Electric surgical closer

Abstract

The invention discloses an electric surgical closer which comprises a handle (1), an instrument rod (2) and a jaw (3), the handle (1) is connected to the near end of the instrument rod (2), the jaw (3) is connected to the far end of the instrument rod (2), and a propelling device without a cutting blade is arranged in the jaw (3). The propulsion device is completely located in the jaw (3), the jaw (3) is provided with a track for the propulsion device to slide from the near end to the far end, the propulsion device is fixed on a flexible driving wire, the tail end of the flexible driving wire is directly or indirectly connected to a motor, and the motor controls the propulsion device to slide on the track by controlling the flexible driving wire. The propelling device is controlled through the flexible driving line, and the operation of advancing / retreating the propelling device can be achieved. Due to the fact that a push-handle-free structure is adopted, stress generated by deformation of a push handle during deflection does not exist, swing of the tail end of the jaw can be reduced, and large-angle deflection can be achieved.

Description

Technical Field

[0001] The invention relates to the technical field of medical instruments, in particular to an electric surgical closure device. Background Art

[0002] Staplers are also called staplers in medicine. They are mostly used in gastrointestinal, weight loss, thoracic and hepatobiliary surgeries. Staplers are medical devices that replace traditional manual suturing. The main working principle is to use multiple rows of staples to staple the tissues. Its function is similar to that of a stapler. It is used clinically to replace sutures to close tissues. Depending on whether it has a cutting function, it can be divided into: a closure device and a cutting stapler.

[0003] With the development of medical technology, the closure device has developed into the stage of electric and intelligent closure devices (it monitors the state of tissue and can prompt the doctor to use a nail magazine with an appropriate closing height. When closing, it can pull the propulsion device at a relatively fast speed when encountering thinner tissue; when encountering thicker tissue, it can pull the propulsion device at a relatively slow speed) according to the situation of the tissue, ensuring the stability and safety of closure, reducing the labor intensity of doctors, standardizing operations, and making the closure effect stable and consistent.

[0004] With the development of staplers, staplers have entered the intelligent electric era from the manual era. Compared with manual staplers, electric staplers allow doctors to control the staplers more accurately, achieve one-handed operation and make the operation more stable, standardize the operation, obtain better clinical results and reduce the doctor's labor intensity. Another advantage of electric control is that combined with sensor signal feedback, it allows doctors to better understand the status of the instrument, assist doctors in judging the operation, and adjust the speed of the propulsion device according to the thickness of the closed tissue and other conditions to achieve intelligent closure.

[0005] At present, the propulsion device of almost all laparoscopic closure products is equipped with a push handle, which is generally composed of 4-5 pieces of steel material and can be bent. However, due to this structure, the closure can be deflected 45° to the left or right, and a few can be deflected 55° or a larger angle, but not more than 90°. In addition, because the stress generated by the bending of the push handle when firing under deflection conditions can cause the end of the jaw to swing or shake, which poses a certain safety risk for clinical applications and may over-twist and tear tissues, causing closure failure.

[0006] In order to solve the above problems, it is necessary to provide a novel electric surgical closure device. Summary of the invention:

[0007] At present, the clinical demand for closure devices has not been fully met, and there is still a need for an intelligent, controllable, safe, reliable, and easy-to-operate electrically controlled closure device. This is also the goal of this invention project, a novel surgical closure device based on wire control technology. In order to achieve the purpose of the present invention, the following technical solutions are proposed:

[0008] The present invention relates to an electric surgical closing device, comprising a handle (1), an instrument rod (2) and a jaw (3) (including a nail magazine and a nail anvil), wherein the handle (1) is connected to the proximal end of the instrument rod (2), the jaw (3) is connected to the distal end of the instrument rod (2), and the jaw (3) is provided with a propulsion device without a cutting blade, wherein the propulsion device pushes a nail-pushing slider to slide from the proximal end to the distal end when closing tissue, and the nail-pushing slider pushes a nail-pushing sheet to make anastomotic nails pass through and suture tissue, characterized in that the propulsion device is completely located in the jaw (3) and the jaw (3) has a track for the propulsion device to slide from the proximal end to the distal end, the propulsion device is fixed on a flexible driving line, the end of the flexible driving line is directly or indirectly connected to a motor, and the motor controls the propulsion device to slide on the track by controlling the flexible driving line. The present invention controls the propulsion device by the flexible driving line, and can realize the operation of advancing / retreating the propulsion device, and there is no stress caused by the deformation of the push handle, which is conducive to reducing the swing of the end of the jaw, and the swing of the end of the jaw can be no more than 4.0 mm.

[0009] In a preferred embodiment of the present invention, the number of the flexible driving wires is 1-16, preferably 2-4, and the connection method of the flexible driving wires and the propulsion device is not particularly limited. Preferably, at least one of the flexible driving wires is fixed to the upper front end of the propulsion device, and at least one is fixed to the upper rear end of the propulsion device. In this way, the cutter head can be fixed more stably.

[0010] In a preferred embodiment of the present invention, at least two of the flexible drive lines are fixed to the upper front end of the propulsion device, and at least two are fixed to the upper rear end of the propulsion device. In this way, the propulsion device can be fixed more stably. Because multiple drive lines of the parallel wire control device can act on the same actuator at the same time, the actuator can be controlled to perform high-load and high-speed movements.

[0011] In a preferred embodiment of the present invention, the flexible driving wire passes through an inner sleeve, and there is an outer sleeve outside the inner sleeve. The flexible driving wire passes through the inner sleeve and the outer sleeve and is directly or indirectly connected to the motor. The inner sleeve is used to reduce friction, and the outer sleeve is used to transmit force; preferably, the inner sleeve is a PTFE tube, and the outer sleeve is a Bowden threaded steel tube.

[0012] In a preferred embodiment of the present invention, a tension sensor and / or a position sensor is provided on the flexible driving line, and the motor is coupled to the tension sensor to control the tension on the flexible driving line. Therefore, the clinical demand for intelligent control can be met, and the thickness and hardness of the clamped tissue can be understood through position feedback and force feedback, and the clamping condition of the tissue and the anastomosis advancement speed can be controlled, so that the pushing knife speed can be adjusted in real time according to the condition of the clamped tissue, or the doctor can be prompted to use a nail magazine with a suitable closing height, and the doctor can be instructed if the tissue is too thick and cannot be closed.

[0013] In a preferred embodiment of the present invention, the handle (1), instrument rod (2) and jaws (3) are disposable products, and the motor and control device are placed in the main unit for repeated use. In this preferred embodiment, the traditional closure product is transformed into a closure instrument plus a main unit, and the power and control device, display screen and other components are installed on the main unit. The advantage of the instrument plus main unit method is that the weight of the instrument can be reduced, making the operation easier; the power and control device, display screen and other components are not limited by the size of the instrument itself; at the same time, after disconnection, the instrument part is used as a disposable product, and the high-value components such as the power and control device are placed in the main unit for repeated use, thereby reducing the cost of each operation.

[0014] In a preferred embodiment of the present invention, the jaw (3) is deflectable relative to the instrument rod (2); preferably, the deflection angle of the jaw (3) relative to the instrument rod (2) is not less than 100°. Since the present invention adopts a propulsion device without a push handle and controls the movement of the propulsion device through a flexible driving line, the jaw (3) can be operated to have a larger deflection angle relative to the instrument rod (2).

[0015] In a preferred embodiment of the present invention, the closure device of the present invention is provided with a reusable host, the host includes a motor and a control device, and the host is connected to the handle through a connecting tube. Therefore, the closure device of the present invention can be remotely controlled by connecting a remote control device to the host, and the closure device instrument part can be converted into a surgical robot stapler instrument to realize surgical robot control. In the form of an instrument plus a host, it can also be connected to the host through a 3D mouse or other remote control device, and the doctor controls the instrument by controlling the 3D mouse or remote control device, and the 3D mouse or remote control device can be isolated by a sterile cover to keep the surgical area sterile. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 : A schematic structural diagram of a surgical closure device of the present invention.

[0017] Figure 2: Schematic diagram of the jaw structure, wherein the left figure is a schematic diagram of the jaw structure of a traditional closer, and the right figure is a schematic diagram of the jaw structure of the closer of the present invention.

[0018] Figure 3 : Schematic diagram of the connection between the flexible driving line and the propulsion device.

[0019] Figure 4 : An example of a flexible drive line and a propulsion device in the jaws. Except for the propulsion device movement area where only PE braided line is used, other areas can use a PTFE inner sleeve to reduce friction, and add a Bowden cable as an outer sleeve to ensure force transmission.

[0020] Figure 5 : The jaws can be deflected relative to the instrument rod, and the deflection angle is not less than 100°. DETAILED DESCRIPTION

[0021] In order to further understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] Example 1

[0023] The present invention relates to an electric surgical closure device, comprising a handle (1), an instrument rod (2) and a jaw (3) (including a nail magazine and a nail anvil), wherein the handle (1) is connected to the proximal end of the instrument rod (2), and the jaw (3) is connected to the distal end (such as the distal end) of the instrument rod (2). Figure 1 The jaw (3) has a propulsion device without a cutting blade, and the propulsion device pushes the nail-pushing slider to slide from the proximal end to the distal end when closing the tissue, and the nail-pushing slider pushes the nail-pushing sheet to make the staples pass through and suture the tissue. The feature is that the propulsion device is completely located in the jaw (3) and the jaw (3) has a track for the propulsion device to slide from the proximal end to the distal end. The propulsion device is fixed on a flexible driving line, and the end of the flexible driving line is directly or indirectly connected to a motor, and the motor controls the flexible driving line to control the propulsion device to slide on the track (as shown in FIG. Figure 2 shown).

[0024] In an embodiment of the present invention, the number of the flexible driving wires is 1-16, preferably 2-4, and the connection method of the flexible driving wire and the propulsion device is not particularly limited. Preferably, at least one of the flexible driving wires is fixed to the upper front end of the propulsion device, and at least one is fixed to the upper rear end of the propulsion device. In this way, the cutter head (such as Figure 3shown).

[0025] In a preferred embodiment of the present invention, the flexible drive line passes through an inner sleeve, and an outer sleeve is provided outside the inner sleeve. The flexible drive line passes through the inner sleeve and the outer sleeve and is directly or indirectly connected to the motor. The inner sleeve is used to reduce friction, and the outer sleeve is used to transmit force. Preferably, the inner sleeve is a PTFE tube, and the outer sleeve is a Bowden threaded steel tube (such as Figure 4 shown).

[0026] In a preferred embodiment of the present invention, the jaws (3) are deflectable relative to the instrument rod (2); preferably, the deflection angle of the jaws (3) relative to the instrument rod (2) is not less than 100° (e.g. Figure 5 shown).

[0027] In a preferred embodiment of the present invention, a tension sensor and / or a position sensor is provided on the flexible driving line, and the motor is coupled to the tension sensor to control the tension on the flexible driving line. Therefore, the clinical demand for intelligent control can be met, and the thickness and hardness of the clamped tissue can be understood through position feedback and force feedback, and the clamping condition of the tissue and the anastomosis advancement speed can be controlled, so that the speed of the advancement device can be adjusted in real time according to the condition of the clamped tissue, or the doctor can be prompted to use a nail magazine with a suitable closing height, and the doctor can be instructed if the tissue is too thick and cannot be closed.

[0028] The above describes the preferred embodiments of the present invention, but it is not intended to limit the present invention. Those skilled in the art may make improvements and changes to the embodiments disclosed herein without departing from the scope and spirit of the present invention.

Claims

1. An electric surgical closure device, comprising a handle (1), an instrument rod (2) and a jaw (3), wherein the jaw comprises a staple cartridge and a staple anvil, the handle (1) being connected to the proximal end of the instrument rod (2), the jaw (3) being connected to the distal end of the instrument rod (2), the jaw (3) being provided with a propulsion device without a cutting blade, the propulsion device pushing a staple pusher slide from the proximal end to the distal end when closing tissue, the staple pusher slide pushing a staple pusher sheet, so that the staples pass through and suture the tissue, characterized in that: The propulsion device is completely located in the jaws (3) and the jaws (3) have a track for the propulsion device to slide from the proximal end to the distal end. The propulsion device is fixed on a flexible driving wire, and the end of the flexible driving wire is directly or indirectly connected to a motor. The motor controls the flexible driving wire to control the knife head to slide on the track.

2. According to the electric surgical closure device according to claim 1, the number of the flexible driving wires is 1-16, preferably 2-4.

3. The electric surgical closure device according to claim 1, wherein at least one of the flexible driving wires is fixed to the front end of the propulsion device, and at least one of the flexible driving wires is fixed to the rear end of the propulsion device.

4. The electric surgical closure device according to claim 1, wherein at least two of the flexible driving wires are fixed to the upper front and rear ends of the propulsion device, and at least two of the flexible driving wires are fixed to the lower front and rear ends of the propulsion device.

5. According to the electric surgical closure device of claim 1, the flexible driving wire passes through an inner sleeve, and there is an outer sleeve outside the inner sleeve. The flexible driving wire passes through the inner sleeve and the outer sleeve and is directly or indirectly connected to the motor. The inner sleeve is used to reduce friction, and the outer sleeve can bear the transmission of the force of the flexible driving wire.

6. According to the electric surgical closure device according to claim 1, the proximal end of the flexible driving wire can be connected and wound around a capstan, and coupled to the driving device through the capstan, each driving device includes a motor, a force feedback sensor and / or a position sensor, and the motor is coupled with the force feedback and / or position sensor to control the tension on the flexible driving wire.

7. According to the electric surgical closure device of claim 1, the handle (1), instrument rod (2) and jaws (3) are disposable instruments; if the motor and control device are placed in the handle, they are also disposable, and if placed in the main unit, they are reusable.

8. An electric surgical closure according to claim 1, wherein the jaw (3) is deflectable relative to the instrument shaft (2).

9. The electric surgical closure device according to claim 8, wherein the maximum deflection angle of the jaw (3) relative to the instrument rod (2) is not less than 100°.

10. The electric surgical closure device according to any one of claims 1 to 9, wherein the host comprises a motor and a control device, the host is connected to the closure handle via a connecting tube, the flexible drive line is connected to and wound around a capstan in a coupling device at the end of the connecting tube, and is connected to the motor and control device components in the host via a coupling device, the motor and control device components are placed in the host and are reusable.

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