Operating forceps closing force detection device

Abstract

The invention discloses a device for detecting the closing force of operating forceps. The device comprises a base, a pair of sliding table assemblies and a forceps head detection assembly, the sliding table assembly comprises a driving mechanism, a sliding seat, a sliding block, a first force sensor and a positioning rod assembly, the sliding block is arranged on the sliding seat in a sliding mode, the positioning rod assembly is arranged on the sliding block through the first force sensor, and the positioning rod assembly is provided with a positioning rod used for positioning a handle of the operating forceps; the tong head detection assembly comprises a tong head end base and a pair of tong head detection mechanisms; each tong head detection mechanism comprises a tong head sliding seat, a second force sensor and a sensor fixing seat; one end of the second force sensor is fixedly arranged on a sensor fixing seat, and the sensor fixing seat is fixedly arranged on the tong head end base; and the tong head sliding seat is movably arranged on the tong head end base. The device has the advantages of being simple in structure, accurate in measurement, high in adaptability and the like, and the requirement for large-batch detection can be met.

Description

Technical Field

[0001] This invention relates to a surgical forceps closing force testing device, belonging to the field of surgical forceps testing technology. Background Technology

[0002] With the advancement of medical technology, the application of minimally invasive abdominal surgery techniques is becoming increasingly widespread. Minimally invasive surgery refers to a surgeon making only 3-4 small incisions (approximately 1 cm) in the patient's abdomen to insert endoscopic surgical instruments. Currently, the basic structure of endoscopic surgical forceps includes a forceps head, a forceps bar, and a handle. A drive rod is located within the inner cannula, and the handle drives the drive rod, as disclosed in Chinese invention patent application CN115670584A, which describes a steerable surgical forceps. The drive rod drives the movable part of the forceps head, and the drive rod is connected to the forceps head via a connecting piece. Endoscopic surgical instruments differ from ordinary surgical instruments in that they operate within a narrow cannula, allowing for remote operation, somewhat similar to robotic operation. The relationship between input and output is more complex than with ordinary instruments. The force transmission coefficient refers to the ratio of the input force at the forceps handle to the output force at the forceps head; it reflects the surgeon's perception of force during clinical practice.

[0003] Currently, after surgical forceps are assembled, their closing force needs to be tested before they leave the factory to ensure that the closing force is up to standard. However, in actual use, some surgical forceps have significant differences in closing force due to assembly deviations, which affects the surgeon's control of the handle force during surgery and affects the surgical outcome. To prevent substandard products from entering the market, it is necessary to conduct closing force testing on surgical forceps before they leave the factory.

[0004] The existing closure force testing devices generally have the following problems: on the one hand, the clamping force applied to the surgical forceps is not buffered, which can easily damage the surgical forceps; on the other hand, they can only be used with surgical forceps of a certain specification, which has poor adaptability. For surgical forceps of different specifications, the testing device needs to be adjusted or replaced. Furthermore, the surgical forceps may move as a whole during the testing process, and the testing device cannot automatically adapt to this movement, which will lead to inaccurate test results or even damage to the surgical forceps. Summary of the Invention

[0005] To test the closing force of surgical forceps, the present invention provides a surgical forceps closing force testing device, the specific technical solution of which is as follows.

[0006] A surgical forceps closing force detection device, characterized in that it includes a base, a pair of slide assemblies, and a forceps head detection assembly; The slide assembly includes a drive mechanism, a sliding seat, a slider, a first force sensor, and a positioning rod assembly. The drive mechanism is used to drive the sliding seat to move relative to the base. The slider is slidably disposed on the sliding seat and is elastically connected to the sliding seat. The positioning rod assembly is disposed on the slider via the first force sensor and has a positioning rod for positioning the handle of the surgical forceps. The forceps head detection assembly includes a forceps head end base and a pair of forceps head detection mechanisms. The forceps head detection mechanism includes a forceps head slide, a second force sensor, and a sensor mounting base. One end of the second force sensor is fixedly mounted on the sensor mounting base, and the sensor mounting base is fixedly mounted on the forceps head end base. The forceps head slide is movably mounted on the forceps head end base, and the forceps head slide has a pull ring. When the forceps head of the surgical forceps clamps the pull ring, the forceps head slide presses against the other end of the second force sensor.

[0007] Using the above technical solution, the pair of handles of the surgical forceps are positioned by positioning rods of a pair of slide assemblies. The forceps head extends into the pull ring of the forceps head slide of a pair of forceps head detection mechanisms. A drive mechanism drives the slide to move, and the slide applies force to the slider through an elastic component. The slider, through a first force sensor and positioning rods, causes the surgical forceps to close. When the forceps head clamps the pull ring, the forceps head slide presses against a second force sensor to complete the measurement of the clamping force. The first force sensor measures the force applied by the operator, and the second force sensor measures the clamping force of the forceps head, thereby calculating the force transmission coefficient. If the force transmission coefficient is within the specified range, the surgical forceps are qualified; otherwise, they are unqualified.

[0008] Preferably, the slider is mounted on the guide rod, and compression springs are fitted on the guide rods at both ends of the slider. The two ends of the guide rods are fixed to the sliding seat. The compression springs provide an elastic buffer for the slider, achieving the purpose of elastically sliding the slider on the sliding seat. When the sliding seat moves, the springs apply a relatively slow clamping force to the surgical forceps, preventing sudden excessive force from damaging the surgical forceps.

[0009] Preferably, the driving mechanism is a lead screw and nut mechanism, a linear motor, or a gear and rack mechanism.

[0010] Preferably, the pliers head slide has a U-shaped structure, and the second force sensor and sensor mounting base are located in the inner cavity of the pliers head slide. The U-shaped pliers head slide has good stability; the pliers head slide is movably mounted on the pliers head end base by means of a slide rail or the like.

[0011] Furthermore, the base of the forceps head is also provided with a forceps bar positioning block, which has a positioning through hole. The forceps bar of the surgical forceps passes through the positioning through hole to prevent the surgical forceps from accidentally falling off during testing. The forceps bar is a rod located between the forceps head and the handle.

[0012] Furthermore, the base is provided with a rocker arm positioning seat. One end of the rocker arm is hinged to the rocker arm positioning seat, and the other end of the rocker arm is hinged to one end of the swing arm. The other end of the swing arm is fixedly connected to the forceps head end base. The hinge axes at both ends of the rocker arm are parallel to the positioning rod. By setting the rocker arm and the swing arm, the forceps head end base can move flexibly to adapt to the testing of surgical forceps of different sizes. At the same time, it is more conducive to adapting to the overall movement that may occur when the surgical forceps are subjected to clamping force. If the surgical forceps undergo a certain degree of overall movement during the test, the rocker arm and the swing arm will adapt well to this movement, thereby ensuring the accuracy of the test results and avoiding the problem of increased clamping force caused by the surgical forceps jamming.

[0013] Furthermore, it also includes a controller, with the drive mechanism, first force sensor, and second force sensor all electrically connected to the controller. The controller controls the movement of the drive mechanism, and the measured values ​​from the first and second force sensors are fed back to the controller in real time and recorded. The controller uses a conventional control method.

[0014] This invention features simple structure, accurate measurement, and strong adaptability, and can meet the needs of large-scale testing. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the surgical forceps closing force detection device of the present invention; Figure 2 This is a schematic diagram of the slide assembly; Figure 3 This is a schematic diagram of the clamp head detection component; Figure 4 This is a diagram of surgical forceps.

[0016] In the diagram: 1. Base; 2. Pair of slide assemblies; 2.1. Slide seat; 2.2. Slider; 2.3. First force sensor; 2.4. Positioning rod assembly; 2.4.1. Positioning rod; 2.5. Compression spring; 2.6. Forceps head detection assembly; 3.1. Forceps head end base; 3.2.1. Forceps head detection mechanism; 3.2.2. Sensor mounting base; 3.2.3. Pull ring; 3.2.4. Forceps bar positioning block; 3.3. Positioning through hole; 3.3.1. Surgical forceps; 4.1. Handle; 4.2. Forceps bar; 4.3. Rocker arm positioning base; 5. Rocker arm; 6. Hinge shaft; 6.1. Swing arm; 7. Controller; 8. Detailed Implementation

[0017] The present invention will now be described in further detail with reference to the accompanying drawings.

[0018] See Figures 1-4 A surgical forceps closing force detection device includes a base 1, a pair of slide assemblies 2 and a forceps head detection assembly 3; The slide assembly 2 includes a drive mechanism (not shown), a slide seat 2.1, a slider 2.2, a first force sensor 2.3, and a positioning rod assembly 2.4. The drive mechanism is used to drive the slide seat 2.1 to move relative to the base 1. The slider 2.2 is slidably disposed on the slide seat 2.1 and is elastically connected to the slide seat 2.1. The positioning rod assembly 2.4 is disposed on the slider 2.2 via the first force sensor 2.3. The positioning rod assembly 2.4 has a positioning rod 2.4.1 for positioning the handle 4.1 of the surgical forceps 4. The forceps head detection assembly 3 includes a forceps head end base 3.1 and a pair of forceps head detection mechanisms 3.2. Each forceps head detection mechanism 3.2 includes a forceps head slide 3.2.1, a second force sensor 3.2.2, and a sensor mounting base 3.2.3. One end of the second force sensor 3.2.2 is fixedly mounted on the sensor mounting base 3.2.3, which is also fixedly mounted on the forceps head end base 3.1. The forceps head slide 3.2.1 is movably mounted on the forceps head end base 3.1 and has a pull ring 3.2.4. When the forceps head of the surgical forceps 4 clamps the pull ring 3.2.4, the forceps head slide 3.2.1 presses against the other end of the second force sensor 3.2.2. Preferably, the sensor mounting base 3.2.3 is an elastic component to protect the second sensor 3.2.2.

[0019] Preferably, the slider 2.2 is mounted on the guide rod 2.5, and compression springs 2.6 are fitted on the guide rods 2.5 at both ends of the slider 2.2. The two ends of the guide rods 2.5 are fixed to the sliding seat 2.1. The compression springs 2.6 provide an elastic buffer for the slider 2.2, achieving the purpose of elastically sliding the slider 2.2 on the sliding seat 2.1. When the sliding seat 2.1 moves, the springs apply a relatively slow clamping force to the surgical forceps 4, preventing sudden excessive force from damaging the surgical forceps 4.

[0020] Preferably, the drive mechanism is a lead screw and nut mechanism, a linear motor, or a gear and rack mechanism.

[0021] Preferably, the pliers head slide 3.2.1 has a U-shaped structure, and the second force sensor 3.2.2 and the sensor fixing seat 3.2.3 are located in the inner cavity of the pliers head slide 3.2.1. The U-shaped structure of the pliers head slide 3.2.1 has good stability; the pliers head slide 3.2.1 is movably mounted on the pliers head end base 3.1 by means of a slide rail or the like.

[0022] Preferably, the base 3.1 at the head of the forceps is further provided with a forceps rod positioning block 3.3, which has a positioning through hole 3.3.1. The forceps rod 4.2 of the surgical forceps 4 passes through the positioning through hole 3.3.1 to prevent the surgical forceps 4 from accidentally falling off during testing. The forceps rod 4.2 is a rod located between the head of the forceps 4.3 and the handle 4.1.

[0023] Preferably, a rocker arm positioning seat 5 is provided on the base 1. One end of the rocker arm 6 is hinged to the rocker arm positioning seat 5, and the other end of the rocker arm 6 is hinged to one end of the swing arm 7. The other end of the swing arm 7 is fixedly connected to the base 3.1 at the 4.3 end of the forceps head. The hinge shafts 6.1 at both ends of the rocker arm 6 are parallel to the positioning rods 2.4.1. By setting the rocker arm 6 and the swing arm 7, the base 3.1 at the 4.3 end of the forceps head can move flexibly to adapt to the testing of surgical forceps 4 of different specifications. At the same time, it is more conducive to adapting to the overall movement that may occur when the surgical forceps 4 is subjected to clamping force. If the surgical forceps 4 undergoes a certain degree of overall movement during the test, the rocker arm 6 and the swing arm 7 will adapt well to this movement, thereby ensuring the accuracy of the test results and avoiding the problem of increased clamping force caused by jamming of the surgical forceps 4.

[0024] Furthermore, it also includes a controller 8, and the drive mechanism, first force sensor 2.3, and second force sensor 3.2.2 are all electrically connected to the controller 8. The controller 8 controls the operation of the drive mechanism, and the measured values ​​of the first force sensor 2.3 and the second force sensor 3.2.2 are fed back to the controller 8 in real time and recorded.

[0025] The working principle of this invention is as follows: The pair of handles 4.1 of the surgical forceps 4 are positioned by the positioning rods 2.4.1 of the pair of slide assemblies 2. The forceps head 4.3 of the surgical forceps 4 extends into the pull ring 3.2.4 of the forceps head 4.3 slide 3.2.1 of the pair of forceps head 4.3 detection mechanisms 3.2. The sliding seat 2.1 is driven to move by a drive mechanism. The sliding seat 2.1 applies force to the slider 2.2 through an elastic component. The slider 2.2 drives the surgical forceps 4 to close through the first force sensor 2.3 and the positioning rods 2.4.1. When the forceps head 4.3 of the surgical forceps 4 clamps the pull ring 3.2.4, the forceps head 4.3 slide 3.2.1 presses against the second force sensor 3.2.2 to complete the measurement of the clamping force. The first force sensor 2.3 measures the force applied by the operator, and the second force sensor 3.2.2 measures the clamping force of the forceps head 4.3, thereby calculating the force transmission coefficient. If the force transmission coefficient is within the specified range, it is qualified; otherwise, the surgical forceps 4 is unqualified.

[0026] The embodiments of the present invention have been described above with reference to the accompanying drawings. Unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention is not limited to the specific embodiments described above; these embodiments are merely illustrative and not limiting. Those skilled in the art, under the guidance of the present invention, can make many modifications without departing from the spirit and scope of the claims, and all such modifications fall within the scope of protection of the present invention.

Claims

1. A surgical forceps closing force detection device, characterized in that, Includes a base, a pair of slide assemblies, and a clamp head detection assembly; The slide assembly includes a drive mechanism, a sliding seat, a slider, a first force sensor, and a positioning rod assembly. The drive mechanism is used to drive the sliding seat to move relative to the base. The slider is slidably disposed on the sliding seat and is elastically connected to the sliding seat. The positioning rod assembly is disposed on the slider via the first force sensor and has a positioning rod for positioning the handle of the surgical forceps. The forceps head detection assembly includes a forceps head end base and a pair of forceps head detection mechanisms. The forceps head detection mechanism includes a forceps head slide, a second force sensor, and a sensor mounting base. One end of the second force sensor is fixedly mounted on the sensor mounting base, and the sensor mounting base is fixedly mounted on the forceps head end base. The forceps head slide is movably mounted on the forceps head end base, and the forceps head slide has a pull ring. When the forceps head of the surgical forceps clamps the pull ring, the forceps head slide presses against the other end of the second force sensor.

2. The surgical forceps closing force detection device according to claim 1, characterized in that, The slider is mounted on the guide rod, and compression springs are fitted on the guide rods at both ends of the slider. The two ends of the guide rods are fixed to the sliding seat.

3. The surgical forceps closing force detection device according to claim 1, characterized in that, The drive mechanism is a lead screw and nut mechanism, a linear motor, or a gear and rack mechanism.

4. The surgical forceps closing force detection device according to claim 1, characterized in that, The pliers slide has a U-shaped structure, and the second force sensor and sensor mounting base are located in the inner cavity of the pliers slide.

5. The surgical forceps closing force detection device according to claim 4, characterized in that, The sensor mounting base is an elastic component.

6. The surgical forceps closing force detection device according to claim 1, characterized in that, The clamp head base is also provided with a clamp bar positioning block, which has a positioning through hole.

7. The surgical forceps closing force detection device according to claim 6, characterized in that, The base is provided with a rocker arm positioning seat. One end of the rocker arm is hinged to the rocker arm positioning seat, and the other end of the rocker arm is hinged to one end of the swing arm. The other end of the swing arm is fixedly connected to the clamp head end base. The hinge axes at both ends of the rocker arm are parallel to the positioning rod.

8. The surgical forceps closing force detection device according to claim 1, characterized in that, It also includes a controller, and the drive mechanism, the first force sensor, and the second force sensor are all electrically connected to the controller.

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