Elastic snake bone adjusting handle, medical instrument and medical operation robot

Abstract

The utility model discloses a kind of elastic snake bone adjusting handle and medical equipment, medical operation robot, and elastic snake bone adjusting handle includes holding part, the insertion rod of being set in the front end of holding part, the elastic snake bone is provided in the insertion rod far end, the working part is connected in the elastic snake bone, traction rope is arranged on the elastic snake bone, one end of the traction rope is fixed in the end of elastic snake bone near working part, the other end is fixed on the dynamic point of holding part, and the traction of traction rope is completed by the displacement of this dynamic point.The utility model is fixed by traction rope on elastic snake bone, and the traction of traction rope is carried out by adjusting rod being set on holding part, the bending control of elastic snake bone is realized, it is more convenient, flexible to operate, angle of working part is accurately controlled, to reduce the damage to surrounding soft tissue, and improve the accuracy and safety of operation.

Description

Technical Field

[0001] This utility model relates to the field of snake bone control device technology, specifically to an elastic snake bone adjustment handle and medical device, and a medical surgical robot. Background Technology

[0002] With the continuous development of medical technology, orthopedic surgeries, especially joint replacement and fracture repair, require increasingly precise tissue removal. Traditional equipment is mostly linear surgical instruments, but for complex anatomical structures or confined surgical spaces, traditional tools often fail to meet the surgical requirements. Especially when removing tissue, surgeons need flexible operation and precise cutting techniques to reduce damage to surrounding soft tissues and improve the accuracy and safety of the surgery.

[0003] Existing tissue removal devices that can bend and flexibly control angles mostly use a snake-bone device at the front end. However, the adjustment handle of the existing snake-bone device is mostly operated by a knob, which cannot be operated with one hand and has a complex structure. Utility Model Content

[0004] In view of the shortcomings of existing snake bone adjustment methods, this utility model provides an elastic snake bone adjustment handle and medical device, medical surgical robot.

[0005] This utility model protects an elastic snake-bone adjusting handle, including a gripping part and an insertion rod disposed at the front end of the gripping part. An elastic snake-bone is disposed at the distal end of the insertion rod. The elastic snake-bone is connected to a working part. A traction rope is threaded through the elastic snake-bone. One end of the traction rope is fixed to the end of the elastic snake-bone near the working part, and the other end is fixed to a moving point of the gripping part. The traction of the traction rope is completed by the displacement of the moving point.

[0006] Preferably, the gripping part is provided with an adjusting rod, which includes a pressing part and a traction part. The connecting part of the pressing part and the traction part is rotatably connected to the gripping part, and the traction rope is fixed to the end of the traction part. In the normal state, the end of the pressing part is tilted upward. By pressing down on the pressing part, the traction part is tilted upward, thereby realizing the traction of the traction rope. More preferably, the pressing part is a long arm, and the traction part is a short arm; the included angle between the pressing part and the traction part is 145°-180°.

[0007] Preferably, the gripping part is provided with a mounting boss, and the traction part is embedded in the mounting groove in the middle of the mounting boss. The connection part of the pressing part and the traction part are connected to both sides of the mounting groove by a rotating shaft. More preferably, the front end of the gripping part is provided with an insertion rod mounting hole, and the front end of the mounting groove is provided with a threading hole for the traction rope to pass through, and the threading hole communicates with the mounting hole.

[0008] Preferably, the elastic snake bone has a first V-shaped groove and a second V-shaped groove staggered on both sides, and the traction rope passes through one side of the first V-shaped groove. More preferably, the depth of the second V-shaped groove is greater than that of the first V-shaped groove, and the opening angle of the first V-shaped groove is greater than that of the second V-shaped groove.

[0009] This invention also protects medical devices using the aforementioned elastic snake-bone adjustment handle, and medical surgical robots using the aforementioned elastic snake-bone adjustment handle.

[0010] This invention achieves bending control of the elastic snake bone by fixing a traction rope to the elastic snake bone and using an adjusting rod set on the grip to pull the traction rope. This makes the operation more convenient and flexible, and facilitates precise control of the angle of the working part, thereby reducing damage to the surrounding soft tissue and improving the accuracy and safety of the surgery. Attached Figure Description

[0011] Figure 1 A schematic diagram of the overall structure of the flexible snake-bone adjustment handle;

[0012] Figure 2 This is a schematic diagram of the adjusting rod structure and its fixing method as shown in Example 1;

[0013] Figure 3 This is a schematic diagram of the elastic snake bone structure given in Example 1.

[0014] In the diagram: 1. Insertion rod; 2. Working part; 3. Elastic snake bone; 31. First V-groove; 32. Second V-groove; 4. Traction rope; 5. Grip part; 51. Mounting boss; 52. Mounting groove; 53. Through hole; 54. Mounting hole; 55. Mounting shaft; 6. Adjusting rod; 61. Pressing part; 62. Traction part; 7. Mounting hole. Detailed Implementation

[0015] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0016] It should be noted that, in this disclosure, "remote end" refers to the end furthest from the operator, and "proximal end" refers to the end closest to the operator.

[0017] Example 1

[0018] A flexible snake-bone adjustable handle, such as Figure 1As shown, it includes a gripping part 5 and an insertion rod 1 disposed at the front end of the gripping part 5. An elastic snake bone 3 is disposed at the distal end of the insertion rod 1. The elastic snake bone 3 is connected to a working part 2. A traction rope 4 is threaded through the elastic snake bone 3. One end of the traction rope 4 is fixed to the end of the elastic snake bone 3 near the working part 2, and the other end is fixed to a moving point of the gripping part 5. The traction of the traction rope 4 is completed by the displacement of the moving point.

[0019] Insertion rod 1 is used to transport the working part 2 to the working area. Insertion rod 1 is equipped with a flexible serpentine section. The working part 2 here can be a tissue removal device such as a planer, grinding head, or radiofrequency ablation device, or it can be an auxiliary device such as an endoscope or a flushing head.

[0020] The elastic snake bone 3 is tubular in shape and made of highly elastic materials such as spring steel and high-elasticity stainless steel. This ensures that it can deform under traction force and return to its initial state through its own elasticity after the traction force is removed, and applies tension to the traction rope to maintain its tension.

[0021] It is understandable that there is no single way to traction. The displacement of the moving point can be achieved by means of thread adjustment, sliding adjustment, rotation, etc. The following traction scheme is given in this embodiment.

[0022] See Figure 2 The gripping part 5 is provided with an adjusting rod 6, which includes a pressing part 61 and a traction part 62. The connecting part of the pressing part 61 and the traction part 62 is rotatably connected to the gripping part 5, and the traction rope 4 is fixed to the end of the traction part 62.

[0023] In the normal state, the end of the pressing part 61 is tilted upwards (there is a certain downward pressure space between it and the gripping part 5). By pressing down the pressing part 61, the traction part 62 is tilted upwards, thereby realizing the traction of the traction rope 4. As mentioned above, this normal state is maintained by the elasticity of the elastic snake bone itself.

[0024] Based on the simple lever principle, for easier adjustment, the pressing part 61 can be set as a long arm and the traction part 62 as a short arm. The pressing part 61 and the traction part 62 can be located in the same plane, that is, there is no angle difference between them, but there can also be a certain angle between them (e.g., 145°), so that the pressing part 61 is parallel to the gripping part 5, or the end of the pressing part is slightly biased towards the gripping part 5.

[0025] Regarding the method of fixing the adjusting rod 6 to the grip, this embodiment also provides a specific structure. The grip 5 is provided with a mounting boss 51, and the traction part 62 is embedded in the mounting groove 52 in the middle of the mounting boss 51. The connection part of the pressing part 61 and the traction part 62 is connected to both sides of the mounting groove 52 through a rotating shaft 55.

[0026] The gripping part 5 has an insertion rod mounting hole 7 at its front end, and the mounting groove 52 has a threading hole 53 at its front end for the traction rope 4 to pass through. The threading hole 53 is connected to the mounting hole 7. To facilitate the threading of the traction rope 4, the threading hole 53 is preferably inclined toward the mounting hole 7.

[0027] The specific structure of the elastic snake bone 2 and its connection with the traction rope 4 are described below: (Refer to...) Figure 3 The elastic snake bone 3 has a first V-shaped groove 31 and a second V-shaped groove 32 staggered on both sides, and the traction rope 4 passes through and is set on one side of the first V-shaped groove 31; the depth of the second V-shaped groove 32 is greater than that of the first V-shaped groove 31, and the opening angle of the first V-shaped groove 31 is greater than that of the second V-shaped groove 32, thereby improving the unidirectional motion intensity.

[0028] Example 2

[0029] A medical device using the elastic snake-bone adjustment handle described in Example 1.

[0030] Example 3

[0031] A medical surgical robot using the elastic snake-bone adjustable handle described in Example 1.

[0032] The medical surgical robot can be used in conjunction with the elastic snake bone adjustment handle described in Example 1 or the medical device described in Example 2, either by direct clamping or by positioning and navigation. The robot system determines the surgical route and controls the handle to achieve precise operation on complex anatomical structures. It can flexibly control the working part in complex surgical environments, avoid damage to surrounding tissues, and further improve surgical accuracy and safety.

[0033] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A flexible snake-bone adjustable handle, comprising a gripping part (5) and an insertion rod (1) disposed at the front end of the gripping part (5), wherein a flexible snake-bone (3) is disposed at the distal end of the insertion rod (1), and a working part (2) is connected to the flexible snake-bone (3), characterized in that: The elastic snake bone (3) is provided with a traction rope (4). One end of the traction rope (4) is fixed to the end of the elastic snake bone (3) near the working part (2), and the other end is fixed to a moving point of the grip part (5). The traction of the traction rope (4) is completed by the displacement of the moving point.

2. The elastic snake-bone adjusting handle according to claim 1, characterized in that: An adjusting rod (6) is provided on the grip (5). The adjusting rod (6) includes a pressing part (61) and a traction part (62). The connecting part of the pressing part (61) and the traction part (62) is rotatably connected to the grip (5). The traction rope (4) is fixed to the end of the traction part (62). In normal conditions, the end of the pressing part (61) is tilted upwards. By pressing down the pressing part (61), the traction part (62) is tilted up, thereby achieving the traction of the traction rope (4).

3. The elastic snake-bone adjusting handle according to claim 2, characterized in that: The pressing part (61) is a long arm, and the traction part (62) is a short arm.

4. The elastic snake-bone adjusting handle according to claim 2, characterized in that: The included angle between the pressing part (61) and the traction part (62) is 145°-180°.

5. The elastic snake-bone adjusting handle according to any one of claims 2-4, characterized in that: The gripping part (5) is provided with a mounting boss (51), and the traction part (62) is embedded in the mounting groove (52) in the middle of the mounting boss (51). The connection part of the pressing part (61) and the traction part (62) is connected to both sides of the mounting groove (52) through a rotating shaft (55).

6. The elastic snake-bone adjusting handle according to claim 5, characterized in that: The gripping part (5) has an insertion rod mounting hole (7) at its front end, and the mounting groove (52) has a threading hole (53) at its front end for the traction rope (4) to pass through. The threading hole (53) is connected to the mounting hole (7).

7. The elastic snake-bone adjusting handle according to claim 1, characterized in that: The elastic snake bone (3) has a first V-shaped groove (31) and a second V-shaped groove (32) staggered on both sides, and the traction rope (4) is inserted through one side of the first V-shaped groove (31).

8. The elastic snake-bone adjusting handle according to claim 7, characterized in that: The depth of the second V-groove (32) is greater than that of the first V-groove (31), and the opening angle of the first V-groove (31) is greater than that of the second V-groove (32).

9. A medical device, characterized in that: Use the elastic snake-bone adjustment handle as described in any one of claims 1-8.

10. A medical surgical robot, characterized in that: Use the elastic snake-bone adjustment handle as described in any one of claims 1-8.

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