CN106880405B - Operating robot flexible instrument, surgical instrument and endoscope - Google Patents
Operating robot flexible instrument, surgical instrument and endoscope Download PDFInfo
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- CN106880405B CN106880405B CN201710202661.6A CN201710202661A CN106880405B CN 106880405 B CN106880405 B CN 106880405B CN 201710202661 A CN201710202661 A CN 201710202661A CN 106880405 B CN106880405 B CN 106880405B
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- block
- instrument
- operating robot
- flexible instrument
- rotating block
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0057—Constructional details of force transmission elements, e.g. control wires
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/008—Articulations
-
- 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
Abstract
The present invention provides a kind of operating robot flexible instruments, the operating robot flexible instrument is set to restore initial state by elastic construction, guide frame makes the operating robot flexible instrument be in bending status, to constitute multiple degrees of freedom flexible instrument, the flexibility used is which thereby enhanced, so as to further satisfaction operation requirement.The present invention also provides a kind of surgical instrument and endoscopes, including the operating robot flexible instrument, so that instrument end or imaging system reach desired position and posture.
Description
Technical field
The present invention relates to the field of medical instrument technology, in particular to a kind of operating robot flexible instrument, surgical instrument
And endoscope.
Background technique
In recent years, robot is applied not only to industrial circle, has also been widely applied in medical system.Currently, about machine
The research of application of the device people in medical profession is concentrated mainly on surgical operation robot, healing robot, nursing robot's kimonos
In terms of business robot.Wherein, surgical operation robot is that current application range is most wide and most prospect, the power provided
Overcome the problems such as poor accuracy in traditional surgery, operating time are too long, doctor is tired and lack the three-dimensional accuracy visual field.
In fact, operating robot is the combination unit of one group of instrument.It usually by endoscope probe, a knife cut etc. surgical instruments,
The devices such as miniature webcam and control stick assemble, careful by display screen and endoscope before doctor is sitting in computer display screen
Observation lesion situation in patient body, then by the scalpel in robot by lesion precise ablation (or reparation).In addition,
Operating robot can also do the very fine operations of needs such as organ repairing, vascular anastomosis or bone grinding.In recent years, surgical machine
People also be used to do the various important operations including gene transplant, nerve surgery and remote operation etc., to greatly improve
The survival rate of urgent patient.
Operating robot proposes very high requirement, existing surgical instrument is also to the surgical instrument used with human contact
Be will lead to operation opening it is bigger than normal, opening greatly will lead to patient complete postoperative recovery time it is longer.
Summary of the invention
The purpose of the present invention is to provide a kind of operating robot flexible instrument, surgical instrument and endoscope, with into one
Step meets operation requirement.
Based on above-mentioned purpose, the present invention provides a kind of operating robot flexible instrument, and the operating robot is flexible
Instrument includes initial state and bending status, and the operating robot includes: with flexible instrument
The fixed block and multiple rotating blocks being sequentially arranged, wherein between the fixed block and the rotating block or adjacent
Cushion block is disposed between two rotating blocks；
The operating robot flexible instrument further includes elastic construction and guide frame；
The elastic construction, for making the operating robot flexible instrument restore initial state；
The guide frame, for making the operating robot flexible instrument be in bending status.
Optionally, in the operating robot flexible instrument, the elastic construction and the guide frame are worn
Cross the rotating block, the cushion block is fixed on its adjacent fixed block perhaps on rotating block or the elastic construction or described
Guide frame passes through the rotating block and the cushion block；
The distal end of the guide frame and at least one elastic construction is fixed on the fixed block.
Optionally, in the operating robot flexible instrument, the elastic construction is one or two, and/
Or the guide frame is one or more.
Optionally, in the operating robot flexible instrument, the quantity of the rotating block is 4~14.
Optionally, in the operating robot flexible instrument, the spacing between the two neighboring rotating block is
Spacing between 0.5mm~3mm and/or the fixed block and adjacent rotating block is 0.5mm~3mm.
Optionally, in the operating robot flexible instrument, the rotating block has first week circumferentially
The quantity of Xiang Kong, the described first circumferential hole are one or more.
Optionally, in the operating robot flexible instrument, each guide frame passes through the rotating block
A first circumferential hole.
Optionally, in the operating robot flexible instrument, when the elastic construction is one, described in one
Elastic construction passes through a described first circumferential hole of the rotating block；When the elastic construction is two, two bullets
Property structure be each passed through the circumferential hole of adjacent two described first of the rotating block.
Optionally, in the operating robot flexible instrument, the rotating block has the first centre bore, and described the
One centre bore is located at the center of the rotating block.
Optionally, in the operating robot flexible instrument, the elastic construction passes through the institute of the rotating block
The first centre bore is stated, the distal end of the elastic construction is fixedly connected with the fixed block.
Optionally, in the operating robot flexible instrument, the fixed block has second week circumferentially
Xiang Kong, with the fixation elastic construction and/or the guide frame, at least one described second circumferential hole and described first is circumferentially
Hole is corresponding.
Optionally, in the operating robot flexible instrument, the fixed block has positioned at the fixed block
Second centre bore at center, second centre bore are corresponding with first centre bore.
Optionally, in the operating robot flexible instrument, the outer shape of the cushion block is cylindrical, circular cone
Shape, truncated cone-shaped, wedge shape or tubulose, the maximum gauge of the cushion block are 1mm~8mm.
Optionally, in the operating robot flexible instrument, the cushion block is equipped with positioned at the center of the cushion block
Third centre bore.
Optionally, in the operating robot flexible instrument, the shape of the cushion block is wedge shape, the cushion block packet
Include opposite the first face and the second face, close to the fixed block, first face includes the in the first face second face
The intersection and institute that one inclined-plane and the second inclined-plane connecting with first inclined-plane, first inclined-plane and second inclined-plane are formed
The central axes intersection of rotating block is stated, second face is plane；The cushion block and the rotation for being located at second face side
Block is fixedly connected.
Optionally, in the operating robot flexible instrument, the cushion block has third circumferentially circumferential
Hole, third circumferential direction hole are one or more.
Optionally, in the operating robot flexible instrument, when third circumferential direction hole is multiple, wherein two
A third circumferential direction hole is located on the intersection on first inclined-plane and second inclined-plane, and the intersection is located at described in two
In plane defined by the axis in third circumferential direction hole.
Optionally, in the operating robot flexible instrument, shape between first inclined-plane and second face
At the first angle be greater than 0 ° and be less than or equal to 80 °, the second angle formed between second inclined-plane and second face
For greater than 0 ° and less than or equal to 80 °.
Optionally, in the operating robot flexible instrument, first angle is equal with second angle.
Optionally, in the operating robot flexible instrument, the rotating block is divided into multiple groups, and every group includes at least
Two rotating blocks and the cushion block being firmly connected with it, the angle of the intersection is 0 ° on all cushion blocks in every group, adjacent
The angle of the intersection of two groups of cushion blocks is more than or equal to 0 ° and to be less than or equal to 90 °.
The present invention also provides a kind of surgical instrument, the surgical instrument include instrument end, flexible instrument as described above,
Tube, flexible piece and controller, wherein the instrument end, the flexible instrument, the tube and the controller
It being sequentially connected, described flexible piece one end connects the controller, and the other end is connect by the tube with the instrument end,
The proximal end of guide frame in the flexible instrument is connect with the controller, and the controller controls institute by the flexible piece
Instrument end movement is stated, the flexible instrument is controlled by the guide frame and is swung.
The present invention also provides a kind of endoscope, the endoscope includes imaging system, flexible instrument as described above, tubulose
Object and controller；Wherein, the imaging system, the flexible instrument, the tube and the controller are sequentially connected；Institute
The proximal end for stating the guide frame in flexible instrument connects the controller；The controller passes through described in guide frame control
Flexible instrument is swung, and then adjusts the pose of the distal end of the imaging system.
In operating robot flexible instrument provided by the invention, make the operating robot with soft by elastic construction
Property instrument restore initial state, guide frame makes the operating robot flexible instrument be in bending status, thus constitute mostly oneself
By degree flexible instrument, the flexibility used is which thereby enhanced, so as to further satisfaction operation requirement.It is mentioned in the present invention
In the surgical instrument and endoscope of confession, including the operating robot flexible instrument so that instrument end or
Imaging system reaches desired position and posture.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of an operating robot flexible instrument of the embodiment of the present invention one；
Fig. 2 is the structural schematic diagram of another operating robot flexible instrument of the embodiment of the present invention one；
Fig. 3 is the structural schematic diagram of the fixed block of the embodiment of the present invention one；
Fig. 4 is the structural schematic diagram of the rotating block of the embodiment of the present invention one；
Fig. 5 is the structural schematic diagram of an operating robot flexible instrument of the embodiment of the present invention two；
Fig. 6 is the structural schematic diagram of another operating robot flexible instrument of the embodiment of the present invention two；
Fig. 7 is the structural schematic diagram of another operating robot flexible instrument of the embodiment of the present invention two；
Fig. 8 is the structural schematic diagram of another operating robot flexible instrument of the embodiment of the present invention two；
Fig. 9 is the structural schematic diagram of another operating robot flexible instrument of the embodiment of the present invention two；
Figure 10 is the structural schematic diagram of the fixed block of the embodiment of the present invention two；
Figure 11 is a rotating block of the embodiment of the present invention two and the structural schematic diagram of cushion block；
Figure 12 is another rotating block of the embodiment of the present invention two and the structural schematic diagram of cushion block；
Figure 13 is another rotating block of the embodiment of the present invention two and the structural schematic diagram of cushion block；
Figure 14 is the curved schematic of the operating robot flexible instrument of the embodiment of the present invention two；
Figure 15 is the curved schematic of the operating robot flexible instrument of the embodiment of the present invention two；
Figure 16 is the structural schematic diagram of an operating robot flexible instrument of the embodiment of the present invention three；
Figure 17 is the structural schematic diagram of another operating robot flexible instrument of the embodiment of the present invention three；
Figure 18 is the structural schematic diagram of another operating robot flexible instrument of the embodiment of the present invention three；
Figure 19 is the structural schematic diagram of another operating robot flexible instrument of the embodiment of the present invention three；
Figure 20 is the structural schematic diagram of another operating robot flexible instrument of the embodiment of the present invention three.
Specific embodiment
Below in conjunction with the drawings and specific embodiments to operating robot flexible instrument proposed by the present invention, surgical instrument and
Endoscope is described in further detail.According to following explanation and claims, advantages and features of the invention will be become apparent from.It needs
Illustrate, attached drawing is all made of very simplified form and using non-accurate ratio, only to convenient, lucidly auxiliary is said
The purpose of the bright embodiment of the present invention.Particularly, the emphasis that each attached drawing needs to show is different, often all uses different ratios
Example.
In this application, " proximal end " and " distal end " is from using doctor's angle of the medical instrument to carry out read fortune for mutual
Element or the relative bearing of movement, relative position, direction, although " proximal end " and " distal end " be not it is restrictive, it is " close
End " is often referred to the Medical Devices in course of normal operation close to one end of doctor, and " distal end " typically refers to initially enter trouble
The intracorporal one end of person.
The operating robot flexible instrument of the embodiment of the present invention, including initial state and bending status comprising: it is sequentially arranged
Fixed block and multiple rotating blocks, wherein between the fixed block and the rotating block or the two neighboring rotating block it
Between be disposed with cushion block；The operating robot flexible instrument further includes elastic construction and guide frame；The elastic construction is used
In making the operating robot flexible instrument restore initial state；The guide frame, for making the operating robot with soft
Property instrument is in bending status.In the present invention, when " initial state " refers to that guide frame is not affected by external force, operating robot is used
State in which in flexible instrument, also there is no bendings for the elastic construction.Correspondingly, " bending status " refers to guide frame
When by external force, state in which in operating robot flexible instrument, rotating block described in wherein at least one occurs
Deflection, the elastic construction bend, and generate the stress for making operating robot be restored to " initial state " with flexible instrument.
Embodiment one
Referring to FIG. 1, its structural schematic diagram for an operating robot flexible instrument of the embodiment of the present invention one.Such as figure
Shown in 1, the operating robot flexible instrument 1 includes: the fixed block 10 and multiple rotating blocks 11 being sequentially arranged, wherein institute
It states between fixed block 10 and the rotating block 11 or is disposed with cushion block between the two neighboring rotating block 11 and (do not show in Fig. 1
Out), the distance between described fixed block 10 and the rotating block 11 and the two neighboring rotation are kept by the cushion block
The distance between block 11.11 rotating blocks 11 are schematically illustrated herein, it can be according to the surgical machine in concrete application
The demand of people's flexible instrument adjusts the quantity of the rotating block 11, and preferred range is 4~14.
Further, the operating robot flexible instrument 1 further includes elastic construction 12 and guide frame 13, the bullet
Property structure 12 and the guide frame 13 are fixed on the fixed block 10 after both passing through the rotating block 11.Here, described lead
It is used to control the swaying direction of the operating robot flexible instrument 1 to structure 13, the elastic construction 12 plays elastic branch
The effect of support, when the guide frame 13 is not by active force, the elastic construction 12 makes entire operating robot with soft
Property instrument 1 keep straightened condition.Consolidate after both passing through the rotating block 11 by the elastic construction 12 and the guide frame 13
Due on the fixed block 10, multiple degrees of freedom flexible instrument is constituted, the flexibility used is which thereby enhanced, so as into one
Step meets operation requirement.I.e. herein due to operating robot flexible instrument 1 have multiple degrees of freedom and it is flexible compared with
Height can be configured with the surgical device of the operating robot flexible instrument 1 in the lesser situation of operation opening by being bent
Tool or endoscope etc. match operation pathway, to avoid result in operation opening problem bigger than normal, further satisfaction operation makes
With requiring.
It is the structural schematic diagram of the rotating block of the embodiment of the present invention one next referring to Fig. 4.As shown in figure 4, in this Shen
Please be in embodiment, the outer shape of the rotating block 11 is cylinder.Cylindrical structure has round and smooth side, thus using
When can avoid scraping of human body etc. injury.In the embodiment of the present application, the circumferential direction of the rotating block 11 has first week
To hole 11-1, so that the guide frame 13 or the elastic construction 12 and the guide frame 13 pass through.Further,
The quantity of the first circumferential direction hole 11-1 is one or more, preferably 4~24, shows 4 in this adaptability
The first circumferential direction hole 11-1.It is preferred that the first circumferential direction hole 11-1 of the rotating block 11 is uniformly distributed in the rotating block 11
It is circumferential.
Further, the quantity of the first circumferential direction hole 11-1 on each rotating block 11 can be equal, can not also phase
Deng.But it requires the flexible instrument to provide an at least channel at this time to extend through for the guide frame 13.Specifically, one turn
Motion block 11 provides one first circumferential direction hole 11-1, in order to which the guide frame 13 extends through, while remaining all rotating block 11
One first circumferential direction hole 11-1 is also provided in corresponding position, forms a channel in order to which the guide frame extends through.If institute
State elastic construction 12 and be also deployed on the first circumferential direction hole 11-1, then require the flexible instrument at least provide again one it is similar logical
Road.It is further preferred that the quantity of the first circumferential direction hole 11-1 on all rotating blocks 11 is equal, and position is corresponding.
In the embodiment of the present application, the first circumferential direction hole 11-1 is mainly used for passing through the guide frame 13.Specifically
, the quantity of the guide frame 13 is at least one (quantity of guide frame 13 shown in Fig. 1 is 4), each guiding
Structure 13 passes through one first circumferential direction hole 11-1 of the rotating block 11.So as to easily realize by pulling the guiding
The proximal end of structure 13 and the swing for controlling the operating robot flexible instrument 1.The quantity of the guide frame 13 is more, institute
It is also more to state the direction that flexible instrument can be swung.
Further, the first circumferential direction hole 11-1 can also be used for passing through the elastic construction 12.Specifically, when described
When elastic construction 12 is 1,1 elastic construction 12 passes through the first circumferential direction hole 11-1 of the rotating block 11；
When the elastic construction 12 is 2,2 elastic constructions 12 are each passed through described in adjacent 2 of the rotating block 11
First circumferential direction hole 11-1.
With continued reference to FIG. 4, in the embodiment of the present application, the center of the rotating block 11 has the first centre bore 11-2.
The first centre bore 11-2 is mainly used for passing through the elastic construction 12.In the embodiment of the present application, the elastic construction
12 quantity is one, and the elastic construction 12 is fixed on the fixation after the first centre bore 11-2 of the rotating block 11
On block 10.The elastic construction 12 allows entire operating robot flexible instrument 1 in the case where guide frame is not by pulling force, institute
Straightened condition can be kept by stating 1 front end of operating robot flexible instrument.The first centre bore 11-2 can also accommodate the operation
The remaining part of robot.The elastic construction 12 can be solid silk structure, air silk structure or spring structure etc..
Further, the outer shape of the fixed block 10 is also cylindrical, is had thereon similar with the rotating block 11
As via design, the outer diameter of the preferably described fixed block 10 is suitable with the outer diameter of rotating block 11.Specifically, referring to FIG. 3, it is
The structural schematic diagram of the fixed block of the embodiment of the present invention one.As shown in figure 3, the circumferential direction of the fixed block 10 has the second circumferential hole
The position of 10-1, at least one the second circumferential direction hole 10-1 are corresponding with the first circumferential position of hole 11-1 of the rotating block,
The guide frame 13 is fixed in the second circumferential direction hole 10-1 after passing through the first circumferential direction hole 11-1.Described second is circumferential
The quantity of hole 10-1 can be equal with the quantity of the first circumferential direction hole 11-1, can also be unequal.In the fixed block 10
The heart has the second centre bore 10-2, the second centre bore 10-2 corresponding with the first centre bore 11-2.Here, the elasticity
Structure 12 is fixed in the second centre bore 10-2 after passing through the first centre bore 11-2, and the guide frame 13 passes through institute
It is fixed in the second circumferential direction hole 10-1 after stating the first circumferential direction hole 11-1.
In the other embodiments of the application, the elastic construction 12 can also be solid after the first circumferential direction hole 11-1
Due in the second circumferential direction hole 10-1.Specifically as shown in Fig. 2, the elasticity of the operating robot in flexible instrument 1 '
Structure 12 and the guide frame 13 are fixed on the fixed block 10 after both passing through the first circumferential hole on the rotating block 11
The second circumferential hole in.Obviously, the first circumferential direction hole 11-1, the second circumferential hole 10-1 quantity are at least 2 at this time, and at least
The position of 2 the second circumferential direction hole 10-1 is corresponding with the first circumferential position of hole 11-1 of the rotating block.
In the other embodiments of the application, the quantity of the elastic construction may be it is multiple, such as two.It is preferred that
, two elastic constructions are fixed on the fixed block 10 after being each passed through the circumferential hole of adjacent two first of the rotating block
The second circumferential hole in.Correspondingly, the first circumferential direction hole 11-1, the second circumferential hole 10-1 quantity are at least 3, and at least 3
The position of a second circumferential direction hole 10-1 is corresponding with the first circumferential position of hole 11-1 of the rotating block.
In the embodiment of the present application, the cushion block can be fixed on its adjacent fixed block 10 or rotating block 11, this
When, the elastic construction 12 or the guide frame 13 can be not passed through the cushion block, for example, the cushion block be fixed on it is described solid
Determine the position etc. between the circumferential hole of block 10 two neighboring first.Further, the cushion block can also be not secured to fixed block 10
Or on rotating block 11, at this point, one of the elastic construction 12 or the guide frame 13 pass through the cushion block, i.e., each cushion block
In there is the elastic construction 12 or a guide frame 13 to pass through.
The thickness (i.e. axial length) of the cushion block depends between the fixed block 10 and the adjacent rotating block 11
Axial distance and two adjacent rotating blocks 11 between axial distance.Preferably, the fixed block 10 and (its phase
It is adjacent) axial distance between rotating block 11 is 0.5mm~3mm, the axial distance between two neighboring rotating block 11 is 0.5mm
~3mm, i.e., the described cushion block with a thickness of 0.5mm~3mm.
It will be understood by those skilled in the art that the quantity of the cushion block becomes according to the variation of the quantity of the rotating block 11
Change, specifically, the quantity of cushion block is identical as the quantity of rotating block, i.e., between the described fixed block 10 and the rotating block 11 or
A cushion block is disposed between two neighboring rotating block 11.In the present embodiment, the quantity of the cushion block is 11.
The outer shape of the cushion block is preferably set as cylinder, cone, truncated cone-shaped, wedge shape or tubulose；The cushion block
The size yaw motion in order to the rotating block 11 small as far as possible, such as the greatest diametrical dimension range of the cushion block is 1
~8mm.If the rotating block 11 is equipped with the first centre bore 11-2 in centre, cushion block can be equally equipped in centre
Third centre bore, the third center-hole diameter of the preferably described cushion block are suitable with the diameter of the first centre bore 11-2.For another example, the pad
Block can have third circumferential direction hole circumferentially, and third circumferential direction hole is at least 1, third circumferential direction hole described at least one
The first circumferential position of hole 11-1 of position and the rotating block it is corresponding, the quantity in third circumferential direction hole and described first week
Can be equal to the quantity of hole 11-1, it can also be unequal.For another example, the cushion block include the first face and the second face, described first
Face is relative to the second face close to the fixed block 10, i.e., the adjacent fixed block 10 in the first face of the described cushion block or close to fixed block 10
Side rotating block 11, the second face of the cushion block is adjacent or is fixedly connected with the rotating block 11 of the side far from fixed block 10.
Here, the nature of operating robot flexible instrument 1 is not (i.e. flexible to the operating robot
Instrument 1 applies additional active force) it is that the surgical engine may be implemented when pulling different guide frames 13 in straightened condition
Device people is swung with flexible instrument 1 to different directions, to meet the requirement of different minimally invasive surgeries.
Embodiment two
Referring to FIG. 5, its structural schematic diagram for an operating robot flexible instrument of the embodiment of the present invention two.Such as figure
Shown in 5, compared with embodiment one, the cushion block described in the present embodiment, which not only acts as, to be kept between rotating block, rotating block and solid
Determine the effect of distance between block, and also limits the direction of the swing between rotating block and between rotating block and fixed block.
Further, the cushion block and the fixed shape of the rotating block are integral in the present embodiment.
Specifically, the operating robot flexible instrument 2 includes: the fixed block 20 and multiple rotating blocks being sequentially arranged
21, wherein be disposed with cushion block between the fixed block 20 and the rotating block 21 or between two neighboring rotating block 21, pass through
The cushion block, which not only acts as, to be kept between rotating block 21, the effect of distance between rotating block 21 and fixed block 20, but also is limited
The direction of swing between rotating block 21 and between rotating block 21 and fixed block 20.13 are schematically illustrated herein to turn
Motion block 21 can adjust the quantity of rotating block in concrete application, preferably according to the demand of the operating robot flexible instrument
Range be 4~14.
Further, the operating robot flexible instrument 2 further includes elastic construction 22 and guide frame 23, the bullet
Property structure 22 and the guide frame 23 are fixed on the fixed block 20 after both passing through the rotating block 21.Here, passing through institute
State elastic construction 22 and the guide frame 23 both pass through the rotating block 21 after be fixed on the fixed block 20, constitute more
Freedom degree flexible instrument which thereby enhances the flexibility used, so as to further satisfaction operation requirement.I.e. herein by
Have multiple degrees of freedom and flexibility higher in operating robot flexible instrument 2, it, can in the lesser situation of operation opening
To match operation pathway with flexible instrument 2 by being bent the operating robot, so that it is bigger than normal to avoid result in operation opening
Problem, further satisfaction operation requirement.
It is similar to the above embodiments, it in the embodiment of the present application, on the outside of the rotating block 21 is cylinder, thus using
When can avoid scraping of human body etc. injury.Further, the circumferential direction of the rotating block 21 has the first circumferential hole, so that
The elastic construction 22 or the guide frame 23 and the elastic construction 22 pass through.The quantity in the described first circumferential hole is extremely
1 few, preferably 4~24, the preferably described first circumferential hole is uniformly distributed in the circumferential direction of the rotating block 21.Further,
The center of the rotating block 21 has the first centre bore.First centre bore is mainly used for passing through the elastic construction 22.
The rotating block 21 can with further reference to embodiment one and Fig. 4 as described in description, the present embodiment two repeats no more this.Relatively
For embodiment one, rotating block 21 described in the present embodiment two has 8 the first circumferential holes, it is possible thereby to for more leading
It is passed through to structure 23, to improve the fineness of the deflection direction controlling for operating robot flexible instrument 2.
In the embodiment of the present application, the shape of the cushion block is wedge shape.The cushion block includes opposite the first face and second
Face, the first face second face is close to the fixed block 20.First face includes the first inclined-plane and with described first
The central axes of intersection and the rotating block 21 that second inclined-plane of inclined-plane connection, first inclined-plane and second inclined-plane are formed
Intersection, second face are plane.Obviously, guide frame passes through the first inclined-plane and the second inclined-plane respectively and is more conducive to control and turns
The swing of motion block.The adjacent fixed block 20 in first face or rotating block 21, second face is adjacent or is fixedly connected with rotating block 21.
In the present embodiment, the cushion block is fixedly connected with the rotating block 21 as shown in figure 11, is preferably integrally formed, further
, the cushion block is fixedly connected with the rotating block 21 for being located at the second face side.By taking Fig. 5 as an example, in the operating robot with soft
In property instrument 2, the rotating block that each cushion block is fixedly connected compared with it is closer to fixed block.
Preferably, the first angle between first inclined-plane and second face is greater than 0 ° and to be less than or equal to 80 °, institute
Stating the second angle between the second inclined-plane and second face is greater than 0 ° and to be less than or equal to 80 °.By controlling described first tiltedly
The angle between angle and second inclined-plane and second face between face and second face, can preferably control
The amplitude of fluctuation of operating robot flexible instrument 2.Further, first angle and second angle are equal.
Figure 11 specifically is please referred to, is the structural representation of one and the integrally formed cushion block of rotating block of the embodiment of the present invention two
Figure.It wherein, is partially rotating block below dotted line, dotted line above section is cushion block.It is clear for diagram, it is no longer marked in Figure 11
Rotating block 21 and the first centre bore thereon and the first circumferential hole out, and only mark block portion.In the embodiment of the present application, institute
There is the circumferential direction for stating cushion block 24 third circumferential direction hole 24-1, third circumferential direction hole 24-1 to be also mainly used for making the elastic construction
22 or the guide frame 23 and the elastic construction 22 pass through.Third circumferential direction hole 24-1 and adjacent separate fixed block
The described first circumferential hole on 20 rotating block 21 is corresponding, for example, quantity, size or position etc. are corresponding.The i.e. described third week
It is at least one, the circumferential direction that preferably third circumferential direction hole 24-1 is uniformly distributed in the cushion block 24 to the quantity of hole 24-1.Accordingly
, in the embodiment of the present application, the quantity of third circumferential direction hole 24-1 is also 8.Wherein, first angle and the second folder
Angle is equal, and two third circumferential direction hole 24-1 are located on the intersection on the first inclined-plane and second inclined-plane, and two on the intersection
The central axes of third circumferential direction hole 24-1 intersect that (namely the intersection is located at the axis of two third circumferential direction hole 24-1 with the intersection
Defined by plane).It is possible thereby to preferably control the deflection of the operating robot flexible instrument 2.
In the other embodiments of the application, the rotating block 21 can have the more first circumferential holes；Correspondingly, institute
Cushion block 24 is stated with more third circumferential directions hole, such as shown in Figure 12, it illustrates 24 third circumferential direction hole 24-1, thus into one
Step improves the fineness of the deflection direction controlling for operating robot flexible instrument 2.In addition, the application other
In embodiment, the rotating block 21 also can have the circumferential hole of less first；Correspondingly, the cushion block 24 has less the
Three circumferential holes, such as shown in Figure 13, it illustrates 4 third circumferential direction hole 24-1.
Please continue to refer to Figure 11, in the embodiment of the present application, the center of the cushion block 24 has third centre bore 24-2, institute
It is corresponding with the first centre bore of be fixedly connected rotating block 21 to state third centre bore 24-2.Correspondingly, the third centre bore 24-
2 are also mainly used for across elastic construction 22.Further, the third center 24-2 can also accommodate the operating robot with soft
The remaining part of property instrument.In the embodiment of the present application, the quantity of the elastic construction 22 is one, and an elastic construction 22 is worn
The fixed block is fixed on after third centre bore 24-2 on the first centre bore and the cushion block 24 crossed on the rotating block 21
On 20.
Then, referring to FIG. 10, it is the structural schematic diagram of the fixed block of the embodiment of the present invention two.With one phase of embodiment
Seemingly, the outer shape of the fixed block 20 is cylinder.It is preferred that the outer diameter of fixed block 10 and rotating block 11 are suitable.The fixed block
20 circumferential direction has the second circumferential direction hole 20-1, the position of the second circumferential direction hole 20-1 described at least one and the described first circumferential hole
Position is corresponding, and the quantity of the second circumferential direction hole 20-1 can be equal with the quantity of the first circumferential direction hole 21-1, can also be with
It is unequal.It is preferred that the center of the fixed block 20 has the second centre bore 20-2, the second centre bore 20-2 and described first
Centre bore is corresponding.Here, the elastic construction 22 is fixed in the second centre bore 20-2 after passing through first centre bore,
The guide frame 23 is fixed in the second circumferential direction hole 20-1 after passing through the described first circumferential hole.
In the other embodiments of the application, an elastic construction 22 can also pass through the described first circumferential hole, third week
Xiang Konghou is fixed in the second circumferential direction hole 20-1.Specifically as shown in fig. 6, the operating robot is in flexible instrument 2a
It is fixed on behind the first circumferential hole that the elastic construction 22 and the guide frame 23 are each passed through on the rotating block 21 described
In the second circumferential hole on fixed block 20.With continued reference to FIG. 5, in the embodiment of the present application, schematically illustrating 13 and turning
Motion block 21 may include more or less in concrete application, and the quantitative range of preferred rotating block 21 is 4~14
It is a.For example, 4 rotating blocks 21 are shown in Fig. 7 and Fig. 8, specifically, the operating robot is wrapped with flexible instrument 2b and 2c
It includes: 20,4 rotating blocks 21 of fixed block, elastic construction 22 and guide frame 23, wherein the elastic construction 22 and the guiding
Structure 23 is fixed on the fixed block 20 after both passing through the rotating block 21.The difference of Fig. 7 and Fig. 8 is the elastic construction
22 position.
Further, (n is the nature more than or equal to 1 when the swaying direction of operating robot flexible instrument is n kind
Number), the rotating block 21 is more than or equal to n, and the quantity of the guide frame 23 is at least n, and preferably 2n is a, i.e., each
Swaying direction is controlled by 2 guide frames 23.On this basis, the operating robot flexible instrument can increase described lead
To structure 23 quantity (for example, the rotating block 21 of same swaying direction controls swing angles by two guide frames 23 respectively) with
Realization swings more accurate control with flexible instrument to the operating robot.
Further, control a rotating block swaying direction guide frame 23 fixation position, can on the rotating block,
It can be on the rotating block of the distal end of the rotating block on (if there is) or fixed block.Therefore, the distal end of at least one guide frame
It is fixed with fixed block.It is furthermore preferred that the distal end of the guide frame is fixed with fixed block.
In the embodiment of the present application, the intersection angle of cushion block fixed on two neighboring rotating block 21 be more than or equal to 0 ° and
Less than or equal to 90 °.As shown in Fig. 5 to Fig. 8, the intersection angle of fixed cushion block is 90 ° on two neighboring rotating block 21.As a result,
The operating robot flexible instrument 2 can preferably be controlled, 2a, 2b, 2c are swung towards two mutually orthogonal directions, such as
Shown in Figure 14 and Figure 15.In addition, the intersection angle of cushion block fixed on two neighboring rotating block 21 may be 45 °.Such as Fig. 9 institute
Show, the operating robot flexible instrument 2d includes: 20,12 rotating blocks 21 of fixed block, elastic construction 22 and guide frame
In 23,12 rotating blocks 21, the angle of fixed cushion block is 45 ° on two neighboring rotating block 21, helically arranges, thus may be used
It is swung with the flexible instrument 2d swaying direction of operating robot described in preferable precision controlling.
Embodiment three
The present embodiment three and embodiment two the difference is that, multiple rotating blocks are divided into multiple groups, and every group includes at least two (more
It is a) rotating block, the intersection angle of fixed cushion block is 0 ° on all (multiple) rotating blocks in every group, on two adjacent groups rotating block
The intersection angle of fixed cushion block is more than or equal to 0 ° and is less than or equal to 90 °.
It is specific as shown in Figure 16 and Figure 17, the operating robot flexible instrument includes 12 rotating blocks 31, and 12
A rotating block 31 is divided into 6 groups, and every group includes 2 rotating blocks 31, the intersection for the cushion block fixed on two rotating blocks 31 in every group
Angle is 0 °, i.e., the intersection of fixed cushion block is parallel on two rotating blocks 31 in every group.Further, two adjacent groups rotating block
The intersection angle of the cushion block of upper fixation is 90 °, is put it is possible thereby to increase the operating robot flexible instrument towards each direction
Dynamic swing maximum angle.The difference of Figure 16 and Figure 17 is the position of the elastic construction 32.
Further, Figure 18 and Figure 19 be reference may also be made to, the operating robot flexible instrument includes 4 rotating blocks
31,4 rotating blocks 31 are divided into two groups, and every group includes 2 rotating blocks 31, the cushion block fixed on two rotating blocks 31 in every group
Intersection angle is 0 °, i.e., the intersection of fixed cushion block is parallel on two rotating blocks 31 in every group.Further, two adjacent groups turn
The intersection angle of fixed cushion block is 90 ° on motion block.It is possible thereby to increase the operating robot flexible instrument towards each side
To the swing maximum angle of swing.The difference of Figure 18 and Figure 19 is the position of the elastic construction 32.
In addition, the rotating block in every group can also include more.Such as shown in Figure 20.Specifically, the surgical machine
People includes that 12 rotating blocks, 31,12 rotating blocks 31 are divided into 4 groups with flexible instrument, and every group includes three rotating blocks 31, and every group
In three rotating blocks 31 on the intersection angle of fixed cushion block be 0 °, i.e., fixed cushion block on three rotating blocks 31 in every group
Intersection it is parallel.Further, the intersection angle of cushion block fixed on two adjacent groups rotating block is 90 °, it is possible thereby to increase institute
State the swing maximum angle that operating robot flexible instrument is swung towards each direction.
In addition, in the other embodiments of the application, the rotating block in every group can also include more, such as 4,5
It is a etc.；The intersection angle of fixed cushion block can be more than or equal to 0 ° and to be less than or equal to any in 90 ° on two adjacent groups rotating block
One value, for example, 30 °, 45 °, 60 ° etc..
To sum up, it in operating robot flexible instrument provided in an embodiment of the present invention, by elastic construction and leads
It is fixed on fixed block after both passing through rotating block to structure, constitutes multiple degrees of freedom flexible instrument, which thereby enhance the spirit used
Activity, so as to further satisfaction operation requirement.
The present invention also provides a kind of surgical instrument, the surgical instrument includes instrument end, operating robot flexibility
Instrument, tube, flexible piece and controller, wherein the instrument end, the operating robot flexible instrument, described
Tube and the controller are sequentially connected, and described flexible piece one end connects the controller, and the other end passes through the tube
It is connected afterwards with the instrument end, the proximal end of the guide frame of the operating robot flexible instrument and the controller connect
It connects, the controller controls the movement of the instrument end by the flexible piece, controls the surgical engine by guide frame
The swing of device people's flexible instrument.Specifically, the instrument end mainly includes directly being operated in human body
The operation tools such as scissors, pliers, electric hook；The fixed block of flexible instrument is connect with instrument end, the rotating block and tubulose of proximal end
Object connection, the tube are hollow and thin-walled pipe, are used to support instrument, while protruding into instrument end can in human body, and hand
The front end of art instrument is placed in vitro；The controller is swung for control device end movement and flexible instrument；The flexibility
The proximal end of part connects controller, distally by tube difference instrument end connection；The operating robot flexible instrument is red
The proximal end of guide frame connect with the controller.Surgical instrument makes device by the control to the flexible instrument posture
Tool end reaches desired position and posture, by the control to instrument end, instrument end is made to realize that clamping, cutting etc. are dynamic
Make.
The present invention also provides a kind of endoscope, the endoscope include imaging system, operating robot flexible instrument,
Tube and controller；Wherein, the imaging system, the operating robot flexible instrument, the tube and described
Controller is sequentially connected；The proximal end of the guide frame of the operating robot flexible instrument connects controller；The controller
The operating robot is controlled by the guide frame to be swung with flexible instrument, and then adjusts the pose of endoscope distal end.Institute
The imaging system stated includes mainly objective of endoscope group, realizes the acquisition of picture in endoscope visual field；The flexible device
Tool adjusts the posture of imaging system for connecting imaging system and tube；The tube is hollow and thin-walled pipe, is used to support
The end of endoscope and head end, while making the end of endoscope can protrude into human body, the proximal end of endoscope is placed in vitro；It is described
Controller be used to control the swing of flexible instrument；The proximal end of the guide frame of the operating robot flexible instrument and connection
Controller.The endoscope is realized by the controller to the control of the pose of flexible instrument, and endoscopic imaging system is made
Desired pose can be reached.
Foregoing description is only the description to present pre-ferred embodiments, not to any restriction of the scope of the invention, this hair
Any change, the modification that the those of ordinary skill in bright field does according to the disclosure above content, belong to the protection of claims
Range.
Claims (13)
1. a kind of operating robot flexible instrument, which is characterized in that the operating robot flexible instrument includes initial state
And bending status, the operating robot include: with flexible instrument
The fixed block and multiple rotating blocks being sequentially arranged, wherein between the fixed block and the rotating block or two neighboring
Cushion block is disposed between the rotating block, the cushion block is independently arranged, the outer shape of the cushion block be cylindrical, cone,
Truncated cone-shaped or tubulose；The cushion block includes the first face and the second face, the adjacent fixed block in the first face of the cushion block or
Rotating block close to the fixed block side, the rotating block of the adjacent side far from the fixed block in the second face of the cushion block；
The operating robot flexible instrument further includes elastic construction and guide frame；
The elastic construction, for making the operating robot flexible instrument restore initial state；
The guide frame, for making the operating robot flexible instrument be in bending status；
Wherein, the rotating block has multiple the first circumferential holes circumferentially, and positioned at the of the center of the rotating block
One centre bore, the elastic construction pass through the circumferential hole in part described first, and the guide frame passes through first described in another part
Circumferential hole.
2. operating robot flexible instrument as described in claim 1, which is characterized in that
The elastic construction and the guide frame both pass through the rotating block, the cushion block be fixed on its adjacent fixed block or
On person's rotating block or the elastic construction or the guide frame pass through the rotating block and the cushion block；
The distal end of the guide frame and at least one elastic construction is fixed on the fixed block.
3. operating robot flexible instrument as claimed in claim 2, which is characterized in that
It is one or more that the elastic construction, which is one or two and/or the guide frame,.
4. operating robot flexible instrument according to any one of claims 1 to 3, which is characterized in that the rotating block
Quantity be 4~14.
5. operating robot flexible instrument according to any one of claims 1 to 3, which is characterized in that two neighboring institute
It is 0.5mm that state the spacing between rotating block, which be the spacing between 0.5mm~3mm and/or the fixed block and adjacent rotating block,
~3mm.
6. operating robot flexible instrument as claimed in claim 3, which is characterized in that each guide frame passes through institute
State a described first circumferential hole of rotating block.
7. operating robot flexible instrument as claimed in claim 3, which is characterized in that when the elastic construction is one
When, an elastic construction passes through a described first circumferential hole of the rotating block；When the elastic construction is two,
Two elastic constructions are each passed through the circumferential hole of adjacent two described first of the rotating block.
8. operating robot flexible instrument as described in claim 1, which is characterized in that the fixed block has circumferentially
The second circumferential hole, with the fixation elastic construction and/or the guide frame, at least one described second circumferential hole with it is described
First circumferential hole is corresponding.
9. operating robot flexible instrument as described in claim 1, which is characterized in that the fixed block has positioned at described
Second centre bore at the center of fixed block, second centre bore are corresponding with first centre bore.
10. operating robot flexible instrument as claimed in claim 1 or 2, which is characterized in that the maximum gauge of the cushion block
For 1mm~8mm.
11. operating robot flexible instrument as described in claim 1, which is characterized in that the cushion block is equipped with positioned at described
The third centre bore at the center of cushion block.
12. a kind of surgical instrument, which is characterized in that the surgical instrument includes instrument end, any in such as claim 1-11
Flexible instrument, tube, flexible piece and controller described in, wherein the instrument end, the flexible instrument, described
Tube and the controller are sequentially connected, and described flexible piece one end connects the controller, and the other end passes through the tube
It is connect with the instrument end, the proximal end of the guide frame in the flexible instrument is connect with the controller, the controller
The instrument end movement is controlled by the flexible piece, the flexible instrument is controlled by the guide frame and is swung.
13. a kind of endoscope, which is characterized in that the endoscope includes imaging system, such as any one of claim 1-11 institute
Flexible instrument, tube and the controller stated；Wherein, the imaging system, the flexible instrument, the tube and described
Controller is sequentially connected；The proximal end of guide frame in the flexible instrument connects the controller；The controller passes through institute
It states guide frame and controls the flexible instrument swing, and then adjust the pose of the distal end of the imaging system.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710202661.6A CN106880405B (en) | 2017-03-30 | 2017-03-30 | Operating robot flexible instrument, surgical instrument and endoscope |
| PCT/CN2018/080147 WO2018177200A1 (en) | 2017-03-30 | 2018-03-23 | Flexible instrument for surgical robot, surgical instrument and endoscope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710202661.6A CN106880405B (en) | 2017-03-30 | 2017-03-30 | Operating robot flexible instrument, surgical instrument and endoscope |
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| Publication Number | Publication Date |
|---|---|
| CN106880405A CN106880405A (en) | 2017-06-23 |
| CN106880405B true CN106880405B (en) | 2019-11-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710202661.6A Active CN106880405B (en) | 2017-03-30 | 2017-03-30 | Operating robot flexible instrument, surgical instrument and endoscope |
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| Country | Link |
|---|---|
| CN (1) | CN106880405B (en) |
| WO (1) | WO2018177200A1 (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106880405B (en) * | 2017-03-30 | 2019-11-22 | 微创（上海）医疗机器人有限公司 | Operating robot flexible instrument, surgical instrument and endoscope |
| CN107320193B (en) * | 2017-07-31 | 2023-06-30 | 成都博恩思医学机器人有限公司 | Connecting assembly, surgical instrument of surgical robot and surgical robot |
| CN109866213A (en) * | 2017-12-01 | 2019-06-11 | 深圳光启合众科技有限公司 | Flexible bending structure and robot with it |
| CN107928790B (en) * | 2017-12-01 | 2020-05-05 | 微创（上海）医疗机器人有限公司 | Snake-shaped surgical instrument |
| CN112998862B (en) * | 2018-01-10 | 2023-03-10 | 北京术锐技术有限公司 | Flexible surgical tool and flexible surgical tool system |
| CN108309207B (en) * | 2018-03-12 | 2020-07-17 | 湖南瀚德微创医疗科技有限公司 | Bidirectional bending-adjusting endoscope |
| CN110338741B (en) * | 2019-05-30 | 2020-09-22 | 中国科学院沈阳自动化研究所 | Visual flexible operation arm |
| CN114305684B (en) * | 2021-12-06 | 2024-04-12 | 南京航空航天大学 | Autonomous multi-degree-of-freedom scanning type endoscope minimally invasive surgery navigation device and system thereof |
| CN113876285B (en) * | 2021-12-08 | 2022-03-18 | 德宝恒生科技服务有限公司 | Endoscope |
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|---|---|---|---|---|
| CN1649537A (en) * | 2002-05-02 | 2005-08-03 | 新引导系统公司 | Endoscope having a guide tube |
| CN202568432U (en) * | 2012-05-09 | 2012-12-05 | 上海理工大学 | Bending mechanism for multi-degree of freedom transmission |
| CN102821669A (en) * | 2010-05-18 | 2012-12-12 | 奥林巴斯医疗株式会社 | Medical device |
| CN105559888A (en) * | 2014-10-30 | 2016-05-11 | 香港中文大学 | Robotic system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101405087B1 (en) * | 2012-04-27 | 2014-06-10 | 한양대학교 에리카산학협력단 | An articulation for surgical instrument |
| CN106880405B (en) * | 2017-03-30 | 2019-11-22 | 微创（上海）医疗机器人有限公司 | Operating robot flexible instrument, surgical instrument and endoscope |
-
2017
- 2017-03-30 CN CN201710202661.6A patent/CN106880405B/en active Active
-
2018
- 2018-03-23 WO PCT/CN2018/080147 patent/WO2018177200A1/en active Application Filing
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1649537A (en) * | 2002-05-02 | 2005-08-03 | 新引导系统公司 | Endoscope having a guide tube |
| CN102821669A (en) * | 2010-05-18 | 2012-12-12 | 奥林巴斯医疗株式会社 | Medical device |
| CN202568432U (en) * | 2012-05-09 | 2012-12-05 | 上海理工大学 | Bending mechanism for multi-degree of freedom transmission |
| CN105559888A (en) * | 2014-10-30 | 2016-05-11 | 香港中文大学 | Robotic system |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018177200A1 (en) | 2018-10-04 |
| CN106880405A (en) | 2017-06-23 |
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Address after: Room 101, block B, building 1, No. 1601, Zhangdong Road, China (Shanghai) pilot Free Trade Zone, Pudong New Area, Shanghai, 201203 Patentee after: Shanghai minimally invasive medical robot (Group) Co.,Ltd. Address before: 201203, 501, Newton Road, Zhangjiang hi tech park, Shanghai, Pudong New Area Patentee before: Microport (Shanghai) Medbot Co.,Ltd. |
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