 into the positioning groove, locking the surgical instrument 3 to the drive platform 2; when the hook 231 is pushed to overcome the elastic force of the compression spring, the surgical instrument 3 is unlocked.

[0056] like Figure 1and Figure 2 As shown, the drive mechanism includes a motor 11, a lead screw 12, and a lead screw nut 13. The motor 11 is fixedly mounted on the motion platform 1 and fixedly connected to one end of the lead screw 12 for driving the lead screw 12 to rotate. The lead screw 12 is rotatably mounted on the motion platform 1. The lead screw nut 13 is screwed to the lead screw 12. A clutch mechanism is used to engage and disengage with the lead screw nut 13. When the clutch mechanism engages with the lead screw nut 13, the drive platform 2 and the lead screw nut 13 move synchronously, thereby enabling the movement of the surgical instrument 3 to be controlled by the motor 11, achieving electric control. When the clutch mechanism disengages from the lead screw nut 13, the drive platform 2 and the lead screw nut 13 move relatively independently, the transmission route between the drive platform 2 and the motor 11 is disconnected, allowing the doctor to manually control the movement of the drive platform 2 and thus manually control the movement of the surgical instrument 3 along the guide rail.

[0057] Figure 4 This is a schematic diagram of the clutch mechanism when it is disengaged. Figure 5 This is a schematic diagram of the clutch mechanism when engaged; the clutch mechanism includes a clutch stop plate 24, a spring, and a support 25 fixedly connected to the drive platform 2; as shown... Figure 4 and Figure 7 As shown, the support 25 is loosely fitted onto the outer periphery of the lead screw 12 and is provided with a third sliding groove 251; as Figure 4 , Figure 5 and Figure 6 As shown, the baffle 24 is slidably installed in the third slide groove 251. The baffle 24 can slide in a direction perpendicular to the axis of the lead screw 12. The baffle 24 is provided with a through hole 241 for the lead screw 12 to pass through. The through hole 241 is composed of a rectangular hole and an arc-shaped hole. The spring is installed in the third slide groove 251 and abuts against the baffle 24 and the support 25. In the natural state, the elastic force of the spring causes the baffle 24 to move toward the lead screw 12. That is, under the action of the spring, the arc-shaped hole of the baffle 24 is pushed to fit against the lead screw 12. Figure 8The diagram shows the structure of the lead screw nut 13. A locking groove 131 is provided in the middle of the lead screw nut 13. When the drive platform 2 engages with the drive mechanism, the baffle 24 engages within the locking groove 131. The baffle 24 is blocked by the structures on both sides of the locking groove 131, ensuring that the lead screw nut 13 can always push the baffle 24 to move synchronously when moving along the axial direction of the lead screw 12. The lead screw nut 13 and the support 25 are circumferentially limited by a circumferential limiting structure. This circumferential limiting structure ensures that the lead screw nut 13 can only move along the axial direction of the lead screw 12 when the lead screw 12 rotates. 12 moves axially, so the lead screw nut 13 drives the drive platform 2 to slide along the guide rail through the baffle 24; when the drive platform 2 separates from the drive mechanism, the baffle 24 is pushed from the outside toward the lead screw 12 side, the arc-shaped hole of the baffle 24 disengages from the locking groove 131 of the lead screw nut 13, so that the baffle 24 is disengaged from the locking groove 131, and then the drive platform 2 moves axially along the lead screw 12 to separate the baffle 24 from the lead screw nut 13. The baffle 24 is located outside the locking groove 131 and separated from the lead screw nut 13, and the drive platform 2 can slide freely along the guide rail.

[0058] The aforementioned circumferential limiting structure is a concave-convex fitting structure provided on the lead screw nut 13 and the support 25. The insertion of the concave-convex fitting structure facilitates the engagement and disengagement of the lead screw nut 13 and the support 25. For example... Figure 4 and Figure 8 As shown, the concave-convex mating structure consists of a ring of teeth 132 on the lead screw nut 13 facing the support 25 and another ring of teeth on the support 25. The teeth 132 of the lead screw nut 13 are inserted into the grooves between adjacent teeth of the support 25 in a shape-fitting manner. The teeth 132 of the lead screw nut 13 are inserted into the grooves between the teeth of the support 25. The grooves between the teeth 132 of the lead screw nut 13 are used to accommodate the teeth of the support 25. The circumferential positioning of the lead screw nut 13 by the support 25 is achieved through the meshing between the two rings of teeth.

[0059] like Figure 1 , Figure 2 and Figure 11 As shown, the control module 21 consists of multiple drive units fixedly installed on the drive platform 2. In this embodiment, three drive units are used as an example. The three drive units are arranged in parallel and spaced apart in the vertical direction. Each drive unit consists of a linear actuator motor 211, a sensor 212, a connector 213, and an electromagnet 214. The output shaft of the linear actuator motor 211 is connected to the electromagnet 214 via the connector 213, which is used to drive the electromagnet 214 to move. The electromagnet 214 generates magnetic force and is attracted to the surgical instrument 3 by magnetic force. The sensor 212 is arranged parallel to the output shaft of the linear actuator motor 211 and is fixedly connected to the connector 213. When the linear actuator motor 211 pushes the connector 213 to move, the sensor 212 moves synchronously with the connector 213, thereby enabling it to be used to calibrate the initial position of the surgical instrument 3. Figure 11 and Figure 12 As shown, the connector 213 is provided with a sensor guide hole 2131 and a groove 2132 on the side opposite to the linear push rod motor 211; the electromagnet 214 is housed in the groove 2132; one end of the sensor 212 passes through the sensor guide hole 2131 and is fixedly connected.

[0060] Obviously, those skilled in the art can make various modifications and variations to the embodiments of the present invention without departing from the spirit and scope of the invention. Therefore, if these modifications and variations fall within the scope of the claims of the present invention and their equivalents, the present invention also intends to include these modifications and variations.

Claims

1. A quick-change device for an endoscopic surgical instrument and its drive, characterized in that, This includes motion platforms, drive platforms, and surgical instruments; The motion platform is equipped with a guide rail extending in the horizontal direction and a drive mechanism. The drive platform is slidably mounted on the motion platform along the guide rail and is equipped with a clutch mechanism, a quick-change mechanism, and a control module. The clutch mechanism is used to engage and disengage the drive mechanism from the drive platform. The quick-change mechanism is used to quickly assemble and disassemble the surgical instruments. The control module controls the movement of the surgical instruments via electromagnetic adsorption. The drive mechanism includes a motor, a lead screw, and a lead screw nut; The lead screw is rotatably mounted on the motion platform; The motor is fixedly installed on the motion platform and fixedly connected to one end of the lead screw, for driving the lead screw to rotate; The lead screw nut is screwed to the lead screw; The clutch mechanism is used to engage and disengage with the lead screw nut; The clutch mechanism includes a clutch stop plate, a spring, and a support fixedly connected to the drive platform; The support is loosely fitted around the outer periphery of the lead screw and is provided with a third sliding groove; the baffle is slidably installed in the third sliding groove and is provided with a through hole for the lead screw to pass through; the spring is installed in the third sliding groove and abuts against the baffle and the support. The lead screw nut is provided with a snap-fit ​​groove; When the drive platform engages with the drive mechanism, the baffle is engaged in the engagement groove, and the lead screw nut and the support are circumferentially limited by the circumferential limiting structure. The lead screw nut drives the drive platform to slide along the guide rail through the baffle. When the drive platform is separated from the drive mechanism, the baffle is located outside the snap-fit ​​groove and separated from the lead screw nut, and the drive platform can slide freely along the guide rail.

2. The quick-change device as described in claim 1, characterized in that, The quick-change mechanism includes a slide block and a pressing block and a compression spring; The slide block is fixedly installed on the drive platform and is provided with a first slide groove extending in the horizontal direction; the extension direction of the first slide groove is perpendicular to the extension direction of the guide rail. The drive platform is provided with a second slide corresponding to the position of the first slide; The bottom end of the pressing block matches the shape of the first groove and is slidably installed in the first groove; The compression spring is installed in the first slide groove and abuts against the pressing block and the slide base; The top of the pressing block is provided with a hook; The surgical instrument is provided with a snap-fit ​​hole corresponding to the position of the snap hook; The drive platform is provided with a positioning groove for engaging and positioning the surgical instruments. When the hook passes through the second groove and enters the locking hole, the hook engages the surgical instrument in the positioning groove under the elastic force of the compression spring, locking the surgical instrument to the drive platform; when the hook is pushed to overcome the elastic force of the compression spring, the surgical instrument is unlocked.

3. The quick-change device as described in claim 2, characterized in that, The cross-sectional shape of the first groove is non-circular.

4. The quick-change device as described in claim 3, characterized in that, The cross-sectional shape of the first groove is an arc shape.

5. The quick-change device as described in claim 1, characterized in that, The circumferential limiting structure is a concave-convex fit structure provided on the lead screw nut and the support.

6. The quick-change device as described in claim 5, characterized in that, The convex-concave mating structure consists of a ring of teeth on the lead screw nut facing the support and another ring of teeth on the support; The teeth of the lead screw nut are fitted into the grooves between adjacent teeth of the support.

7. The quick-change device according to any one of claims 1-6, characterized in that, The control module consists of multiple drive units fixedly installed on the drive platform; Each drive unit consists of a linear actuator motor, a sensor, a connector, and an electromagnet. The electromagnet is mounted on the end of the output shaft of the linear actuator motor via the connector, and is used to drive the electromagnet to move. The electromagnet generates magnetic force and is attracted to the surgical instrument by magnetic force. The sensor is arranged parallel to the output shaft of the linear actuator motor and is fixedly installed on the connector, and is used to calibrate the initial position of the surgical instrument.

8. The quick-change device as described in claim 7, characterized in that, The connector is provided with a sensor guide hole and a groove on the side opposite to the linear push rod motor; The electromagnet is housed within the groove; One end of the sensor passes through the sensor guide hole.

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