Manual control instrument for multi-joint endoscope

Abstract

The invention provides a manual control instrument for a multi-joint endoscope. The multi-joint endoscope manual control instrument comprises an operation clamp, a control mechanism and a manual control assembly. The control mechanism comprises a machine shell and a winding wheel assembly. Two winding wheel assemblies are movably installed on the surface of the machine shell and are oppositely and perpendicularly arranged, each winding wheel assembly is provided with two traction ends which are oppositely pulled, the traction ends are connected with the joint portion of the operation clamp after being guided in a direction changing mode, and the two winding wheel assemblies are matched in a staggered mode to pull the operation clamp to be bent in the four directions. The manual control assembly comprises a positioning ball, a control chain and a handle; the middle shaft end of the handle is connected with a positioning ball, the positioning ball is movably embedded in the machine shell, two control chains are installed outside the handle, and the two control chains drive the two winding wheel assemblies in a one-to-one correspondence mode. The winding wheel assembly is driven through rotation of the handle, so that the operation clamp is bent in the rotation direction of the handle, no counter-acting force needs to be applied, unexpected displacement is avoided, the operation precision and the operation safety are improved, and the overall size of the equipment is small.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to a multi-joint endoscope hand-controlled instrument. Background Art

[0002] As the core tool of minimally invasive surgery, the structural design of endoscopic hand-controlled instruments is directly related to surgical safety and operational efficiency. Existing typical products mainly realize end effector control through a reverse force mechanism: when the operator applies a reverse force to the handle, the mechanical signal is converted into an opening, closing or rotating action of the forceps head through the transmission system. Although this mechanical transmission system can ensure high-precision operation, it has exposed structural defects that need to be solved in clinical practice.

[0003] Specifically, when the operating guide rod of the instrument is subjected to reverse force in the external segment, the end effector in the internal segment will inevitably produce associated movement. This unexpected displacement poses two potential risks: first, when the instrument is operated in a narrow anatomical gap, the involuntary movement of the end effector may cause mechanical damage to adjacent tissues; second, the elastic deformation of the guide rod during the force application process will change the actual displacement of the end effector, resulting in a decrease in operating accuracy. This contradiction is particularly prominent in deep cavity surgery and fine anatomical separation operations. Summary of the invention

[0004] Based on this, it is necessary to provide a multi-joint endoscope hand-controlled instrument to address the problem that existing hand-controlled instruments may cause unexpected displacement by applying reverse force to move the front clamp head.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A multi-joint endoscope hand-controlled instrument mainly comprises an operating forceps, a control mechanism and a hand-controlled component.

[0007] The control mechanism includes a casing and a winding wheel assembly; two winding wheel assemblies are movably installed on the surface of the casing, the two winding wheel assemblies are relatively vertically arranged, and each winding wheel assembly has two traction ends for opposite traction, which are connected to the joint part of the operating clamp after being guided by changing direction, and the two sets of winding wheel assemblies are staggered to cooperate in traction of the operating clamp to bend in four directions.

[0008] The hand control assembly includes a positioning ball, a control chain and a handle; the handle is located at one end of the casing away from the operating clamp, and the central axis end of the handle is connected to the positioning ball, the positioning ball is movably embedded in the casing, and there is a channel inside, and two control chains are installed on the outside of the handle, and the two control chains drive two winding wheel assemblies one by one; when the handle rotates in one of the four bending directions of the operating clamp with the positioning ball as the center, the control chain links the corresponding winding wheel assembly to drive the operating clamp to bend in the same direction.

[0009] Furthermore, the winding wheel assembly includes a winding wheel, a wire rope, a pulley supporting platform and a changing pulley; the pulley supporting platform is installed inside the casing and coaxially arranged with the casing, and the pulley supporting platform is rotatably connected with a changing pulley corresponding to the number of wire ropes; the winding wheel is rotatably arranged on the casing, and the winding wheel has two winding grooves, one end of the two wire ropes is wound in the two winding wheels of the winding wheel in opposite directions, and the other end serves as a traction end and is connected to the joint part of the operating clamp after being adjusted by the changing pulley.

[0010] Furthermore, a locking knob is threadedly connected to the surface of the housing, the locking knob is staggered with the winding wheel assembly, and the end of the locking knob is located next to the positioning ball in the housing.

[0011] Furthermore, the operating pliers include a pliers head, a multi-joint frame and an outer tube which are connected in sequence; the end of the outer tube is connected to the casing, each joint of the multi-joint frame has four through holes distributed in a circle, forming four groups of through holes located on the same linear line, and the four steel wire ropes of the two winding wheel assemblies pass through the through holes of the multi-joint frame one by one and are connected to the head end of the multi-joint frame.

[0012] Furthermore, a traction channel matching the four steel wire ropes is arranged at the edge of the inner wall of the outer tube, and a central channel is opened at the center of the outer tube.

[0013] Furthermore, the pliers head has a clamping part and a connecting part, the connecting part is rotatably connected to the multi-joint frame, and a center rope is provided at the connection between the clamping part and the connecting part. The center rope passes through the center of the multi-joint frame, the center channel of the outer tube and the channel inside the positioning ball and is connected to the handle.

[0014] Furthermore, the handle includes a handle shell, a trigger and a center axis sleeve; the center of the front end of the handle shell is connected to the center of the center axis sleeve, and the center axis sleeve serves as the center axis end of the handle and passes through the positioning ball and is fixed to it; the trigger is rotatably installed at the end of the handle shell, the center rope passes through the center axis sleeve and is connected to the trigger, and the trigger drives the center rope to control the opening and closing of the clamping part.

[0015] Furthermore, the handle shell is internally movably provided with a rotation knob for driving the center rope to rotate, and part of the outer edge of the rotation knob is located outside the handle shell.

[0016] Furthermore, a guide wheel is provided on the outside of the casing for guiding the steel wire rope to enter the interior of the casing in an orderly manner.

[0017] Furthermore, an arc-shaped shielding cover for protecting the winding wheel is provided on the outer surface of the housing.

[0018] Compared with the prior art, the beneficial effects of the present invention include:

[0019] 1. Driving the winding wheel assembly through the rotation of the handle causes the operating forceps to bend in the rotation direction of the handle, without the need to apply a reaction force, avoiding unexpected displacement, improving operation accuracy and operation safety, and the overall device has a small volume, occupies less space, and is easy to operate;

[0020] 2. The hand control component can be fixed through the locking knob. When the operating forceps do not need to be adjusted, it is limited by the locking knob, and the current bending angle of the operating forceps can be maintained, reducing the risk of misoperation. In addition, the self-rotation of the forceps head is realized through the self-rotation knob, and the cooperation with the winding wheel assembly can enable the entire instrument to have six degrees of freedom. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The disclosure of the present invention will be described with reference to the accompanying drawings. It should be understood that the drawings are only for illustrative purposes and are not intended to limit the scope of protection of the present invention. In the drawings, the same reference numerals are used to refer to the same components. Among them:

[0022] Figure 1 is a perspective view of a multi-joint endoscope hand control instrument introduced in the invention;

[0023] Figure 2 is based on Figure 1 a schematic structural diagram of the operating forceps;

[0024] Figure 3 is based on Figure 2 a schematic structural diagram of the multi-joint skeleton;

[0025] Figure 4 is based on Figure 1 a schematic internal structural diagram of the housing;

[0026] Figure 5 is based on Figure 4 a schematic structural diagram of the pulley bearing sleeve;

[0027] Figure 6 is based on Figure 1 a schematic connection diagram of the control chain and the winding wheel assembly;

[0028] Figure 7 is based on Figure 6 a schematic internal structural diagram of the handle.

[0029] Reference numerals in the figures: 1, operating forceps; 11, forceps head; 12, multi-joint skeleton; 13, outer tube; 14, center rope; 2, control mechanism; 21, housing; 22, winding wheel assembly; 221, winding wheel; 222, pulley bearing platform; 223, deflecting pulley; 224, steel wire rope; 23, locking knob; 3, hand control component; 31, positioning ball; 32, control chain; 33, handle; 331, handle shell; 332, trigger; 333, middle shaft sleeve; 334, self-rotation knob. Detailed implementation manners

[0030] It is easy to understand that according to the technical solution of the present invention, without changing the essence of the present invention, those of ordinary skill in the art can propose various interchangeable structural manners and implementation manners. Therefore, the following specific implementation manners and the accompanying drawings are only exemplary descriptions of the technical solution of the present invention, and should not be regarded as the whole of the present invention or regarded as a limitation or restriction on the technical solution of the present invention.

[0031] Please refer to Figure 1 , the present invention introduces a multi-joint endoscopic hand-controlled instrument, which mainly includes an operating forceps 1, a control mechanism 2 and a hand control assembly 3.

[0032] As Figure 2 and Figure 3 shown, the operating forceps 1 includes a forceps head 11, a multi-joint skeleton 12 and an outer tube 13 arranged in sequence. The outer tube 13 is preferably made of a flexible material. The inner wall edge of the outer tube 13 has four traction channels, and the four traction channels are circumferentially distributed. A central channel is opened at the center of the outer tube 13. Each joint of the multi-joint skeleton 12 realizes a rotation in a relative direction, and two joints can realize two rotations in relative directions. Through multiple joints, two rotations in relative directions of bending can be realized. Each joint of the multi-joint skeleton 12 has four through holes arranged in a circumferential distribution, forming four groups of through holes on the same line, and a hole is also opened at the center of the multi-joint skeleton 12.

[0033] The forceps head 11 is divided into a clamping part and a connecting part. The connecting part is rotatably connected to the multi-joint skeleton 12. There is a central rope 14 at the connection between the clamping part and the connecting part. The opening and closing of the clamping part can be driven through the central rope 14. The connection manner between the central rope 14 and the forceps head 11 can adopt existing conventional connection manners. For example, an intermediate soft core shaft is installed on the side of the clamping part and communicated with the central channel of the multi-joint skeleton 12 through the intermediate soft core shaft. The intermediate soft core shaft is of a hollow type to facilitate the connection between the central rope 14 and the clamping part. The central rope 14 passes through the center of the multi-joint skeleton 12 and the central channel of the outer tube 13, and then passes through the housing 21 of the control mechanism 2 to be connected to the trigger 332 of the handle 33. In the initial state, the forceps head 11 is in an open state. Pressing the trigger 332 to pull the central rope 14 can make the forceps head 11 in a closed state.

[0034] As Figure 4 and Figure 5As shown in the figure, the control mechanism 2 mainly includes a housing 21 and a winding wheel assembly 22. There are two winding wheel assemblies 22, which are perpendicular to each other in space. The winding wheel assembly 22 mainly includes a winding wheel 221, a steel wire rope 224, a pulley bearing platform 222 and a deflecting pulley 223. The winding wheel 221 is rotatably connected to the surface of the housing 21. In order to protect the winding wheel 221 and the steel wire rope 224 wound on the surface of the winding wheel 221, an arc-shaped shielding cover is installed on the outer surface of the housing 21 to semi-shield the winding wheel 221.

[0035] Since there are two wire grooves on the winding wheel 221, and one steel wire rope 224 is wound in each wire groove, the winding directions of the steel wire ropes 224 in the two wire grooves are opposite, so that when the winding wheel 221 rotates, one steel wire rope 224 is in a loose rope state and the other steel wire rope 224 is in a tightened state. One end of the steel wire rope 224 is fixedly connected inside the winding wheel 221, and the other end is the traction end of the winding wheel assembly 22.

[0036] The pulley bearing platform 222 is installed inside the housing 21. Since there are four steel wire ropes 224, there are four deflecting pulleys 223 on the pulley bearing platform 222. The deflecting pulley 223 reverses the directions of the two steel wire ropes 224 on the same winding wheel 221, so as to realize the synchronous and same-direction movement of the operating pliers 1 and the handle 33. Therefore, after the steel wire rope 224 is deflected and guided by the deflecting pulley 223, it is then connected to the head end of the multi-joint framework 12 through the traction channel of the outer tube 13 and the through holes of the multi-joint framework 12. Since there are two winding wheel assemblies 22, there are four steel wire ropes 224, realizing the rotation of the multi-joint framework 12 in four directions. It should be emphasized that the winding wheel 221 is located on the outer surface of the housing 21, while the deflecting pulley 223 is located inside the housing 21. In order to prevent the four steel wire ropes 224 from winding around each other, a guiding wheel for guiding the steel wire ropes 224 to enter the housing 21 in an orderly manner is provided outside the housing 21.

[0037] As Figure 6 and Figure 7 shown, the handheld assembly is mainly composed of a positioning ball 31, a control chain 32 and a handle 33. The positioning ball 31 is located inside the housing 21. A chamber capable of accommodating the positioning ball 31 is pre-set inside the housing 21. The positioning ball 31 is embedded in the chamber without affecting its own rotation. A hole is opened at the center of the positioning ball 31 along the length direction of the housing 21 to form a channel for connecting with the handle 33. The end of the housing 21 is open, which is convenient for the handle 33 to drive the positioning ball 31 to rotate offset. The positioning ball 31 serves as the rotation center of the handle 33.

[0038] The handle 33 includes a handle housing 331, a trigger 332, and a central shaft sleeve 333. A central shaft sleeve 333 is connected to the center of the head end of the handle housing 331. The central shaft sleeve 333 is hollow. As the central shaft end of the handle 33, the central shaft sleeve 333 passes through the hole at the center of the positioning ball 31 and is fixedly connected thereto. The trigger 332 is rotatably mounted at the tail end of the handle housing 331. The function of the trigger 332 is to drive the central cord 14. The central cord 14 can pass through the central shaft sleeve 333 and is connected to the trigger 332. Inside the handle housing 331, there is a sleeve for guiding the central cord 14 to pass through the handle housing 331 and be connected to the trigger 332.

[0039] By driving the central cord 14 to rotate, the self-rotation of the jaw head 11 can be achieved. An auto-rotation knob 334 is arranged inside the handle housing 331. The diameter of the auto-rotation knob 334 is larger than that of the handle housing 331. Therefore, a part of the outer edge of the auto-rotation knob 334 is located outside the handle housing 331. By driving the sleeve to rotate through the auto-rotation knob 334, the rotation of the central cord 14 is driven. In order not to affect the trigger 332 from driving the central cord 14, the tail end of the central cord 14 is rotatably connected to the trigger 332. The inner wall of the sleeve has limiting teeth. The length direction of the limiting teeth is consistent with the axial direction of the sleeve. On the outer surface of the part of the central cord 14 located inside the sleeve, there are tooth grooves or tooth-shaped protrusions adapted to the limiting teeth, so that the rotation of the sleeve can drive the rotation of the central cord 14, drive the rotation of the jaw head 11, and at the same time, it does not affect the trigger 332 from driving the central cord 14 to control the opening and closing of the jaw head 11.

[0040] The handle housing 331 is connected to the wire winding wheel 221 through a control chain 32. When the handle 33 rotates in one of the four directions of bending around the positioning ball 31 towards the operating pliers 1, the control chain 32 drives the corresponding winding wheel assembly 22 to drive the operating pliers 1 to bend in the same direction. If it is not necessary to adjust the bending direction of the operating pliers 1, the positioning ball 31 can be limited by the locking knob 23, that is, a locking knob 23 is threadedly connected to the machine housing 21. When the locking knob 23 is tightened, the end of the locking knob 23 closely adheres to the positioning ball 31, so as to achieve the purpose of positioning the handle 33. At this time, the control chain 32 cannot drive the wire winding wheel 221 to rotate, so as to achieve the purpose of fixing the jaw head 11.

[0041] During specific implementation, the operating pliers 1 have three motion modes.

[0042] 1. Control the opening and closing of the operating pliers 1 through the trigger 332;

[0043] 2. Drive the operating pliers 1 to rotate by rotating the auto-rotation knob 334;

[0044] 3. Disengage the locking knob 23 from the positioning ball 31, drive the handle 33, and the control chain 32 drives the corresponding wire winding wheel 221. One of the two wire ropes 224 on the wire winding wheel 221 is tensioned and the other is loose, causing the multi-joint skeleton 12 to move in the direction of the tensioned wire rope 224, so that the operating forceps 1 bends synchronously and in the same direction as the movement of the handle 33, and the maximum bending angle is 90°.

[0045] In this embodiment, the rotation of the handle 33 drives the winding wheel assembly 22 to cause the operating forceps 1 to bend in the rotation direction of the handle 33. There is no need to apply a reaction force, which avoids unexpected displacement, improves the operation accuracy and operation safety. Moreover, the overall volume of the device is small, the occupied space is small, and the operation is simple. The hand control assembly 3 can be fixed by the locking knob 23. When the operating forceps 1 does not need to be adjusted, it is limited by the locking knob 23, which can maintain the current bending angle of the operating forceps 1 and reduce the risk of misoperation. In addition, the self-rotation of the pliers head 11 is realized through the self-rotation knob 334, and the cooperation with the winding wheel assembly 22 can meet the requirement that the whole instrument has six degrees of freedom.

[0046] The technical scope of the present invention is not limited to the content described above. Those skilled in the art can make various deformations and modifications to the above embodiments without departing from the technical idea of the present invention, and these deformations and modifications should all fall within the protection scope of the present invention.

Claims

1. A multi-joint endoscope hand-controlled instrument, characterized in that: It includes: Operating forceps (1); A control mechanism (2), comprising a housing (21) and a winding wheel assembly (22); Two winding wheel assemblies (22) are movably mounted on the surface of the housing (21). The two winding wheel assemblies (22) are arranged vertically relative to each other, and each winding wheel assembly (22) has two traction ends for opposite traction. The traction ends are connected to the joints of the operating clamp (1) after being guided in a direction-changing manner. The two sets of winding wheel assemblies (22) are staggered and matched to pull the operating clamp (1) to bend in four directions. The hand control assembly (3) comprises a positioning ball (31), a control chain (32) and a handle (33); the handle (33) is located at one end of the housing (21) away from the operating clamp (1), and the central axis end of the handle (33) is connected to the positioning ball (31), the positioning ball (31) is movably embedded in the housing (21), and has a channel inside; two control chains (32) are installed outside the handle (33), and the two control chains (32) drive two winding wheel assemblies (22) in a one-to-one correspondence; when the handle (33) rotates toward one of the four bending directions of the operating clamp (1) with the positioning ball (31) as the center, the control chain (32) links the corresponding winding wheel assembly (22) to drive the operating clamp (1) to bend in the same direction.

2. The multi-joint endoscope hand-controlled instrument according to claim 1, characterized in that: The winding wheel assembly (22) comprises a winding wheel (221), a steel wire rope (224), a pulley bearing platform (222) and a direction-changing pulley (223); the pulley bearing platform (222) is installed inside the housing (21) and is coaxially arranged with the housing (21); the pulley bearing platform (222) is rotatably connected with direction-changing pulleys (223) corresponding to the number of steel wire ropes (224); the winding wheel (221) is rotatably arranged on the housing (21); the winding wheel (221) has two winding grooves; one end of the two steel wire ropes (224) is correspondingly wound in the two winding wheels (221) of the winding wheel (221) in opposite directions; the other end is used as a traction end and is connected to the joint part of the operating clamp (1) after being adjusted by the direction-changing pulley (223).

3. The multi-joint endoscopic hand-controlled instrument according to claim 1, characterized in that: The surface of the housing (21) is threadedly connected with a locking knob (23), the locking knob (23) and the winding wheel assembly (22) are staggered, and the end of the locking knob (23) is located beside the positioning ball (31) in the housing (21).

4. The multi-joint endoscope hand-controlled instrument according to claim 2, characterized in that: The operating pliers (1) comprise a pliers head (11), a multi-joint frame (12) and an outer tube (13) which are connected in sequence; the end of the outer tube (13) is connected to a housing (21); each joint of the multi-joint frame (12) has four through holes distributed in a circumference, forming four groups of through holes located on the same linear line; four steel wire ropes (224) of two winding wheel assemblies (22) pass through the through holes of the multi-joint frame (12) in a one-to-one correspondence and are connected to the head end of the multi-joint frame (12).

5. The multi-joint endoscope hand-controlled instrument according to claim 4, characterized in that: A traction channel matching the four steel wire ropes (224) is arranged at the inner wall edge of the outer tube (13), and a central channel is opened at the center of the outer tube (13).

6. The multi-joint endoscopic hand-controlled instrument according to claim 5, characterized in that: The pliers head (11) comprises a clamping part and a connecting part, wherein the connecting part is rotatably connected to the multi-joint frame (12), and a center rope (14) is provided at the connection between the clamping part and the connecting part. The center rope (14) passes through the center of the multi-joint frame (12), the center channel of the outer tube (13) and the channel inside the positioning ball (31) and is connected to the handle (33).

7. The multi-joint endoscopic hand-controlled instrument according to claim 6, characterized in that: The handle (33) comprises a handle shell (331), a trigger (332) and a center sleeve (333); the center of the head end of the handle shell (331) is connected to the center sleeve (333), and the center sleeve (333) as the center axis end of the handle (33) passes through the positioning ball (31) and is fixedly connected thereto; the trigger (332) is rotatably mounted on the end of the handle shell (331), the center rope (14) passes through the center sleeve (333) and is connected to the trigger (332), and the opening and closing of the clamping part is controlled by driving the center rope (14) through the trigger (332).

8. The multi-joint endoscopic hand-controlled instrument according to claim 7, characterized in that: The handle shell (331) is internally provided with a rotation knob (334) for driving the center rope (14) to rotate, and part of the outer edge of the rotation knob (334) is located outside the handle shell (331).

9. The multi-joint endoscopic hand-controlled instrument according to claim 2, characterized in that: A guide wheel is arranged outside the casing (21) for guiding the steel wire rope (224) to enter the interior of the casing (21) in an orderly manner.

10. The multi-joint endoscopic hand-controlled instrument according to claim 2, characterized in that: The outer surface of the housing (21) is provided with an arc-shaped shielding cover for protecting the winding wheel (221).

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