CN107582119B - Medical electric stitching instrument with guiding device and guiding method - Google Patents
Medical electric stitching instrument with guiding device and guiding method Download PDFInfo
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- CN107582119B CN107582119B CN201710976125.1A CN201710976125A CN107582119B CN 107582119 B CN107582119 B CN 107582119B CN 201710976125 A CN201710976125 A CN 201710976125A CN 107582119 B CN107582119 B CN 107582119B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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Abstract
The application provides a medical electric stitching instrument with a guiding device and a guiding method. The processor utilizes the distance value sensed by the travel sensor to be matched with the pre-stored measurement data of the suture needle, the model of the suture needle is identified, then the angle corresponding to the needle track is searched according to the model of the suture needle, and the indication rod is controlled to rotate by the corresponding angle so as to prompt a doctor to enter the needle point and exit the needle point.
Description
Technical Field
The application relates to the field of medical instruments, in particular to a medical electric stitching instrument with a guiding device and a guiding method.
Background
At present, the endoscopic stitching used at home and abroad mainly comprises the following two technologies: adopt traditional sewing needle and suture line to carry out meticulous sewing, anastomat: it is often used for gastrointestinal tract anastomosis, which belongs to rough suturing and cannot be finely sutured.
The fine suture under the endoscope mainly comprises two methods, wherein one is manual suture by using a pair of abdominal forceps, the other is suture by using a da vinci robot, the current domestic suture instrument level is still in the manual suture stage, and the da vinci robot suture technology has been developed abroad; compared with the traditional manual suture, the robot suture method has the advantages of time saving, high flexibility and reduced operation strength, but no matter the manual suture or the robot suture is adopted, the operation process is to adopt the abdominal cavity forceps or the mechanical arm to enter the needle, the abdominal cavity forceps or the mechanical arm is adopted to pull out the suture needle after the needle is taken out, two abdominal cavity forceps or two mechanical arms are adopted to alternately pull out the thread, the suture needle is found out after the thread is completely pulled out, and the next knotting or continuous suture operation is carried out. Whether manual suturing and da vinci robot suturing can not accurately find needle inlet points and needle outlet points, accurate medical treatment can not be realized, and the development of a suturing device is seriously hindered, so that the problem encountered in the endoscopic suturing process is solved, and the problem which needs to be solved by researchers at home and abroad at present is solved.
Disclosure of Invention
The application provides a medical electric stitching instrument with a guiding device and a guiding method, which are used for solving the problems of small incision, limited visual field and operation space of minimally invasive operation, and the medical electric stitching instrument increases stitching difficulty, prolongs operation time and increases operation risk by feeling needle entering and needle exiting of doctors.
In a first aspect, the present application provides a medical electric stapler with a guide device, comprising a stapler body, a needle clamping part, a guide device and a hollow pull rod;
the stitching instrument body comprises a body seat, a fixed handle arranged at one end of the body seat and a movable handle hinged with the body seat;
the other end of the body seat is connected with the needle clamping part through the pull rod;
the clamping needle part comprises a fixed clamping needle part fixedly connected with the pull rod and a movable clamping needle part hinged with the pull rod;
the movable needle clamping part is also connected with the movable handle through a first transmission device;
the guiding device comprises a processor, a travel sensor, a pressure sensor, a first motor and an indication rod connected with the rotating end of the first motor;
the pressure sensor is positioned at the needle clamping part;
one end of the indicating rod is rotationally connected with one side of the pull rod, which is close to the needle clamping part;
the stroke sensor is positioned between the movable needle clamping part and the pull rod;
the processor is connected with the stroke sensor, the pressure sensor and the first motor respectively.
In a second aspect, the present application also provides a method of guiding a medical electric stapler with a guiding device, for guiding a needle of the medical electric stapler, the medical electric stapler including a processor, a stroke sensor, a pressure sensor, a first motor, an indication rod connected to a rotating end of the first motor, and an indication device provided on the indication rod, the method comprising,
acquiring a pressure value sensed by the pressure sensor;
if the pressure value is larger than a preset pressure value, acquiring a distance value sensed by the stroke pressure sensor;
determining the type of the suture needle according to the distance value;
according to the suture needle type, searching a corresponding rotation angle of the suture needle type so as to control the first motor to rotate to the angle.
According to the technical scheme, the medical electric stitching instrument with the guiding device and the guiding method are provided, the processor is matched with the pre-stored measurement data of the stitching needle by utilizing the distance value sensed by the stroke sensor, the model of the stitching needle is identified, then the angle corresponding to the needle track is found according to the model of the stitching needle, and the indication rod is controlled to rotate by the corresponding angle so as to prompt a doctor to insert and withdraw the needle point.
Drawings
In order to more clearly illustrate the technical solution of the present application, the drawings that are needed in the embodiments will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic view of a medical electric suture device with a guiding device according to the present application;
FIG. 2 is a schematic structural diagram of a first transmission device according to the present application;
FIG. 3 is a schematic structural diagram of a second transmission device according to the present application;
FIG. 4 is a schematic view of a gimbal according to the present application;
FIG. 5 is a schematic view of another embodiment of a medical electric stapler with a guiding device according to the present application;
FIG. 6 is a schematic circuit diagram of the present application;
fig. 7 is a flowchart of a guiding method of a medical electric suture instrument with a guiding device provided by the application.
The device comprises a 1-body seat, a 2-movable handle, a 3-fixed handle, a 4-pull rod, a 5-indicating rod, a 6-movable needle clamping part, a 7-fixed needle clamping part, an 8-pressure sensor, a 9-second motor, a 10-pulley block, an 11-driven rotor, a 12-driving rotor, a 13-power supply mounting port, a 14-travel sensor, a 15-connecting rope, a 16-driving belt fixer, a 17-power supply total safety switch, a 18-steering wheel, a 181-grab handle, a 182-limiting part, a 19-second motor switch, a 20-driving belt, a 21-transverse bevel gear, a 22-longitudinal bevel gear, a 23-stitching needle, a 24-indicating device, a 25-fixed shaft, a 26-universal joint, a 27-processor and a 28-first motor.
Detailed Description
In a first aspect, referring to fig. 1 and 5, the present application provides a medical electric stapler with a guide device, comprising a stapler body, a needle clamping portion, a guide device and a hollow pull rod 4;
the stitching instrument body comprises a body seat 1, a fixed handle 3 arranged at one end of the body seat 1 and a movable handle 2 hinged with the body seat 1;
the other end of the body seat 1 is connected with a needle clamping part through the pull rod 4;
the needle clamping part comprises a fixed needle clamping part 7 fixedly connected with the pull rod 4 and a movable needle clamping part 6 hinged with the pull rod 4;
the movable needle clamping part 6 is also connected with the movable handle 2 through a first transmission device;
the guiding device comprises a processor 27, a travel sensor 14, a pressure sensor 8, a first motor 28 and an indication rod 5 connected with the rotating end of the first motor 28;
the pressure sensor 8 is positioned at the needle clamping part;
one end of the indicating rod 5 is rotatably connected with one side of the pull rod 4, which is close to the needle clamping part;
the stroke sensor 14 is positioned between the movable needle clamping part 6 and the pull rod 4;
the processor 27 is connected to the travel sensor 14, the pressure sensor 8 and the first motor 28, respectively.
Illustratively, the processor 27 may employ STM32L0 series low power chips, and the processor 27 may employ other types of chips, as the present embodiment is not limited.
The working principle of the embodiment of the application is as follows: when in use, a doctor places the suture needle 23 on the fixed needle clamping part 7, then closes the movable handle 2 with the fixed handle 3, the movable handle 2 enables the movable needle clamping part 6 to be clamped with the fixed needle clamping part 7 through a transmission device, the pressure sensor 8 transmits the sensed pressure value to the processor 27, the processor 27 compares the sensed pressure value with a preset pressure value, if the sensed pressure value is larger than the preset pressure value, the stroke sensor 14 is started, and as each type of suture needle 23 has different diameters, the distance value sensed by the stroke sensor 14 is matched with the stored distance value, so that the type of the suture needle 23 is determined. Then, by means of the type of the suture needle 23, the corresponding angle can be searched for to control the rotation of the indication rod 5, so as to prompt the needle insertion point and the needle extraction point.
As can be seen from the above technical solution, the present application provides a medical electric suture device with a guiding device, wherein a processor 27 uses a distance value sensed by a travel sensor 14 to match with pre-stored measurement data of a suture needle 23, identifies a model of the suture needle 23, searches an angle corresponding to a needle track according to the model of the suture needle 23, and controls an indication rod 5 to rotate by a corresponding angle to prompt a doctor to go out a needle point and a needle point.
Further, referring to fig. 3, the body seat 1 is further provided with a second motor 9;
the movable needle clamping part 6 is provided with a driven rotor 11;
the fixed needle clamping part 7 is provided with an active rotor 12;
the driving rotor 12 is provided with a needle clamping groove;
the pressure sensor 8 is fixed on the inner wall of the movable needle clamping part 6 and is contacted with the driving rotor 12;
the second motor 9 is connected with the driving rotor 12 through a second transmission device;
the second transmission comprises a drive belt 20 and a diverter;
one end of the driving belt 20 is connected with the second motor 9, and the other end of the driving belt 20 is connected with a steering gear;
the diverter is connected to the active rotor 12.
Optionally, the steering gear comprises a longitudinal bevel gear 22 and a transverse bevel gear 21;
the transmission belt 20 is sleeved on the rotating shaft of the longitudinal bevel gear 22;
the transverse bevel gear 21 is connected with the driving rotor 12;
the longitudinal bevel gear 22 is meshed with the transverse bevel gear 21.
Optionally, the driving rotor 12 and the driven rotor 11 are fixed inside the fixed needle clamping part 7 and the movable needle clamping part 6 except for the two fixing shafts 25, and other action parts are outside, so that the cleaning is convenient.
Optionally, the fixed handle 3 is also provided with a power supply mounting port 13 and a motor switch. The power supply mounting port 13 is used for placing a power supply battery to supply power to the first motor 28, the second motor 9 and the guiding device, so that the normal use of the stitching instrument is ensured. Also, the socket can be connected with an external power supply for supplying power.
Optionally, a power supply total safety switch 17 is further arranged on the side, provided with the movable handle 2, of the body seat 1, and the power supply total safety switch 17 is arranged below the second motor 9 and is used for controlling the on-off of the stitching instrument. The power supply main safety switch 17 can control the overall power on and off of the stitching instrument, and can be turned off when the stitching instrument is not used; when the suture instrument is used, the main safety switch of the power supply can be turned on to enable the suture instrument to be electrified and work. And when the power supply main safety switch 17 is not turned on, only the second motor switch 19 is pressed, the second motor 9 is not operated, and only when the power supply main safety switch 17 is turned on, the second motor 9 is started. The power supply main safety switch 17 prevents the stitching instrument from being wrongly hit or the second motor switch 19 from being damaged when in operation, thereby playing a role of power-off protection.
As can be seen from the above technical solution, the driving belt 20 is sleeved on the rotation shaft of the longitudinal bevel gear 22, so when the driving belt 20 rotates, the longitudinal bevel gear 22 is driven to rotate, and when the longitudinal bevel gear 22 rotates, the transverse bevel gear 21 also rotates due to the meshing of the longitudinal bevel gear 22 and the transverse bevel gear 21, so as to drive the driving rotor 12 connected with the transverse bevel gear 21 to rotate; the rotating driving rotor 12 rotates the driven rotor 11 through the object by using the friction force of the driven rotor 11 and the driving rotor 12 with the object. When a doctor prepares to insert a needle, the second motor 9 can control the driving rotor 12 to rotate along the needle inserting direction, so that the automatic needle inserting of the suture needle 23 is realized; after the needle inserting process is finished, the tissue is exposed out of the suture needle 23, the movable handle 2 is loosened, the movable needle clamping part 6 is opened through the first transmission device, the exposed suture needle 23 is clamped, the driving rotor 12 is controlled to rotate along the needle inserting direction through the second motor 9, and then the automatic needle inserting of the suture needle 23 is realized. After the completion of the set of operations, a knotting operation or a repeated suturing operation by pinching the suture needle 23 is performed as necessary. After the stitching is completed, the stitching instrument can be reused next time by only turning off the power supply main safety switch 17 and taking out the power supply to disinfect the stitching instrument.
The existing manual operation or swinging of the mechanical arm can realize the needle operation, because the space under the endoscope is limited, the needle pulling action cannot realize continuous operation, and particularly, the defects of time consumption and energy consumption are obvious when continuous stitching is carried out, the operation in the in-situ stitching and the narrow space cannot be realized manually, and even the da vinci system cannot realize the operation in the in-situ stitching and the narrow space. Compared with the prior art, the embodiment provided by the application can perform in-situ needle insertion and needle extraction through the rotation of the driving rotor 12 and the driven rotor 11, does not need other auxiliary instruments, is not limited by space, can complete in-situ suture process, and is convenient to use.
Further, the second motor switch 19 is an adjustable speed switch, and the second motor 9 is an adjustable speed motor. When the user needs to perform the operation of fast needle feeding or needle discharging, the second motor switch 19 is pressed tightly, at this time, the rotation of the second motor 9 is accelerated, the driving belt 20 is driven to rotate in an accelerating way, and the rotor is controlled to rotate in an accelerating way, so that the needle feeding or needle discharging action is accelerated, when the suture needle 23 is pulled out for a certain period, the second motor switch 19 is slightly released, the rotation speed of the second motor 9 is slowed down, so that the needle discharging or needle feeding action is slowed down, and the user can continue the next operation.
Further, the pull rod 4 is internally provided with a plurality of belt 20 retainers 16 for retaining the conveyor. The fixing device 16 of the driving belt 20 does not interfere with the normal driving function of the driving device, and prevents the driving belt 20 from sagging under the influence of factors such as gravity, thereby ensuring the using effect of the stitching instrument and reducing the operation time.
Further, referring to fig. 2, the first transmission means comprises a connecting rope 15 and a pulley block 10 fixed inside the pull rod 4,
one end of the connecting rope 15 is connected with the movable handle 2;
the other end of the connecting rope 15 bypasses the pulley block 10 and is connected with the movable needle clamping part 6.
Alternatively, the connecting rope 15 may be a wire rope having excellent drag resistance and wear resistance to prevent friction generated by relative sliding with the pulley block 10, so that the connecting rope 15 is broken.
When the movable handle 2 is separated from the fixed handle 3, the connecting rope 15 can exert force on the movable handle 2 to separate the movable needle clamping part 6 from the fixed needle clamping part 7, so that the suture needle 23 can be conveniently put in and taken out; when the movable handle 2 is clamped with the fixed handle 3, the movable needle clamping part 6 is folded with the fixed needle clamping part 7 to clamp the suture needle 23, so that the next operation is facilitated.
Further, referring to fig. 4, a steering wheel 18 is fixed on the inner side of the body seat 1, and the steering wheel 18 can rotate around a fixed shaft 25;
a universal joint 26 is further arranged on one side, close to the needle clamping part, of the pull rod 4;
the rotating shaft of the universal joint 26 is connected with the fixed shaft 25 of the steering wheel through a transmission belt 20;
the center line of the universal joint 26, the center line of the pulley far away from the needle clamping part in the pulley block 10 and the center line of the steering gear are overlapped.
The doctor can adjust the steering wheel 18, drive the universal joint 26 to rotate through the driving belt 20, and then drive the needle clamping part to rotate, so that the doctor can adjust the universal joint 26 according to the surgical suture position, and the needle clamping part is adjusted to an angle suitable for suture, and the use is convenient.
Further, a portion of the steering wheel 18 located outside the body seat 1 is radially provided with a grip 181 and a limit portion 182 connected to the grip 181. The doctor can utilize the limit part 182 to clamp the finger on the grab handle 181 and adjust the direction of the steering wheel 18, so that the situation that the steering wheel 18 cannot be effectively driven to rotate due to small friction force between the outside of the steering wheel 18 and the finger can be effectively prevented, and the steering wheel 18 is enabled to rotate in a small range.
Further, an indicating device 24 is arranged at the other end of the indicating rod 5, and the indicating device 24 is used for indicating the positions of the needle outlet point and the needle inlet point of the suture needle 23.
When the indication rod 5 rotates to the corresponding angle, the processor 27 can control the indication device 24 to be turned on, so as to better prompt the doctor to indicate that the rod 5 has rotated to the needle inserting point or the needle extracting point.
The pointing device 24 may be a pointer lamp or a holographic projector, which is a technique that records and reproduces a true three-dimensional image of an object using the principles of interference and diffraction. The positions of the needle inlet point and the needle outlet point of the operation part can be projected onto the imaging equipment through the holographic projector, so that medical staff can better and intuitively observe the positions of the needle inlet point and the needle outlet point.
In a second aspect, referring to fig. 6, the present application also provides a guiding method of a medical electric stapler with a guiding means for needle-out guiding of the medical electric stapler, the medical electric stapler including a processor 27, a stroke sensor 14, a pressure sensor 8, a first motor 28, an indication rod 5 connected to a rotating end of the first motor 28, and an indication means 24 provided on the indication rod 5, the method comprising,
step 61: acquiring a pressure value sensed by the pressure sensor;
step 62: if the pressure value is larger than a preset pressure value, acquiring a distance value sensed by the stroke pressure sensor;
step 63: determining the type of the suture needle according to the distance value;
different types of suture needles have different diameters, so that the distance value can be detected by the travel sensor, the diameter of the suture needle 23 can be calculated, and then the diameter of the suture needle is matched with the diameter of the stored suture needle, so that the type of suture needle is obtained.
Step 64: according to the suture needle type, searching a corresponding rotation angle of the suture needle type so as to control the first motor to rotate to the angle.
Different types of suture needles correspond to different needle-in and needle-out tracks, so that the needle-in angle and the needle-out angle matched with the needle-in and needle-out tracks in the prestored data can be found according to the types of suture needles.
According to the technical scheme, the guide method of the medical electric stitching instrument is provided, the processor utilizes the distance value sensed by the stroke sensor to be matched with the pre-stored measurement data of the stitching needle, the model of the stitching needle is identified, then the angle corresponding to the needle track is searched according to the model of the stitching needle 23, and the indication rod is controlled to rotate by the corresponding angle so as to prompt a doctor to enter the needle point and exit the needle point.
Further, according to the type of the suture needle, searching a rotation angle corresponding to the type of the suture needle so as to control the first motor to rotate to the angle, and then the method further comprises the following steps:
step 65: acquiring a stop signal for stopping rotation of the first motor;
step 66: and sending an opening signal to the indicating device according to the stopping signal so as to enable the indicating device to be lightened.
When the indication rod rotates to a corresponding angle, the processor can control the indication device to light up, so that a doctor is better prompted to indicate that the rod has rotated to the needle inserting point or the needle extracting point.
As can be seen from the above technical solution, the present application provides a medical electric suture device with a guiding device and a guiding method, wherein the processor 27 uses the distance value sensed by the travel sensor 14 to match with the pre-stored measurement data of the suture needle 23, identifies the model of the suture needle 23, searches the angle corresponding to the needle track according to the model of the suture needle 23, and controls the indication rod 5 to rotate by a corresponding angle to prompt a doctor to insert and withdraw the needle point.
Claims (7)
1. The medical electric stitching instrument with the guiding device is characterized by comprising a stitching instrument body, a needle clamping part, the guiding device and a hollow pull rod;
the stitching instrument body comprises a body seat, a fixed handle arranged at one end of the body seat and a movable handle hinged with the body seat;
the other end of the body seat is connected with the needle clamping part through the pull rod;
the clamping needle part comprises a fixed clamping needle part fixedly connected with the pull rod and a movable clamping needle part hinged with the pull rod;
the movable needle clamping part is also connected with the movable handle through a first transmission device;
the guiding device comprises a processor, a travel sensor, a pressure sensor, a first motor and an indication rod connected with the rotating end of the first motor;
the pressure sensor is positioned at the needle clamping part;
one end of the indicating rod is rotationally connected with one side of the pull rod, which is close to the needle clamping part;
the stroke sensor is positioned between the movable needle clamping part and the pull rod;
the processor is connected with the stroke sensor, the pressure sensor and the first motor respectively;
the first transmission device comprises a connecting rope and a pulley block fixed in the pull rod;
one end of the connecting rope is connected with the movable handle;
the other end of the connecting rope bypasses the pulley block and is connected with the movable needle clamping part;
a steering wheel is fixed on the inner side of the body seat and can rotate around the fixed shaft;
a universal joint is further arranged on one side, close to the needle clamping part, of the pull rod;
the rotating shaft of the universal joint is connected with the fixed shaft of the steering wheel through a transmission belt;
the central line of the universal joint, the central line of the pulley far away from the needle clamping part in the pulley block and the central line of the steering gear are overlapped.
2. The medical electric suture apparatus with guide device according to claim 1, wherein the body seat is further provided with a second motor;
the movable needle clamping part is provided with a driven rotor;
the fixed needle clamping part is provided with a driving rotor;
the driving rotor is provided with a needle clamping groove;
the pressure sensor is fixed on the inner wall of the movable needle clamping part and is contacted with the driving rotor;
the second motor is connected with the driving rotor through a second transmission device;
the second transmission device comprises a transmission belt and a steering gear;
one end of the driving belt is connected with the second motor, and the other end of the driving belt is connected with the steering gear;
the diverter is connected with the driving rotor.
3. The medical electric stapler with guide device according to claim 2, wherein said steering gear comprises a longitudinal bevel gear and a transverse bevel gear;
the transmission belt is sleeved on the rotating shaft of the longitudinal bevel gear;
the transverse bevel gear is connected with the driving rotor;
the longitudinal bevel gears are meshed with the transverse bevel gears.
4. The medical electric suture apparatus with guide device according to claim 1, wherein a portion of the steering wheel located outside the body seat is radially provided with a grip and a stopper portion connected to the grip.
5. The medical electric suture apparatus with guide device according to claim 1, wherein the other end of the indication rod is provided with an indication device for indicating the positions of the needle outlet point and the needle inlet point of the suture needle.
6. The guiding method of the medical electric suture device with the guiding device is used for guiding the needle of the medical electric suture device, the medical electric suture device comprises a processor, a stroke sensor, a pressure sensor, a first motor, an indicating rod connected with the rotating end of the first motor and an indicating device arranged on the indicating rod,
acquiring a pressure value sensed by the pressure sensor;
if the pressure value is larger than a preset pressure value, acquiring a distance value sensed by the travel sensor;
determining the type of the suture needle according to the distance value;
according to the suture needle type, searching a corresponding rotation angle of the suture needle type so as to control the first motor to rotate to the angle.
7. The method of claim 6, wherein said looking up a corresponding rotation angle of said needle type based on said needle type to control said first motor to rotate to said angle further comprises;
acquiring a stop signal for stopping rotation of the first motor;
and sending an opening signal to the indicating device according to the stopping signal so as to enable the indicating device to be lightened.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710976125.1A CN107582119B (en) | 2017-10-19 | 2017-10-19 | Medical electric stitching instrument with guiding device and guiding method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710976125.1A CN107582119B (en) | 2017-10-19 | 2017-10-19 | Medical electric stitching instrument with guiding device and guiding method |
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| CN107582119B true CN107582119B (en) | 2023-08-18 |
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| CN106725671A (en) * | 2017-02-07 | 2017-05-31 | 中国人民解放军第三军医大学第二附属医院 | One kind takes out line tweezer automatically |
| CN208598454U (en) * | 2017-10-19 | 2019-03-15 | 中国人民解放军第三军医大学第二附属医院 | A kind of Medical electric stitching unstrument with guiding device |
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