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CN-122005054-A - Multi-degree-of-freedom rotatable mucous membrane cutter

CN122005054ACN 122005054 ACN122005054 ACN 122005054ACN-122005054-A

Abstract

The invention discloses a multi-degree-of-freedom cornering mucosa cutter, and relates to the field of medical instruments. The structure comprises a hand operation mechanism, an extension mechanism and an end execution mechanism. The hand operating mechanism is provided with a handle, a pull ring for controlling the tool apron to stretch and retract and at least three sliding buttons for controlling the tail end to swing. The extension mechanism comprises a core wire, a plurality of steel wire ropes and an outer sleeve which covers the core wire and the steel wire ropes. The tail end executing mechanism comprises a cutter seat, a telescopic embedded cutting knife and a continuous body structure connected with the cutter seat, wherein the structure is formed by connecting a plurality of bone segments through flexible ligaments, and the distal end of the steel wire rope is fixed on the bone segments in different directions. The knife holder is controlled to stretch out and draw back through the push-pull ring so as to switch the cutting/hemostasis mode, and the steel wire rope of the slide Niu Qianla is pushed to drive the continuous body structure to bend, so that the active steering of the tail end on two degrees of freedom is realized, and the operation flexibility and the operation precision of the instrument in a complex cavity are obviously improved.

Inventors

  • LI WEIMIN
  • DUAN WENQIANG

Assignees

  • 武汉伊轩科技有限公司

Dates

Publication Date
20260512
Application Date
20260212

Claims (10)

  1. 1. A multi-degree-of-freedom cornering mucosa cutter, comprising: The hand operating mechanism (10) comprises a handle (11), a pull ring (12) which is slidably arranged on the handle (11), a sleeve (13) which is integrated with a liquid injection port (131) and an electrode interface (132), and at least three sliding buttons (15) which are slidably arranged on the handle (11); the end effector (30) comprises a cutter holder (33), a cutting knife (31) which is telescopically embedded in the cutter holder (33) and a continuous body structure connected to the proximal end of the cutter holder (33), wherein the continuous body structure is formed by connecting a plurality of bone segments (34) through flexible ligaments (35); The extension mechanism (20) comprises a core wire (21), a plurality of flexible steel wire ropes (22) and a bendable outer sleeve (23), wherein the core wire (21) is connected between the hand operation mechanism (10) and the end execution mechanism (30), the proximal end of the core wire (21) is connected with the pull ring (12), the distal end of the core wire is connected with the cutting knife (31), the proximal ends of the plurality of steel wire ropes (22) are respectively connected with the corresponding sliding buttons (15), the distal ends of the plurality of steel wire ropes are connected to different directions of the most distal bone segments (34) of the continuous body structure, the outer sleeve (23) is wrapped outside the core wire (21) and the steel wire ropes (22), one ends of the outer sleeve are connected with the handle (11), and the other ends of the outer sleeve (23) are connected with the cutter holder (33).
  2. 2. The multi-degree-of-freedom rotatable mucosa cutter as claimed in claim 1, wherein the sliding buttons (15) are distributed along the circumferential equal angle of the handle (11), a sliding groove I (17) for sliding the sliding buttons (15) is arranged on the handle (11), and the steel wire rope (22) penetrates through the through hole arranged on the sliding buttons (15) and is anchored.
  3. 3. The multi-degree-of-freedom cornering mucosa cutter as claimed in claim 2, wherein the main body of the slide button (15) is cylindrical, the operation surface is a concave arc surface, and the peripheral edge is provided with an annular fillet.
  4. 4. The multi-degree-of-freedom cornering mucosa cutter according to claim 1, wherein the pull ring (12) is sleeved outside the handle (11) and is in sliding fit with the handle (11), a second chute (18) is further arranged on the handle (11), the sleeve (13) is embedded in the handle (11), and the liquid injection port (131) and the electrode interface (132) penetrate through the second chute (18) to be connected with the pull ring (12).
  5. 5. The multi-degree of freedom steerable mucosa cutter as claimed in claim 1, wherein the condyle (34) is made of a biocompatible high strength metal material and the ligament (35) is made of polyurethane, nylon or medical polymer elastomer.
  6. 6. The multi-degree-of-freedom turnable mucosa cutter as claimed in claim 1, wherein the condyle (34) is in interference fit with the outer sleeve (23), an embedded groove is formed in the edge of the condyle (34), and the ligament (35) penetrates into the embedded groove and is fixed through a medical-grade adhesive.
  7. 7. The multiple degree of freedom steerable mucosa cutter as claimed in claim 5 or 6 wherein the continuum structure comprises five condyles (34), a single condyle (34) having a thickness of 0.3mm, ligaments (35) between adjacent condyles having a length of 2.7mm, and the outer cannula (23) having an inner diameter of 2mm.
  8. 8. The multi-degree-of-freedom rotatable mucosa cutter as claimed in claim 1, further comprising a water pipe (24) and a cutter handle (36), wherein the continuous body structure further comprises a tail end connecting sleeve (32), one end of the cutter handle (36) is connected with the cutting knife (31), the other end of the cutter handle is fixedly connected with the tail end connecting sleeve (32), the other end of the tail end connecting sleeve (32) is fixedly connected with the distal end of the core wire (21), the cutter handle (36) passes through the cutter seat (33) and is in sliding fit with the cutter seat (33), the cutter handle (36) is longer than the cutter seat (33), the distal end of the water pipe (24) is in sealing connection with the tail end connecting sleeve (32), the proximal end of the water pipe is in sealing connection with a fluid channel of the sleeve (13), the axial inner parts of the tail end connecting sleeve (32), the cutting knife (31) and the cutter handle (36) are provided with fluid channels which are communicated, and the fluid channels of the cutting knife and the tail end connecting sleeve (32) are opened on the respective surfaces.
  9. 9. The multi-degree-of-freedom cornering mucosa cutter according to claim 8, wherein the core wire (21) is provided with a core wire sleeve (25), and the number of the steel wire ropes (22) is three.
  10. 10. The multi-degree of freedom steerable mucosa cutter as claimed in claim 1, wherein the outer cannula (23) is made of a biocompatible flexible material.

Description

Multi-degree-of-freedom rotatable mucous membrane cutter Technical Field The invention relates to the technical field of medical instruments, in particular to a disposable mucous membrane incision knife with a multi-degree-of-freedom end actuating mechanism for endoscopic surgery, in particular endoscopic mucous membrane resection (EMR) and endoscopic mucous membrane dissection (ESD). Background In recent years, with the development of endoscopic techniques, endoscopic tissue biopsy, endoscopic submucosal resection (EMR) and Endoscopic Submucosal Dissection (ESD) have been widely used for treatment of gastrointestinal hemorrhage, polypectomy and early cancer, and gradually become the first treatment means. The conventional incision instruments such as high-frequency electric knives and snares commonly used in clinic at present have severely limited freedom degrees at the tail end, and only single telescopic or opening and closing actions of the knife rest can be realized. This presents a significant limitation in performing surgery in curved anatomical lumens (e.g., colon, bronchi) where the instrument is difficult to flexibly adjust the cutting angle, and the physician is forced to compensate for the directional deviation by greatly twisting the wrist or moving the instrument in its entirety. The method not only aggravates operation fatigue, but also easily causes the cutting track to deviate from the edge of the focus, increases the risks of tissue perforation, focus residue or damage to normal tissues, and influences the precision of tissue layering stripping and the safety and efficiency of operation. Therefore, there is an urgent need for a mucosal cutting instrument that can improve the flexibility of the tip and the directional cutting ability while maintaining the simplicity and low cost of operation. Disclosure of Invention The invention aims to at least solve one technical problem in the prior art and provides a multi-degree-of-freedom turnable mucosa cutter. The structure optimizes the flexibility of the tail end on the basis of the traditional instrument, and enables the tail end to be controllably bent in two degrees of freedom, so that the directional cutting capability of the instrument in a complex anatomic environment is improved, the operation experience of doctors is optimized, and the cost and reliability advantages of disposable use are maintained. In order to achieve the above purpose, the present invention adopts the following technical scheme: a multi-degree of freedom steerable mucosa cutter comprising: The hand operating mechanism comprises a handle, a pull ring which is slidably arranged on the handle, a sleeve which is integrated with a liquid injection port and an electrode interface, and at least three sliding buttons which are slidably arranged on the handle; The tail end executing mechanism comprises a cutter seat, a cutter which is telescopically embedded in the cutter seat and a continuous body structure connected to the proximal end of the cutter seat, wherein the continuous body structure is formed by connecting a plurality of bone segments through flexible ligaments; The extension mechanism comprises a core wire, a plurality of flexible steel wire ropes and a bendable outer sleeve, wherein the core wire, the flexible steel wire ropes and the bendable outer sleeve are connected between the hand operation mechanism and the end execution mechanism, the proximal end of the core wire is connected with the pull ring, the distal end of the core wire is connected with the cutting knife, the proximal ends of the steel wire ropes are respectively connected with the corresponding sliding buttons, the distal ends of the steel wire ropes are connected to different positions of the most distal bone of the continuous body structure, the outer sleeve is coated outside the core wire and the steel wire ropes, one end of the outer sleeve is connected with the handle, and the other end of the outer sleeve is connected with the tool apron. Further, the sliding buttons are distributed along the circumferential direction of the handle at equal angles, the first sliding grooves for the sliding of the sliding buttons are arranged on the handle, and the steel wire ropes penetrate through the through holes in the sliding buttons and are anchored. Further, the main body of the sliding button is cylindrical, the operation surface of the sliding button is a concave arc surface, and the peripheral edge of the sliding button is provided with an annular round angle. Further, the pull ring is sleeved outside the handle and is in sliding fit with the handle, a second chute is further formed in the handle, the sleeve is embedded in the handle, and the liquid injection port and the electrode interface penetrate through the second chute and are connected with the pull ring. Further, the condyle is made of a biocompatible high-strength metal material, and the ligament is made of polyurethane, nylon or medical