CN101193596A - End effector for surgical instrument, surgical instrument, and method for forming the end effector - Google Patents
End effector for surgical instrument, surgical instrument, and method for forming the end effector Download PDFInfo
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- CN101193596A CN101193596A CNA2006800111027A CN200680011102A CN101193596A CN 101193596 A CN101193596 A CN 101193596A CN A2006800111027 A CNA2006800111027 A CN A2006800111027A CN 200680011102 A CN200680011102 A CN 200680011102A CN 101193596 A CN101193596 A CN 101193596A
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Abstract
An end effector for an endoscopic surgical instrument having a longitudinal body with proximal and distal ends and an actuator at the proximal end of the body includes a clevis to be connected to the distal end of the body and two jaws. Each of the jaws has a tang portion (240) pivotally connected to the clevis and to be connected to the actuator for pivoting the jaw. The jaw has body portion (221, 223) with a lateral side (223) having substantially straight opposing edges and a proximal portion (227) connecting the lateral side to the tang portion and a nose portion (225, 229) connected to the lateral side and having substantially linear edges at an angle to the edges of the lateral side. The hollow body and nose portions define a biopsy cup for receiving a tissue sample therein and the opposing and linear edges form a pinching surface for contacting extremities of the tissue sample.
Description
Technical field
The present invention relates to a kind of end effector that is used for surgical operating instrument, and a kind of method that has the surgical operating instrument of end effector and form end effector.
End effector of the present invention is to be used for surgical operating instrument and to be made up of two assemblies.Two assemblies are linked together the formation end effector.Assembly can be used technology manufacturings such as powder metallurgical technique, machining, punching press, fine-edge blanking, deep-draw, casting.Assembly can use methods such as riveted joint, welding, soldering, brazing, flanging, pressing to connect.Assembly can be with same material or different materials manufacturing.
Also disclosed a kind of end effector that forms with a slice plate material, the most handy metal, the especially rustless steel that can heat-treat.End effector is custom-designed at the advantage of this low cost process.
Also disclosed a kind of surgical operating instrument end effector that tooth is arranged in addition, teeth directional executor inside bend, and recessed along inner surface.
At last, disclosed a kind of self-centering pin of surgical operating instrument end effector.Pin has a puncture blade.When the pincers jaw of end effector opened, pin moved to two center fixation positions of clamping between the jaws of end effector from the floating position.
Background technology
Normally used biopsy forceps has several different patterns, is to unite use with endoscopic assistance typically.The complex structure of initial these devices, the miniaturized components of requirement manufacturing and processing precise, so price general charged is all very high.
A kind of early stage flexible forceps has description in the U.S. Patent No. 3895636 of Schmidt, wherein a pair of cup-shaped forceps jaw with circular side ring cooperates with hub, and sharp trocar closely cooperates.The characteristics of Schmidt pincers jaw are to need the processing cutting edge, and each pincers jaw is different.
People's such as Esser U.S. Patent No. 4887612 has disclosed a kind of similar biopsy forceps, and this pincers adopt cam link to handle the closed and open motion of cup-shaped forceps jaw.People's such as Esser pincers jaw rustless steel manufacturing, the same machining that requires costliness.
People's such as Macec U.S. Patent No. 4763668 has disclosed a kind of biopsy forceps, and its cup-shaped forceps drives with connecting rod.Each pin joint of connecting rod forms new stress, wearing and tearing and fracture location.The connecting rod ASSY of people's such as this and Schintgen U.S. Patent No. 4721116 is similar.Pin when pliers is closed between the pliers can be withdrawn.
The U.S. Patent No. 3921640 of Freeborn has shown a kind of surgical operating instrument made from the one-piece molded plastics.This apparatus can have any different pincers jaw form, comprises the tooth structure that is used to hang towel or surgery apparel.
The U.S. Patent No. 4200111 of Harris has been described the pincers jaw of a pair of loading spring, and this pincers jaw is contained in the trocar end slidably.The pincers jaw is handled the inside and outwards motion from trocar by twisted wire.
The U.S. Patent No. 4699471 of Hayashi has shown a kind of biopsy forceps, and it has a pair of cup with the pivot pin assembling.Several connecting rods that connect with pivot pin are equally arranged between cup and control wire.Pivot pin welds or is fused on the parts with the mode of laser weld.
People's such as Poral U.S. Patent No. 4815460 has been described a kind of gripping medical treatment device.People's such as Poral device has a pair of mutually the same pincers jaw.The pincers jaw has the tooth of the complete intersection setting of a row.Tooth in each pincers jaw longitudinally staggers mutually.Another device is shown in the U.S. Patent No. 825829 of Heath.The Heath apparatus adopts two groups of different joint pincers jaws to finish the cutting purpose.
People's such as Bales U.S. Patent No. 5507296,5666965,6024707,6264617 has been described a kind of gripping mechanism biology of gathering tissue samples from health.This gripping mechanism has flexible main coil and the pincers jaw of a pair of correspondence is arranged at far-end.The pincers jaw has the tooth of radial arrangement in distal-most end.The pincers jaw is handled opening and closing by the backguy of a pair of connection, and backguy extends to the hands jaw tail of serpentine pipe near-end by main serpentine pipe.Hands jaw tail has sleeve, and sleeve slides being connected on the axle of main serpentine pipe.Sleeve is connected with backguy, so sleeve produces the power that makes the opening and closing of rocker-arm pincers jaw with respect to moving at near-end of axle.
Pincers jaw assembly needs to improve, so that gripping tissue better passes through in the sleeve pipe of scope (or Other Instruments), easily with the low cost manufacturing.
In flexible endoscopy, long flexible instrument inserts from the flexible endoscopes sleeve pipe continually in specific surgical procedures and extracts out.Endoscopic technician's quick acting helps the carrying out of operation.Sometimes extraction is too fast, and apparatus is extracted out from instrument suddenly and is thrown in the air, and body fluid is got rid of to indoor, may be thrown to endoscopic technician or nurse on the face.In order to help to avoid this undesirable situation, increased cue mark at the distal portions of sheath, give the visual cue of apparatus end of doctor near outlet.The normally opaque color of epitheca, the length of colour indicating means.Proximal part at sheath also adds labelling, and indicator instruments almost arrives the degree of depth of the far-end that is enough to withdraw from scope when inserting.These labellings are imprinted on the polymer sheath outside.Now the seal labelling is with hot stamping or impression.Polymer outer sheath is a precision part, may damage during the seal labelling.The probability that should get rid of any damage epitheca during the seal labelling.
Flexible endoscopes is valuable reusable device, and the telescopic cost of repairing wearing and tearing is sizable.Because biopsy forceps is passed the sleeve pipe of flexible endoscopes continually, sleeve pipe is easily frayed.Therefore the design of the end effector of advanced biopsy forceps should make the casing wear minimum.
Summary of the invention
Therefore the objective of the invention is a kind of end effector to be provided, a kind of method that has the surgical operating instrument of this end effector and form this end effector is provided for surgical operating instrument, so that overcome the shortcoming of the apparatus and method of the existing general pattern of mentioning hereinbefore, and has the tooth that improves the gripping ability, this is because curve inwardly recessed one of tooth inner surface formation, and outer surface smoother, simultaneously can high efficiency and low-cost the manufacturing.
Back-flexing in the pincers teeth directional, one of surface formation within it is recessed.The tissue (as a hook) of gripping is collected and kept better to groove.The angle that back-flexing forms makes that the tooth insertion is organized darker when end effector is closed.
The jaw tail of end effector of the present invention can be used in the executor of many different types.
It is favourable that end effector is formed by two parts that link together.Therefore jaw tail and end effector can be used the different process manufacturing, make the manufacturing of each part of end effector have motility and the advantage of utilizing different manufacturing process.
Another kind method is that end effector can be used the single sheet of thin metal forming, to gain in strength.The most handy rustless steel of heat-treating, it is heat-treated to improve intensity and hardness after annealed condition is shaped easily and is being shaped.In single-piece pincers jaw, the jaw tail by two independently the jaw tail forms, each comprises spool and operation hole.
Though end effector shown in the figure is a biopsy forceps, identical jaw stern construction can be used on many dissimilar end effectors, for example: grasper, dissector, clip etc.
Based on above-mentioned purpose and other purpose, the invention provides a kind of end effector j jaw, be used for the endoscopic surgery operating theater instruments, it comprises the jaw portion, have hollow body part and hollo head with the side of relative straight cutting edge and the proximal part that the jaw portion is connected with the side, and this hollo head is connected with the side and has a straight line edge angled with lateral cutting edge.Hollow body and head are determined biopsy cup, are used to hold tissue samples, and relative cutting edge and straight line edge form the gripping surface, contact with the least significant end of tissue samples.
Other characteristics according to the present invention, each cutting edge of head at a certain angle with lateral relative cutting edge in cutting edge separately connect.
Other characteristics according to the present invention, the straight line edge of head is two straight line edges, lateral relative side cutting edge is two relative cutting edges, and separately a cutting edge connects in relative with two the at a certain angle side cutting edge of each cutting edge in two cutting edges of head.
The additional characteristics according to the present invention, head straight line edge are two straight line edges.
The additional characteristics according to the present invention, two straight line edges toward each other, particularly two straight line edges are at a certain angle toward each other.
The characteristics that also have according to the present invention, head form truncated cone half, and it has two straight sides cutting edges, the preceding cutting edge of straight line and straight front.
The characteristics that also have according to the present invention, head has lateral parts and previous section, this lateral parts is connected with the side and has the straight line edge angled with the side, and this previous section has straight front and the straight line edge that is connected with each cutting edge of lateral parts at a certain angle.
The characteristics that also have according to the present invention, lateral parts and previous section form truncated cone half.
The characteristics that also have according to the present invention, lateral parts are one group of angled lateral parts.
Other characteristics according to the present invention again, one group of angled lateral parts forms half pair of truncated cone.
Other characteristics according to the present invention again, relative cutting edge and at least one in the straight line edge have at least one tooth.In a kind of concrete device, cutting edge that each is relative and straight line edge all have a plurality of teeth.
Other characteristics according to the present invention again, the straight line edge of previous section has a tooth at least.
Other characteristics according to the present invention again, jaw portion, hollow body part and head are one.
The other characteristics according to the present invention, jaw portion, hollow body part and head are made with the single piece of metal punching press.
Based on purpose of the present invention, the end effector that is used for the endoscopic surgery operating theater instruments also is provided, this apparatus has vertical body that has near-end and far-end and the manipulator that is contained in vertical body near-end, end effector comprise be connected in vertical body far-end with two pincers jaws, each pincers jaw has the jaw tail, the jaw tail is with being pivotally connected on the U-shaped axle bed, and will be connected on the manipulator so that rotate the pincers jaw, end effector comprises the hollow body part, hollow body partly has the side and the proximal part that the jaw portion is connected with the side with relative straight line edge, end effector comprises hollo head, this hollo head is connected with the side, and has the straight line edge angled with lateral cutting edge.Hollow body and head are identified for holding the biopsy cup of tissue samples, and relative cutting edge and straight line edge form the gripping surface of contact tissue sample least significant end.
Its its feature that also has according to the present invention, for each pincers jaw, each cutting edge of head connects with lateral relative cutting edge separately at a certain angle.
The feature that also has according to the present invention, the pincers jaw has closed orientation, and the head of each pincers jaw forms truncated cone half, forms complete truncated cone when two pincers jaws are in closed orientation.
The feature that also has according to the present invention, the straight line edge of lateral each relative cutting edge and head is determined the adjacency periphery of each pincers jaw, the straight line edge of lateral relative cutting edge and lateral parts is determined the first intersection district the pincers jaw in abutting connection with peripheral being connected, and this has zone that comprises tooth and the zone that does not have tooth that is positioned at the first intersection district in abutting connection with periphery.
The feature that also has according to the present invention, head have front that has preceding cutting edge and the near-end with straight line edge, and preceding cutting edge is determined the second intersection district with straight line edge in being connected of adjacency periphery of each pincers jaw.
The other characteristics according to the present invention, the front is planar, preceding cutting edge is collinear and has a tooth at least.
The additional characteristics according to the present invention, end effector will be inserted into the scope sleeve pipe, and end effector comes in contact in the first and second intersection districts and sleeve pipe.
According to purpose of the present invention, the endoscopic surgery operating theater instruments that provides comprises hollow body, end effector of the present invention with far-end and near-end, is connected the hollow body far-end with the U-shaped axle bed that end effector is bumped against the hollow body far-end, the manipulator that is contained in the hollow body near-end, manipulator is connected by the jaw portion of hollow body with at least one pincers jaw, and a pincers jaw is rotated with respect to another pincers jaw.During operation, manipulator rotates a pincers jaw at least, makes the lateral relative cutting edge of a pincers jaw and the straight line edge of head clamp the relative cutting edge and the straight line edge combination of jaw with another.
The feature that also has according to the present invention, the pincers jaw has closed orientation, and each pincers gnathocephalon forms truncated cone half, forms complete truncated cone when two pincers jaws are in closed orientation.
According to purpose of the present invention, a kind of endoscopic surgery operating theater instruments also is provided, comprise hollow body, have and be connected to the hollow body far-end and end effectors two pincers jaw U-shaped axle beds with far-end and near-end, useful jaw portion and the hollow body part that is pivotally connected to the U-shaped axle bed of each pincers jaw, hollow body partly has the side and the proximal part that is connected side and jaw portion with relative straight line edge, this apparatus also comprises hollo head, and hollo head is connected with the side and has a straight line edge angled with lateral cutting edge.Hollow body and head are identified for holding the biopsy cup of tissue samples, and relative cutting edge and straight line edge form the gripping surface of contact tissue sample least significant end.Manipulator is contained in the hollow body near-end, is connected to the jaw portion that clamps jaw by hollow body, handles a pincers jaw at least and rotate with respect to another pincers jaw when operation.
Also according to other characteristics of the present invention, for each pincers jaw, each cutting edge of head connects with side relative cutting edge separately at a certain angle.
Also according to other characteristics of the present invention, lateral each the relative cutting edge and the straight line edge of head determine that each clamps the adjacency periphery of jaw, and the straight line edge of lateral relative cutting edge and lateral parts is determined the first intersection district the pincers jaw in abutting connection with peripheral being connected.
Also according to other characteristics of the present invention, head has front that has preceding cutting edge and the near-end with straight line edge, and preceding cutting edge is determined the second intersection district with straight line edge in being connected of adjacency periphery of each pincers jaw.Comprise anodontia district in abutting connection with periphery in the first and second intersection districts.
Also according to other characteristics of the present invention, the front is the plane, and preceding cutting edge is collinear and has a tooth at least.
According to other characteristics of the present invention, end effector will be inserted into the scope sleeve pipe again, and end effector comes in contact in the first and second intersection districts and sleeve pipe.
Based on purpose of the present invention, the end effector j jaw that provides for the endoscopic surgery operating theater instruments comprises having near-end jaw tail and with the hollow body part of lateral distal body, and hollo head, hollo head is connected to the hollow body part and has the straight line edge angled with the side.Hollow body and head are determined biopsy cup, are used to hold tissue samples, and relative cutting edge and straight line edge form the gripping surface, contact with the least significant end of tissue samples.
Again according to other characteristics of the present invention, head has and connects the hollow body part and have with the near-end of the angled straight line edge in side and the previous section of straight front is arranged, and the straight line edge of front is connected with the straight line edge of near-end.
Based on purpose of the present invention, the end effector j jaw that provides for the endoscopic surgery operating theater instruments comprises the body portion that has near-end jaw tail and have lateral distal body, with the half head cone head that is connected with distal body.
Based on purpose of the present invention, the end effector of the endoscopic surgery operating theater instruments that provides has vertical body that has near-end and far-end and the manipulator that is contained in vertical body near-end, end effector comprises U-shaped axle bed and two the pincers jaws that connect vertical body far-end, have at least a pincers jaw and U-shaped axle bed to be rotationally connected, each pincers jaw has body portion, this body portion has near-end jaw tail and is with lateral distal body, and this end effector also has the half-frustoconical nose that is connected to distal body.
Additional characteristics according to the present invention also, half-frustoconical nose has two straight line edges and a straight front with the straight line edge that is connected with two straight line edges at a certain angle.
According to purpose of the present invention, an end effector j jaw assembly that is used for endoscopic surgery operating theater instruments U-shaped axle bed also is provided, it comprises two relative pincers jaws that are connected to the U-shaped axle bed, the pincers jaw has closed orientation, each pincers jaw has body portion, this body portion has near-end jaw tail and has lateral distal body, and this assembly also comprises the half-frustoconical nose that is connected to distal body and has two straight line edge sections at least.
Also according to feature of the present invention, the pincers jaw is determined longitudinal center's axis, and each section of two cutting edge sections has a tooth at least, and tooth is crooked at least in part with respect to longitudinal axis.
Also according to other characteristics of the present invention, two straight line edge sections of different pincers jaws are arranged side by side, and each pincers jaw has at least a tooth to interlock when two pincers jaws are closed.
According to purpose of the present invention, the end effector j jaw that provides for the endoscopic surgery operating theater instruments comprises jaw portion, hollow body part, this hollow body partly has the side and the proximal part that is connected side and jaw portion with relative straight line edge, also comprise hollo head, this hollo head has lateral parts, this lateral parts has at a certain angle the straight line edge that connects with lateral relative cutting edge, and the previous section with straight front of band straight line edge, straight line edge is connected with the straight line edge of lateral parts at a certain angle.Hollow body and head are determined biopsy cup, are used to hold tissue samples, and relative cutting edge and straight line edge form the gripping surface, contact with the least significant end of tissue samples.
The further feature that is considered to characteristic of the present invention is described in the appended claims.
Though the present invention shows and has described a kind of end effector of surgical operating instrument, a kind of method that the surgical operating instrument of end effector is arranged and form end effector, but do not plan to be limited in the scope that shows in detail because in the scope that claim is equal to, may do various remodeling and structural change under the prerequisite of not leaving spirit of the present invention.
Read the description of mask body device down in conjunction with the accompanying drawings, just can know and understand structure of the present invention and operational approach and other purpose and advantage.
Description of drawings
Fig. 1 is the far-end fragmentary, perspective view according to a kind of concrete device of surgical operating instrument of the present invention;
Fig. 2 is first concrete decomposition diagram that installs of the jaw assembly of apparatus shown in Figure 1;
Fig. 3 is a jaw assembly shown in Figure 2 perspective view at link position;
Fig. 4 is the decomposition diagram of another kind of concrete device of the jaw assembly of apparatus shown in Figure 1;
Fig. 5 is a jaw assembly shown in Figure 4 perspective view at link position;
Fig. 6 is the fragmentary, perspective view according to surgical operating instrument far-end executor of the present invention, and jaw assembly and jaw that this executor has second kind of concrete device are in deployed position;
Fig. 7 is the partial sectional view of the jaw of surgical operating instrument shown in Figure 6 in make position;
Fig. 8 is a surgical operating instrument local side front view shown in Figure 6;
Fig. 9 is a surgical operating instrument local side front view shown in Figure 7;
Figure 10 is the right side perspective view of a jaw of apparatus shown in Figure 6;
Figure 11 is a jaw left side perspective view shown in Figure 10;
Figure 12 is the left side elevation view of jaw shown in Figure 10;
Figure 13 is the right side elevation view of jaw shown in Figure 10;
Figure 14 is the schematic partial sectional view that amplify on the distal portions right side of jaw shown in Figure 10;
Figure 15 is the vertical view of jaw shown in Figure 10;
Figure 16 is a jaw distal end elevation shown in Figure 10;
Figure 17 is the partial elevation view that amplify in jaw left side shown in Figure 9;
Figure 18 is a jaw far-end amplification front elevation shown in Figure 9;
Figure 19 is the U-shaped view of the apparatus shown in Fig. 1,6,7,8 and 9;
Figure 20 is a U-shaped fork lateral elevational view shown in Figure 19;
Figure 21 is a U-shaped fork vertical view shown in Figure 19;
Figure 22 is that U-shaped shown in Figure 19 is pitched after punching press and the vertical view before being shaped;
Figure 23 is the enlarged perspective according to blade of the present invention;
Figure 24 is the perspective view of seeing from jaw assembly far-end with the 3rd of jaw assembly of the present invention concrete device of blade shown in Figure 23;
Figure 25 is a jaw assembly right side perspective view shown in Figure 24;
Figure 26 is the local amplification profile diagram of the core of Figure 10 to Figure 18 substituted device of being installed in a pair of jaw on the axle;
Figure 27 is according to the 4th of end effector of the present invention concrete device, the jaw deployed position from fragmentary, perspective view that far-end is seen;
Figure 28 is that end effector shown in Figure 27 rotates the fragmentary, perspective view of about 25 degree in the jaw make position;
Figure 29 be end effector shown in Figure 27 rotate about 90 degree from fragmentary, perspective view that near-end is seen;
Figure 30 is that end effector shown in Figure 28 is not with the partial top view of control stick;
Figure 31 is an end effector local side front view shown in Figure 30;
Figure 32 is an end effector shown in Figure 31 when the schematic partial sectional view of pin during in the centre position;
Figure 33 is an end effector shown in Figure 31 when the schematic partial sectional view of pin during not in the centre position;
Figure 34 is an end effector jaw shown in Figure 31 at deployed position and the pin schematic partial sectional view during in the centre position;
Figure 35 is the local side front view of end effector shown in Figure 34;
Figure 36 is an end effector fragmentary, perspective view shown in Figure 30;
Figure 37 is an end effector shown in Figure 30 when the fragmentary, perspective view of jaw during in deployed position;
Figure 38 is the partial, exploded perspective view of end effector shown in Figure 30;
Figure 39 is an end effector shown in Figure 27 from the fragmentary, perspective view that far-end is seen;
Figure 40 is a jaw right side elevation view shown in Figure 39;
Figure 41 is a jaw left side elevation view shown in Figure 39;
Figure 42 is a jaw vertical view shown in Figure 39;
Figure 43 is the perspective view after jaw axial rotation 180 shown in Figure 27 is spent;
Figure 44 is the perspective view of jaw after 180 degree are rotated at the center shown in Figure 43;
Figure 45 is a jaw upward view shown in Figure 39;
Figure 46 is that end effector shown in Figure 27 is seen the fragmentary, perspective view of covering from having of axle from far-end;
Figure 47 is the local amplification plan view of end effector shown in Figure 30;
Figure 48 is the vertical view that end effector shown in Figure 30 has the amplification of covering;
Figure 49 is the local front elevation view of the end effector shown in Figure 27 amplification seen of axis longitudinally;
Figure 50 is the local front elevation view of covering that has of the end effector shown in Figure 27 amplification seen of axis longitudinally;
Figure 51 is the end effector according to the of the present invention the 5th concrete device, the fragmentary, perspective view that has two frusto-conical distal end and see from far-end;
Figure 52 is the perspective view that end effector has the another kind of concrete device of jaw of single jaw tail according to the present invention;
Figure 53 is the another kind of perspective view of the jaw shown in Figure 52;
Figure 54 is the lateral elevational view of the jaw shown in Figure 52;
Figure 55 is the vertical view that the jaw shown in Figure 52 is seen from the inboard of jaw;
Figure 56 is the sectional drawing of the jaw shown in Figure 52;
Figure 57 is the another kind of sectional drawing of the jaw shown in Figure 52;
Figure 58 is the 6th a kind of concrete device according to end effector of the present invention, has the lateral elevational view of the jaw shown in a pair of Figure 52;
Figure 59 is the vertical view that the end effector shown in Figure 58 is seen from the outside of a jaw;
Figure 60 is the amplification fragmentary, perspective view of the jaw portion of the end effector shown in Figure 58;
Figure 61 is another amplification fragmentary, perspective view of the jaw portion shown in Figure 60;
Figure 62 perspective view that to be the end effector shown in Figure 58 see from far-end during in deployed position when jaw;
Figure 63 is another perspective view of the end effector shown in Figure 62;
Figure 64 perspective view that to be the end effector shown in Figure 58 see from proximal side during in deployed position when jaw;
Figure 65 is the enlarged perspective according to the another kind of concrete device of jaw assembly of the present invention;
Figure 66 is the decomposition diagram that the jaw assembly shown in Figure 65 amplifies;
Figure 67 is the another kind of concrete device perspective view of end effector jaw shown in Figure 27;
Figure 68 is the amplifier section perspective view after end effector shown in Figure 28 with the jaw shown in a pair of Figure 67 rotates;
Figure 69 is the amplifier section perspective view with end effector shown in Figure 27 of the jaw shown in a pair of Figure 67;
Figure 70 is the jaw shown in Figure 67 rotates about 180 degree around longitudinal axis a perspective view;
Figure 71 is the hidden and part sectional drawing of partial part before rotation will be by flexible endoscopes casing buckling portion time of the end effector shown in Figure 27 waits;
Figure 72 is the hidden and part sectional drawing of the partial part before rotation by bending section time of the end effector shown in Figure 71;
Figure 73 is that the end effector shown in Figure 71 continues by bending section and the partial part after rotation is hidden and the part sectional drawing;
Figure 74 is the jaw control line second concrete device was seen and shown to the optional concrete device of the jaw shown in Figure 67 from the bottom surface a upward view;
Figure 75 is the perspective view of the jaw shown in Figure 74;
Figure 76 is the enlarged perspective of the part jaw shown in Figure 75;
Figure 77 is the vertical view that shows the 3rd concrete device of jaw control line in the jaw shown in Figure 74;
Figure 78 is the perspective view of the jaw shown in Figure 77;
Figure 79 is the part enlarged perspective of the jaw shown in Figure 78;
Figure 80 is that end effector shown in Figure 34 is at a certain angle near the local side front view of tissue surface;
Figure 81 is the local side front view that the end effector shown in Figure 80 is pressed in that tissue surface rotates later on and aligns with tissue surface;
Figure 82 is the exploded view of medical equipment pincers hands jaw tail exemplary device of the present invention;
Figure 83 is sectional drawing and distal portions, axle keeper and the axle exploded view that amplify the part of the hands jaw tail distal portions shown in Figure 82;
Figure 84 is the local sectional drawing that further amplifies and distal portions, axle keeper and the axle exploded view of the hands jaw tail far-end shown in Figure 82;
Figure 85 is the schematic partial sectional view of the hands jaw tail distal portions shown in Figure 84, axle keeper and axle;
Figure 86 is the enlarged perspective of first exemplary device of axle keeper shown in Figure 82 to 85;
Figure 87 is the enlarged perspective of second exemplary device of axle keeper shown in Figure 82 to 85;
Figure 88 is lateral elevational view and the hands jaw tail and the axle assembly exploded view of the hands jaw tail shown in Figure 82 of the present invention, comprises catch bar, axle keeper and axle;
Figure 89 is a medical equipment sketch map of the present invention, has clamp, hands jaw tail and typical labelling apparatus; And
Figure 90 is the lateral elevational view of analysing and observe of the local amplification of the apparatus axis shown in Figure 82, and is underlined on axial screw.
The specific embodiment
Although drawn from description and to have defined the claim that is considered to novel features of the present invention, believe and consider that in conjunction with the accompanying drawings following description just can understand the present invention better, wherein continue identical reference number.
Before disclosing and explaining the present invention, be understood that wherein employed term only is for explaining the purpose of concrete device, be not to limit.Must be noted that,, comprise plural meaning in context if employed singular article does not have clearly and limits in description and appended claim.
Now in detail with reference to accompanying drawing, at first, Fig. 1 particularly shows a kind of concrete schematic representation of apparatus of surgical operating instrument end effector 1, and particularly, end effector 1 is that the jaw that is used for biopsy forceps drives assembly.End effector comprises pincers jaw 10, U-shaped axle bed 20 and installation shaft 30.Surgical operating instrument comprises flexible serpentine pipe 2, backguy or pull bar 3 can slide in serpentine pipe (Figure 26 to 29 describes in further detail in the back, only schematically point out at Fig. 1 with dashed lines).Although serpentine pipe 2 must not wrap, in preferred concrete device, wrap up pipe 2 with protective material 4.Material 4 is fluid-tight collapsed seal pipes, only 1 schematically draws at Fig. 1.
The near-end of backguy 3 is connected to near-end manipulator 60 (seeing Figure 63 to 70), and typical near-end manipulator is the plunger form, moves backguy 3 relative to serpentine pipe 2.Move occluding forceps jaw 10 to first direction, move the opening clamp jaw to second direction.If desired, manipulator can comprise a locking mechanism, can prevent to clamp jaw 10 behind the locking and open.Like this, in biopsy forceps configuration, after tissue samples, locking mechanism prevents to clamp jaw and opens, and therefore prevents that tissue samples from dropping in 10 grippings of pincers jaw.Figure 63 to 70 further describes manipulator 60 in the back.
Fig. 2 to 5 shows the concrete device of two-piece type pincers jaw 10 of the present invention.Far distance port 12 forms first part of two-piece type pincers jaw 10, and installing rack 14 and jaw tail 16 form second part of pincers jaw 10.Two parts can connect with different modes.
Fig. 2 and 3 shows first kind of connecting assembly.The proximal end face of far distance port 12 has two devices, and one connects otch 122 and a groove 124, for center fixation pin or pin provide the space.The joint 142 that the oriented distal direction of the distal face of installing rack 14 is outstanding.The shape of otch 122 is corresponding fully with the external shape of joint 142.Fig. 2 shows two separation, and Fig. 3 shows that joint 142 inserts otch 122.Two connect preferable methods is to make the degree of depth long (mainly by the material thickness decision of making far distance port 12) of the longitudinal length of joint 142 than otch 122.This structure is presented at Fig. 3.After joint 142 inserted otch, two linked together, and made the far-end distortion (becoming the form of rivet clasp) of joint 142, and two are permanently linked together.
Figure 4 and 5 show second kind of connecting assembly of pincers jaw 10.The proximal end face of far distance port 12 has two devices, and a link slot 126 and a groove 124 are for center fixation pin or pin provide the space.The distal face of installing rack 14 has T junction 144, and the joint pedestal is outstanding to distal direction, and the pre-portion of joint both direction to the left and right is outstanding perpendicular to the joint pedestal.The shape of link slot 126 is corresponding fully with the pedestal of joint 144.Fig. 4 shows two separation, and Fig. 5 shows that joint 144 inserts link slot 126.Only connect together with two needs slide into the end with the pedestal of joint 144 simply in groove 126.If corresponding to the degree of depth (corresponding to the material thickness of making far distance port 12) of groove 126, then T junction 144 is enough to two are linked together the longitudinal length of the pedestal of joint 144 fully.In order to increase bonding strength, T shape top compressive strain (rivet clasp) permanently can be linked together two.Can also use welding, brazing or soldering to connect in addition.
The most handy punching press of each part part is made.The structure of each part that Fig. 2 to 5 is shown can form in a punching press.
Fig. 6 to 18 shows the another kind of device of pincers jaw 100 of the present invention.Pincers jaw 100 is pivotally connected with U-shaped axle bed 20 usefulness, so be connected with screw shell 2.Pincers jaw 100 among Fig. 6 to 8 is not a two-piece type, but monoblock type becomes dull and stereotyped stamping parts with plate stamping earlier, and then is shaped into the particularly concrete shape shown in Figure 10 to 18.Therefore, pincers jaw 100 molding in two steps: punching press plate material and typing stamping parts.If desired, can increase by the 3rd step, two near-ends of jaw tail 160 are permanently linked together, for example with welding, brazing, be interlocked in the groove jaw tail or other similar method.
Figure 10 clearly illustrates the structure of one-piece j jaw 100.Jaw 120 has the cup-shaped distal portions 121 of band radial teeth 123, proximal joint 125 and two proximal arms 127.Radial teeth 124 is outstanding to the direction of another pincers jaw 100, and the tooth of two pincers jaws intermeshes, specifically shown in Figure 17 and 18.Proximal joint 125 is used for the grasping tissue sample, makes it be not limited to the volume of cup.Two proximal arms 127 are connected with the far-end of installing rack 14 and become one with installing rack 14.
Installing rack 14 is made by two blocks of completely parallel plates 141, and every block of plate is processed with pivot hole 143.The far-end of installing rack 14 is connected with proximal arm 127, and near-end links to each other with jaw tail 16.As installing rack 14, jaw tail 16 is also formed by two blocks of plates parallel to each other 161, and every block of plate is processed with control stick hole 163.Can clearly be seen that from Figure 15 and 16 proximal part 145 of the plate 141 of installing rack 14 inwardly closes up tapered, form being connected between the plate 161 with jaw tail 16.
The profile of installing rack 14 and jaw tail 16 makes it adapt to the various structures of pincers jaw 10, control backguy 3 and/or U-shaped axle bed 20.For example the proximal arm 127 near person with the aid of pictures is shorter than the proximal arm 127 away from person with the aid of pictures among Figure 10.Jaw tail 16 is narrower than a relative plate 161 near person's with the aid of pictures plate 161 in Figure 11 in addition.Compare the plate 161 among Figure 12 and 13.
Have the two-piece type jaw tail 16 whole jaw tail extremely more shown in Figure 5 tangible advantage is arranged than Fig. 1.Especially the two-piece type jaw tail advantage to punching press is more obvious, because two jaw tails are shared load in use.Correspondingly each jaw tail only needs half intensity of whole jaw tail; This also means can use thin material, thereby is convenient to punch process.Each pincers jaw 100 has two thin jaw tails 161 to allow jaw tail 161 to extend mutually when assembling and intersects.See Figure 26,28,30 and Figure 46 to 50.Because it is big that two jaw tail end executors' jaw Caudad part centerline direction displacement does not have single jaw tail end executor's jaw tail to require to the displacement of part centrage, therefore the plastic deformation of material is less when punching press, has improved the uniformity and the stamping tool life-span of punching press.It is the stability that increases the far-end assembly that two jaw tails 161 extend another advantage of intersecting mutually.In two jaw tail mechanism, end effector supports from contact point far away as far as possible by two on the axle.List jaw tail mechanism is by a contact point supporting base end portion executor on the axle.Owing to increased the strong point, two jaw tail end executors with singly meet jaw tail end executor relatively, be not easy perk (longitudinal axis with respect to device produces tilt displacement).This higher stability helps to keep end effector and tooth to aim at as biopsy forceps the time.
Another significant advantage of two jaw tails 16 is the gap of formation between the jaw tail 161.The endognath tail that the outside plate 141 that clamps jaw 100 is close to U-shaped seat, pincers jaw 100 is close to the inner surface of outer jaw tail, and pincers jaw 100 is aligned mutually, the space that produces nature at the center of pincers jaw assembly.Figure 24,28 and Figure 47 to 50 can obviously see this space.Therefore, can install parts additional in the space between the pincers jaw if desired, for example stabilization needle 40.Single jaw stern construction need be filled the space of clamping between the jaw with spacer, prevents to clamp jaw and moves.Of the present invention pair of jaw tail 16 do not need to fill center gap with parts.
The stability that two jaw tails are provided allows to use thin and flexible better material.This is to being assembled with benefit because flexible material allowing property when assembling, rather than as thicker part and assembly interfere rigidly.This advantage allows that wideer tolerance is arranged during fabrication.
The important different characteristics of one-piece j jaw 100 is tooth 123.The tooth 1231 of distal-most end is bigger than other tooth 1233.End tooth 1231 is basic teeth of clamping and cutting the tissue samples that will obtain farthest.Figure 16 shows the tooth of seeing from the far-end of pincers jaw 100 1231,1233.Figure 17 and 18 shows the state of tooth 1231 and 1233 engagements, particularly shows end tooth 1231 curve backward farthest.Tooth 1231 curve backward is favourable, prevents that tooth from sliding organizationally because angle backward helps to hook better tissue and pincers jaw when closed.This outer surface that also makes sharp crown be clamped jaw covers when the pincers jaw is closed, thereby makes outer surface smoother, is not easy to scratch sleeve pipe during by sleeve pipe at apparatus.
Figure 19 to 22 shows the preferred concrete device of U-shaped axle bed 20 of the present invention.In order to understand the structure of U-shaped axle bed 20 better, with reference to Figure 22, it is drawing, through being processed to form the U-shaped axle bed 20 that finally is presented at Figure 19 to 21.U-shaped axle bed 20 has several different parts, and all parts are an integral body, because the U-shaped axle bed is punching parts shown in Figure 22 at first.The extreme distal end of U-shaped axle bed 20 is pivot section 22.Control section 24 is at proximal direction, and is adjacent with pivot section 22.Serpentine pipe retaining part 26 is adjacent with control section 24, at proximal direction.At last, serpentine pipe support section 28 is adjacent with serpentine pipe retaining part 26, at the near-end of U-shaped axle bed 20.
The most handy rustless steel of all distal component (comprise pincers jaw 100, U-shaped axle bed 20 and pin 40, see Figure 23) improves mechanical performance through work hardening or heat treatment sclerosis.Use thin heat treatment rustless steel that several significant advantage are arranged at the surgical operation end effector.At first, can behind the material preheater or in the middle of the preheating, have ductility, condition of heat treatment to carry out punch process.At this state that can be shaped, material is shaped with traditional punching press and forming technology easily.In case formation net shape, part can be heat-treated and be improved mechanical performance, for example yield strength, ultimate strength and hardness.By suitable selection alloy, the Carpenter Custom 455 of for example 17-7 precipitation-hardening stainless steel, or Carpenter Technology company
TMOr Custom465
TMAnd control Technology for Heating Processing (time, temperature, slope are immersed cool cycles), can obtain the service life before high strength and the extension fracture.The distal component preferable material has precipitation-hardening stainless steel, for example UNS S17700 (17-7), UNS S17400 (17-4) and age hardening stainless steel, for example UNS S45500 (Carpenter 455) and UNS S46500 (Carpenter465).These materials have the best corrosion resistance of hardening stainless steel.Precipitation hardening alloy 17-7 is different with the alloy of listing above, and it merits attention especially, because 17-7 is an austenite structure in annealed condition.Therefore, improved forming property.Also can use martensitic stain less steel, for example 420 or 440, but desirable material whether very because corrosion resistance other alloy is not good as mentioned.
Second advantage using this material is that each distal parts can be with thin material manufacture, because can gain in strength by heat treatment.For example, use thin material to allow the jaw cutting edge of biopsy forceps sharper.
At last, thin material gives the bigger scope of stamping Die Design person's mfg. moulding die and improves working ability.More low profile part is crooked or form and have less stress with than the same shape of part of heavv section the time and material subsequently is mobile.It is little that this characteristic has been improved stress and wearing and tearing that the concordance that is shaped and mould produce.
About U-shaped axle bed 20, when the steel that uses the kind of mentioning with when installing when clamping jaw 10,100, the arm 222,242 of control section 24 is outwardly-bent, and arm 222,242 will bounce back into initial condition, and direction is parallel, and the tapering point of each semiaxis 224 does not have the gap and contacts.
Serpentine pipe retaining part 26 usefulness important methods are shaped.Serpentine pipe 2 forms the helical form bar, and each circle spiral and front and back circle are close to.Because this structure, last lap can not form the plane.In fact, last 360 degree of the far-end of serpentine pipe are continually varyings.Make serpentine pipe fixing extremely important.If fixedly the retainer of serpentine pipe 2 far-ends is planes, just only some contacts far-end retainer to last lap.In order to guarantee that last lap is correct and reliably contact that the punching parts of U-shaped seat 20 has four serpentine pipes maintenance tabs 262,264,266,268.Along the pitch that serpentine pipe 2 forms, each tab has different fore-and-aft distances.Therefore, when the part shown in punching press U-shaped axle bed shown in Figure 22 20 formation Figure 19 to 21, the longitudinal axis with U-shaped axle bed 20 is not vertical for four tabs 262,264,266,268, but along the trend of the helix of serpentine pipe 2, shown in Figure 21 and Figure 32 to 34.According to the order from the near-end to the far-end, first tab is 262, second and is 264, the 3rd to be 266, the 4th be 268.In Figure 22, the order of these four tabs is from the rightmost of U-shaped axle bed 20.Order does not require fixing, and for example first tab 62 can be from Far Left.But in order to guarantee that tab arranges along helix shape, must corresponding by the order (first to the 4th) of tab 262,264,266,268 (clockwise direction be from left to right, is from right to left counterclockwise) with spiral coil.
Serpentine pipe supporting part 28 is pipes, and the far-end of serpentine pipe 2 is sandwiched in the inside, the method for handy crimping and fixing.If it is very tight that the size of serpentine pipe supporting part 28 cooperates with the periphery of serpentine pipe, then do not need other fixture.But importantly U-shaped axle bed 20 can not come off or is out of shape and departs from the net shape shown in Figure 19 to 21 from serpentine pipe 2.For this reason, have connecting device 282 during U-shaped axle bed 20 drawings of Figure 22, it prevents round screw thread piping support part 28 mistake circles.U-shaped axle bed 20 does not preferably contact and uses externalist methodology with end when the part that forms shown in Figure 19 to 21.For this reason, connecting device 282 usefulness mechanical means connect the right and left shown in Figure 22.Dovetail groove form shown in the most handy Figure 19 to 22 so just can be only interconnection with the right and left of serpentine pipe supporting part 28 by the method for machinery.
When pincers jaw 10,100 opens and compresses sampling when organizing, it is favourable that there are centrepin or pin in the inside of finding to hold tissue samples after pincers jaw 10,100 closures.The present invention includes a special self-centering blade 40, in the internal cavities that it is formed by far distance port 12,120 between pincers jaw 10,100.As shown in figure 23, blade 40 distal cut district 42 is arranged, have the central pivot district 44 of pivot hole 442 and have two centering control surfaces 462 near-end centring means 46.Figure 24 and 25 shows how pin 40 is contained between the pincers jaw 10,100.
Figure 23 shows preferred cutting area 42, and its shape is the triangle double-edged spike.Therefore, when catching tissue samples in the cavity of far distance port 12,120, blade 40 is divided into two the length direction of tissue samples along blade.Figure 24 and 25 shows that blade 40 is installed on the axle 50 with the pincers jaw is coaxial in pincers jaw 10,100.Should note the right side that axle 50 does not stretch out installing rack 14,140 between the axillare 222 that is inserted into U-shaped axle bed 20 time, shown in Figure 24 and 25.Axle 50 is drawn longly just for understanding easily Figure 24 and 25 kinds.In preferred concrete device, axle 50 is roughly concordant with the outer surface of installing rack 14,140, perhaps stretches out the plane a little, so the do not rub inner surface of axillare 222 of U-shaped axle bed 20 of installing rack 14,140 when pivoting.
As top description about jaw tail 160 and backguy 3, the shape of jaw tail 16,160 and the rotation of one-piece j jaw 100 do not interfere.Figure 26 shows a kind of concrete connecting device between the jaw tail 150 of controlling backguy 3 and each pincers jaw 100.Device among Figure 26 does not comprise center insert 40, but between installing rack 140 and jaw tail 160, adopt suitable intermediate shape, center at two pincers jaws 100 can slot milling, so that blade 40 is installed on the axle 50 at center of pincers jaw 100, for example in the pointed position of axle 52 upper edge dotted lines.Backguy 3 extends lengthwise into control stick hole 163, crooked 90 degree enter control stick hole 163, pass two control stick holes 163 on the parallel-plate 161 along vertical component 32, the control stick hole 163 of stretching out second parallel-plate 161, crooked 90 degree combine with jaw tail 160 and can be from the hole 163 drop out.Should be noted that should have enough looseness cooperating between hole 163 and the backguy 3, allows jaw tail 160 freely to rotate around vertical component 32.
Figure 27 to 29 shows end effector 200 preferred concrete devices of the present invention.Identical with in other device of U-shaped axle bed 20 and serpentine pipe 2, but clamp jaw 220 differences, will be further explained in detail in conjunction with Figure 39 to 50.Serpentine pipe supporting part 28 in the U-shaped axle bed 20 of Figure 27 etc. does not have dovetail groove connecting device 282.
Can see that control backguy 3 is drawn at the control section 24 of U-shaped axle bed 20 by the far-end of serpentine pipe 2 and the serpentine pipe retaining part 26 of U-shaped axle bed 20.Crooked 90 degree of backguy 3 enter control stick hole 263, extend through two control stick holes 263 (seeing Figure 28) on the parallel-plate 261 along upright opening 32, the control stick hole 263 of stretching out second parallel-plate 261, and crooked 90 degree combine with jaw tail 260 and can be from the hole 263 drop out.See from Figure 27 and 29, be combined with enough looseness between hole 263 and the backguy 3, allow jaw tail 260 freely to rotate around vertical component 32.
A surface in two centering control surfaces 462 of the near-end centring means 46 of Figure 28 and Figure 30 to 34 demonstration blade 40.Control surface 462 is controlled tab 241 with the blade on the installing rack 240 and is interacted.The sectional drawing display control table face 462 of Figure 32 to 34 interacts with blade control tab 241.When pincers jaw 220 closures, control surface 462 does not interact with blade control tab 241.Figure 32 and 33 shows that blade 40 can freely rotate around pivot when pincers jaw 220 closures.Otherwise when pincers jaw 220 when opening up into specified degree, control surface 462 interacts with blade control tab 241, and as shown in figure 34, it is parallel and directly lean against and control on the tab that control surface 462 and corresponding blade are controlled the contact surface of tab 241.Because this structure, blade control tab 241 limit the maximum stretching degree of pincers jaw 220 also as pincers jaw stop.In brief, the α angle of being determined by two control surfaces 462 (seeing Figure 34) limits the maximum stretching degree of pincers jaw 220.If α angle shown in Figure 34 increases, it is bigger then to clamp jaw 220 opening widths, if the α angle reduces, then clamps jaw 220 opening widths and reduces.Figure 35 shows the front view of the pincers jaw 220 of Figure 34.
The concrete device of the preferential selection that Figure 36 and 37 demonstrations and Figure 27 are similar with 28, but backguy 3 do not controlled, and Figure 38 shows each part of the end effector shown in Figure 27 to 50 with exploded view.In order to assemble end effector of the present invention, with one group of parallel-plate 261 of jaw tail 26 separately,, see Figure 46 to 50 with two pincers jaw 220 overlapping putting into.Blade 40 is contained in the center of two pincers jaws 220, axle is passed the pivot hole 44 of each pivot hole 243 and blade 40.Then separately, so that axle 50 is enclosed within on the semiaxis 224 with two semiaxis 224.On a semiaxis 224, allow another semiaxis rebound a borehole jack of axle 50, enter in second hole of axle 50 other ends by the chamfering of another semiaxis 224 far-ends.To control backguy 3 then and insert, pincers jaw 220 will be fixed on correct position on the U-shaped axle bed 20 by control stick hole 263.
Figure 27 to 50 shows the preferred concrete device of pincers jaw 220 of the present invention.From Figure 27 to 50, particularly Figure 39 to 50 as can be seen, the profile of far distance port part 221 has angle.Two sides 223 are parallel to each other and face directly fully, and front 225 is vertical with side 223, also faces directly.Corresponding prism 229 connects side 223 and front 225.The same with front 225 with side 223, prism 229 is also faced directly.Proximal arm 227 connects side 223 and installing rack 240.
At Figure 27 to 50, there is tooth 2232 side 223, and there is tooth 2252 front 225, and prism 229 has tooth 2292.But these teeth 2232,2252,2292 can take off.In a kind of preferred concrete device, connecting portion when the tooth 2232,2292 of side 223 and prism 229 is made between the connecting portion between side and the prism and prism and front forms the space, this structure allow gripping to the tissue of far distance port part 221 by the space outflow or bloat, thereby make the more biopsy sample of more space gripping is arranged in the mouth.Also have second benefit in the space of connecting portion, reduce cutting edge, these cutting edges may scratch sleeve pipes or cause other damage during by the scope sleeve pipe when end effector.To go through these spaces below.
Each outer surface of each installing rack 240 forms the outstanding ring 245 around pivot hole 243, is used for installation shaft 50.Ring 245 allows eclipsed part, and---blade 40, two pincers jaws 220---freely rotate on axle 50 mutually.
The pincers jaw shape of Figure 27 to 50 is not unique variation of the frusto-conical distal end 229,225 of pincers jaw 220.For example shown in Figure 51, far-end can be two conical butts and have two prisms parts, proximal part 229 ' and a distal portions 229 ".Shown in Figure 65 and 66, frusto-conically shaped portion 229 can have curve or frusto-hemispherical shape in addition.
As described above, two jaw tail apparatus are preferred construction.But shown in Fig. 1 to 5, the device of Figure 27 to 50 also can be made single jaw tail.This change is presented among Figure 52 to 64.
Figure 52 to 57 shows the another kind of concrete device of the pincers jaw 320 of the end effector 300 with single jaw tail 360. Tooth 3232,3252,3292 can be arranged, also can remove tooth from any cutting edge.In illustrated device, respectively there are four teeth 3,232 two sides 323, and frustoconical part 329 has one or two tooth 3292 respectively at two cutting edges.At last, there are two teeth 3252 front 325.Show specifically that at Figure 58 (also have Figure 60 to 64) relative pincers jaw 320 can make the tooth of anodontia or tooth and the pincers jaw 320 shown in Figure 52 and intersect.
From Figure 52 to 64, particularly from Figure 52 and 58 as can be seen, the profile of far distance port part 321 has angle.Two sides 323 are parallel to each other and face directly fully, and front 325 is vertical with side 323, also faces directly.Corresponding prism 329 connects side 323 and front 325.The same with front 325 with side 323, prism 329 also is to face (but can by shown in Figure 65 and 66 crooked) directly.Proximal arm 327 connects side 323 and installing rack 340.
At Figure 52 to 64, there is tooth 3232 side 323, and there is tooth 3252 front 325, and prism 329 has tooth 3292.But these teeth 3232,3252,3292 can take off.In a kind of preferred concrete device, connecting portion when the tooth 3232,3292 of side 323 and prism 329 is made between the connecting portion between side and the prism 323 and prism and front 325 forms the space, this structure allow gripping to the tissue of far distance port part 321 by the space outflow or bloat, thereby make the more biopsy sample of more space gripping is arranged in the mouth.Also have second benefit in the space of connecting portion, reduce cutting edge, these cutting edges may scratch sleeve pipes or cause other damage during by the scope sleeve pipe when end effector.To go through these spaces below.
The interface of the structure of jaw tail 360 and jaw tail and blade 40 is similar with two jaw stern constructions of the punching press pincers jaw shown in Figure 27 to 51 to Figure 10 to 18, no longer repeats here.
Should be noted that each distal portions of the present invention is drawn as conical butt.But this is not unique shape of end effector distal-most end.In other concrete device, distal-most end (promptly 225,325) can become a bit, can be crooked or can not have fully.For example in front in a kind of substituted device of 225,2252,325,3252, tooth 2252,3252 and front 225,325 can be removed, and the space of increase is provided, and the tissue of far distance port part 221,321 grippings can flow out or bloat.
Rotation free of one another on axle 50 that the same with pincers jaw 220, each outer surface of each installing rack 340 can form the outstanding ring around pivot hole 343, is used for installation shaft 50, and it allows overlapping part---blade 40, two clamp jaw 320---.
Forming far-end executor of the present invention with the method for punching press adopts the annealing metal sheet that superiority is arranged.This metal sheet allows at stamping procedure bigger crooked and meticulousr processing is arranged.Annealed material is shaped and cutting easily, and is little to tool wear.In case be shaped from raw material, the end effector j jaw may not possess desired mechanical performance without processing for the second time.The mechanical performance of this metallic plate can be greatly strengthened in processing for the second time, and the example of this class processing comprises: the combination of heat treatment, age-hardening, surperficial sclerosis, ion implantation technique, carbo-nitriding, cold working or these technologies.Jaw for the biopsy forceps that is shaped with the 17-7 precipitation-hardening stainless steel, when reaching 11: 1, the ratio of the diameter of end effector and material thickness need post-treatment (precipitation-hardening) to increase the mechanical performance of material, be preferably in about 30: 1 to 11: 1 for this ratio of flexible endoscopes apparatus (for example biopsy forceps), especially between 20: 1 to 11: 1, discretely be approximately 17: 1 or 11.4: 1.
Figure 65 and 66 shows the other concrete device of pincers jaw assembly of the present invention.Pincers jaw 300 has crooked interlude 329, the side with face side 323 directly and face front 325 directly and be connected.In this device, axle 50 has the rectangular profile of band round end, and is corresponding with the axis hole of pin 40, so that pin is according to the orientation positions of axle 50.
Figure 67 to 70 shows another concrete device of pincers jaw assembly of the present invention.This device has been expanded the ability of pincers jaws 220, guarantees the tissue of the far distance port part 221 gripping heap(ed) capacities of pincers jaw 220.Many characteristics are similar to Figure 39 to 45, no longer repeat specification.Different with the device shown in Figure 27 to 50, far distance port part 221 and two sides 223 define fenestra 226.This shape allow gripping to the tissue of far distance port part 221 from the fenestra outflow or bloat the more biopsy sample of slot milling gripping.
Fenestra 226 just need not cut out the right angle on the plane of the pincers jaw 220 of punching press, the cutting edge of each fenestra 226 when being shaped towards the pincers cup inboard of punching press, make outer cutting edge circular, thus reduce biopsy forceps in the scope sleeve pipe when mobile to the probability of casing wear.Two tear-drop shaped or 226 to one fenestras of egg shape fenestra are better for reducing the apparatus wearing and tearing, because the web 2262 between the fenestra 226 contacts with sleeve pipe when pliers passes through sleeve pipe, rather than the fenestra cutting edge contacts with sleeve pipe.
Typical biopsy forceps cups has fenestra.But original art designs does not reduce the chance of casing wear, has increased the probability of wearing and tearing on the contrary.As top description, the cutting edge (seeing Figure 67 to 72 and Figure 74,75) that fenestra 226 exposes is made into to contact with sleeve pipe the shape of minimum.Separate fenestra 226 with intermediate plate abdomen 2262, when end effector passes through the apparatus sleeve pipe, have only the level and smooth surface of middle pectoral plate 2262 to contact, see Figure 73 with sleeve pipe.Therefore, when the telescopic sweep of end effector 200 collisions, the front end cutting edge that the pincers jaw is oblique and the confluce of lateral straight edge contact sleeve pipe.If there is the land mouth this confluce, then the tooth limit is pressed towards casing wall, may damage sleeve pipe.Therefore, at this transition region cancellation tooth, be an advantage so that reduce casing wear.
By this sweep the time, end effector is pressed towards the surface of sleeve pipe 1000 when bending advances.Equally, when the end effector of biopsy forceps passes through sleeve pipe, also slide along internal surface of casing.If the rough surface of end effector perhaps has the cutting edge of exposure---such as the cutting edge of pincers flank, the sliding force of this increase can cause casing wear.Therefore, the present invention reduces the telescopic probability of damage flexible endoscopes from many aspects.
Figure 71 to 73 shows the sweep of end effector 200 of the present invention by flexible endoscopes sleeve pipe 1000.Figure 71 shows the sight of " worst case " that end effector 200 contacts with sleeve pipe 1000.Especially the plane parallel that limits of the sweep of the axis of bending of end effector 200---corresponding to axle 50 (seeing Figure 24)---and sleeve pipe 1000 and be in (this plane also is the plane at Figure 71 to 73 place in this example) in this plane.Under this shape, end effector 200 initial crash definitely can not crooked---in Figure 71, representing---during to sweep with first contact point 1010 because pincers jaw 220 can only be around axle 50 rotations.Therefore in order to pass through sweep, axle 50 needs with the sweep plane angled at least, perhaps it would be desirable vertical with the plane of sweep.
Pliers of the present invention has relatively long serpentine pipe 2, and it can have certain rotation and not produce irreclaimable distortion with respect to longitudinal axis.When end effector 200 passed through bending section, rotary resistance was more much smaller than the transverse curvature power that affacts axis 50 like this, therefore forwarded end effector 200 to shown in Figure 73 orientation naturally in sleeve pipe 1000.Under this orientation, end effector 200 can be around axle 50 bendings, and in this example, crooked ideally 90 degree make web lean against the 3rd contact point 1030 of bending section inner surface.Because web 2262 is level and smooth and become curve, pass through the bending section of sleeve pipe 1000 with the wearing and tearing of minimum.
In addition, reduce rigidity (inflexibility) segment length of end effector, can alleviate the power of passing through that applies, it is moved along curved surface better.
The centering pin that original device comprises is more much longer than pin of the present invention 40.The centering pin that these are original even extend to the U-shaped axle bed that passes end effector at proximal direction.The Radial Jam that BostonScientific makes
TMThe centering pin of biopsy forceps is an example, and its rigid length is the twice of pin 40 of the present invention.This long centering pin hinders original end effector to rotate when the pincers jaw is closed, and this has just increased the rigid section length of end effector.
In contrast, the present invention allows centering pin 40 freely to rotate together with the pincers jaw in pincers jaw 220, reduces the rigid section length of end effector 220 effectively, and is more much easier than original end effector by sleeve pipe.
Figure 27 to 29, Figure 68 and 69 show first concrete device of backguy or bar 3.In this device, backguy 3 extends lengthwise into control stick hole 163,263, crooked 90 degree enter control stick hole 163,263, extend through control stick hole 163,263 on two parallel plates 161,261 along vertical component 32, stretch out in control stick hole 163,263 from second parallel-plate 161,261, crooked 90 degree are connected with jaw tail 160,260, not 163,263 possibilities that come off from the hole.In order to operate pliers, bar 3 is applied power.The S shape bending of backguy 3 reduces it greatly and jaw tail 160,260 is isolating possible.
Figure 74 and 79 shows the another kind of concrete device 360 of jaw tail 160,260, and second kind and the third device of the backguy 3 shown in the previous figure.
As top description, backguy 3 is connected to pincers jaw 10, and permission backguy 3 is freely rotated and allowed each pincers jaw 10 of end effector 1 to pivot.Backguy 3 must be fixing, it can be pushed away with the jaw tail 160,280,360 of draw vice jaw 10 can not come off.Produce the basic transmission of power when closed ends executor 1, this is by finishing to far-end pulling backguy 3.Along with backguy 3 is applied pulling force, at the flexural loading of the far-end of backguy 3 and jaw tail 160,260,360 junctions with begin stretching---make backguy 3 not be subjected to the restriction of jaw tail 160,260,360, in control stick hole 163,263,363, be free to slide.But have only when not taking to prevent this stretching measure, just exist this may.
Figure 74 to 76 shows the concrete device of second of backguy 3.Only draw in this drawing one and clamp jaw 10.But each pincers jaw 10 has corresponding backguy 3, does not therefore need to repeat.In order to be connected to pincers jaw 10, backguy 3 extends lengthwise into control stick hole 363 (from the near-end of pliers) along first 31, crooked 90 degree enter control stick hole 363, extend through two control stick holes 363 on the parallel plate 361 along vertical component 32, stretch out in control stick hole 363 from second parallel-plate 361, crooked another 90 degree oppositely extends along third part 33 to proximal direction, is connected with jaw tail 360 herein.Second kind of device of this of backguy 3 reduces it greatly and jaw tail 360 is isolating possible.
In order to reduce 3 unexpected disengagings of backguy, a plate 361 of two parallel-plates 161,261 has the backguy of band guard shield to support 365.The shape of the backguy support 365 of band guard shield provides support backguy 3, thereby prevents that backguy 3 breaks away from from jaw tail 360.The backguy of band guard shield is supported 365 transverse section and is become U-shaped, therefore has first vertical supporting leg 366, horizontal component 367 and second the vertical supporting leg 368 relative with first vertical supporting leg 366.First vertical supporting leg 366 is one with plate 361, and a proximal part cutting edge of slave plate 361 extends (can certainly extend from another side or from both sides).Support 365 three third parts 33 around backguy 3.The important point is to support 365 to contact with the third part 33 that is positioned at first 31 opposites or approaching.When F power is passed to backguy (seeing Figure 74), it is stretching to the G direction to promote third part 33.Stretching power has been subjected to the counteracting of second vertical supporting leg 368 of stop surface effect.In this concrete device, backguy 3 from support 365 relative plates 36 1 near jaw tail 360,365 inside bend are circular and stop supporting.
Figure 77 to 79 shows the concrete device of the 3rd of backguy 3.The same with Figure 74 to 76, only draw one and clamp jaw 10.Each pincers jaw 10 has the backguy 3 of oneself, no longer repeats.Different with Figure 74 to 76, in the 3rd concrete device, backguy 3 is by supporting 365 near jaw tail 360, and is circular and stop in jaw tail 360 inside bend.
For backguy 3 being connected on the pincers jaw 10, backguy 3 31 extends lengthwise into control stick hole 363 from the pliers near-end along first, crooked 90 degree enter control stick hole 363, pass two control stick holes 363 on the parallel-plate 361 along vertical component 32, stretch out the control stick hole 363 of second parallel-plate 361, in this termination.The same possibility that reduces any from 360 disengagings of jaw tail of the third device of backguy 3.
In order to reduce 3 unexpected disengagings of backguy, a plate 361 of two parallel-plates 161,261 has the backguy of band guard shield to support 365.The shape of the backguy support 365 of band guard shield provides support backguy 3, thereby prevents that backguy 3 breaks away from from jaw tail 360.The backguy of band guard shield is supported 365 transverse section and is become U-shaped, therefore has first vertical supporting leg 366, horizontal component 367 and second the vertical supporting leg 368 relative with first vertical supporting leg 366.First vertical supporting leg 366 is one with plate 361, and a proximal part cutting edge of slave plate 361 extends (can certainly extend from another side or from both sides).Support 365 three firsts 31 around backguy backguy 3.The important point is to support 365 to contact with the first 31 that is positioned at plate 161,261 opposite houses or approaching.When F power is passed to backguy (seeing Figure 77), promote horizontal component 32 and be straightened.Stretching power has been subjected to the counteracting of second vertical supporting leg 368 of stop surface effect.
Should be noted that two backguys 3 are not drawn passes whole serpentine pipe 2,4 and enters hands jaw tail 62, because there is no need.But the present invention preferably device has two backguys 3, its length is extended jaw tail 62 in one's hands and is passed through the major part of bar 5 (if not all), particularly 511,513,515 3 sections of the near-end coupling part 51 by bar 5, because this three section 511,513, the 515th, crooked, thus vertically two backguys 3 are being remained in the bar 5.
Here mention the shape of backguy 3, so that help to explain important feature of the present invention, these characteristics are particularly illustrated in Figure 80 and 81.
When biopsy device during near this organize of sampling, the front of pincers jaw is seldom can be exactly vertical with this tissue of sampling.The angled sampling of this off plumb means that tissue 1100 can not be full of jaw (it is empty organizing jaw rear portion far away from sampling) fully when the pincers jaw is pressed into sampling tissue 1100.In order to guarantee sampling capacity maximum, the front 225 of pincers jaw 220 shape that is in line, side 229 bevels.Cutting edge 228 (in front 225 and each side 229 between) forms the gripping angle, when pushing down tissue 1100, will insert tissue, the power that rotates naturally, make front 225 forward to organize 1100 surperficial parallel.Pincers jaw 220 is close to vertically approaching motion assurance tissue samples at associated jaw portion 221 gripping heap(ed) capacities when clamping jaw 220 closures from inclination.
Original biopsy forceps, for example the Radial Jam of Boston Scientific manufacturing
TMPliers includes center needle between the pincers jaw.But original this pin and U-shaped axle bed keep vertically aligning (direction of the pin 40 shown in Figure 80), also are like this even the pincers jaw forwards the direction shown in Figure 81 to.In contrast, when pincers jaw 220 when open fully any position between position shown in Figure 80 and the offset position shown in Figure 81, pin 40 among the present invention rotates with two pincers jaws 220, keeps pin middle (clamping jaw 220 certainly can rotate with the rightabout shown in Figure 81).This rotation of pin 40 guarantees that the problem that original device exists no longer takes place---the biopsy sample in the jaw of the no longer crowded broken closure of pin.
The length of every backguy 3 is enough to compensate in order to clamp jaw 220 and pin 40 and places the difference of the needed length in position shown in Figure 81 in serpentine pipe 2 (flexible, make crooked).Certainly, might use substituted device, two backguys are significantly shortened, be connected to the far-end of unillustrated the 3rd adapter, this adapter extends by serpentine pipe 2,4, and the bar 5 of hands jaw tail 60 longitudinally is connected to two backguys 3.But in this device,, will not have enough free movements to make and be organized into certain angle end effector 220 off-center, as top description in conjunction with Figure 80 and 81 with sampling if backguy 3 is too short.
Operating end effector 1 of the present invention is that backguy 3 is applied a power, as Figure 28 and 29 or the comparison of Figure 36 and 37.For occluding forceps jaw 10 pulls line 3 to proximal direction, stretch backguy 3 to distal direction during the opening clamp jaw.Here the backguy 3 of Xian Shiing all is two independently backguys, and the far-end of every backguy connects a pincers jaw 10 respectively.The near-end of backguy 3 does not draw, and is connected respectively to the far-end of single operation bar 5.The near-end of action bars 5 is presented at Figure 82, extends to end effector with ellipsis indication rod 5 and/or backguy 3 to distal direction.
Figure 82 shows all parts of forming proximal actuator of the present invention or hands jaw tail 60.The most proximal end part (comprising coating 4 and inner helix pipe 2) of cated serpentine pipe shows separates (extending by serpentine pipe 2 at assembled state) with action bars 5.Action bars 5 has coupling part 51 at near-end, is used for bar 5 is connected jaw tail center 62 in one's hands, and method of attachment will be described in detail below.
The operation part of hands jaw tail 60 comprises hands jaw tail center 62, hands jaw tail center has thumb rings 622 in preferred embodiment, be used for user and insert thumb, dimeric sleeve part 70,72 can stretch into finger of user at least, preferably uses forefinger and middle finger.Sleeve part first 70 comprises to the device of metal pincers jaw 10 supply cauterys energy and the device that two parts sleeve part is fixed together on hands jaw tail center 62.Cautery is not the function of pliers requirement of the present invention, if but injured of patient's sampling can obtain sample during with cautery better, preferably adopt cautery.Therefore the present invention will describe cauterization feature.Second sleeve part part 72 also can comprise the device that two parts sleeve part is fixed together on hands jaw tail center 62.
Conduction cautery plug 80 is equipped with in cautery sleeve part 70 inside, and being used for being connected to cautery can supply unit 82 (in only schematically expression of Figure 82).Supply unit 82 is connected to cautery power connection (socket 74), and power connection is contained on the cautery sleeve part 70, is used for supplying with the cautery energy to cautery plug 80.Cautery plug 80 is made with metal in order to conduct electricity, and rustless steel for example, but the most handy copper or copper alloy are such as phosphor-copper or copper beryllium alloy.
Cautery plug 80 preferred forms are to have power connection 81, and its shape can be connected to supply unit 82 removably.Attaching plug 81 extends to socket 74, the socket part of only drawing in Figure 82.The shape of socket 74 preferably can be inserted the standard cautery attaching plug of conventional cautery power supply.Particularly the shape of the aperture of socket 74 and plug 81 can be connected on the cautery supply unit of being made by Olympus and/or Microvasive removably.Form aperture at cautery sleeve part 70, be used for inserting cautery plug 80 in adaptive mode, the sketch map by cautery plug 80 in Figure 83 can be seen a part.Adaptive locking or adaptive connection are that the shape by element links together two elements, and in contrast, it is element to be applied external force element is locked together that afterburning locking connects.
On cautery plug 80, sleeve part joint 83 is positioned at an end opposite with power connection 81, the aperture (not drawing among the figure) in second sleeve part of adaptive insertion 72.Like this, encase hands jaw tail center 62 (slip on it will be explained below) when two sleeve parts 70,72 combine, cautery plug 80 is fixed.
Cautery plug 80 also needs to contact with bar 5, so that cautery can be transferred to the pincers jaw 10 of end effector 1 from electric supply installation 82 by cautery plug 80, bar 5 and backguy 3.In order to form this connection, cautery plug 80 has rod connecting device 85, and in preferred device, connecting device is the flange 85 that stretches out downwards, and is porose 87 on the flange, is used for the near-end coupling part 51 of insertion rod 5.For the coupling part 51 with bar 5 is connected to flange 85, with the near-end 511 of bar 5 with the vertical mode patchhole 87 of the mode shown in Figure 82.To the longitudinal axis direction dwang of flange 85, make sweep have a horizontal segment 513 to be stuck in the hole 87 then.This moment, bar 5 was parallel with the longitudinal axis of flange 85, shown in Figure 83.The distal portions 515 of coupling part tilts to the longitudinal axis direction, aligns fully with the longitudinal axis of convenient bar bar when distal portions 515 is bent away from and the longitudinal axis of flange 85, shown in Figure 83.
The near-end of hands jaw tail center 62 has finger ring 622, at far-end cable holder 624 is arranged, and slipper 626 is between finger ring 622 and cable holder 624.The shape of slipper 626 cooperates with two sleeve parts 70,72, so that sleeve part 70,72 can be slided between remote location and proximal location.The shape of slipper 626 also cooperates between two sleeve parts 70,72 with cautery plug 80, so that cautery plug 80 is moved with sleeve part 70,72 and bar 5 is moved with cautery plug 80 and sleeve part 70,72.
For the moving parts of separating the jaw tail 60 of loosening one's grip better and the contact between the retaining element, contrast Figure 83.The cylindrical of hands jaw tail center 62 forms with curve form, and is preferably circular, to produce the slip of sleeve part 70,72.Equally, form supporting and slidingsurface 722,702 respectively at sleeve part 72 and cautery sleeve part part 74 inside.
Make cautery plug 80 can move freely (between sleeve part 70,72) at the hands jaw tail center 62 inner cannelures 6262 that form.Like this, when sleeve part 70,72 when slipper 626 slides up and down, cautery plug 80 also moves.This moving causes that bar 5 moves according to moving together of cautery plug 80.So the coupling part 51 of bar 5 is not rotated or shaken, each sleeve part 70,72 has area supported.Two area supporteds 704 on the cautery sleeve part 70 are drawn in Figure 83.
In order to prevent the longitudinal axis rotation of sleeve part 70,72 thorny jaw tail center 62, sleeve part 70,72 contains the anti-rotation device 706,726 of form of flanges, and the distance of flange is slightly less than the width of groove 6262.Certainly, can be that one or another sleeve part comprise flange 706,726, preferably two sleeve parts respectively comprise flange 706,726 half.
There is several different methods that two sleeve parts 70,72 removably or are permanently combined.Figure 82 and 83 shows the method that preferably two sleeve parts 70,72 is combined.Each sleeve part 70,72 has 708,728 and two pin holes 710,720 of two pins.Pin 708,728 combines with hole 710,720 usefulness shape adaptive methods and/or pressure fitted method.In the device shown in Figure 82,83, pin the 708, the 728th, hollow, endoporus can be unthreaded hole or screwed hole.Do not draw screw or bolt from pin 708,728 relative direction patchholes 710,720 be screwed into pin 708,728.
The connection of serpentine pipe 2,4 jaw tails 62 in one's hands appears on the cable holder 624, shown in Figure 83 to 85.Cable holder 624 has endoporus 6242 from the near-end to the far-end.The internal diameter unanimity in hole 6242.6242 near-end has integral type coaxial positioning ring 6244 in the hole.Locating ring 6244 has two effects, the first, 6242 far-end inserts from the hole when bar 5, reaches near-end, be screwed in the hole 87 of flange 85 of cautery plug 80 after, bar 5 is remained on the center.Locating ring 6244 is enough thin, does not hinder crooked coupling part 51 to pass.The second, locating ring 6244 super helix pipes 2,4 position-limiting actions at near-end, it is dark to prevent that serpentine pipe 2,4 was screwed in hole 6244.
If but serpentine pipe 2,4 only is in the patchhole 6242, is can not be fixed.Preferably parts are finished the task that serpentine pipe 2,4 is connected with hands jaw tail center 62, without binding agent and any other crimping or shaping operation.Therefore adopt shaft retainer 90.
The device that shaft retainer 90 is polymer coatings 4 of catching cable holder 624 and serpentine pipe 2 surfaces, link together two parts.Shaft retainer 90 simply slides over the near-end of serpentine pipe 2,4.In order to control insertion depth, in first device shown in Figure 86, the stop 92 that shaft retainer 90 has folded over to form.In second device shown in Figure 68, stop 92 can form lacuna, Hu Zui or other shape, extend into the endoporus of shaft retainer 90, the insertion of restriction serpentine pipe 2,4.The serpentine pipe 2,4 that will have shaft retainer 90 then is from hands jaw tail far-end patchhole 6246, and straight way withstands till the locating ring 6244.Insertion and link position are presented at Figure 85 (for clarity sake removing bar 5) fully.
If the distal direction to serpentine pipe 2,4 applies power, only the near-end at serpentine pipe 2,4 adopts shaft retainer 90 may be not enough to prevent that serpentine pipe 2,4 breaks away from.Therefore shaft retainer 90 has outside tab 94 and inside tab 96.When shaft retainer 90 was pressed into hole 6242, outwards tab 94 flattened, and when stopping to be pressed into, outer tendency of tab 94 pressed to the inwall in hole 6242.Sharp and hard tab 94 and softer hole 6242 are inner to combine (the most handy plastics), is cut into hole 6242, prevents that shaft retainer 90 from extracting from hole 6242.If hole 6242 inwalls are processed into matsurface (no matter random, screw thread or alternate), can provide elastic space for tab 94, help the tab inwall of contact hole 6242 securely.In this structure, shaft retainer 90 is locked in the hole 6242.Also can be with hole 6248 locking of passing cable holder 624 bodys (in Figure 85 a with dashed lines draw sketch map).
Top connection is connected to cable holder 624 securely with shaft retainer 90.Shaft retainer 90 also is processed with inside tab 96.Serpentine pipe 2,4 is inwardly outstanding, and after serpentine pipe 2,4 inserts, flexible plastic coating protection material 4 around the tab incision serpentine pipe 2, even incision is enough dark, catches the rigid material of serpentine pipe 2, shown in Figure 85.Without binding agent and any other crimping or shaping operation, use very simple procedure of processing shaft retainer 90 like this with serpentine pipe 2,4 fixedly connected jaw tail center 62 in one's hands.
Figure 88 shows the isolating assembly that comprises bar 5, serpentine pipe 2,4 and shaft retainer 90 of assembly with the sleeve 70,72 that comprises hands jaw tail center 62 and maintenance cautery plug 80.When making hands jaw tail center 62, in order to save material, can be with any method or shape at hands jaw tail center 62 outsides processing otch 628.
Because the user of pliers wishes to obtain the sample in the closed pincers volume 10, it is satisfactory therefore making end effector 1 tend to make position.Therefore between hands jaw tail center 62 and sleeve 70,72, adorn a bias device.For example, in cannelure 6262, center on bar 5 shock mounts 92.In this structure, sleeve 70,72 can have a surface that is similar to anti-rotation device 706, but be positioned on following one group of supporting and the slidingsurface 722,702, perhaps anti-rotation device 706 can be contained in the lower end of sleeve 70,72, as the upper support surface of spring 92.The lower surface 6264 of cannelure 6262 is as the lower end area supported (seeing Figure 88) of spring 92.
As what point out at this paper, it is favourable that original cue mark is improved, and this labelling is added to the distal portions of sheath, arrives the visual cue of target for the doctor provides instrument tip.This paper has also discussed the improvement of printing this labelling, has seen that elimination may be desirable because of what increase that better cue mark damages meticulous epitheca.
Figure 89 and 90 is a kind of medical apparatus and instruments sketch maps that have end effector 1 (for example pliers 10,20,30) and be connected to the hands jaw tail 60 of end effector 1 by axle according to of the present invention.Axle comprises the epitheca 4 of inside coil 2 and parcel serpentine pipe 2.
The cue mark 6 of endoscopic instruments is imprinted on the axial screw pipe 2 and with clear sheath 4 and covers.Opaque as top pointed, original sheath, utilize the color mark total length (for example orange=240cm, yellow=160cm, blueness=100cm).The labelling 6 of present device can be used the length of colour indicating means.Therefore the sheath operation is not unique to the length of device, and this profile is produced with streamline.All sizes are with same clear sheath material, an extrusion line production and more conversion materials.Again because labelling 6 directly on serpentine pipe 2, does not damage the chance of the polymer of meticulous epitheca 4 because of printing.Because labelling 6 can contain China ink by epitheca 4 parcels, if there do not have epitheca not use at outer surface on this medical treatment device to be black, for example luminous in the dark China ink.In addition, labelling 6 is more durable than the external labeling of the printing of original device according to the present invention.
Especially labelling 6 is to be applied on the axial screw pipe 2 in manufacture process, and at this moment the serpentine pipe 2 of rolling is by the length cutting.Labelling 6 can be the special color corresponding to industrial standard.Labelling 6 can be corresponding from end effector 1 beginning or from the length of the axle 2,4 of hands jaw tail 60 beginnings.For example in a kind of device of pro-, can begin 5cm from end effector 1, orange indication 10cm, yellow indication 15cm, green indication 20cm, blueness indication 25cm, purple indication 30cm with the red bar indication.Alternatively or simultaneously unshowned scale is added on the total length of serpentine pipe 2, such as metric scale, the transparent epitheca 4 of reuse wraps.
Producing a this method that has the serpentine pipe 2 of labelling 6 is to carry out when serpentine pipe 2 is continuously on reel.One end of the serpentine pipe 2 that rotates is when reel begins to extend, by an optical sensor.This pick off can excite a color spray head or print head or printhead, makes a mark on serpentine pipe 2, triggers another pick off up to the terminal of the serpentine pipe 2 of reeling and stops printing.The serpentine pipe 2 that marks like this when continue reeling by blowing air and/or hot setting chamber.Then serpentine pipe 2 is cut into independently length and carry out discrete length extruding (overextrusion), perhaps add successive long sleeve and carry out follow-up successive extruding.Carry out follow-up continuously extrudedly for successive long sleeve, the printed sensor on the up-coiler can or be used roller turning collar numerical control system to the up-coiler line feeding with time control.Labelling just is imprinted on the tram of serpentine pipe like this.
In the description that the present invention is directed to the biopsy sample pickup tongs, explained the use of pincers volume and U-shaped axle bed.But should be noted that the present invention is not limited to the using method of being explained.Apparatus and method of the present invention can be used for any needs.For example, same jaw tail shape can be used in many dissimilar end effectors, and for example: grabber, dissector, clamp etc. are used in many surgical field, for example laparoscopy, routine examination, arthroscopy etc. can be used for inflexible and flexible apparatus.
Claims (45)
1. the end effector j jaw of an endoscopic surgery operating theater instruments comprises:
The jaw portion;
The hollow body part, described hollow body partly has:
The side that has straight relative cutting edge; With
The proximal part that connects described side and jaw portion; And
Be connected to described side and have hollo head with the angled straight line edge of described lateral cutting edge, described hollow body part and hollo head are determined a biopsy sampling cup that is used to hold tissue samples, the gripping surface that described relative cutting edge and straight line edge are formed for contact tissue sample end.
2. pincers jaw according to claim 1, each cutting edge of wherein said head are connected in the described lateral relative cutting edge separately one at a certain angle.
3. pincers jaw according to claim 2, wherein:
The straight line edge of described head is two straight line edges;
Described lateral relative cutting edge is two relative cutting edges;
Each cutting edge in two cutting edges of described head is connected in described two relative cutting edges a cutting edge separately at a certain angle.
4. pincers jaw according to claim 1, the straight line edge of wherein said head are two straight line edges.
5. pincers jaw according to claim 4, wherein said two straight line edges toward each other.
6. pincers jaw according to claim 5, wherein said two straight line edges at a certain angle toward each other.
7. pincers jaw according to claim 1, wherein said head formation has half truncated cone of two straight line side cutting edges, a preceding cutting edge of straight line and a straight front.
8. pincers jaw according to claim 1, wherein said head has:
Be connected with described side and have a lateral parts angled with described side;
Previous section has:
Straight front; With
Be connected to the straight line edge of each cutting edge of described lateral parts at a certain angle.
9. pincers jaw according to claim 8, wherein said lateral parts and previous section form truncated cone half.
10. pincers jaw according to claim 8, wherein said lateral parts are one group of angled lateral parts.
11. pincers jaw according to claim 10, wherein said one group of angled lateral parts forms half pair of truncated cone.
12. pincers jaw according to claim 1, wherein said relative cutting edge and at least one in the described straight line edge have at least one tooth.
13. pincers jaw according to claim 1, wherein each described relative cutting edge and described straight line edge have a tooth at least.
14. pincers jaw according to claim 1, wherein each described relative cutting edge and described straight line edge have a plurality of teeth.
15. pincers jaw according to claim 8, the straight line edge of wherein said previous section have a tooth at least.
16. pincers jaw according to claim 1, wherein said jaw portion, hollow body part and head are one.
17. pincers jaw according to claim 16, wherein said jaw portion, hollow body part and head form with the from one piece punching press.
18. be used for the end effector of endoscopic surgery operating theater instruments, described apparatus has vertical body that has near-end and far-end and the manipulator that is located at vertical body near-end, described end effector comprises:
Be connected the U-shaped seat of vertical body far-end; With
Two pincers jaws, each described pincers jaw has:
With the jaw portion that is pivotally connected to described U-shaped seat, described jaw portion is connected to manipulator rotates described pincers jaw;
The hollow body part, described hollow body partly has:
The side that has straight relative cutting edge; With
The proximal part that connects described side and jaw portion; And
Be connected to described side and have hollo head with the angled straight line edge of described lateral cutting edge, described hollow body part and hollo head are determined a biopsy sampling cup that is used to hold tissue samples, the gripping surface that described relative cutting edge and straight line edge are formed for contact tissue sample end.
19. end effector according to claim 18, wherein, for each pincers jaw, each cutting edge of described head is connected to described lateral relative cutting edge separately at a certain angle.
20. end effector according to claim 18, wherein:
Described pincers jaw has closed orientation; And
The head of each described pincers jaw forms truncated cone half, forms complete truncated cone when two pincers jaws are in closed orientation.
21. end effector according to claim 18, wherein:
The straight line edge of described lateral each relative cutting edge and described head is determined the adjacency periphery of each described pincers jaw;
The straight line edge of described lateral relative cutting edge and described lateral parts is determined the first intersection district each described pincers jaw in abutting connection with peripheral being connected;
Described have in abutting connection with periphery:
The zone that comprises tooth; With
Be positioned at the zone that does not have tooth in the described first intersection district.
22. end effector according to claim 21, wherein:
Described head has:
The front of cutting edge before having; With
Near-end with described straight line edge; And
Cutting edge is determined the second intersection district with straight line edge in being connected of adjacency periphery of each described pincers jaw before described;
The described zone that does not have tooth that is included in the described first and second intersection districts in abutting connection with periphery.
23. end effector according to claim 22, wherein:
Described front is planar; And
Cutting edge is collinear before described, and has a tooth at least.
24. end effector according to claim 22, wherein said end effector will be inserted into the scope sleeve pipe, and described end effector contacts with described sleeve pipe in the described first and second intersection districts.
25. an endoscopic surgery operating theater instruments comprises:
Hollow body with far-end and near-end;
End effector according to claim 18;
Be connected to the described U-shaped seat of described hollow body far-end with the far-end that described end effector installed to described hollow body;
Be arranged on described hollow body near-end and be connected to the jaw portion of at least one described pincers jaw, the manipulator that a pincers jaw is rotated with respect to another pincers jaw by described hollow body
26. apparatus according to claim 25, wherein manipulator rotates a described pincers jaw at least when operation, makes the lateral relative cutting edge of a pincers jaw and the straight line edge of head clamp the relative cutting edge and the straight line edge combination of jaw with another.
27. apparatus according to claim 25, wherein:
Described pincers jaw has closed orientation; And
The head of each described pincers jaw forms truncated cone half, forms complete truncated cone when two pincers jaws are in closed orientation.
28. an endoscopic surgery operating theater instruments comprises:
Hollow body with far-end and near-end;
End effector has:
Be connected to the U-shaped axle bed of described hollow body far-end; With
Two pincers jaws, each pincers jaw has:
With the jaw portion that is pivotally connected to described U-shaped axle bed;
The hollow body part, described hollow body partly has:
The side that has relative straight line edge; With
Described side is connected to the proximal part of described jaw portion; And
Be connected to described side and have hollo head with the angled straight line edge of described lateral cutting edge, described hollow body part and hollo head are determined a biopsy sampling cup that is used to hold tissue samples, the gripping surface of the end that described relative cutting edge and straight line edge are formed for the contact tissue sample; And
Be arranged on described hollow body near-end and be connected to the jaw portion of described pincers jaw, the manipulator that a pincers jaw is rotated with respect to another pincers jaw by described hollow body.
29. apparatus according to claim 28, wherein, for each pincers jaw, each cutting edge of described head is connected to described lateral relative cutting edge separately at a certain angle.
30. apparatus according to claim 28, wherein:
Described pincers jaw has closed orientation; And
The head of each described pincers jaw forms truncated cone half, forms complete truncated cone when two pincers jaws are in closed orientation.
31. apparatus according to claim 28, wherein:
The straight line edge of described lateral each relative cutting edge and described head is determined the adjacency periphery of each described pincers jaw;
The straight line edge of described lateral relative cutting edge and described lateral parts is determined the first intersection district each described pincers jaw in abutting connection with peripheral being connected;
Described have in abutting connection with periphery:
The zone that comprises tooth; And
Be positioned at the zone that does not have tooth in the described first intersection district.
32. apparatus according to claim 28, wherein:
Described head has:
The front of cutting edge before having; With
Near-end with described straight line edge; And
Cutting edge is determined the second intersection district with straight line edge in being connected of adjacency periphery of each described pincers jaw before described;
The described zone that does not have tooth that is included in the described first and second intersection districts in abutting connection with periphery.
33. apparatus according to claim 32, wherein:
Described front is planar; And
Cutting edge is collinear before described, and has a tooth at least.
34. apparatus according to claim 32, wherein said end effector will be inserted into the scope sleeve pipe, and described end effector contacts with described sleeve pipe in the described first and second intersection districts.
35. the end effector j jaw of an endoscopic surgery operating theater instruments comprises:
Has near-end jaw tail and with the hollow body part of lateral distal body;
Be connected to described hollow body part and have hollo head with the angled straight line edge in described side, described hollow body part and hollo head are determined a biopsy sampling cup that is used to hold tissue samples, and are formed for the gripping surface of the end of contact tissue sample.
36. pincers jaw according to claim 35, wherein said head comprises:
Partly be connected with described hollow body and have a near-end with the angled straight line edge in described side; With
Previous section with straight front, the straight line edge of described front is connected to the straight line edge of described proximal part.
37. the end effector j jaw of an endoscopic surgery operating theater instruments comprises:
Have near-end jaw tail and the body portion that has lateral distal body; With
The half head cone shape head that is connected with described distal body.
38. an end effector that is used for the endoscopic surgery operating theater instruments has vertical body and a manipulator that is positioned at vertical body near-end of being with near-end and far-end, described end effector comprises:
Be connected to the U-shaped axle bed of vertical body far-end;
Two pincers jaws have at least a described pincers jaw to be connected with the U-shaped axle bed with pivot, and each described pincers jaw has:
Body portion, described body portion has:
Near-end jaw tail; With
Be with lateral distal body; And
The half-frustoconical nose that is connected with described distal body.
39. according to the described end effector of claim 38, wherein said half-frustoconical nose has:
Two straight line edges; With
Straight front with the straight line edge that is connected with described two straight line edges at a certain angle.
40. an end effector j jaw assembly that is used for the U-shaped axle bed of endoscopic surgery operating theater instruments comprises:
Be connected to two relative pincers jaws of U-shaped axle bed, described pincers jaw has closed orientation, and each pincers jaw has:
Pincers gnathosoma part has:
Near-end jaw tail; With
Has lateral distal body; And
The half-frustoconical nose that is connected and has at least two straight line edge sections with described distal body.
41. according to the described assembly of claim 40, wherein:
Described pincers jaw defines central longitudinal axis; And
In described at least two cutting edge sections each has at least one tooth, and described tooth is at least in part about described longitudinal axis bending.
42. according to the described assembly of claim 40, wherein:
Described at least two straight line edge sections of different pincers jaws are arranged side by side; And
Each described at least one tooth of pincers jaw interlocks when two pincers jaws are closed.
43. the end effector j jaw of an endoscopic surgery operating theater instruments comprises:
The jaw portion;
The hollow body part, described hollow body partly has:
The side that has relative straight line edge; With
The proximal part that connects described side and described jaw portion; And
Hollo head, described hollo head has:
Be connected to described side and have the lateral parts of the straight line edge that is connected to described lateral relative cutting edge at a certain angle;
Previous section with the straight front that has straight line edge, described straight line edge is connected with the straight line edge of described lateral parts at a certain angle, described hollow body part and hollo head are identified for holding the biopsy cup of tissue samples, and the relative cutting edge of described lateral parts and previous section and straight line edge are formed for the gripping surface of the end of contact tissue sample.
44. the end effector of an endoscopic surgery operating theater instruments comprises:
The jaw portion;
Body portion, described body portion has:
The side that has straight relative cutting edge; With
The proximal part that connects described side and jaw portion; And
Be connected with described side and have a head with the angled straight line edge of described lateral cutting edge.
45. the end effector j jaw of an endoscopic surgery operating theater instruments comprises:
Has near-end jaw tail and with the body portion of lateral distal body; With
Be connected with described body portion and have a head with the angled straight line edge in described side.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US64853805P | 2005-01-31 | 2005-01-31 | |
| US60/648,538 | 2005-01-31 | ||
| US60/738,279 | 2005-11-18 | ||
| US11/343,294 | 2006-01-30 |
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| Publication Number | Publication Date |
|---|---|
| CN101193596A true CN101193596A (en) | 2008-06-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2006800111027A Pending CN101193596A (en) | 2005-01-31 | 2006-01-31 | End effector for surgical instrument, surgical instrument, and method for forming the end effector |
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| CN (1) | CN101193596A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103431878A (en) * | 2013-09-05 | 2013-12-11 | 山东省农业科学院畜牧兽医研究所 | Animal tissue sampler |
| CN103957816A (en) * | 2011-09-13 | 2014-07-30 | 怡得乐工业有限公司 | Single piece biopsy forceps |
| CN108742722A (en) * | 2018-06-27 | 2018-11-06 | 江苏天邦医疗科技股份有限公司 | A kind of instrument for the acquisition tissue that head is special |
| CN108969026A (en) * | 2018-05-25 | 2018-12-11 | 安瑞医疗器械(杭州)有限公司 | A kind of medial forceps |
| CN109381243A (en) * | 2017-08-02 | 2019-02-26 | 上海市嘉定区安亭医院 | A kind of vessel forceps for digestive endoscopy operation with coagulation function |
| CN109381254A (en) * | 2017-08-02 | 2019-02-26 | 上海市嘉定区安亭医院 | A kind of needle forceps for digestive endoscopy operation with coagulation function |
| CN109381237A (en) * | 2017-08-02 | 2019-02-26 | 上海市嘉定区安亭医院 | A kind of vessel forceps for Minimally Invasive Surgery under digestive endoscopy |
| CN109381232A (en) * | 2017-08-02 | 2019-02-26 | 上海市嘉定区安亭医院 | A kind of needle forceps for Minimally Invasive Surgery under digestive endoscopy |
| CN109528248A (en) * | 2018-09-29 | 2019-03-29 | 杭州安杰思医学科技有限公司 | A kind of living tissue sampling forceps |
| CN110051429A (en) * | 2019-05-15 | 2019-07-26 | 成都五义医疗器械有限公司 | A kind of head assembly and elongated shaft assembly for Minimally Invasive Surgery instrument |
-
2006
- 2006-01-31 CN CNA2006800111027A patent/CN101193596A/en active Pending
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103957816A (en) * | 2011-09-13 | 2014-07-30 | 怡得乐工业有限公司 | Single piece biopsy forceps |
| CN103431878A (en) * | 2013-09-05 | 2013-12-11 | 山东省农业科学院畜牧兽医研究所 | Animal tissue sampler |
| CN109381237B (en) * | 2017-08-02 | 2024-02-13 | 上海市嘉定区安亭医院 | Vascular forceps for minimally invasive operation under digestive endoscope |
| CN109381243B (en) * | 2017-08-02 | 2024-02-13 | 上海市嘉定区安亭医院 | Vascular forceps with electrocoagulation function for digestive endoscopic surgery |
| CN109381243A (en) * | 2017-08-02 | 2019-02-26 | 上海市嘉定区安亭医院 | A kind of vessel forceps for digestive endoscopy operation with coagulation function |
| CN109381254A (en) * | 2017-08-02 | 2019-02-26 | 上海市嘉定区安亭医院 | A kind of needle forceps for digestive endoscopy operation with coagulation function |
| CN109381237A (en) * | 2017-08-02 | 2019-02-26 | 上海市嘉定区安亭医院 | A kind of vessel forceps for Minimally Invasive Surgery under digestive endoscopy |
| CN109381232A (en) * | 2017-08-02 | 2019-02-26 | 上海市嘉定区安亭医院 | A kind of needle forceps for Minimally Invasive Surgery under digestive endoscopy |
| CN109381232B (en) * | 2017-08-02 | 2024-02-13 | 上海市嘉定区安亭医院 | Needle holding forceps for minimally invasive operation under digestive endoscope |
| CN109381254B (en) * | 2017-08-02 | 2024-02-13 | 上海市嘉定区安亭医院 | Needle holder with electrocoagulation function for digestive endoscopy |
| CN108969026B (en) * | 2018-05-25 | 2019-06-25 | 安瑞医疗器械(杭州)有限公司 | A kind of medial forceps |
| CN108969026A (en) * | 2018-05-25 | 2018-12-11 | 安瑞医疗器械(杭州)有限公司 | A kind of medial forceps |
| CN108742722A (en) * | 2018-06-27 | 2018-11-06 | 江苏天邦医疗科技股份有限公司 | A kind of instrument for the acquisition tissue that head is special |
| CN109528248A (en) * | 2018-09-29 | 2019-03-29 | 杭州安杰思医学科技有限公司 | A kind of living tissue sampling forceps |
| CN110051429B (en) * | 2019-05-15 | 2020-08-18 | 成都五义医疗设备有限公司 | Head assembly and slender shaft assembly for minimally invasive surgical instrument |
| CN110051429A (en) * | 2019-05-15 | 2019-07-26 | 成都五义医疗器械有限公司 | A kind of head assembly and elongated shaft assembly for Minimally Invasive Surgery instrument |
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