Large-turning-angle steering device, surgical instrument and surgical operation equipment

Abstract

The invention provides a large-turning-angle steering device, a surgical instrument and surgical equipment, the steering device comprises a fixed seat and a steering joint, one end of the steering joint is connected with an end effector, the other end of the steering joint is rotatably connected with the fixed seat, the fixed seat is provided with a sliding rod in sliding connection with the fixed seat, and the end part, close to the steering joint, of the sliding rod is provided with a gear shaping part; a tooth-shaped part matched with the gear shaping part is arranged at the end part of the steering joint, and the gear shaping part is separated from or clamped with the tooth-shaped part so as to unlock or lock the steering joint; the tooth-shaped part comprises an outer tooth-shaped part and inner tooth-shaped parts, the outer tooth-shaped part comprises a plurality of outer teeth distributed along an outer arc, the inner tooth-shaped parts are arranged on the two sides of the outer tooth-shaped part and comprise a plurality of inner teeth distributed along an inner arc, and the inner arc and the outer arc are concentric arcs. By additionally arranging the inner tooth-shaped part, the swing angle of the end effector is increased, so that the end effector adapts to more operations.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a large-angle steering device. The present invention also relates to a surgical instrument and a surgical operation device. Background Art

[0002] The stapler is one of the important instruments for minimally invasive surgery, replacing traditional manual suturing. It uses titanium staples to sever or anastomose tissues, with simple and rapid operation, greatly shortening the operation time. The stapler reduces the operation space, making it easier, more accurate, firm and reliable to perform anastomosis that is difficult for manual operation at deeper parts, and significantly reducing the incidence of anastomotic leakage.

[0003] Most of the end effectors at the end of the stapler are designed with variable angles to make the angle of the end effector match the part that needs to be cut and anastomosed, ensuring the quality of the operation. However, the common stapler can swing at most 45 degrees to the left and right, and is not applicable to operations that require the end effector to swing at a larger angle for cooperation. Therefore, it is necessary to design a large-angle steering device to solve the above problems. Summary of the Invention

[0004] The present invention aims to provide a large-angle steering device to overcome the deficiencies in the prior art.

[0005] To solve the above technical problems, the technical solution of the present invention is: a large-angle steering device, including a fixed seat and a steering joint. One end of the steering joint is connected to the end effector, and the other end is rotatably connected to the fixed seat. The steering joint is provided with a rotation connection hole for rotatably connecting to the fixed seat. The fixed seat is provided with a sliding rod that is slidably connected thereto. The end of the sliding rod close to the steering joint is provided with an insertion tooth portion, and the end of the steering joint close to the fixed seat is provided with a tooth-shaped portion that cooperates with the insertion tooth portion. The insertion tooth portion is separated from or engaged with the tooth-shaped portion to unlock or lock the steering joint. The tooth-shaped portion includes an outer tooth-shaped portion and an inner tooth-shaped portion. The outer tooth-shaped portion includes a plurality of outer teeth distributed along an outer arc. The inner tooth-shaped portion is provided on both sides of the outer tooth-shaped portion and includes a plurality of inner teeth distributed along an inner arc. Both the inner arc and the outer arc are arcs centered on the rotation connection hole, and the radius of the inner arc is smaller than the radius of the outer arc.

[0006] Further, in the above large-angle steering device, the inner teeth located on both sides of the outer tooth-shaped portion are symmetrically arranged on both side portions of the steering joint.

[0007] Further, in the above large-angle steering device, the fixed seat is provided with a chute, the sliding rod is inserted into the chute and is slidably connected to the chute. A return spring is sleeved on the middle of the sliding rod. One end of the return spring is connected to the sliding rod, and the other end is connected to the chute.

[0008] Furthermore, in the above-mentioned large-angle steering device, a guiding and limiting portion is provided at the end of the fixed seat close to the steering joint. The guiding and limiting portion is arc-shaped, and a connecting shaft is provided above it. The connecting shaft is inserted into the rotation connection hole, enabling the steering joint to rotate around the connecting shaft. Moreover, an arc-shaped groove 1 that cooperates with the guiding and limiting portion is provided at the lower end of the steering joint. The cooperation between the arc-shaped groove 1 and the guiding and limiting portion causes the steering joint to rotate along the guiding and limiting portion.

[0009] Furthermore, in the above-mentioned large-angle steering device, the swing angle of the end effector is ±80°.

[0010] Furthermore, in the above-mentioned large-angle steering device, a limiting member is further included. A push knife rod that is slidably connected thereto is provided on the fixed seat. The limiting member is arranged at the lower end of the rotation connection between the steering joint and the fixed seat. The limiting member is sleeved outside the push knife rod and is used to limit the bending degree of the push knife rod at the rotation connection.

[0011] Furthermore, in the above-mentioned large-angle steering device, a protruding rotating platform is provided on one side of the upper end of the limiting member, and a protruding limiting platform is provided on the other side. A rotating groove is provided at the lower end of the steering joint. The rotating platform is inlaid in the rotating groove and rotates around the rotating groove as the center; a limiting groove 1 for restricting the rotation angle of the limiting member is provided at the lower end of the fixed seat. The limiting platform is inserted into the limiting groove 1 and is movably connected to the limiting groove 1. Preferably, the limiting groove is a kidney-shaped groove, and the limiting platform swings within the limiting groove.

[0012] Furthermore, in the above-mentioned large-angle steering device, one side of the rotating groove close to the tooth-shaped portion is arc-shaped, and a guiding platform protruding from the bottom surface of the rotating groove is provided on the other side. One side of the rotating platform is arc-shaped, and an arc-shaped groove 2 is provided on the other side. The arc of the rotating platform rotates along the arc of the rotating groove. The guiding portion at the head of the guiding platform is an arc concentric with the arc of the rotating groove, and the arc-shaped groove 2 cooperates with the guiding platform.

[0013] Furthermore, in the above-mentioned large-angle steering device, a limiting groove 2 is provided at the lower end of the limiting member. The push knife rod is inserted into the limiting groove 2. The middle of the limiting groove 2 is large and both ends are small. The two side surfaces of the limiting groove 2 are two oppositely arranged arc-shaped surfaces, and arc-shaped transition portions are provided at the openings at both ends of the limiting groove 2.

[0014] Furthermore, in the above-mentioned large-angle steering device, the opening of the limiting groove 2 close to the steering joint is smaller than the opening close to the fixed seat.

[0015] The present invention also provides a surgical instrument, including the above-mentioned large-angle steering device.

[0016] The present invention also provides a surgical device, including a robot and the above-mentioned large-angle steering device. A plurality of robotic arms are provided on the robot, and the large-angle steering device is arranged on the robotic arms.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: The improvement of the present invention is simple and convenient. By adding an internal tooth-shaped part, the swing angle of the end effector is increased, so as to adapt to more surgeries and expand the scope of use. At the same time, while increasing the swing angle, it can avoid the damage of the push rod due to the large-angle convexity. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0019] Figure 1 Structural schematic of the large-angle steering device of the present invention Figure 1 ; Figure 2 Structural schematic of the large-angle steering device of the present invention Figure 2 ; Figure 3 Partial structural schematic of the large-angle steering device of the present invention Figure 1 ; Figure 4 Steering joint schematic of the large-angle steering device of the present invention Figure 1 ; Figure 5 Steering joint schematic of the large-angle steering device of the present invention Figure 2 ; Figure 6 Limiting part schematic of the large-angle steering device of the present invention Figure 1 ; Figure 7 Limiting part schematic of the large-angle steering device of the present invention Figure 2 ; Figure 8 Partial structural schematic of the large-angle steering device of the present invention Figure 2 ; Figure 9 Partial structural schematic of the large-angle steering device of the present invention Figure 3 ; Figure 10 Schematic diagram of the surgical instrument of the present invention; Figure 11 Schematic diagram of the surgical device of the present invention; In the figure: 1. Fixed seat; 11. Sliding groove; 12. Guiding and limiting part; 13. Connecting shaft; 14. First limiting groove; 2. Steering joint; 21. Rotational connection hole; 22. Outer tooth-shaped part; 23. Inner tooth-shaped part; 24. First arc-shaped groove; 25. Rotational groove; 26. Guiding platform; 3. Slide bar; 31. Inserted tooth part; 4. Return spring; 5. Limiting part; 51. Second limiting groove; 52. Rotational platform; 53. Limiting platform; 54. Second arc-shaped groove; 6. Knife-pushing rod; 7. End effector; 10. Steering device; 20. Surgical instrument; 30. Robot. Detailed implementation mode

[0020] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0021] Embodiment 1

[0022] As Figures 1-9As shown in the figure, a large-angle steering device includes a fixed seat 1 and a steering joint 2. One end of the steering joint 2 is connected to the end effector 7, and the other end is rotatably connected to the fixed seat 1. The steering joint 2 is provided with a rotating connection hole 21 for rotatably connecting with the fixed seat 1. The fixed seat 1 is provided with a sliding rod 3 slidably connected thereto. The end of the sliding rod 3 close to the steering joint 2 is provided with a spline portion 31. The end of the steering joint 2 close to the fixed seat 1 is provided with a tooth-shaped portion that cooperates with the spline portion 31. The spline portion 31 is separated from or engaged with the tooth-shaped portion to unlock or lock the steering joint 2. The tooth-shaped portion includes an outer tooth-shaped portion 22 and an inner tooth-shaped portion 23. The outer tooth-shaped portion 22 includes a plurality of outer teeth distributed along an outer arc. The inner tooth-shaped portion 23 is provided on both sides of the outer tooth-shaped portion 22 and includes a plurality of inner teeth distributed along an inner arc. Both the inner arc and the outer arc are arcs centered on the rotating connection hole 21, and the radius of the inner arc is smaller than the radius of the outer arc. By adding the inner tooth-shaped portion, the swing angle of the end effector is increased, so as to adapt to more surgeries and expand the scope of use. In addition, when the spline portion 31 is engaged with the outer tooth-shaped portion 22, the locking force-bearing surfaces are the tooth-shaped surface of the spline portion 31 and the tooth-shaped surface of the outer teeth. When the spline portion 31 is engaged with the inner tooth-shaped portion 23, the locking force-bearing surfaces are the side surface of the guiding and limiting portion 12 and the first arc-shaped groove 24, and the tooth-shaped surface of the spline portion 31 and the tooth-shaped surface of the inner teeth on the side opposite to the rotation direction, so as to reduce the pressure on the inner teeth and the spline portion 31.

[0023] In the above structure, as Figure 1 , Figure 4 shown, the inner teeth located on both sides of the outer tooth-shaped portion 22 are symmetrically arranged on both side parts of the steering joint 2, which not only expands the swing angle but also does not increase the size of the stapler, and the improvement is simple and convenient. The inner tooth-shaped portion 23 enables the swing angle of the end effector 7 to reach plus or minus 80°, that is, it can swing forward and backward 80° centered on the rotating connection hole 21, greatly increasing the swing angle.

[0024] Among them, as Figure 1 shown, the fixed seat 1 is provided with a sliding groove 11. The sliding rod 3 is inserted into the sliding groove 11 and slidably connected to the sliding groove 11. A return spring 4 is sleeved in the middle of the sliding rod 3. One end of the return spring 4 is connected to the sliding rod 3, and the other end is connected to the sliding groove 11. The rear end of the sliding rod 3 is connected to a hook, and the hook drives the sliding rod 3 to move in the sliding groove 11 to engage with the tooth-shaped portion and separate from the tooth-shaped portion through the return spring 4.

[0025] In addition, as Figure 2 , Figure 5 , Figure 9As shown, a guiding and limiting portion 12 is provided at the end of the fixed seat 1 close to the steering joint 2. The guiding and limiting portion 12 is arc-shaped, and a connecting shaft 13 is provided above it. The connecting shaft 13 is inserted into the rotational connection hole 21, enabling the steering joint 2 to rotate around the connecting shaft 13. Moreover, an arc-shaped groove one 24 that cooperates with the guiding and limiting portion 12 is provided at the lower end of the steering joint 2. The cooperation between the arc-shaped groove one 24 and the guiding and limiting portion 12 causes the steering joint 2 to rotate along the guiding and limiting portion 12.

[0026] Embodiment 2

[0027] Based on the structure of Embodiment 1, as Figure 2 、 Figure 3 shown, the large-angle steering device further includes a limiting member 5. A push rod 6 is slidably connected to the fixed seat 1. The limiting member 5 is provided at the lower end of the rotational connection between the steering joint 2 and the fixed seat 1. The limiting member 5 is sleeved outside the push rod 6 and is used to limit the bending degree of the push rod 6 at the rotational connection, that is, the bending degree at the steering angle, to prevent the push rod from being damaged due to outward convexity at large angles.

[0028] As Figures 2-3 、 Figures 5-8 shown, a protruding rotating platform 52 is provided on one side of the upper end of the limiting member 5, and a protruding limiting platform 53 is provided on the other side. A rotating groove 25 is provided at the lower end of the steering joint 2. The rotating platform 52 is embedded in the rotating groove 25 and rotates around the rotating groove 25; a limiting groove one 14 for restricting the rotation angle of the limiting member 5 is provided at the lower end of the fixed seat 1. The limiting platform 53 is inserted into the limiting groove one 14 and is movably connected to the limiting groove one 14. Specifically, the limiting groove one 14 is a kidney-shaped groove, and the limiting platform 53 swings within the limiting groove one 14.

[0029] To limit the rotation center of the limiting member 5, as Figure 3 、 Figures 5-9 shown, one side of the rotating groove 25 close to the tooth-shaped portion is arc-shaped, and a guiding platform 26 protruding from the bottom surface of the rotating groove 25 is provided on the other side. One side of the rotating platform 52 is arc-shaped, and an arc-shaped groove two 54 is provided on the other side. The arc of the rotating platform 52 rotates along the arc of the rotating groove 25. The guiding portion at the head of the guiding platform 26 is an arc concentric with the arc of the rotating groove 25, and the arc-shaped groove two 54 cooperates with the guiding platform 26.

[0030] As Figure 2 、 Figure 3 、 Figure 5 、 Figure 8As shown, a second limiting groove 51 is provided at the lower end of the limiting member 5, and the push rod 6 is inserted into the second limiting groove 51. The middle of the second limiting groove 51 is large and both ends are small, and its two side surfaces are two oppositely arranged arc surfaces, which cooperate with the bent part of the push rod, similar to an ellipse with both ends not closed, and arc transition parts are provided at the openings at both ends of the second limiting groove 51.

[0031] In addition, the opening of the second limiting groove 51 close to the steering joint 2 is smaller than the opening close to the fixed seat 1, which cooperates with the swinging range of the limiting member 5 to achieve a better limiting effect.

[0032] Embodiment 3

[0033] As Figure 10 shown, the present invention further provides a surgical instrument 20, including the above-mentioned large-angle steering device 10.

[0034] Embodiment 4

[0035] As Figure 11 shown, the present invention further provides a surgical device, including a robot 30 and the above-mentioned large-angle steering device 10. A plurality of robotic arms are provided on the robot 30, and the large-angle steering device 10 is arranged on the robotic arms.

[0036] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claimed rights.

[0037] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only includes an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A large-angle steering device, characterized in that: The invention comprises a fixed seat (1) and a steering joint (2), wherein one end of the steering joint (2) is connected to an end effector (7) and the other end is rotatably connected to the fixed seat (1), the steering joint (2) is provided with a rotatable connection hole (21) rotatably connected to the fixed seat (1), the fixed seat (1) is provided with a slide bar (3) slidably connected thereto, the end of the slide bar (3) close to the steering joint (2) is provided with a toothing portion (31), and the end of the steering joint (2) close to the fixed seat (1) is provided with a toothing portion (31) matching the toothing portion (31). The toothed portion (31) is separated from or engaged with the toothed portion to unlock or lock the steering joint (2); the toothed portion comprises an external toothed portion (22) and an internal toothed portion (23); the external toothed portion (22) comprises a plurality of external teeth distributed along an external arc; the internal toothed portion (23) is arranged on both sides of the external toothed portion (22) and comprises a plurality of internal teeth distributed along an internal arc; the internal arc and the external arc are both arcs with the rotating connection hole (21) as the center, and the radius of the internal arc is smaller than the radius of the external arc.

2. The large-angle steering device according to claim 1, characterized in that: The inner teeth located on both sides of the outer toothed portion (22) are symmetrically arranged on both side portions of the steering joint (2).

3. The large-angle steering device according to claim 1, characterized in that: The fixing seat (1) is provided with a slide groove (11), the slide rod (3) is inserted into the slide groove (11) and is slidably connected to the slide groove (11), and a return spring (4) is sleeved on the middle part of the slide rod (3), and one end of the return spring (4) is connected to the slide rod (3) and the other end is connected to the slide groove (11).

4. The large-angle steering device according to claim 1, characterized in that: The fixing seat (1) is provided with a guide limit portion (12) at an end portion close to the steering joint (2); the guide limit portion (12) is arc-shaped, and a connecting shaft (13) is provided above the guide limit portion; the connecting shaft (13) is inserted into the rotating connecting hole (21), so that the steering joint (2) rotates around the connecting shaft (13); and an arc-shaped groove (24) matching with the guide limit portion (12) is provided at the lower end of the steering joint (2); the arc-shaped groove (24) matches with the guide limit portion (12), so that the steering joint (2) rotates close to the guide limit portion (12).

5. The large-angle steering device according to claim 1, characterized in that: The swing angle of the end effector (7) is plus or minus 80°.

6. The large-angle steering device according to claim 1, characterized in that: The invention also comprises a limiting member (5), wherein the fixed seat (1) is provided with a pusher rod (6) slidably connected thereto, the limiting member (5) being arranged at the lower end of the rotational connection between the steering joint (2) and the fixed seat (1), the limiting member (5) being sleeved on the outside of the pusher rod (6) and being used to limit the bending degree of the pusher rod (6) at the rotational connection.

7. The large-angle steering device according to claim 6, characterized in that: A protruding rotating platform (52) is provided on one side of the upper end of the limiting member (5), and a protruding limiting platform (53) is provided on the other side; a rotating groove (25) is provided on the lower end of the steering joint (2); the rotating platform (52) is embedded in the rotating groove (25) and rotates around the rotating groove (25); a limiting groove (14) for limiting the rotation angle of the limiting member (5) is provided on the lower end of the fixing seat (1); the limiting platform (53) is inserted into the limiting groove (14) and is movably connected to the limiting groove (14).

8. The large-angle steering device according to claim 7, characterized in that: One side of the rotating groove (25) close to the toothed portion is arc-shaped, and the other side is provided with a guide platform (26) protruding from the bottom surface of the rotating groove (25); one side of the rotating platform (52) is arc-shaped, and the other side is provided with an arc-shaped groove 2 (54); the arc of the rotating platform (52) rotates along the arc of the rotating groove (25); the guide portion of the head of the guide platform (26) is an arc-shaped arc concentric with the arc of the rotating groove (25); and the arc-shaped groove 2 (54) cooperates with the guide platform (26).

9. The large-angle steering device according to claim 6, characterized in that: A second limiting groove (51) is provided at the lower end of the limiting member (5), and the pusher rod (6) is inserted into the second limiting groove (51). The second limiting groove (51) is larger in the middle and smaller at both ends. The side surfaces of the second limiting groove (51) are two arc-shaped surfaces arranged opposite to each other, and arc-shaped transition portions are provided at the openings at both ends of the second limiting groove (51).

10. The large-angle steering device according to claim 9, characterized in that: The opening of the second limiting groove (51) on the side close to the steering joint (2) is smaller than the opening on the side close to the fixing seat (1).

11. A surgical instrument, characterized in that: It comprises a large-angle steering device (10) as claimed in any one of claims 1 to 10.

12. A surgical device, characterized in that: It comprises a robot (30) and a large-angle steering device (10) according to any one of claims 1 to 10, wherein the robot (30) is provided with a plurality of mechanical arms, and the large-angle steering device (10) is arranged on the mechanical arms.

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