CN106073897A - A kind of snakelike joint for single hole minimally invasive robot and mechanism thereof - Google Patents
A kind of snakelike joint for single hole minimally invasive robot and mechanism thereof Download PDFInfo
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- CN106073897A CN106073897A CN201610548724.9A CN201610548724A CN106073897A CN 106073897 A CN106073897 A CN 106073897A CN 201610548724 A CN201610548724 A CN 201610548724A CN 106073897 A CN106073897 A CN 106073897A
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- elastic sheet
- snakelike
- upper strata
- thin slice
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00238—Type of minimally invasive operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/0034—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means adapted to be inserted through a working channel of an endoscope
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
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Abstract
The invention discloses the snakelike articulation mechanism for single hole minimally invasive robot, it includes snakelike joint and snakelike framing structure, snakelike joint includes elastic sheet, elastic sheet includes upper strata elastic sheet, upper strata elastic sheet fastens with lower floor elastic sheet and is connected and forms center-aisle, upper strata elastic sheet becomes conjugate curves structure with lower floor elastic sheet, middle elastic thin slice is slidably connected in center-aisle, the rear portion of middle elastic thin slice is connected with linear motion driving source by middle level contiguous block, snakelike framing structure includes the serpentine sector that multiple structure is identical, the hollow channel of multiple serpentine sector collectively constitutes serpentine channel, the elastic sheet in snakelike joint is arranged in serpentine channel, linear motion driving source controls the motion relatively slided to control snakelike skeleton of middle elastic thin slice.This structure is compacter, assembles more convenient, can more effectively avoid the instrument collision problem when operation technique.
Description
Technical field
The present invention relates to a kind of micro-wound operation robot joint and mechanism thereof, particularly to one for minimally invasive surgery single hole
The joint of operating robot and mechanism thereof.
Background technology
Along with the development of science and technology, particularly image technology and control technology, Modern Medical Field has had been enter into machine
People's assisting minimally invasive epoch.So-called robot assisted minimally invasive surgery utilizes robotics to assist doctor in operation process exactly
Give birth to a series of operation technique so that operation technique is more fine, and wound is less.The Da that Da Vinci company of the U.S. produces
The highly skilled man robot system of Vinci surgical robot system and the independent research of University Of Tianjin of China is the most typical.And along with medical treatment
The development of technology, single hole operation is gradually come out, and also brings the appearance of the special single hole operating robot of single hole operation simultaneously.
Single hole operation refers to insert multiple perforator or multi-pore channel perforator on the little otch of a 15mm-40mm, then
Implantation surgery apparatus is operated.What traditional single hole operation used is all straight-bar instrument, apparatus very flexible, Yi Ti
Inside colliding, the scope visual field is less than normal.And the appearance of single hole operating robot, just for overcoming problem above.Existing list
Hole operating robot mainly includes that the three digest journals such as picture system, control system, train of mechanism are in one.At existing single hole hands
In art operation, owing to apparatus mostly is stiff rod instrument and is all entered by a passage, easily produces " chopsticks effect " and cause apparatus
Collide in vivo, affect operating time and surgical quality.Although and existing snakelike instrument can solve the problem that the problems referred to above, but it is certainly
Body structure is complicated, and it is more difficult to assemble.
Summary of the invention
Present invention aim to overcome that the deficiency of prior art, it is provided that one apparatus in single hole operation process will not occur
Collision, improves the Serpentis for single hole minimally invasive robot of the safety of the visual-field space of picture system, surgical quality and operation
Shape joint and mechanism thereof.
The present invention is attained in that by techniques below means
A kind of snakelike joint for single hole minimally invasive robot of the present invention, it includes elastic sheet, described Thin Elastic
Sheet includes upper strata elastic sheet, and described upper strata elastic sheet fastens with lower floor elastic sheet and is connected and forms center-aisle, institute
The upper strata elastic sheet stated becomes conjugate curves structure, middle elastic thin slice to be slidably connected at described centre with lower floor elastic sheet
In passage, described upper strata elastic sheet and lower floor's elastic sheet are made up of Nitinol, after described middle elastic thin slice
Portion is connected with linear motion driving source by middle level contiguous block, and linear motion driving source controls the relative slip of middle elastic thin slice
To control upper strata elastic sheet and the Curvature varying of lower floor's elastic sheet, it is achieved corresponding curvature movement.
The snakelike articulation mechanism for single hole minimally invasive robot of the present invention, it includes snakelike joint and snakelike skeleton knot
Structure, described snakelike joint includes that elastic sheet, described elastic sheet include upper strata elastic sheet, described upper strata Thin Elastic
Sheet fastens with lower floor elastic sheet and is connected and is formed center-aisle, and described upper strata elastic sheet becomes to be conjugated with lower floor elastic sheet
Curvilinear structures, middle elastic thin slice is slidably connected in described center-aisle, and described upper strata elastic sheet and lower floor are elastic
Thin slice is made up of Nitinol, and the rear portion of described middle elastic thin slice is by middle level contiguous block and linear motion driving source phase
Even, described snakelike framing structure includes the serpentine sector that multiple structure is identical, and each serpentine sector includes a middle tool
Having the body of the passage of hollow, on the inwall of described body, uniform intervals is provided with many group silk passages, often group silk passage by
Two wire through hole compositions, the axis of described many groups silk passage is parallel with body axis, and many group silk passages are used for through steel wire,
By being sequentially rotationally connected the snakelike skeleton of composition before and after straight pin between multiple serpentine sector, the hollow channel of multiple serpentine sector is altogether
With forming serpentine channel, the elastic sheet in described snakelike joint is arranged in serpentine channel, during linear motion driving source controls
The motion relatively slided to control snakelike skeleton of layer elastic sheet.
The present invention compared with prior art has the advantages that
A kind of snakelike articulation mechanism for single hole minimally invasive robot of the present invention compared with traditional snakelike joint, structure
Compacter, assemble more convenient.
A kind of snakelike articulation mechanism for single hole minimally invasive robot of the present invention can more effectively avoid instrument in operation
Collision problem during operation.
A kind of snakelike articulation mechanism for single hole minimally invasive robot of the present invention, compared with traditional snakelike joint, drives
The most convenient, control simpler.
Although a kind of snakelike articulation mechanism for single hole minimally invasive robot of the present invention is to set for single hole operating theater instruments
Meter, but this articulation mechanism has higher portability, it is possible to it is directly used in other operation tools, has to other medical treatment neck
The potentiality of territory extension.
Accompanying drawing explanation
Fig. 1 is that a kind of snakelike articulation mechanism for single hole minimally invasive robot of the present invention is always schemed；
Fig. 2 is the explosive view of the mechanism shown in Fig. 1；
Fig. 3 is a kind of snakelike joint for single hole minimally invasive robot of the present invention and snakelike skeleton connection diagram；
Fig. 4-1 is that a kind of action under a kind of duty in the snakelike joint of single hole minimally invasive robot of the present invention is shown
It is intended to；
Fig. 4-2 is a kind of action under the another kind of duty in the snakelike joint of single hole minimally invasive robot of the present invention
Schematic diagram；
Fig. 4-3 is a kind of action under another duty in the snakelike joint of single hole minimally invasive robot of the present invention
Schematic diagram；
Fig. 5 is that a kind of snakelike articulation mechanism for single hole minimally invasive robot of the present invention is under three typical duties
Action schematic diagram；
Fig. 6 is a kind of snakelike articulation mechanism of present invention working state schematic representation in single hole minimally invasive robot；
Detailed description of the invention
Below in conjunction with the accompanying drawings, the detailed description of the invention of the present invention is described in detail.
A kind of snakelike joint for single hole minimally invasive robot of the present invention as shown in drawings, it includes elastic sheet 1-
2, described elastic sheet 1-2 include upper strata elastic sheet 2-2, described upper strata elastic sheet 2-2 and lower floor elastic sheet 2-4
Fastening and be connected and form center-aisle, described upper strata elastic sheet 2-2 becomes conjugate curves structure with lower floor elastic sheet 2-4,
Middle elastic thin slice 2-3 is slidably connected in described center-aisle, described upper strata elastic sheet 2-2 and lower floor's elastic sheet
2-4 is made up of Nitinol.The rear portion of described middle elastic thin slice 2-3 is driven with linear motion by middle level contiguous block 2-5
Source is connected, and the power in described linear motion driving source can come from hand drive or linear drive motor etc..Linear motion drives
Dynamic source controls the relative of middle elastic thin slice 2-3 and slides to control upper strata elastic sheet and the Curvature varying of lower floor's elastic sheet,
Realize corresponding curvature movement.
When elastic sheet 1-2 installs, first upper strata elastic sheet 2-2 and lower floor elastic sheet 2-4 is fastened, formed after fastening
The duct of one hollow, then within thin for middle elastic 2-3 sheet is pushed duct.
A kind of snakelike articulation mechanism for single hole minimally invasive robot of the present invention as shown in drawings, it includes described
Snakelike joint and snakelike framing structure, described snakelike framing structure includes the serpentine sector 3-1 that multiple structure is identical, each
Individual serpentine sector 3-1 includes that a centre has the body of the passage of hollow, and the most described body is torus, Ke Yi
Completely while cladding elastic sheet, the motion on elastomer does not produces impact, and can effectively carry for follow-up frame for movement
For silk passage, in order to the driving of subsequent mechanical structure.On the inwall of described body, uniform intervals is provided with how group silk leads to
Road 3-2, often group silk passage is made up of two wire through holes, and the axis of described many groups silk passage is parallel with body axis, in figure
Shown inwall is uniformly respectively six groups of silk passages.
By being sequentially rotationally connected the snakelike skeleton 1-1 of composition before and after straight pin 5-1 between multiple serpentine sector, as it is shown on figure 3,
The most axisymmetric on the both sides end face of each serpentine sector 3-1 two links, two adjacent snakelike lists are installed
Link on unit 3-1 is sequentially rotationally connected by before and after straight pin 5-1.Many group silk passage 3-2 are for through steel wire, to control
The motion of the anterior binding clip 6-3 being connected with front end fixed cover 2-1.The arrangement of steel wire can use existing structure, multiple
The hollow channel of serpentine sector 3-1 collectively constitutes serpentine channel.The elastic sheet 1-2 in described snakelike joint is arranged on snakelike logical
In road, linear motion driving source controls the motion relatively slided to control snakelike skeleton of middle elastic thin slice 2-3.
When snakelike joint is installed, after whole elastic sheet 1-2 is placed in snakelike framing structure, is formed and support.
Fig. 4-Isosorbide-5-Nitrae-2,4-3 is respectively three kinds of typical works in a kind of snakelike joint for single hole minimally invasive robot of the present invention
Make view.In Fig. 4-1, shown flexible member is the original state of work.Upper strata elastic sheet and lower floor are elastic
Thin slice fastens, and forms the curve shape being pre-designed, and center-aisle is left in centre, by the middle elastic thin slice of opposite curve structure
Be fully inserted therein, then due to both internal stress and the antipodal reason of bending direction, now three thin slices are after superposition
Can form linear state, middle elastic thin slice is positioned at initial position.In Fig. 4-2, shown flexible member is due to middle elastic
Thin slice sliding backward, the front end of whole elastic sheet is owing to losing contrary internal stress and warp architecture, and front end recovers not fold
Add the state of middle elastic thin slice, and the AB section at rear portion, due to the existence of middle elastic thin slice, internal still have the most contrary interior
Stress, therefore it is still maintained at certain plateau.In Fig. 4-3, shown flexible member is due to middle elastic thin slice
Further slip, the front end of integral, flexible thin slice is lifted completely, if being moved rearwards by middle elastic thin slice, the most whole Thin Elastic
Sheet can recover initial condition completely.
Fig. 5 is that a kind of snakelike skeleton of snakelike articulation mechanism for single hole minimally invasive robot of the present invention drives at elastic sheet
Under three kinds of typical motion states.State 1 is original state, and now middle elastic thin slice is elastic with upper strata elastic sheet and lower floor
Thin slice fits like a glove.State 2,3 is that after middle elastic thin slice slides backward, snakelike skeleton is institute under the driving of elastic sheet respectively
The kinestate formed.
Fig. 6 is that a kind of snakelike articulation mechanism for single hole minimally invasive robot of the present invention is in picture system and train of mechanism
The operating diagram of application work.This device in use, holds fixing respectively company before and after described snakelike framing structure 1-1
Being connected to front end fixed cover 2-1 and rear end fixed cover, the front side of front end fixed cover binding clip 6-3 the most anterior with front end tool is connected simultaneously
Connect, and the rear side of rear end fixed cover 2-7 is connected with branch sleeve 2-6 and passes through branch sleeve and rear portion instrument rod member 1-3 shape
Become to connect.Described linear motion drives source to set through rear end fixed cover 2-7, branch sleeve 2-6 with rear portion instrument rod member 1-3
Putting, on picture system, a kind of snakelike articulation mechanism for single hole minimally invasive robot of the present invention is used in the rear portion of endoscope, for
Endoscope provides multivariant motion.In train of mechanism, a kind of snakelike pass for single hole minimally invasive robot of the present invention
Joint mechanism is for tool tong back of head so that in single hole is performed the operation, apparatus can be formed and operate triangle, it is to avoid apparatus touches in vivo
The problem hit.
Schematically being described the present invention and embodiment thereof above, this description does not has restricted, institute in accompanying drawing
Simply one of the embodiments of the present invention shown, actual structure is also not limited thereto.If those skilled in the art is subject to
Its enlightenment, in the case of without departing from the invention objective, transmission, driving means and the connected mode taken other form
Design the frame mode similar to this technical scheme and embodiment without creative, protection scope of the present invention all should be belonged to.
Claims (2)
1. the snakelike joint for single hole minimally invasive robot, it is characterised in that: it includes elastic sheet, described Thin Elastic
Sheet includes upper strata elastic sheet, and described upper strata elastic sheet fastens with lower floor elastic sheet and is connected and forms center-aisle, institute
The upper strata elastic sheet stated becomes conjugate curves structure, middle elastic thin slice to be slidably connected at described centre with lower floor elastic sheet
In passage, described upper strata elastic sheet and lower floor's elastic sheet are made up of Nitinol, after described middle elastic thin slice
Portion is connected with linear motion driving source by middle level contiguous block, and linear motion driving source controls the relative slip of middle elastic thin slice
To control upper strata elastic sheet and the Curvature varying of lower floor's elastic sheet, it is achieved corresponding curvature movement.
2. using the snakelike articulation mechanism for single hole minimally invasive robot in snakelike joint described in claim 1, it is special
Levy and be: it includes that snakelike joint and snakelike framing structure, described snakelike joint include elastic sheet, described Thin Elastic
Sheet includes upper strata elastic sheet, and described upper strata elastic sheet fastens with lower floor elastic sheet and is connected and forms center-aisle, institute
The upper strata elastic sheet stated becomes conjugate curves structure, middle elastic thin slice to be slidably connected at described centre with lower floor elastic sheet
In passage, described upper strata elastic sheet and lower floor's elastic sheet are made up of Nitinol, after described middle elastic thin slice
Portion is connected with linear motion driving source by middle level contiguous block, and described snakelike framing structure includes identical snakelike of multiple structure
Unit, each serpentine sector includes that a centre has the body of the passage of hollow, on the inwall of described body uniformly
Being arranged at intervals with many group silk passages, often group silk passage is made up of two wire through holes, the axis of described many groups silk passage and this
Body axis is parallel, and many group silk passages, for through steel wire, are sequentially rotationally connected group by before and after straight pin between multiple serpentine sector
Snakelike skeleton, the hollow channel of multiple serpentine sector is become to collectively constitute serpentine channel, the elastic sheet peace in described snakelike joint
Being contained in serpentine channel, linear motion driving source controls the motion relatively slided to control snakelike skeleton of middle elastic thin slice.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610548724.9A CN106073897B (en) | 2016-07-12 | 2016-07-12 | A kind of snakelike joint and its mechanism for single hole minimally invasive robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610548724.9A CN106073897B (en) | 2016-07-12 | 2016-07-12 | A kind of snakelike joint and its mechanism for single hole minimally invasive robot |
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| Publication Number | Publication Date |
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| CN106073897A true CN106073897A (en) | 2016-11-09 |
| CN106073897B CN106073897B (en) | 2018-06-19 |
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| CN201610548724.9A Active CN106073897B (en) | 2016-07-12 | 2016-07-12 | A kind of snakelike joint and its mechanism for single hole minimally invasive robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109172130A (en) * | 2018-08-30 | 2019-01-11 | 上海西地众创空间管理有限公司 | Medical robot for operation for myopia |
| CN109700537A (en) * | 2018-12-29 | 2019-05-03 | 天津大学 | Flexible surgical instrument operates arm system and micro-wound operation robot from hand system |
| CN110269689A (en) * | 2018-03-14 | 2019-09-24 | 深圳市精锋医疗科技有限公司 | Connection component, motion arm, from operation equipment and operating robot |
| CN110269692A (en) * | 2018-03-14 | 2019-09-24 | 深圳市精锋医疗科技有限公司 | Connection component, motion arm, from operation equipment and operating robot |
| CN110269682A (en) * | 2018-03-14 | 2019-09-24 | 深圳市精锋医疗科技有限公司 | Connection component, motion arm, from operation equipment and operating robot |
| CN110522517A (en) * | 2019-09-16 | 2019-12-03 | 西安交通大学医学院第一附属医院 | A kind of Minimally Invasive Surgery mechanical arm under the environment for single-hole laparoscopic |
| WO2022000709A1 (en) * | 2020-06-30 | 2022-01-06 | 天津大学 | Minimally invasive surgical robot operating tool |
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| CN104814792A (en) * | 2015-04-01 | 2015-08-05 | 上海交通大学 | Separable multi-arm soft mechanical arm device |
| CN105287002A (en) * | 2015-12-02 | 2016-02-03 | 吉林大学 | Flexible multi-joint operation micro instrument for robot-assisted minimally invasive surgery |
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| US20090326326A1 (en) * | 2008-06-25 | 2009-12-31 | Medical Intubation Technology Corporation | Endoscope Head Apparatus |
| US20140350569A1 (en) * | 2011-04-21 | 2014-11-27 | Chang Wook Jeong | Minimally invasive surgical instrument implementing a motor |
| CN104814792A (en) * | 2015-04-01 | 2015-08-05 | 上海交通大学 | Separable multi-arm soft mechanical arm device |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110269689A (en) * | 2018-03-14 | 2019-09-24 | 深圳市精锋医疗科技有限公司 | Connection component, motion arm, from operation equipment and operating robot |
| CN110269692A (en) * | 2018-03-14 | 2019-09-24 | 深圳市精锋医疗科技有限公司 | Connection component, motion arm, from operation equipment and operating robot |
| CN110269682A (en) * | 2018-03-14 | 2019-09-24 | 深圳市精锋医疗科技有限公司 | Connection component, motion arm, from operation equipment and operating robot |
| CN110269682B (en) * | 2018-03-14 | 2020-09-01 | 深圳市精锋医疗科技有限公司 | Connecting assembly, operating arm, slave operating equipment and surgical robot |
| CN110269692B (en) * | 2018-03-14 | 2021-01-05 | 深圳市精锋医疗科技有限公司 | Connecting assembly, operating arm, slave operating equipment and surgical robot |
| CN109172130A (en) * | 2018-08-30 | 2019-01-11 | 上海西地众创空间管理有限公司 | Medical robot for operation for myopia |
| CN109700537A (en) * | 2018-12-29 | 2019-05-03 | 天津大学 | Flexible surgical instrument operates arm system and micro-wound operation robot from hand system |
| CN109700537B (en) * | 2018-12-29 | 2021-07-30 | 天津大学 | Flexible surgical instrument, operation arm system and minimally invasive surgery robot slave hand system |
| CN110522517A (en) * | 2019-09-16 | 2019-12-03 | 西安交通大学医学院第一附属医院 | A kind of Minimally Invasive Surgery mechanical arm under the environment for single-hole laparoscopic |
| WO2022000709A1 (en) * | 2020-06-30 | 2022-01-06 | 天津大学 | Minimally invasive surgical robot operating tool |
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|---|---|
| CN106073897B (en) | 2018-06-19 |
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