CN103315781B - Endoscope noninvasive surgery system - Google Patents
Endoscope noninvasive surgery system Download PDFInfo
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- CN103315781B CN103315781B CN201310290266.XA CN201310290266A CN103315781B CN 103315781 B CN103315781 B CN 103315781B CN 201310290266 A CN201310290266 A CN 201310290266A CN 103315781 B CN103315781 B CN 103315781B
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Abstract
The invention discloses an endoscope noninvasive surgery system. The system comprises a function end and a control end. The function end comprises an endoscope body, a flexible sleeve pipe, a camera shooting illumination module and a function mechanical arm. A rigid pipe body section is arranged at the front end of the endoscope body. The control end comprises a control end base, an endoscope body control module, a camera shooting illumination module control module and a function mechanical arm control module, wherein the endoscope body control module, the camera shooting illumination module control module and the function mechanical arm control module respectively control stretching and / or bending of the endoscope body, the camera shooting illumination module and the function mechanical arm, so that a surgical instrument carried by the function mechanical arm can enter a surgical site under the posture that the surgical instrument is retracted into a rigid pipe body, and the endoscope body, the camera shooting illumination module and the function mechanical arm can stretch and / or bend after the surgical instrument reaches the surgical site. The endoscope noninvasive surgery system has the advantages of being small in size, convenient to use and the like.
Description
Technical field
The present invention relates to medical equipment technical field, particularly a kind of endoscope noninvasive surgery system.
Background technology
Minimally Invasive Surgery, because little, the operating time of its wound and the plurality of advantages such as rehabilitation duration is short and post-operative complication probability of happening is little, is able to fast development in clinical operation.At present, many foods endoscope-assistant surgery at home Duo Jia hospital extensively carried out and favorable comment of having agreed.But when objective for implementation of performing the operation is adiposis patient, the introducing of multiple body surface wound still has very high human body invasive, cannot realize Wicresoft truly.And through human body natural's tract endoscopic surgery (natural orificetrans-luminal endoscopic surgery, NOTES) utilize human body natural's tube chamber to carry out endoscopic surgery without the need at body surface opening, the Wicresoft performed the operation can be realized to greatest extent.But because NOTES technical difficulty is higher, operating theater instruments carries out the surgical action such as clip suture after needing the body cavities by a long and narrow complexity, it is excessive all to there is volume in major part existing NOTES operation mechanism, many defects such as performance accuracy is inadequate, be difficult to the technical requirement meeting endoscopic suturing procedures, cause this class apparatus not to be widely used clinically.
Summary of the invention
The object of this invention is to provide a kind of endoscope noninvasive surgery system, this system is mainly used in the endoscopic surgery through human body natural's tract, and the function such as shooting illumination required in the integrated endoscopic procedures of this systemic-function end and clamping puncture.This system can arrive operative site with endoscope's body attitude by narrow human body natural's tract under a kind of closed position.
According to object of the present invention, provide a kind of endoscope noninvasive surgery system, this system can enter into operative site with a kind of closed endoscope's body attitude through narrow human body natural's tract, and its function end is extensible to a kind of operating attitude to carry out operation technique afterwards.The function end of this system is integrated with the operating forceps that required shooting illumination functions in endoscopic surgery operation and two have clamping and puncture function, shooting lighting module and operating forceps are carried respectively by three flexible continuum mechanical arms and are controlled, and flexible continuum mechanical arm all can be controlled by flexible continuum by the control that control end is corresponding.
Endoscope noninvasive surgery system function end of the present invention is made up of endoscope body, shooting lighting module, shooting lighting module mechanical arm and two symmetrical function machine mechanical arm.
In the present invention, endoscope body is the tubular structure of external diameter 10 to 12 millimeters.This endoscope body front end is one section of rigidity body, and for receiving function machine mechanical arm, main body is reach the flexible Continuum Structure of half meter.This rigidity body is preferably about 20 millimeters, or also can be other size.This flexible Continuum Structure is made up of structural bone, distance piece and end stay.In the flexible Continuum Structure of endoscope body front end rigidity body and main body, have respectively for shooting lighting module mechanical arm and function machine mechanical arm by and the passage that passes through of air feed medicine supplying pipe road.By the length of the flexible Continuum Structure bone of control subject, what the flexible continuum mechanical arm in this endoscope body and endoscope body can realize two degree of freedom curves motion.The flexible sleeve of the overtube by name that this endoscope external body cover has Obex company of the similar U.S. to produce is inserted into inside of human body with what ensure that this endoscope can be smooth.
Lighting module main body of making a video recording in the present invention is one group of photographic head being packaged with LED illumination, in the valve jacket that this photographic head is installed on.Preferably, this valve jacket external diameter 12 millimeters, long 10 millimeters.Shooting lighting module is that arc flexible continuum mechanical arm carries by cross section.The flexible continuum mechanical arm of this bow-shaped cross-section is made up of the flexible Continuum Structure of two joints, and this flexible continuum mechanical arm is made up of structural bone, distance piece and end stay equally.The flexible continuum mechanical arm of this bow-shaped cross-section can in implementation space four degree of freedom curve motion.Meanwhile, flexible in its passage that can provide at above-mentioned endoscope body.The flexible continuum mechanical arm of this bow-shaped cross-section leaves the passage passed through for front end camera module supply line and signal line.
In the present invention, function machine mechanical arm main body is the flexible continuum mechanical arm of similar trapezoid cross section, its instrument such as front end portability operating forceps or surgical clips.This flexible continuum mechanical arm is similarly two joint structures, and single-unit can the curving of two degree of freedom in implementation space.The same with shooting lighting module mechanical arm, this flexible continuum mechanical arm is made up of structural bone, distance piece and end stay, and flexible in the passage that can provide at endoscope body.Under endoscopic system closure state, entrained by this flexible continuum mechanical arm, operation tool can be completely retracted among endoscope body.The passage providing front end operation tool control line or pipeline to pass through is had in this flexible continuum mechanical arm.
Said structure is the function end of this endoscope noninvasive surgery system, and shooting lighting module and function machine mechanical arm must be carried to body operation position by endoscope body.The control end of this endoscope noninvasive surgery system is all positioned at outside patient body.Control end modularly can be divided into the control module of endoscope body, the control module of lighting module of making a video recording and the control module of function machine mechanical arm according to function end.Endoscope body control module is positioned at whole control end foremost, belongs to be fixedly connected with control end pedestal.The control module of shooting lighting module and the control module of two cover function machine mechanical arm are positioned at after endoscope body control module, and these three modules can overall linear movement group on control end pedestal seesaw to realize the extension and contraction control to each mechanical arm in front end.
Endoscope body control module front end is endoscope body flexible Continuum Structure bone dash receiver, it has to should the receiver hole of flexible Continuum Structure bone distribution, is connected with transition stainless steel tube after this receiver hole.The structural bone of flexible Continuum Structure enters in these transition stainless steel tubes through receiver hole.Guide structure bone is amplified to same distribution shape by reduced size but the structural bone amplification board of large-size by these transition stainless steel tubes.Structural bone reconstructs a flexible Continuum Structure of control of amplifying relative to the flexible continuum of endoscope body with a series of distance piece and stay after stretching out from amplification board.Meanwhile, this amplifies flexible continuum distance piece and stay and other four root knot llex cornuta and again forms a flexible Continuum Structure, becomes and drives flexible continuum.Drive flexible Continuum Structure bone distributed dimension slightly larger than the flexible Continuum Structure of amplifying.The four root knot llex cornuta other ends of flexible Continuum Structure are driven to be connected on the chuck of four differential heads.Can control to drive flexible Continuum Structure bone length by rotating differential head, thus control to drive the upset of flexible continuum end stay to point to.The end stay controlling the stay of flexible continuum and the flexible continuum of amplification is shared, corresponding motion is done in the meeting of thus amplifying flexible continuum, its structural bone can extend shortening according to certain rules, and these structural bone are flexible Continuum Structure bones of endoscope body, can there is contrary length variations in its length accordingly because of the length change of amplifying rear flexible Continuum Structure bone.And the length variations of structural bone can cause the flexible continuum of endoscope curves motion accordingly.What structural relation can realize controlling spatially two degree of freedom of the flexible continuum of endoscope body of a joint by four differential heads thus curves motion.
Shooting lighting module control module and endoscope body control module similar.The flexible continuum mechanical arm of shooting lighting module bow-shaped cross-section is connected to shooting lighting module control module by endoscope body and endoscope body control module.The flexible Continuum Structure bone of this bow-shaped cross-section arrives amplification board by a dash receiver through stainless steel tube, forms the flexible Continuum Structure of two joints after an amplification afterwards.Have equally outside the flexible Continuum Structure of amplification and drive flexible continuum.Drive flexible Continuum Structure bone after stainless steel tube break-in, be connected to differential head end.What eight differential heads controlled the flexible continuum of this bow-shaped cross-section four degree of freedom curves motion.Make a video recording lighting module control module can along two optical axis rectilinear motions simultaneously, and its driving is a screw rod.This motion can control the overall feeding of raw shooting lighting module.
The control module of two function machine mechanical arm is substantially identical with shooting lighting module control module, and difference is cross sectional shape.Meanwhile, the control line of the operation tool such as function end mechanical tong also can export to differential head end from dash receiver relevant position stainless steel tube, to realize Non-follow control.
According to a preferred embodiment of the invention, provide a kind of endoscope noninvasive surgery system, described system comprises:
Function end, described function end comprises endoscope body, the flexible sleeve be enclosed within described endoscope body, shooting lighting module and function machine mechanical arm, and described endoscope body front end is provided with one section of rigidity body;
Control end, described control end comprises control end pedestal, endoscope body control module, shooting lighting module control module and function machine mechanical arm control module, and described endoscope body control module, described shooting lighting module control module and described function machine mechanical arm control module are arranged on described control end pedestal; Wherein,
Described endoscope body control module, described shooting lighting module control module and described function machine mechanical arm control module control the flexible of described endoscope body, described shooting lighting module and described function machine mechanical arm respectively and/or curve, thus make the operating theater instruments of being carried by described function machine mechanical arm can enter into operative site under the attitude of rigidity body described in retraction, and after arrival operative site, described endoscope body, described shooting lighting module and described function machine mechanical arm can stretch and/or curve.
In above-described embodiment, preferably, described control end pedestal is provided with screw rod and back shaft, and described shooting lighting module and described function machine mechanical arm can along described back shaft linear movements, and described linear movement is by described screw drive.
Preferably, described endoscope phosphor bodies is the flexible Continuum Structure of endoscope, the flexible Continuum Structure of described endoscope is by the flexible Continuum Structure bone of endoscope, the flexible continuum distance piece of endoscope and endoscope's flexible continuum end stay are formed, described endoscope flexible continuum end stay is fixed on flexible Continuum Structure bone one end in described endoscope, the other end is through the flexible continuum distance piece of described endoscope, and be connected to described endoscope body control module, thus curving of described endoscope phosphor bodies can be controlled by regulating the length of the flexible Continuum Structure bone of described endoscope.
Preferably, described shooting lighting module comprises photographic head, illuminator, and the flexible continuum mechanical arm of bow-shaped cross-section, the flexible continuum mechanical arm of described bow-shaped cross-section has the flexible continuum distance piece of bow-shaped cross-section, bow-shaped cross-section flexible continuum first segment structural bone, bow-shaped cross-section flexible continuum second section structural bone, the flexible continuum first segment stay of bow-shaped cross-section and second section stay, wherein, the flexible continuum first structural bone one end of described bow-shaped cross-section is connected with described shooting lighting module control module, the other end is through the flexible continuum distance piece of multiple bow-shaped cross-section, be fixed on flexible continuum first stay of described bow-shaped cross-section, the flexible continuum second structural bone one end of bow-shaped cross-section is connected with described shooting lighting module control module, the other end is through the flexible continuum distance piece of multiple bow-shaped cross-section, and through flexible continuum first stay of described bow-shaped cross-section, be fixed on flexible continuum second stay of described bow-shaped cross-section.
Preferably, described function machine mechanical arm main body is the flexible continuum mechanical arms in two joint class trapezoid cross sections, the flexible continuum mechanical arm in described class trapezoid cross section comprises the flexible continuum distance piece in class trapezoid cross section, class trapezoid cross section flexible continuum first segment structural bone, class trapezoid cross section flexible continuum second section structural bone, the flexible continuum first segment stay in class trapezoid cross section and second section stay, wherein, first structural bone one end is connected with described function machine mechanical arm control module, the other end is through the flexible continuum distance piece in multiple described class trapezoid cross section, then flexible continuum first stay in described class trapezoid cross section is fixed on, flexible continuum second section structural bone one end, class trapezoid cross section is connected with described function machine mechanical arm control module, the other end is through the flexible continuum distance piece in multiple described class trapezoid cross section, and through flexible continuum first stay in described class trapezoid cross section, be then fixed on flexible continuum second stay in described class trapezoid cross section.
Preferably, described endoscope body control module is provided with endoscope's flexible Continuum Structure bone dash receiver, transition stainless steel tube, the flexible continuum amplification board of endoscope, flexible continuum and endoscope body drives structure bone and endoscope body differential head amplify in endoscope, wherein, described endoscope amplifies flexible continuum and is provided with endoscope and amplifies flexible continuum distance piece and flexible continuum stay amplifies in endoscope, and the flexible Continuum Structure bone of described endoscope is successively through described endoscope flexible Continuum Structure bone dash receiver, described transition stainless steel tube also extends to the flexible continuum amplification board of described endoscope, the flexible Continuum Structure bone of described endoscope amplifies flexible continuum distance piece through described endoscope after passing from the flexible continuum amplification board of described endoscope, and is fixed on described endoscope and amplifies flexible continuum stay, described endoscope body driving machine llex cornuta one end is fixed on described endoscope and is amplified flexible continuum stay, the other end is successively through the flexible continuum amplification board of described amplification flexible continuum distance piece and described endoscope, and be connected with described endoscope body differential head, thus control curving of described endoscope body by rotating described endoscope body differential head.
Preferably, described shooting lighting module control module is provided with shooting lighting module flexible Continuum Structure bone dash receiver, transition stainless steel tube, the flexible continuum amplification board of shooting lighting module, two joint shooting lighting modules amplify flexible continuum and shooting lighting module drives structure bone and lighting module differential head of making a video recording, wherein, described shooting lighting module amplify flexible continuum be provided with shooting lighting module amplify flexible continuum distance piece and shooting lighting module amplify flexible continuum stay, and the flexible Continuum Structure bone of described shooting lighting module is successively through described shooting lighting module flexible Continuum Structure bone dash receiver, described transition stainless steel tube also extends to the flexible continuum amplification board of described shooting lighting module, after the flexible Continuum Structure bone of described shooting lighting module passes from the flexible continuum amplification board of described shooting lighting module, amplify flexible continuum distance piece through described shooting lighting module, and be fixed on described shooting lighting module and amplify flexible continuum stay, described shooting lighting module driving machine llex cornuta one end is fixed on described shooting lighting module and is amplified flexible continuum stay, the other end amplifies flexible continuum distance piece and the flexible continuum amplification board of described shooting lighting module through described shooting lighting module successively, and be connected with described shooting lighting module differential head, thus control curving of described shooting lighting module mirror body by rotating described shooting lighting module differential head.
Preferably, described function machine mechanical arm control module is provided with function machine mechanical arm flexible Continuum Structure bone dash receiver, transition stainless steel tube, the flexible continuum amplification board of function machine mechanical arm, two joint function machine mechanical arm amplify flexible continuum and function machine mechanical arm drives structure bone and function machine mechanical arm differential head, wherein, described function machine mechanical arm is amplified flexible continuum and is provided with function machine mechanical arm and amplifies flexible continuum distance piece and function machine mechanical arm amplifies flexible continuum stay, and the flexible Continuum Structure bone of described function machine mechanical arm is successively through described function machine mechanical arm flexible Continuum Structure bone dash receiver, described transition stainless steel tube also extends to the flexible continuum amplification board of described function machine mechanical arm, the flexible Continuum Structure bone of described function machine mechanical arm amplifies flexible continuum distance piece through described function machine mechanical arm after passing from the flexible continuum amplification board of described function machine mechanical arm, and is fixed on described function machine mechanical arm and amplifies flexible continuum stay, described function machine mechanical arm driving mechanism bone one end is fixed on described function machine mechanical arm and is amplified flexible continuum stay, the other end amplifies flexible continuum distance piece and the flexible continuum amplification board of described function machine mechanical arm through described function machine mechanical arm successively, and be connected with described function machine mechanical arm differential head, thus control curving of described function machine mechanical arm mirror body by rotating described function machine mechanical arm differential head.
In endoscope noninvasive surgery system of the present invention, endoscope body diameter is about 12 millimeters, even little of 10mm, and this is significantly smaller than the diameter of existing endoscope body, and it is generally more than 15mm.Thus, this system can enter into operative site with a kind of closed endoscope's body attitude through narrow human body natural's tract, and its function end is extensible to a kind of operating attitude to carry out operation technique afterwards.And function end of the present invention can be stretched neatly and curve towards all directions, make operator that native system can be used easily to carry out non-invasive procedures.That is, to have volume little in the present invention, advantage easy to use.
Accompanying drawing explanation
Fig. 1 is the overall structure axonometric chart of endoscope noninvasive surgery system of the present invention;
Fig. 2 A is the structural perspective of endoscope body of the present invention;
Fig. 2 B is the front view of the rigidity receiving cavity of the endoscope body of Fig. 2 A;
Fig. 3 A is the axonometric chart of endoscope of the present invention shooting lighting module;
Fig. 3 B is the front view of the space disc of the flexible Continuum Structure of the lighting module of Fig. 3 A;
Fig. 4 A is the structural perspective of function machine mechanical arm of the present invention;
Fig. 4 B is the front view of the space disc of the function machine mechanical arm of Fig. 4 A;
Fig. 5 is the structural perspective of endoscope noninvasive surgery system control end pedestal of the present invention;
Fig. 6 A is the structural perspective of endoscope body driver module of the present invention;
Fig. 6 B is the front view of the space disc of the endoscope body driver module of Fig. 6 A;
Fig. 7 A is the structural perspective of shooting lighting module driver module of the present invention;
Fig. 7 B is the front view of the space disc of the shooting lighting module driver module of Fig. 7 A;
Fig. 8 A is the structural perspective of function machine mechanical arm driver module of the present invention;
Fig. 8 B is the plane graph of the function machine mechanical arm driver module of Fig. 8 A; And
Fig. 9 A and 9B is that the function end of endoscope noninvasive surgery system of the present invention closes and launches the structural perspective of (duty) respectively.
Detailed description of the invention
Below with reference to accompanying drawing, preferred embodiment of the present invention is described in detail, so that clearer understanding objects, features and advantages of the present invention.It should be understood that embodiment shown in the drawings is not limitation of the scope of the invention, and the connotation just in order to technical solution of the present invention is described.
As shown in Figure 1, endoscope noninvasive surgery system of the present invention is made up of function end 1 and control end 2 two large divisions.Function end 1 is made up of endoscope body 3 and flexible sleeve 4, shooting lighting module 5 and two function machine mechanical arm 6,7.Control end 2 is made up of control end pedestal 8, endoscope body control module 9, shooting lighting module control module 10 and two function machine mechanical arm control modules 11,12.Certainly, although do not point out, in system of the present invention, according to actual needs, also can contain not only two function machine mechanical arm, such as, can three or a four or more mechanical arm be contained.
As shown in Figure 2 A, endoscope body 3 front end of the present invention is rigidity receiving cavity 13, for holding each surgery instrument being positioned at endoscope body front end when function end closes.The main body of endoscope body 3 is the flexible Continuum Structure 14 of endoscope, and the flexible Continuum Structure 14 of this endoscope is made up of the flexible Continuum Structure bone 15 of endoscope, the flexible continuum stay 17 of the flexible continuum distance piece 16 of endoscope and endoscope.To be shooting provide respective channel with the mechanical arm of lighting module 5 and function machine mechanical arm 6,7 and air feed medicine supplying pipe road to this endoscope body 3.Wherein, as shown in Figure 2 B, arcuate channel 18 is the passage passed through with the mechanical arm of lighting module 5 for shooting; Class trapezoidal channel 19,20 is the passage passed through for function machine mechanical arm 6,7; Class triangle and circular channel 21 are the passage passed through for breather, delivery tube; Surrounding's circular hole 22 in cross section is the passage or distributing position that supply the flexible Continuum Structure bone 15 of endoscope to pass through.
As shown in Figure 3A, the shooting of endoscope noninvasive surgery system function end of the present invention and lighting module are integrated with the photographic head 22 of LED illumination, and this photographic head 22 is installed in the external diameter valve jacket identical with endoscope body 23.Valve jacket 23 and photographic head 22 are carried by the flexible continuum mechanical arm 24 of two joints of a bow-shaped cross-section.This flexible continuum mechanical arm 24 can on implementation space four degree of freedom curve motion and overall stretching motion.The main building block of the flexible continuum mechanical arm of bow-shaped cross-section comprises the flexible continuum distance piece 25 of bow-shaped cross-section, bow-shaped cross-section flexible continuum first segment structural bone 26, bow-shaped cross-section flexible continuum second section structural bone 27, bow-shaped cross-section flexible continuum first segment stay 28 and second section stay 29, wherein, first structural bone 26 one end is connected with control end (hereafter will be described in more detail), the other end, through multiple flexible continuum distance piece 25, is then fixed on the first stay 28.Similarly, second structural bone 27 one end is connected with control end (hereafter will be described in more detail), and the other end through multiple flexible continuum distance piece 25, and through the first stay 28, is then fixed on the second stay 29.The flexible continuum mechanical arm of bow-shaped cross-section leaves the passage 30 passed through for shooting illuminalive power-supply and signal line, as shown in Figure 3 B.
As shown in Figure 4 A, function machine mechanical arm 6,7 main body of endoscope noninvasive surgery system of the present invention is the flexible continuum mechanical arm 31 of two joints of similar trapezoid cross section.This flexible continuum mechanical arm 31 can on implementation space four degree of freedom curve motion and overall stretching motion.Similar with the flexible continuum mechanical arm 24 of bow-shaped cross-section, the main building block of flexible continuum mechanical arm 31 comprises the flexible continuum distance piece 32 in class trapezoid cross section, class trapezoid cross section flexible continuum first segment structural bone 33, class trapezoid cross section flexible continuum second section structural bone 34, class trapezoid cross section flexible continuum first segment stay 35 and second section stay 36, wherein, first structural bone 33 one end is connected with control end (hereafter will be described in more detail), the other end, through multiple flexible continuum distance piece 32, is then fixed on the first stay 35.Similarly, second structural bone 34 one end is connected with control end (hereafter will be described in more detail), and the other end through multiple flexible continuum distance piece 25, and through the first stay 35, is then fixed on the second stay 36.Flexible continuum mechanical arm 6,7 front end, such trapezoid cross section portability operating forceps 37 and the suture needle 38 can stretched out from operating forceps.The flexible continuum mechanical arm in class trapezoid cross section leaves the passage 39,40 passed through for suture needle 38 and mechanical tong drive wire, as shown in Figure 4 B.Here, class is trapezoidal to be referred to similar to trapezoidal shape, but is not exclusively trapezoidal shape.
Fig. 5 is the structural representation of endoscope noninvasive surgery system control end pedestal 8 of the present invention.As shown in Figure 5, control end pedestal 8 forms primarily of construction pedestals 41, back shaft 42, screw rod 43, for installing endoscope body control module, shooting lighting module control module and function machine mechanical arm control module, hereafter will further describe.
Fig. 6 A and 6B is the structural representation that endoscope body of the present invention controls (driving) module 9.As shown in Figure 6 A and 6B, in endoscope body control module 9 of the present invention, be provided with endoscope's flexible Continuum Structure bone dash receiver 44, transition stainless steel tube 45, the flexible continuum amplification board 46 of endoscope, endoscope amplify flexible continuum and differential head 49.The flexible Continuum Structure bone 15 of endoscope successively through endoscope's flexible Continuum Structure bone dash receiver 44, transition stainless steel tube 45, and extends to the flexible continuum amplification board 46 of endoscope.After structural bone 15 passes from amplification board 46 and endoscope amplify flexible continuum distance piece 47 and stay 48 and form endoscope and amplify flexible continuum.Meanwhile, amplify structural bone 50 that flexible continuum distance piece 47 and stay 48 and four control length by differential head 49 to form endoscope and drive flexible continuum.On the distance piece that the distribution that flexible Continuum Structure bone 15 and the flexible Continuum Structure bone 50 of driving amplify in endoscope is shared by two flexible continuuies, endoscope amplifies flexible Continuum Structure bone hole 51 and drives flexible Continuum Structure bone hole 52 to show, as shown in Figure 6B.By rotating differential head 49, endoscope can be controlled and drive the length of flexible Continuum Structure bone 50 thus the attitude controlling the flexible continuum of this driving.Because flexible continuum amplifies in endoscope share stay with driving flexible continuum, amplify flexible continuum and can follow and drive flexible continuum to occur to curve motion accordingly, its structural bone 15 can correspondingly elongate or shorten in amplification flexible continuum one end length.Because structural bone 15 is the flexible Continuum Structure bone of endoscope body simultaneously, it can make it in endoscope body flexible continuum one segment length generation inverse variation amplifying the length variations in flexible continuum.Thus, the athletic meeting that curves of amplifying flexible continuum causes the flexible continuum one of endoscope body to curve motion accordingly.According to above structural relation, curve control by what rotate that differential head 49 can realize the flexible continuum of endoscope mirror body.
Fig. 7 A and 7B is the structural representation that shooting lighting module of the present invention controls (driving) module 10.As shown in figs. 7 a-b, lighting module control module of making a video recording in endoscope noninvasive surgery system can along back shaft 42 linear movement in control end pedestal 8 thus control shooting lighting module integral telescopic.This linear movement can be driven by screw rod 43.In shooting lighting module control module, the first segment structural bone 26 of the flexible continuum mechanical arm 24 of bow-shaped cross-section and second section structural bone 27, by after dash receiver 53, transition stainless steel tube 54 and amplification board 55, form two respectively with a series of amplification distance piece 56 and stay 57 and save and amplify bow shaped flexible Continuum Structure.The flexible Continuum Structure of the arc driving of two joints is again formed with 8 structural bone controlled by differential head 58 59 while of amplifying flexible continuum distance piece 56 and stay 57.Drive bow shaped flexible Continuum Structure bone 59 when being connected to differential head 58, by stainless steel tube 60 transition break-in with reasonable arrangement space.Similar with endoscope body flexible continuum driving principle, can realize curving control to two joint bow shaped flexible continuum mechanical arms, 24 4 degree of freedom by controlling differential head 58.As shown in Figure 7 B, on distance piece 56, aperture 61 is put for amplifying the flexible Continuum Structure position of bone, and hole 62 is put for driving the flexible Continuum Structure position of bone.
Fig. 8 A and 8B is the structural representation of function machine mechanical arm control module.The structural principle of function machine mechanical arm control module is substantially identical with shooting lighting module control module.Its entirety can be driven along back shaft 42 linear movement by screw rod 43.Similar with shooting lighting module control module, in function machine mechanical arm control module, in the two flexible continuum mechanical arms 31 in joint class trapezoid cross section, structural bone 33,34 again forms the flexible continuum of the trapezoidal amplification of class after stainless steel tube 63 transition.Amplify flexible continuum to be furnished with and to drive flexible continuum, control to drive the length of flexible Continuum Structure bone 65 can finally realize curving control to four degree of freedom in space of the two flexible continuum mechanical arms in joint class trapezoid cross section by differential head 64.Amplify flexible continuum and drive the distribution of flexible Continuum Structure bone can find out from the distribution in hole its shared distance piece 66.The function machine mechanical arm front end robot pincers control line of 37 and the control line of suture needle 38 are also connected to differential head by stainless steel tube, thus realize Non-follow control.
In work process, first endoscope noninvasive surgery system function end need be in first closure attitude, namely function machine mechanical arm 6,7 is retracted in endoscope body 3 completely, shooting lighting module is reduced to valve jacket 23 and fits completely with endoscope body front end rigid body 13, and whole surgery systems function end forms a closed cylinder attitude.Under this attitude, adjustment endoscope body 3 attitude, extend into operative site by the function end of surgery systems.Drive forwards shooting lighting module 5 afterwards and adjust its attitude, stretching out function machine mechanical arm 6,7, carry out operation associative operation.After having performed the operation, function end gets back to closed position, withdraws from outside patient body.Fig. 9 A and 9B is endoscope noninvasive surgery system closed position and operating attitude schematic diagram.
In endoscope noninvasive surgery system of the present invention, endoscope body diameter is about 12 millimeters, even little of 10mm, and this is significantly smaller than the diameter of existing endoscope body, and it is generally more than 15mm.Thus, this system can enter into operative site with a kind of closed endoscope's body attitude through narrow human body natural's tract, and its function end is extensible to a kind of operating attitude to carry out operation technique afterwards.And function end of the present invention can be stretched neatly and curve towards all directions, make operator that native system can be used easily to carry out non-invasive procedures.
Below described preferred embodiment of the present invention in detail, but it will be appreciated that, after having read above-mentioned teachings of the present invention, those skilled in the art can make various changes or modifications the present invention.These equivalent form of values fall within the application's appended claims limited range equally.
Claims (9)
1. an endoscope noninvasive surgery system, is characterized in that, described system comprises:
Function end, described function end comprises endoscope body, the flexible sleeve be enclosed within described endoscope body, shooting lighting module and function machine mechanical arm, and described endoscope body front end is provided with one section of rigidity body;
Control end, described control end comprises control end pedestal, endoscope body control module, shooting lighting module control module and function machine mechanical arm control module, and described endoscope body control module, described shooting lighting module control module and described function machine mechanical arm control module are arranged on described control end pedestal; Wherein,
Described endoscope body control module, described shooting lighting module control module and described function machine mechanical arm control module control the flexible of described endoscope body, described shooting lighting module and described function machine mechanical arm respectively and/or curve, thus make the operating theater instruments of being carried by described function machine mechanical arm can enter into operative site under the attitude of rigidity body described in retraction, and after arrival operative site, described endoscope body, described shooting lighting module and described function machine mechanical arm can stretch and/or curve;
Described shooting lighting module comprises photographic head, illuminator, and the flexible continuum mechanical arm of bow-shaped cross-section, the flexible continuum mechanical arm of described bow-shaped cross-section has the flexible continuum distance piece of bow-shaped cross-section, bow-shaped cross-section flexible continuum first segment structural bone, bow-shaped cross-section flexible continuum second section structural bone, the flexible continuum first segment stay of bow-shaped cross-section and second section stay, wherein, the flexible continuum first structural bone one end of described bow-shaped cross-section is connected with described shooting lighting module control module, the other end is through the flexible continuum distance piece of multiple bow-shaped cross-section, be fixed on flexible continuum first stay of described bow-shaped cross-section, the flexible continuum second structural bone one end of bow-shaped cross-section is connected with described shooting lighting module control module, the other end is through the flexible continuum distance piece of multiple bow-shaped cross-section, and through flexible continuum first stay of described bow-shaped cross-section, be fixed on flexible continuum second stay of described bow-shaped cross-section.
2. endoscope noninvasive surgery system according to claim 1, it is characterized in that, described control end pedestal is provided with screw rod and back shaft, and described shooting lighting module and described function machine mechanical arm can along described back shaft linear movements, and described linear movement is by described screw drive.
3. endoscope noninvasive surgery system according to claim 1, is characterized in that, the external diameter of described endoscope body is 10mm-12mm.
4. endoscope noninvasive surgery system according to claim 1, is characterized in that, described operating theater instruments is the mechanical tong and the suture needle that are arranged on surgical functions mechanical arm front end.
5. endoscope noninvasive surgery system according to claim 1, it is characterized in that, described endoscope phosphor bodies is the flexible Continuum Structure of endoscope, the flexible Continuum Structure of described endoscope is by the flexible Continuum Structure bone of endoscope, the flexible continuum distance piece of endoscope and endoscope's flexible continuum end stay are formed, described endoscope flexible continuum end stay is fixed on flexible Continuum Structure bone one end in described endoscope, the other end is through the flexible continuum distance piece of described endoscope, and be connected to described endoscope body control module, thus curving of described endoscope phosphor bodies can be controlled by regulating the length of the flexible Continuum Structure bone of described endoscope.
6. endoscope noninvasive surgery system according to claim 1, it is characterized in that, described function machine mechanical arm main body is the flexible continuum mechanical arms in two joint class trapezoid cross sections, the flexible continuum mechanical arm in described class trapezoid cross section comprises the flexible continuum distance piece in class trapezoid cross section, class trapezoid cross section flexible continuum first segment structural bone, class trapezoid cross section flexible continuum second section structural bone, the flexible continuum first segment stay in class trapezoid cross section and second section stay, wherein, first structural bone one end is connected with described function machine mechanical arm control module, the other end is through the flexible continuum distance piece in multiple described class trapezoid cross section, then flexible continuum first stay in described class trapezoid cross section is fixed on, flexible continuum second section structural bone one end, class trapezoid cross section is connected with described function machine mechanical arm control module, the other end is through the flexible continuum distance piece in multiple described class trapezoid cross section, and through flexible continuum first stay in described class trapezoid cross section, be then fixed on flexible continuum second stay in described class trapezoid cross section.
7. endoscope noninvasive surgery system according to claim 5, is characterized in that,
Described endoscope body control module is provided with endoscope's flexible Continuum Structure bone dash receiver, flexible continuum amplifies in transition stainless steel tube, the flexible continuum amplification board of endoscope, endoscope and endoscope body drives structure bone and endoscope body differential head, wherein
Described endoscope amplifies flexible continuum and is provided with endoscope and amplifies flexible continuum distance piece and flexible continuum stay amplifies in endoscope, and the flexible Continuum Structure bone of described endoscope is successively through described endoscope flexible Continuum Structure bone dash receiver, described transition stainless steel tube extend to the flexible continuum amplification board of described endoscope
The flexible Continuum Structure bone of described endoscope amplifies flexible continuum distance piece through described endoscope after passing from the flexible continuum amplification board of described endoscope, and is fixed on described endoscope and amplifies flexible continuum stay,
Described endoscope body driving machine llex cornuta one end is fixed on described endoscope and is amplified flexible continuum stay, the other end is successively through the flexible continuum amplification board of described amplification flexible continuum distance piece and described endoscope, and be connected with described endoscope body differential head, thus control curving of described endoscope body by rotating described endoscope body differential head.
8. endoscope noninvasive surgery system according to claim 1, it is characterized in that, described shooting lighting module control module is provided with shooting lighting module flexible Continuum Structure bone dash receiver, transition stainless steel tube, the flexible continuum amplification board of shooting lighting module, two joint shooting lighting modules amplify flexible continuum and shooting lighting module drives structure bone and shooting lighting module differential head, wherein
Described shooting lighting module amplify flexible continuum be provided with shooting lighting module amplify flexible continuum distance piece and shooting lighting module amplify flexible continuum stay, and the flexible Continuum Structure bone of described shooting lighting module is successively through described shooting lighting module flexible Continuum Structure bone dash receiver, described transition stainless steel tube extend to the flexible continuum amplification board of described shooting lighting module
The flexible Continuum Structure bone of described shooting lighting module amplifies flexible continuum distance piece through described shooting lighting module after passing from the flexible continuum amplification board of described shooting lighting module, and is fixed on described shooting lighting module and amplifies flexible continuum stay,
Described shooting lighting module driving machine llex cornuta one end is fixed on described shooting lighting module and is amplified flexible continuum stay, the other end amplifies flexible continuum distance piece and the flexible continuum amplification board of described shooting lighting module through described shooting lighting module successively, and be connected with described shooting lighting module differential head, thus control curving of described shooting lighting module mirror body by rotating described shooting lighting module differential head.
9. endoscope noninvasive surgery system according to claim 6, is characterized in that,
Described function machine mechanical arm control module is provided with function machine mechanical arm flexible Continuum Structure bone dash receiver, transition stainless steel tube, the flexible continuum amplification board of function machine mechanical arm, two joint function machine mechanical arm amplify flexible continuum and function machine mechanical arm drives structure bone and function machine mechanical arm differential head, wherein
Described function machine mechanical arm is amplified flexible continuum and is provided with function machine mechanical arm and amplifies flexible continuum distance piece and function machine mechanical arm amplifies flexible continuum stay, and the flexible Continuum Structure bone of described function machine mechanical arm is successively through described function machine mechanical arm flexible Continuum Structure bone dash receiver, described transition stainless steel tube extend to the flexible continuum amplification board of described function machine mechanical arm
The flexible Continuum Structure bone of described function machine mechanical arm amplifies flexible continuum distance piece through described function machine mechanical arm after passing from the flexible continuum amplification board of described function machine mechanical arm, and is fixed on described function machine mechanical arm and amplifies flexible continuum stay,
Described function machine mechanical arm driving mechanism bone one end is fixed on described function machine mechanical arm and is amplified flexible continuum stay, the other end amplifies flexible continuum distance piece and the flexible continuum amplification board of described function machine mechanical arm through described function machine mechanical arm successively, and be connected with described function machine mechanical arm differential head, thus control curving of described function machine mechanical arm mirror body by rotating described function machine mechanical arm differential head.
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