Omnibearing magnetic grasping forceps

Abstract

The utility model discloses all-dimensional magnetic grasping forceps, and relates to the technical field of medical instruments. The omnibearing magnetic grasping forceps comprise a clamping head assembly, a handle assembly and a swing adjusting assembly, the clamping head assembly is driven by the handle assembly to do clamping motion, the clamping head assembly and the handle assembly are connected through a sleeve, the sleeve comprises a connecting section and a clamping head mounting section which are rotationally connected, and the swing adjusting assembly is arranged on the sleeve. And the chuck mounting section is driven to swing relative to the connecting section through the swing adjusting assembly. The clamping angle of the grasping forceps can be adjusted.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more specifically, to an omnidirectional magnetic gripper. Background Technology

[0002] With the rapid development of laparoscopic surgery, it has been widely used and highly regarded by both doctors and patients due to its significant advantages, such as smaller incisions, less pain, faster recovery, less bleeding, and minimal impact on postoperative appearance. During laparoscopic surgery, a clear and sufficient surgical field plays a crucial role in the precision and success of the procedure.

[0003] When faced with different surgical sites and complex anatomical structures, delicate operations such as cutting and dissecting specific tissues and organs are often required. This process relies heavily on the effective traction of surrounding tissues to expand and expose the ideal surgical field. However, while existing magnetic traction devices have achieved some degree of remote control of tissue traction via magnetic force, they have significant limitations. The clamps of these devices are designed as fixed structures, unable to be adjusted or oscillated. This fixed characteristic makes it difficult to flexibly change the traction angle and direction when faced with the complex and varied anatomical shapes of surgical sites and the traction needs of different tissues. It also makes it impossible to precisely adapt to the specific requirements of tissue traction position and force direction in various surgical scenarios. Utility Model Content

[0004] The purpose of this application is to provide an omnidirectional magnetic gripper that can adjust the gripping angle.

[0005] The embodiments of this application are implemented as follows:

[0006] This application provides an omnidirectional magnetic gripper, including a chuck assembly, a handle assembly, and a swing adjustment assembly. The handle assembly drives the chuck assembly to perform clamping movements. The chuck assembly and the handle assembly are connected by a sleeve. The sleeve includes a rotatably connected connecting section and a chuck mounting section. The swing adjustment assembly is disposed on the sleeve, and the swing adjustment assembly drives the chuck mounting section to swing relative to the connecting section.

[0007] Optionally, as an implementable method, the connecting section and the chuck mounting section are rotatably connected via a first rotating shaft. The swing adjustment assembly includes a connecting rod disposed within the sleeve and an adjusting nut sleeved on the sleeve. The adjusting nut is threadedly connected to the connecting rod. The distal end of the connecting rod is rotatably connected to the chuck mounting section via a second rotating shaft. The adjusting nut drives the connecting rod to slide axially, thereby driving the chuck mounting section to rotate around the first rotating shaft.

[0008] Optionally, as an implementable method, the inner wall of the sleeve is further provided with an axial limiting strip, which is engaged with the connecting rod.

[0009] Alternatively, as an implementable method, a push rod is provided inside the sleeve, and the push rod is driven by the handle assembly to push the clamp assembly to open or close.

[0010] Optionally, as one possible implementation, the handle assembly includes a fixed handle and an operating handle rotatably connected via a third pivot, the chuck assembly includes a first jaw and a second jaw rotatably connected to the first jaw, the operating handle is connected to the proximal end of the push rod, the distal end of the push rod is used to abut against the second jaw, the proximal end of the connecting section is connected to the fixed handle, and the distal end of the chuck mounting section is connected to the first jaw.

[0011] Alternatively, as an implementable method, the sleeve and the fixed handle are rotatably connected by a rotating adjustment member, which drives the sleeve to rotate around its own axis.

[0012] Optionally, as one possible implementation, the distal end of the chuck mounting section has a first clamping arm and a second clamping arm disposed opposite to each other, through which the chuck assembly is clamped.

[0013] Optionally, as an implementable method, the push rod is provided with a push block, which drives the push rod away from the chuck assembly through the operating handle, and the push block pushes the first clamping arm and the second clamping arm to open.

[0014] Optionally, as an implementable approach, the chuck assembly further includes a magnetic element disposed on the first gripper, through which the chuck assembly and the chuck mounting section are magnetically connected.

[0015] Optionally, as an implementable method, the fixed handle is also provided with a locking button, and when the locking button is engaged with the operating handle, the operating handle rotates toward the fixed handle.

[0016] The beneficial effects of the embodiments of this application include:

[0017] The omnidirectional magnetic gripper provided in this application includes a gripper assembly, a handle assembly, and a swing adjustment assembly. The handle assembly drives the gripper assembly to perform clamping motion. The gripper assembly and the handle assembly are connected by a sleeve, which includes a rotatably connected connecting section and a gripper mounting section. The swing adjustment assembly is mounted on the sleeve and drives the gripper mounting section to swing relative to the connecting section. This allows the gripper assembly to flexibly change the traction angle and direction, overcoming the limitations of fixed grippers in existing magnetic traction devices. It can precisely adjust the traction angle and direction according to the complex and varied anatomical morphology of the surgical site and the traction needs of different tissues, meeting the specific requirements for tissue traction position and force direction in various surgical scenarios, greatly improving the precision of surgical operations. Moreover, because the gripper angle can be flexibly adjusted, it can more quickly traction tissues in laparoscopic surgery, expanding and exposing the ideal surgical field, reducing surgical time, lowering surgical risks, and helping to improve the overall efficiency and quality of surgery, providing better assurance for the patient's surgical success and postoperative recovery. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is one of the structural schematic diagrams of the omnidirectional magnetic gripper provided in the embodiments of this application;

[0020] Figure 2 This is the second schematic diagram of the structure of the omnidirectional magnetic gripper provided in the embodiments of this application;

[0021] Figure 3 The third schematic diagram of the structure of the omnidirectional magnetic gripper provided in the embodiments of this application;

[0022] Figure 4 The fourth schematic diagram of the structure of the omnidirectional magnetic gripper provided in the embodiments of this application.

[0023] Icons: 100 - Omnidirectional magnetic gripper; 110 - Chuck assembly; 111 - First gripper; 112 - Second gripper; 113 - Magnetic attachment; 120 - Handle assembly; 121 - Fixed handle; 122 - Operating handle; 123 - Third pivot; 124 - Locking button; 130 - Swing adjustment assembly; 131 - Connecting rod; 132 - Adjusting nut; 133 - Second pivot; 140 - Sleeve; 141 - Connecting section; 142 - Chuck mounting section; 1421 - First gripping arm; 1422 - Second gripping arm; 143 - First pivot; 144 - Axial limit bar; 150 - Push rod; 151 - Push block; 160 - Rotation adjustment component. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0025] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0026] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0027] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0028] Please refer to Figure 1 and Figure 2This embodiment provides an omnidirectional magnetic gripper 100, including a gripper assembly 110, a handle assembly 120, and a swing adjustment assembly 130. The handle assembly 120 drives the gripper assembly 110 to perform gripping movements. The gripper assembly 110 and the handle assembly 120 are connected by a sleeve 140. The sleeve 140 includes a rotatably connected connecting section 141 and a gripper mounting section 142. The swing adjustment assembly 130 is disposed on the sleeve 140, and the swing adjustment assembly 130 drives the gripper mounting section 142 to swing relative to the connecting section 141.

[0029] Specifically, when using the omnidirectional magnetic gripper 100 of this application, the omnidirectional magnetic gripper 100 is inserted into the patient's body through a suitable laparoscopic channel. During insertion, care should be taken to maintain the stability of the gripper's direction to avoid unnecessary damage to the patient's internal tissues. Using the visualization system of the laparoscopy, the handle assembly 120 is manipulated to slowly bring the clamp assembly 110 closer to the target tissue to be pulled. At this time, the handle assembly 120 can be used to initially adjust the position and posture of the clamp, roughly aligning it with the target tissue. When the clamp assembly 110 is close to the target tissue, the handle assembly 120 is operated to close the clamp assembly 110, gripping the target tissue. During the gripping process, the swing adjustment assembly 130 is operated to swing the clamp mounting section 142 relative to the connecting section 141, thereby precisely adjusting the pulling angle and direction of the clamp assembly 110.

[0030] The omnidirectional magnetic gripper 100 provided in this application includes a gripper assembly 110, a handle assembly 120, and a swing adjustment assembly 130. The handle assembly 120 drives the gripper assembly 110 to perform gripping movements. The gripper assembly 110 and the handle assembly 120 are connected by a sleeve 140, which includes a rotatably connected connecting section 141 and a gripper mounting section 142. The swing adjustment assembly 130 is mounted on the sleeve 140, and drives the gripper mounting section 142 to swing relative to the connecting section 141. This allows the gripper assembly 110 to flexibly change the traction angle and direction, overcoming the limitations of fixed grippers in existing magnetic traction devices. It can precisely adjust the traction angle and direction according to the complex and varied anatomical morphology of the surgical site and the traction needs of different tissues, meeting the special requirements for tissue traction position and force direction in various surgical scenarios, and greatly improving the accuracy of surgical operations. Moreover, because the clamp angle can be flexibly adjusted, tissues can be pulled more quickly in laparoscopic surgery, expanding and exposing the ideal surgical field of view, reducing operation time, lowering surgical risks, and helping to improve the overall efficiency and quality of the operation, thus providing better guarantees for the patient's surgical success and postoperative recovery.

[0031] In one possible embodiment of this application, such as Figure 1 and Figure 2As shown, the connecting section 141 and the chuck mounting section 142 are rotatably connected by the first rotating shaft 143. The swing adjustment assembly 130 includes a connecting rod 131 disposed in the sleeve 140 and an adjusting nut 132 sleeved on the sleeve 140. The adjusting nut 132 is threadedly connected to the connecting rod 131. The distal end of the connecting rod 131 is rotatably connected to the chuck mounting section 142 by the second rotating shaft 133. The adjusting nut 132 drives the connecting rod 131 to slide axially, thereby driving the chuck mounting section 142 to rotate around the first rotating shaft 143.

[0032] Specifically, when the angle of the clamp needs to be adjusted during surgery, the operator can do so by operating the swing adjustment assembly 130. Specifically, the clamp mounting section 142 and the connecting section 141 are rotatably connected via a first rotating shaft 143. The swing adjustment assembly 130 includes a connecting rod 131 disposed within a sleeve 140 and an adjusting nut 132 sleeved on the sleeve 140. The adjusting nut 132 is threadedly connected to the connecting rod 131, and the distal end of the connecting rod 131 is rotatably connected to the clamp mounting section 142 via a second rotating shaft 133. When the adjusting nut 132 is rotated, due to the threaded connection, the connecting rod 131 slides axially within the sleeve 140. The rotatable connection between the distal end of the connecting rod 131 and the clamp mounting section 142 causes the clamp mounting section 142 to rotate around the first rotating shaft 143 during the sliding of the connecting rod 131, thereby realizing the swing of the clamp assembly 110, which allows for flexible adjustment of the traction angle and direction according to surgical needs.

[0033] In one possible embodiment of this application, such as Figure 1 and Figure 2 As shown, the inner wall of the sleeve 140 is also provided with an axial limiting strip 144, which is engaged with the connecting rod 131.

[0034] Specifically, the inner wall of the sleeve 140 is also provided with an axial limiting strip 144. The axial limiting strip 144 is engaged with the connecting rod 131 to limit the connecting rod 131 to slide only along the extension direction of the axial limiting strip 144. When the adjusting nut 132 is rotated, the connecting rod 131 will not rotate with the adjusting nut 132 to ensure the stable adjustment of the swing adjustment component 130.

[0035] In one possible embodiment of this application, such as Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, a push rod 150 is provided inside the sleeve 140. The push rod 150 is driven by the handle assembly 120 to push the chuck assembly 110 to open or close.

[0036] Furthermore, the handle assembly 120 includes a fixed handle 121 and an operating handle 122 rotatably connected via a third pivot 123. The chuck assembly 110 includes a first jaw 111 and a second jaw 112 rotatably connected to the first jaw 111. The operating handle 122 is connected to the proximal end of the push rod 150, and the distal end of the push rod 150 is used to abut against the second jaw 112. The proximal end of the connecting section 141 is connected to the fixed handle 121, and the distal end of the chuck mounting section 142 is connected to the first jaw 111.

[0037] Specifically, when using the omnidirectional magnetic gripper 100 of this application, the omnidirectional magnetic gripper 100 is inserted into the patient's body through a suitable laparoscopic channel. During insertion, care should be taken to maintain the stability of the gripper's direction to avoid unnecessary damage to the patient's internal tissues. Using the visualization system of the laparoscopy, the handle assembly 120 is manipulated to slowly bring the clamp assembly 110 closer to the target tissue to be pulled. At this time, the handle assembly 120 can be used to initially adjust the position and posture of the clamp to roughly align it with the target tissue. When the clamp assembly 110 is close to the target tissue, the handle assembly 120 is operated to close the clamp assembly 110. That is, by controlling the operating handle 122 to rotate towards the fixed handle 121, the push rod 150 slides distally to apply a pushing force to the second jaw 112, thereby causing the first jaw 111 and the second jaw 112 to open relative to each other to clamp the target tissue. The operating handle 122 is then controlled to rotate away from the fixed handle 121 so that the first jaw 111 and the second jaw 112 clamp the target tissue. During the clamping process, the swing adjustment component 130 is operated to drive the chuck mounting section 142 to swing relative to the connecting section 141, thereby precisely adjusting the pulling angle and direction of the chuck assembly 110.

[0038] In one possible embodiment of this application, such as Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the sleeve 140 and the fixed handle 121 are rotatably connected by a rotating adjustment member 160, which drives the sleeve 140 to rotate around its own axis.

[0039] Specifically, when the angle of the clamp needs to be adjusted during surgery, the swing adjustment component 130 and the rotation adjustment component 160 are operated according to the requirements of the surgical field and the anatomical structure around the target tissue. First, the rotation adjustment component 160 is rotated to make the sleeve 140 rotate around its own axis, driving the clamp assembly 110 to rotate to the appropriate position; then, the swing adjustment component 130 is operated. When the adjusting nut 132 is rotated, the connecting rod 131 will slide axially within the sleeve 140 due to the threaded connection. The rotational connection between the distal end of the connecting rod 131 and the clamp mounting section 142 causes the clamp mounting section 142 to rotate around the first rotating axis 143 during the sliding of the connecting rod 131, thereby realizing the swing of the clamp assembly 110, which can flexibly adjust the traction angle and direction according to the surgical requirements.

[0040] In one possible embodiment of this application, such as Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the distal end of the chuck mounting section 142 has a first clamping arm 1421 and a second clamping arm 1422 disposed opposite to each other, and the chuck assembly 110 is clamped by the first clamping arm 1421 and the second clamping arm 1422.

[0041] Furthermore, a push block 151 is provided on the push rod 150. By operating the handle 122, the push rod 150 is driven to move away from the chuck assembly 110, and the push block 151 pushes the first clamping arm 1421 and the second clamping arm 1422 to open.

[0042] Specifically, when using the omnidirectional magnetic gripper 100 of this application, the omnidirectional magnetic gripper 100 is inserted into the patient's body through a suitable laparoscopic channel. During insertion, care should be taken to maintain the stability of the gripper's direction to avoid unnecessary damage to the patient's internal tissues. Using the visualization system of the laparoscopy, the handle assembly 120 is manipulated to slowly bring the clamp assembly 110 closer to the target tissue to be pulled. At this time, the handle assembly 120 can be used to initially adjust the position and posture of the clamp to roughly align it with the target tissue. When the clamp assembly 110 is close to the target tissue, the handle assembly 120 is operated to close the clamp assembly 110. That is, by controlling the operating handle 122 to rotate towards the fixed handle 121, the push rod 150 slides distally to apply a pushing force to the second jaw 112, thereby causing the first jaw 111 and the second jaw 112 to open relative to each other to clamp the target tissue. The operating handle 122 is then controlled to rotate away from the fixed handle 121 so that the first jaw 111 and the second jaw 112 clamp the target tissue. After the clamp assembly 110 clamps the target tissue, the push rod 150 is driven away from the clamp assembly 110 by the operating handle 122. The push block 151 pushes the first clamping arm 1421 and the second clamping arm 1422 to open, so that the clamp assembly 110 is disengaged from the clamp mounting section 142. Then, the omnidirectional magnetic gripper 100 without the clamp assembly 110 is taken out. The external magnetic attraction and traction device magnetically attracts the clamp assembly 110 to adjust the clamping and traction angle of the clamp assembly 110.

[0043] Furthermore, a locking button 124 is also provided on the fixed handle 121. When the locking button 124 is engaged with the operating handle 122, the operating handle 122 can only rotate toward the fixed handle 121. This ensures that when the handle assembly 120 drives the chuck assembly 110 to clamp or move its position, there will be no accidental contact that would cause the chuck assembly 110 to disengage. This ensures the operational stability of the all-around magnetic gripper 100.

[0044] Furthermore, the chuck assembly 110 also includes a magnetic suction member 113 disposed on the first gripper 111, which magnetically connects the chuck assembly 110 and the chuck mounting section 142 so that after the clamping and pulling operation is completed, the chuck assembly 110 can be magnetically attracted to the chuck mounting section 142 to remove the chuck assembly 110.

[0045] It should be noted that the magnetic suction component 113 can also be magnetically connected to an external magnetic traction device to achieve better exposure of the surgical field.

[0046] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An omnidirectional magnetic gripper, characterized in that, It includes a chuck assembly, a handle assembly, and a swing adjustment assembly. The handle assembly drives the chuck assembly to perform clamping movements. The chuck assembly and the handle assembly are connected by a sleeve. The sleeve includes a rotatably connected connecting section and a chuck mounting section. The swing adjustment assembly is disposed on the sleeve and drives the chuck mounting section to swing relative to the connecting section.

2. The omnidirectional magnetic gripper according to claim 1, characterized in that, The connecting section and the chuck mounting section are rotatably connected by a first rotating shaft. The swing adjustment assembly includes a connecting rod disposed in the sleeve and an adjusting nut sleeved on the sleeve. The adjusting nut is threadedly connected to the connecting rod. The distal end of the connecting rod is rotatably connected to the chuck mounting section by a second rotating shaft. The adjusting nut drives the connecting rod to slide axially, thereby driving the chuck mounting section to rotate around the first rotating shaft.

3. The omnidirectional magnetic gripper according to claim 2, characterized in that, The inner wall of the sleeve is also provided with an axial limiting strip, which is engaged with the connecting rod.

4. The omnidirectional magnetic gripper according to claim 1, characterized in that, A push rod is provided inside the sleeve, and the push rod is driven by the handle assembly to push the clamp assembly to open or close.

5. The omnidirectional magnetic gripper according to claim 4, characterized in that, The handle assembly includes a fixed handle and an operating handle rotatably connected via a third pivot. The chuck assembly includes a first jaw and a second jaw rotatably connected to the first jaw. The operating handle is connected to the proximal end of the push rod, the distal end of the push rod is used to abut against the second jaw, the proximal end of the connecting section is connected to the fixed handle, and the distal end of the chuck mounting section is connected to the first jaw.

6. The omnidirectional magnetic gripper according to claim 5, characterized in that, The sleeve and the fixed handle are rotatably connected by a rotating adjustment component, which drives the sleeve to rotate around its own axis.

7. The omnidirectional magnetic gripper according to claim 5, characterized in that, The distal end of the chuck mounting section has a first clamping arm and a second clamping arm disposed opposite to each other, and the chuck assembly is clamped by the first clamping arm and the second clamping arm.

8. The omnidirectional magnetic gripper according to claim 7, characterized in that, The push rod is equipped with a push block. The push rod is driven away from the chuck assembly by the operating handle, and the push block pushes the first clamping arm and the second clamping arm to open.

9. The omnidirectional magnetic gripper according to claim 5, characterized in that, The chuck assembly also includes a magnetic suction element disposed on the first gripper, which magnetically connects the chuck assembly and the chuck mounting section.

10. The omnidirectional magnetic gripper according to claim 5, characterized in that, The fixed handle is also provided with a locking button. When the locking button is engaged with the operating handle, the operating handle rotates toward the fixed handle.

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