CN110974319B

CN110974319B - Minimally invasive surgery instrument structure based on bionic principle and control method

Info

Publication number: CN110974319B
Application number: CN201911344837.7A
Authority: CN
Inventors: 马骥; 翟晓峰; 马广军
Original assignee: Ruizhi Weichuang Medical Technology Changzhou Co ltd
Current assignee: Ruizhi Weichuang Medical Technology Changzhou Co ltd
Priority date: 2019-12-24
Filing date: 2019-12-24
Publication date: 2022-03-11
Anticipated expiration: 2039-12-24
Also published as: CN110974319A

Abstract

The invention belongs to the technical field of medical instruments, and relates to a minimally invasive surgery instrument structure based on a bionic principle, which comprises a handheld part, a transmission mechanism and an execution end, wherein the handheld part, the transmission mechanism and the execution end are sequentially connected; the finger operation part drives the execution assembly to open and close through the opening and closing transmission device; the finger operation part drives the execution assembly to perform autorotation action through the autorotation transmission device. The invention takes the wrist-finger of a person as the bionic, can carry out multi-degree-of-freedom motions, has no coupling among the motions, and simplifies the operation and shortens the learning time by visually conforming the motions of the hand and the motions of the instrument during the operation.

Description

Minimally invasive surgery instrument structure based on bionic principle and control method

Technical Field

The invention belongs to the technical field of medical instruments, and particularly relates to a minimally invasive surgery instrument structure based on a bionic principle and a control method.

Background

Since the successful implementation of the first laparoscopic cholecystectomy by french physicians in 1987, minimally invasive surgery, represented by laparoscopic surgery, has developed over 30 years and has formed a relatively independent discipline.

The minimally invasive surgery is to make a plurality of perforations on the body surface of a human body, make an endoscope and an operation instrument enter the body cavity, such as an abdominal cavity, a thoracic cavity, a pelvic cavity, a joint cavity and the like, under the monitoring of the endoscope, the operator operates the instrument outside the body of the patient through hands, so that the working end of the instrument extending into the body cavity of the patient cuts off a focus in the cavity, or performs operations such as repairing and suturing on organs and the like, and after the operation, the endoscope and the instrument are taken out, and the whole operation can be completed by suturing the small holes on the body surface.

Compared with the traditional surgery, the minimally invasive surgery has the advantages of small operation trauma, few postoperative complications, reduced postoperative pain, short hospitalization time and the like, and is the diagnosis and treatment standard of a plurality of surgical common diseases. But because the human hand can not directly contact the target organ because the human hand usually takes 3-5 perforations with 2cm or so as to be used as an access channel, the operation must be carried out by means of a long and thin special laparoscopic surgical instrument.

The traditional laparoscope instrument does not have wrist type movement as the same as a human hand, has less freedom, is easy to generate larger disturbance due to a lever principle when being operated by a doctor, and has limited freedom to compensate the unnatural motion of the elbow, the arm and the shoulder when the doctor carries out specific motion, thereby causing fatigue and injury for a long time. For some beginners, a large amount of dry (in vitro model operation training) and wet (in vivo animal experiment) training is required to establish a relatively stable surgical experience curve so as to complete some simple laparoscopic surgeries. A beginner who wants to perform a relatively complicated functional reconstructive surgery such as a radical laparoscopic prostate cancer surgery, a partial laparoscopic kidney resection, etc., is competent after performing a large number of clinical surgical operations.

With the emergence of the single-port laparoscope technology and the natural orifice endoscopic surgery technology, the multi-degree-of-freedom laparoscopic surgery instrument is developed and applied, and the problem that the operation angle of the traditional laparoscopic instrument is limited is solved to a certain extent because the head end of the instrument can be bent. However, the existing 'da vinci' surgical robot in the world at present has a complex operation method, and doctors can master basic operation only after professional training for at least about half a year; meanwhile, in the master-slave separation type minimally invasive surgery system represented by the DaVinci, the surgical instrument is of a split-shaft structure, and the degrees of freedom are mutually coupled, so that the operation is not visual, the action is not pure, and the time for an operator to learn is long.

Disclosure of Invention

The invention aims to solve the problems of low degree of freedom, non-intuitive operation and easy coupling in the prior art, and provides a minimally invasive surgical instrument structure and a control method based on a bionic principle, so that the hand action of an operator and the action of the instrument are intuitively consistent during operation.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows: the utility model provides a minimal access surgery apparatus structure based on bionical principle, includes handheld portion, drive mechanism and execution end, handheld portion includes palm operation portion and finger operation portion, drive mechanism includes actuating device, opens and shuts transmission and rotation transmission, the execution end includes flexible arm and executive component, flexible arm one end is through hub connection drive mechanism, other end and executive component rotatable coupling, handheld portion passes through drive mechanism and is connected with the execution end, wherein:

the palm operating part drives the flexible arm to drive the executing component to perform pitching or deflecting actions through the actuating device;

the finger operation part drives the execution assembly to open and close through the opening and closing transmission device;

the finger operation part drives the execution assembly to perform autorotation action through the autorotation transmission device.

A driving mechanism is further arranged between the handheld portion and the transmission mechanism, and the transmission mechanism is detachably connected with the driving mechanism.

The palm operation part and the finger operation part are rotatably connected.

The actuating device comprises an actuating frame, an actuator and a transmission cable, wherein the actuating frame is hinged to a base body, the actuator is hinged in the actuating frame, the transmission cable drives the actuator or the actuating frame to deflect, and the deflection direction of the actuator is perpendicular to the deflection direction of the actuating frame.

The opening and closing transmission device comprises an opening and closing transmission shaft, and the opening and closing transmission shaft drives the execution assembly to open and close through an opening and closing transmission cable.

The autorotation transmission device comprises an autorotation transmission shaft, wherein the autorotation transmission shaft drives an execution assembly to autorotate through a gear set and a driving rod.

The flexible arm comprises at least two joint connecting rods which are sequentially hinged, the flexible arm can deflect under the driving of the actuator, and the flexible arm can pitch under the driving of the actuating frame.

The execution assembly comprises two execution fingers and an opening and closing shaft, wherein the middle parts of the execution fingers are hinged, and the driving ends of the two execution fingers are movably connected with the opening and closing shaft.

A control method of a minimally invasive surgery instrument structure based on a bionic principle comprises the following steps:

1) the operator grips the hand-held part in a posture that the palm corresponds to the palm operating part and the fingers correspond to the finger operating parts;

2) the operator exerts force on the wrist to control the palm operating part to do pitching motion, and the flexible arm drives the executing component to do corresponding pitching motion;

3) the operator exerts force on the wrist to control the palm operating part to perform deflection motion, and the flexible arm drives the executing component to perform corresponding deflection motion;

4) the finger of an operator exerts force to control the finger operation part to perform opening and closing actions, and the execution assembly performs corresponding opening and closing actions;

5) the finger of the operator exerts force to control the finger operation part to do autorotation action, and then the execution assembly carries out corresponding autorotation action.

When the palm operation part does pitching or deflecting actions, the execution assembly performs the pitching or deflecting actions with the directions and the angles in one-to-one correspondence; when the finger operation part performs opening and closing or autorotation actions, the execution assembly performs the opening and closing or autorotation actions with the directions and the angles in one-to-one correspondence.

After the technical scheme is adopted, the invention has the following beneficial effects:

(1) the surgical instrument has four degrees of freedom which are pitching, deflecting, opening and closing and autorotation respectively, and the four degrees of freedom can be combined at will, so that a doctor is provided with stronger operability, and the doctor can easily finish high-difficulty surgical actions such as suturing, knotting and the like;

(2) the instrument structure is designed by adopting a bionic principle, the flexible arm simulates a wrist and the execution assembly simulates fingers, so that the hand action of an operator is visually consistent with the action of the instrument, the operation is simplified, the learning time of the operator is shortened, and the actions are completely independent and are not coupled, so that the operation and the control are facilitated;

(3) when the surgical instrument is operated, the direction and the angle of the executing assembly are consistent with the direction and the angle of the hand action of an operator, so that the accuracy in the surgical operation process can be ensured, and the safety of the surgical process is greatly improved;

(4) the bionic instrument structure is combined with the bionic control method, so that the learning time of a doctor can be greatly shortened, the operation flexibility is increased, the doctor can realize operation by means of visual hand action, and the immersion operation is realized.

Drawings

FIG. 1 is a schematic structural view of the construction of a surgical instrument according to the present invention;

FIG. 2 is a schematic view of the internal structure of the handle;

FIG. 3 is a schematic partial cross-sectional view of a pitch yaw control unit;

FIG. 4 is a schematic structural diagram of a pitch and yaw control unit;

FIG. 5 is a schematic view of the internal structure of the finger operation part;

FIG. 6 is a schematic structural view of the actuator;

FIG. 7 is a schematic view of the overall construction of the actuator;

FIG. 8 is an overall front view of the actuator;

FIG. 9 is a perspective view of the transmission mechanism;

FIG. 10 is an enlarged view of portion A of FIG. 9;

FIG. 11 is a schematic structural view of the rotation transmission device;

FIG. 12 is a schematic view of the actuator and actuator;

FIG. 13 is a schematic view of the end of the drive mechanism;

fig. 14 is a schematic structural view of a female reset plate;

FIG. 15 is a schematic structural view of a flexible arm and actuator assembly;

FIG. 16 is a schematic view of the construction of the flexible self-pivoting arm inside the actuating end;

FIG. 17 is a schematic view of the overall external configuration of the handpiece and drive mechanism;

FIG. 18 is a schematic view showing an internal structure of a driving mechanism;

FIG. 19 shows a male and female connection;

FIG. 20 is a schematic structural view of the male portion;

FIG. 21 is a schematic structural view of a male reduction assembly on a male;

FIG. 22 is a view showing a position of the palm operating section corresponding to the position of the component for performing the pitching or yawing motion;

FIG. 23 is a diagram showing the position of the finger operation part corresponding to the opening and closing operation of the actuator;

fig. 24 is a diagram showing a position correspondence between the finger operation section and the module rotation operation.

Wherein: 1-a transmission mechanism; 11-an actuating device; 111-actuation frame; 112-an actuator; 1121-drive cable group; 113-a drive cable; 114-a seat body; 115-a yaw drive shaft; 116-a deflection wire fixation wheel; 117-deflection transition wheels; 12-an opening and closing transmission device; 121-opening and closing transmission shaft; 122-opening and closing wire fixing wheels; 123-opening and closing transition wheel; 124-opening and closing transmission cables; 13-rotation transmission device; 131-a self-rotating transmission shaft; 132-a drive gear; 133-a drive gear; 134-driven gear; 135-a drive rod; 136-flexible self-rotating arm; 137-a fourth connecting seat; 14-a plate member; 141-hook; 15-a support plate; 16-a first housing; 161-slot; 17-a pillar; 18-a second chip; 19-female head; 191-chamfering; 2-axis; 3-an execution end; 31-a flexible arm; 311-a first connection mount; 312-an articulation link; 313-a second connecting seat; 32-an execution component; 321-executive finger; 3211-chute; 322-opening and closing shaft; 323-a hinge axis; 324-a third connection seat; 3241-a first limit groove; 4-a drive mechanism; 41-a second housing; 411 — first chip; 412-a master control board; 42-a motor group; 421-male head; 4211-ground insertion; 4212-elastic expansion piece; 4213-mounting holes; 43-a motor mounting plate; 431-a limiting block; 432-an elastic member; 433-a button; 5-a handheld part; 51-palm operating part; 511-a third housing; 512-spherical cover; 5121-upper cover; 5122-side cover body; 51221-a second limiting groove; 513-ball-head rod; 5131-rocker sensor; 5132-Rocker; 5133-columnar protrusions; 52-finger operating part; 521-a fourth housing; 522-a clip; 523-connecting rod; 524-a movable rod; 525-a rotation sensor; 526-notch; 527-linear sensor; 53-a bundle; 6-female reset plate; 61-projection; 7-male resetting component; 71-a magnetic member; 72-electromagnetic reset plate.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

As shown in fig. 1-21, the minimally invasive surgical instrument structure based on the bionic principle of the present invention includes a handheld portion 5, a driving mechanism 4, a transmission mechanism 1 and an actuating end 3, wherein the handheld portion 5 is connected with the actuating end 3 through the transmission mechanism 1, the driving mechanism 4 is further disposed between the handheld portion 5 and the transmission mechanism 1, and the transmission mechanism 1 is detachably connected with the driving mechanism 4.

The hand-held part 5 is connected with one end of the driving mechanism 4 far away from the transmission mechanism 1, the hand-held part 5 is controlled by the hand of a person, each control unit in the hand-held part 5 identifies the hand action of the person and converts the hand action into a corresponding electric signal, and the main control board 412 of the driving mechanism 4 receives the electric signal and calculates and converts the electric signal into the rotation quantity of the motor in the motor group 42, so that the execution end is driven to work through the transmission mechanism 1.

Specifically, the hand-held portion 5 includes a palm operation portion 51, a finger operation portion 52, and a binding 53, and the palm operation portion 51 is connected to the drive mechanism 4.

The palm operation portion 51 is adapted to the palm, a pitching deflection control unit is arranged in the palm operation portion 51, and the pitching deflection control unit acquires a pitching deflection electric signal corresponding to the palm swing motion.

Specifically, the palm operating part 51 includes a third housing 511 and a pitch and yaw control unit disposed in the third housing 511, wherein the shape of the third housing 511 is adapted to the palm of the person, which facilitates the palm to grasp; the pitching and yawing control unit comprises a spherical sleeve 512 and a ball head rod 513, the spherical sleeve 512 is fixedly arranged in the third shell 511, one end of the ball head rod 513 is a ball head, the other end of the ball head rod 513 is a rod head, and the ball head of the ball head rod 513 extends into the spherical sleeve 512 and can swing relative to the ball head rod 513; the head of the ball screw 513 is extended out of the third housing 511 and connected to the second housing 41 of the drive mechanism 4. The ball head of the ball head rod 513 is of a hollow structure, a rocker sensor 5131 is accommodated in the ball head, an opening is formed in the top end of the ball head, a rocker 5132 of the rocker sensor 5131 can extend out of the opening to be connected with the inner top surface of the spherical sleeve 512, when the ball head rod 513 and the spherical sleeve 512 swing relatively, the rocker 5132 can be driven to swing eccentrically, and the rocker sensor 5131 acquires relative swing electric signals of the ball head rod 513 and the spherical sleeve 512 in two orthogonal directions, and the relative swing electric signals are divided into pitching electric signals and yawing electric signals. Preferably, the ball socket 512 comprises an upper cover 5121 and a side socket 5122, the side socket 5122 is sleeved on the periphery of the ball head rod 513, and the upper cover 5121 is positioned above the ball head rod 513 and connected with the rocker 5132.

Furthermore, in order to prevent the spherical sleeve 512 from rotating along the axis of the ball-end shaft 513, a columnar protrusion 5133 is disposed on the outer wall of the ball-end shaft 513, a second limiting groove 51221 is formed in the spherical sleeve 512, and the columnar protrusion 5133 extends into the second limiting groove 51221 to prevent the two from rotating relatively. Further, the second limiting groove 51221 is a long hole that is disposed on the side sleeve body 5122 and extends axially, and further, the second limiting groove 51221 can extend to the lower periphery of the side sleeve body 5122 to form an opening, so that the ball sleeve 512 can swing relative to the ball rod 513 but cannot rotate relative to the ball rod 513.

When the palm acts on the palm operating portion 51, the palm is grasped on the third housing 511, and when the palm drives the third housing 511 to swing, the spherical sleeve 512 in the third housing 511 swings in the swing direction relative to the ball head rod 513, the rocker sensor 5131 obtains a swing electric signal and transmits the electric signal to the main control board 412 of the driving mechanism 4, and the main control board 412 drives the brake motor according to the electric signal to drive the executing end 3 to execute the swing action. When the palm drives the third housing 511 to tilt, the spherical sleeve 512 in the third housing 511 swings in the tilting direction relative to the ball head rod 513, the rocker sensor 5131 obtains a tilting electrical signal and transmits the electrical signal to the main control board 412, and the main control board 412 drives the brake motor to drive the execution end 3 to execute the tilting motion according to the electrical signal.

The finger operation part 52 is adapted to fingers, the finger operation part 52 is rotatably connected with the palm operation part 51, an opening and closing control unit and a rotation control unit are arranged in the finger operation part 52, the opening and closing control unit acquires an opening and closing electric signal of opening and closing action, and the rotation control unit acquires a rotation electric signal of rotation action.

Specifically, the finger operation part 52 includes a fourth housing 521, the fourth housing 521 is rotatably connected to the third housing 511, and when the palm acts on the palm operation part 51, fingers can act on the finger operation part 52 at the same time. A movable rod 524 is arranged in the fourth housing 521, the opening and closing control unit includes a linear sensor 527, the linear sensor 527 linearly moves along with the movable rod 524 to acquire an opening and closing electric signal, the opening and closing electric signal is transmitted to the main control board 412, and the main control board 412 drives an opening and closing motor to drive the execution end 3 to execute an opening and closing action according to the opening and closing electric signal. The rotation control unit includes a rotation sensor 525, the rotation sensor 525 senses the rotation of the movable rod 524 to obtain a rotation electrical signal, and transmits the rotation electrical signal to the main control board 412, and the main control board 412 drives the rotation motor to drive the actuator 3 to perform a rotation action according to the rotation electrical signal.

Further preferably, the movable rod 524 is slidably installed in the fourth housing 521, a clamping piece 522 is disposed on the fourth housing 521, the clamping piece 522 is connected to one end of the movable rod 524 through a connecting rod 523, one end of the clamping piece 522 is connected to one end of the connecting rod 523, the other end of the connecting rod 523 is movably connected to the movable rod 524, one end of the clamping piece 522 connected to the connecting rod 523 is hinged to the fourth housing 521, when an external force pushes the clamping piece 522 to deflect, the clamping piece 522 drives the connecting rod 523 to deflect, and the connecting rod 523 drives the movable rod 524 to linearly move along the axial direction thereof. Preferably, a long hole is formed at one end of the connecting rod 523 connected with the movable rod 524, and the fixing member passes through the long hole to movably connect the connecting rod 523 with the movable rod 524. Preferably, there are two clamping pieces 522, the two clamping pieces 522 are respectively connected to the movable rod 524 through a connecting rod 523, the two clamping pieces 522 are symmetrically arranged about the rotating shaft 524, and the thumb and the index finger simultaneously press or release the two clamping pieces 522 to drive the movable rod 524 to move linearly. Preferably, the free ends of the clips 522 protrude from the outer surface of the fourth housing 521 under the action of the reset member, which may be, but is not limited to, a torsion spring.

It is further preferable that two disc structures are arranged on the movable rod 524 at intervals to form a notch 526, the linear sensor 527 is slidably arranged in the fourth housing 521, at least a portion of the linear sensor 527 extends into the notch 526, when the movable rod 524 moves linearly, the notch 526 on the movable rod drives the linear sensor 527 to move linearly, and the linear sensor 527 acquires an opening and closing electrical signal.

Further preferably, when a finger acts on the two clamping pieces 522 and drives the fourth housing 521 to rotate, the movable rod 524 in the fourth housing is driven to rotate, the movable rod 524 is provided with a rotation sensor 525, and the rotation sensor 525 rotates along with the movable rod 524 to obtain the rotation electric signal.

The binding 53 is connected to the palm operation portion 51 for applying a restraining force to the back of the hand when the palm operation portion 51 is operated.

The one end of 2 is kept away from to actuating mechanism 4 and drive mechanism 1 can be dismantled and is connected, and actuating mechanism 4 is arranged in each transmission shaft of drive mechanism 1, and is concrete, and actuating mechanism 4 includes second casing 41 and motor unit 42, and motor unit 42 holds inside second casing 41, and motor unit 42 includes four motors, is two actuating motor, one motor and the rotation motor that opens and shuts respectively, 4 motor parallel arrangement and correspond with four transmission shafts and be connected. The motor group 42 is integrally installed on the motor installation plate 43, and the driving ends of the motors in the motor group 42 are correspondingly connected with the transmission shaft.

Each motor and the corresponding transmission shaft are connected in an opposite-inserting mode through a male head and a female head, specifically, a male head 421 is connected to the driving end of each motor of the motor group 42, a female head 19 is arranged at one end, connected with the motor, of each transmission shaft, and the ground insert 4211 on the male head 421 is inserted into the corresponding insertion hole on the female head 19, so that the transmission connection between the two is achieved. Specifically, the ground inserts 4211 may be cylindrical or other non-cylindrical, and in this embodiment, for convenience of machining, the ground inserts 4211 are provided to be cylindrical, and at least two.

Further, in order to facilitate the insertion of the ground plug 4211 on the male 421 into the socket on the female 19, a chamfer 191 may be provided at the opening of the socket.

Further, a ground insert 4211 on the male head 421 is provided on the male head 421 through an elastic expansion piece 4212. Specifically, the male head 421 has a mounting hole 4213 corresponding to the ground insert 4211, and the ground insert 4211 is telescopically disposed in the mounting hole 4213 through an elastic telescopic member 4212. In an initial state, the ground insert 4211 extends out of the mounting hole 4213 under the action of the elastic expansion piece 4212; if the ground plug 4211 does not correspond to the jack on the female head 19, under the action of external force, the ground plug 4211 can be retracted into the mounting hole 4213 against the action force of the elastic expansion piece 4212 without influencing the quick assembly and disassembly between the driving mechanism 4 and the transmission mechanism 1 through a quick-change mechanism.

In order to reset the female heads 19 on all the transmission shafts, a female head resetting plate 6 can be arranged, protrusions 61 corresponding to the positions of the jacks on all the female heads 19 in the initial state are distributed on the female head resetting plate 6, and the female heads 19 can be reset simultaneously by correspondingly inserting the protrusions 61 into the jacks.

In order to realize the resetting of all the male heads 421, a male head resetting assembly 7 can be arranged, the male head resetting assembly 7 comprises two magnetic pieces 71 with opposite polarities and an electromagnetic resetting plate 72, the two magnetic pieces 71 are symmetrically arranged and rotate along with the male heads 421, the electromagnetic resetting plate 72 is fixedly arranged, and the electromagnetic resetting plate 72 induces the magnetic pole conversion of the magnetic pieces 71 and sends an electric signal to control the corresponding motor to rotate so as to drive the male heads to reset. Specifically, each male head 421 corresponds to one male head resetting assembly 7, the two magnetic members 71 are semicircular, the two magnetic members 71 surround the outer wall of the male head 421, the S-N boundary of the two magnetic members 71 is collinear with the connecting line of the two ground plugs 4211 on the male head 421, the electromagnetic resetting plate 72 is fixed on the motor mounting plate 43 and located on the S-N boundary of the two magnetic members 71, and the electromagnetic resetting plate 72 is used for detecting S-N pole conversion. When the reset function of the male head is executed, firstly, the motor drives the male head 421 thereon to slowly rotate along the fixed direction, and when the magnetic member 71 on the male head 421 is in place, the electromagnetic reset plate 72 detects the S-N pole conversion, and sends an electrical signal to control the motor to stop rotating, so that the male head 421 realizes the reset.

Further, in order to realize quick assembly and disassembly between the driving mechanism 4 and the transmission mechanism 1, the driving mechanism 4 and the transmission mechanism 1 are connected through a quick-change mechanism, the quick-change mechanism comprises a limiting block 431 and a clamping hook 141, the limiting block 431 is arranged on the motor mounting plate 43, the clamping hook 141 is arranged on the plate 14, the limiting block 431 is arranged on one surface, close to the transmission mechanism 1, of the motor mounting plate 43 in a sliding mode, a clamping groove is formed in the limiting block 431, the limiting block 431 is connected with the inner wall of the second shell 41 through an elastic piece 432, the clamping hook 141 stretches into the clamping groove and is clamped in the clamping groove, and quick connection of the driving mechanism 4 and the transmission mechanism 1 is realized. Preferably, one end of the hook 141, which is engaged with the slot, is wedge-shaped, and when the hook 141 moves toward the slot, the limiting block 431 can be pushed to slide on the motor mounting plate 43 against the acting force of the elastic member 432, and finally the wedge-shaped end of the hook 141 extends into the slot and is limited. If the driving mechanism 4 and the transmission mechanism 1 need to be separated, the second housing 41 is provided with the button 433, the limiting block 431 is pushed to slide by pressing the button 433, the limiting block contacts with the clamping groove to limit the clamping hook 141, the clamping hook 141 can be separated from the clamping groove, and the separation of the driving mechanism 4 and the transmission mechanism 1 is realized. The elastic member 432 is optional but not limited to a spring.

Through the quick-change mechanism, in combination with the male head 421 structure, the female head reset plate 6 and the male head reset assembly 5, when the driving mechanism 4 is connected with the transmission mechanism 1, the female head reset plate 6 can be used to reset all the female heads 19, then the driving mechanism 4 is connected with the transmission mechanism 1 through the quick-change mechanism, and then the male head 421 is reset. Alternatively, the male head 421 and the female head 19 may be reset respectively and then connected by a quick-change mechanism.

Further, the driving mechanism 4 and the transmission mechanism 1 may not be uniquely connected, a first chip 411 is arranged on the end face of the driving mechanism 4 connected with the transmission mechanism 1, and a PIN seat is arranged on the first chip 411; the end face of the transmission mechanism 1 connected with the driving mechanism 4 is provided with a second chip 18, the second chip 18 is provided with a PIN needle, the first chip 411 and the second chip 18 are electrically connected by inserting the PIN needle into a PIN needle seat, and the first chip 411 can acquire relevant information of instruments on the second chip 18. Specifically, the second housing 41 of the driving mechanism 4 at least partially protrudes toward the transmission mechanism 1, the end surface of the protruding portion is provided with a first chip 411, the first housing 16 of the transmission mechanism 1 is correspondingly provided with a slot 161, the inner bottom surface of the slot 161 is provided with a second chip 18, when the protruding portion of the driving mechanism 4 is inserted into the slot 161, the first chip 411 is connected with the second chip 18, and the first chip 411 can obtain relevant information on the second chip 18. The related information includes the type of the device, the lifetime of the device, the number of times of use, and the like.

Further, a main control board 412 is disposed in the protruding portion, and the main control board 412 includes a chip, and can receive various electrical signals for processing, and convert the electrical signals into rotation amounts corresponding to the motors in the motor group 42 through an algorithm, and control the motors to work according to the rotation amounts.

Further, control buttons are further disposed on the outer surface of the second housing 41 corresponding to the main control board 412.

The transmission mechanism 1 comprises an actuating device 11, an opening and closing transmission device 12 and a rotation transmission device 13, wherein the actuating device 11 drives the execution end 3 to pitch or deflect, the opening and closing transmission device 12 drives the execution end 3 to open and close, and the rotation transmission device 13 drives the execution end 3 to rotate.

Specifically, the actuating device 11 includes an actuating frame 111, an actuator 112, and a transmission cable 113, the actuating frame 111 is hinged to the seat body 114, the actuator 112 is hinged in the actuating frame 111, the transmission cable 113 drives the actuator 112 or the actuating frame 111 to deflect, and the deflection direction of the actuator 112 is perpendicular to the deflection direction of the actuating frame 111.

Specifically, two ends of the actuating frame 111 are hinged to the seat body 114 through a pitch axis, two ends of the actuator 112 are hinged to an inner wall of the actuating frame 111 through a yaw axis, the actuating frame 111 can drive the actuator 112 to deflect along the pitch axis, and the actuator 112 can deflect along the yaw axis relative to the actuating frame 111. The pitch axis and yaw axis are arranged vertically, preferably, the center points of the actuator frame 111 and the actuator 112 coincide, the pitch axis and yaw axis are perpendicular and intersect, and the intersection point coincides with the center point.

The deflection of the actuation frame 111 and the actuator 112 is driven by a drive cable 113. Specifically, the number of the transmission cables 113 is two, the two transmission cables 113 are respectively connected to two sides of the actuator 112, the two transmission cables 113 are symmetrically arranged, when the two transmission cables 113 are simultaneously retracted and released at the same time, the actuator 112 deflects, and when the two transmission cables 113 are simultaneously retracted and released at the same time, the actuating frame 111 deflects. Preferably, two drive cables 113 are connected on either side of one end of the actuator 112. Preferably, the driving cable 113 is selected from, but not limited to, a steel wire.

The transmission cable 113 is retracted and extended under the driving of the deflection transmission shaft 115. The two deflection transmission shafts 115 are also in one-to-one correspondence with the transmission cables 113, the two deflection transmission shafts 115 are respectively provided with a deflection fixed-line wheel 116, one end of the transmission cable 113 is wound on the deflection fixed-line wheel 116, and the other end of the transmission cable 113 is connected with the actuator 112. Preferably, the driving cable 113 acts on the actuator 112 from above the actuator 112, and the pulling direction of the driving cable 113 is approximately perpendicular to the actuator 112 in the initial state. The pulling direction of the driving cable 113 is controlled by a deflection transition wheel 117, the driving cable 113 is connected with the actuator 112 by bypassing the deflection transition wheel 117, and the deflection transition wheel 117 is positioned right above the actuator 112.

The actuator 112 deflects to drive the executing end 3 to pitch and yaw, a driving cable group 1121 is arranged on the actuator 112, and when the actuator 112 deflects along a yaw axis relative to the actuating frame 111, the actuator 112 drives the executing end 3 to yaw through the driving cable group 1121; when the actuating frame 111 drives the actuator 112 to deflect along the pitch axis, the actuator 112 drives the actuating end 3 to pitch through the driving cable set 1121. Further, the driving cable group 1121 includes a plurality of driving cables, and preferably, at least a portion of the vertically extending middle section of each driving cable is a rod-shaped structure, that is, both ends of the driving cable are in a cable shape, and the middle portion is in a rod shape, so that the processing is convenient, and the rigidity and the hardness are enhanced. Further preferably, the two ends of the drive cable are steel wires and the middle part is a steel rod.

Further, the device also comprises a plate 14, two deflection transmission shafts 115 are integrally installed on the plate 14, and a deflection transition wheel 117 is arranged on the plate 14.

The opening and closing transmission device 12 comprises an opening and closing transmission shaft 121, and the opening and closing transmission shaft 121 drives the actuating end 3 to open and close through an opening and closing transmission cable 124. Specifically, the opening and closing transmission shaft 121 is provided with an opening and closing wire fixing wheel 122, one end of an opening and closing transmission cable 124 is wound on one opening and closing wire fixing wheel 122, and the other end of the opening and closing transmission cable 124 drives the execution end to open and close. When the opening and closing transmission shaft 121 rotates, the opening and closing transmission cable 124 is retracted, and the opening and closing transmission cable 124 passes through the middle part of the actuator 112 to drive the opening and closing of the actuating end 3.

Further, the actuating device further comprises an opening and closing transition wheel 123, the pulling direction of the opening and closing transmission cable 124 is controlled through the opening and closing transition wheel 123, the opening and closing transition wheel 123 is arranged on the plate 14, the opening and closing transmission cable 124 passes through the opening and closing transition wheel 123 and extends through the middle of the actuator 112 along the direction perpendicular to the actuator 112 in the initial state, and the opening and closing of the actuating end 3 is realized by driving the opening and closing shaft of the actuating end 3 to do linear motion through the opening and closing transmission cable 124. Wherein, the opening and closing transmission cable 124 is selected from, but not limited to, a steel wire.

The rotation transmission device 13 includes a rotation transmission shaft 131, and the rotation transmission shaft 131 drives the actuating end 3 to rotate through the gear set and the driving rod 135. Specifically, the gear set includes a driving gear 132 disposed on the self-transmission shaft 131, a transmission gear 133 having a transmission function in the middle, and a driven gear 134 disposed on the driving rod 135, the self-transmission shaft 131 drives the driving gear 132 thereon to rotate, the driving gear 132 drives the driven gear 134 to rotate through the transmission gear 133, the driven gear 134 drives the driving rod 135 to rotate, and the driving rod 135 drives the actuating end 3 to rotate.

Preferably, the two deflection transmission shafts 115, the opening and closing transmission shaft 121 and the self-transmission shaft 131 are integrally installed on the plate 14 and distributed around the base 114.

Further, the device also comprises a support plate 15, the support plate 15 is arranged in parallel with the plate 14 at an interval, and the actuating device 11, the opening and closing transmission device 12 and the rotation transmission device 13 are integrally installed between the support plate 15 and the plate 14. Specifically, the seat body 114 is installed on one side of the support plate 15 close to the plate member 14, the seat body 114 is installed in the middle of the

support plate

15, 4 transmission shafts 115 are rotatably disposed between the support plate 15 and the plate member 14, the 4 transmission shafts 115 are distributed around the seat body 114, the driving rod 135 passes through the actuator 112 to drive the actuating end 3 to rotate, the opening and closing transmission cable 124 passes through the driving rod 135 to drive the actuating end 3 to open and close, and the driving cable group 1121 is surrounded on the periphery of the driving rod 135.

Further, a support post 17 is provided between the plate member 14 and the support plate 15, and by providing the support post 17, the stable connection between the plate member 14 and the support plate 15 is enhanced.

Further, the transmission mechanism 1 further includes a first housing 16 disposed outside, and the actuating device 11, the opening and closing transmission device 12, the rotation transmission device 13, the plate member 14, and the support plate 15 are all disposed inside the first housing 16.

The shaft 2 is hollow tube, the shaft 2 couples the transmission mechanism 1 to the actuating end 3, and the actuating end 3 is driven by the transmission mechanism 1 to execute various actions.

Specifically, one end of the shaft 2 is connected with the support plate 15, and the driving cable group 1121, the driving rod 135 and the opening and closing transmission cable 135 can penetrate through the support plate 15 to extend into the shaft 2 and penetrate through the shaft 2 to be connected with the actuating end 3 so as to drive the actuating end 3 to act; the other end of the shaft 2 is connected with an actuating end 3.

The actuating end 3 comprises a flexible arm 31 and an actuating assembly 32, one end of the flexible arm 31 is connected with the shaft 2, and the other end of the flexible arm 31 is connected with the actuating assembly 32. In particular, the flexible arm 31 comprises at least two articulation links 312, the at least two articulation links 312 being in turn articulated. The joint connecting rods 312 are annular with a certain thickness, a hinge structure axially extends from the periphery of each joint connecting rod 312, and two adjacent joint connecting rods 312 are hinged through the hinge structure. The joint link 312 near the shaft 2 is fixedly connected with the shaft 2 through a first connecting seat 311, and the joint link 312 near the actuating component 32 is rotatably connected with the actuating component 32 through a second connecting seat 312. Preferably, the first connecting seat 311 and the joint link 312 may be hinged or fixedly connected, and the second connecting seat 312 and the joint link 312 may be hinged or fixedly connected, as long as the first connecting seat 311, at least two joint links 312 and the second connecting seat 312 are ensured to be deflected along two perpendicular hinge axes.

The drive cable set moves the articulation link 312 as the actuator deflects. Specifically, the driving cable group comprises at least 3 driving cables, and the driving cables drive the flexible arm to deflect along two vertical directions under the action of the actuator, so that the flexible arm 31 drives the execution assembly 32 to pitch and yaw.

The actuating assembly 32 comprises two actuating fingers 321 and an opening and closing shaft 322, wherein the two actuating fingers 321 are hinged through a hinge shaft 323, and the opening and closing shaft 322 passes through the driving ends of the two actuating fingers 321 to movably connect the two actuating fingers 321. Specifically, the driving ends of the two executing fingers 321 are provided with inclined slots 3211, and the opening and closing shaft 322 passes through the inclined slots 3211 on the two executing fingers 321 to movably connect the two executing fingers 321.

Further, the driving ends of the two actuating fingers 321 are externally provided with a third connecting seat 324, and the actuating assembly 32 is connected with the flexible arm 31 through the third connecting seat 324. Specifically, one end of the third connecting seat 324 is rotatably connected to the second connecting seat 313, the other end of the third connecting seat 324 is bifurcated, the driving end of the actuating finger 321 and the opening and closing shaft 322 are disposed between the two bifurcations, and two ends of the hinge shaft 323 are respectively connected to the two bifurcations, so as to connect the two actuating fingers 321 to the third connecting seat 324. The third connecting seat 324 is further provided with a first limiting groove 3241, and two ends of the opening and closing shaft 322 extend into the first limiting groove 3241 and move along the first limiting groove 3241. Preferably, the first limit groove 3241 extends axially.

In order to realize the self-transmission, the driving rod 135 is connected with the actuating assembly 32 through the flexible self-rotation arm 136, the driving rod 135 is fixedly connected with one end of the flexible self-rotation arm 136, and the other end of the flexible self-rotation arm 136 is connected with the actuating assembly 32 through the fourth connecting seat 137. Specifically, the fourth connecting seat 137 is slidably connected to the opening and closing shaft 322. The middle part of the opening and closing shaft 322 extends towards the fourth connecting seat 137 to form a connecting block, the connecting block extends into the fourth connecting seat 137 and can axially slide in the fourth connecting seat 137, a limiting structure is arranged at the end part of the connecting block and the end part of the fourth connecting seat 137, the connecting block and the fourth connecting seat 137 are prevented from relatively rotating and being separated from the fourth connecting seat 137, and the driving rod 135 can drive the actuating assembly 32 to rotate through the fourth connecting seat 137.

Preferably, the flexible self-rotating arm 136 is located inside the flexible arm 31, and the axial position and the axial length of the flexible self-rotating arm 136 are the same as those of the flexible arm 31. Thus, the flexible self-rotation arm 136 can perform pitch and yaw motions along with the flexible arm 31, and can drive the actuating assembly 32 to rotate under the driving action of the driving rod 135. Furthermore, when the flexible arm 31 maintains the pitch-yaw attitude, the driving rod can drive the flexible self-rotation arm 136 to rotate in the flexible arm 31 without affecting the pitch-yaw attitude of the flexible arm 31, i.e. there is no interference between the pitch-yaw motion and the rotation motion, so as to ensure the accuracy of the operation of the instrument structure. Further preferably, the flexible self-pivoting arm 136 is a universal joint.

In order to realize the opening and closing of the executing fingers 321, the opening and closing transmission cable 124 drives the opening and closing shaft 322 to move along the axial direction, so as to drive the two executing fingers 321 to deflect towards or away from each other, thereby realizing the opening and closing of the executing fingers. Specifically, the opening and closing transmission cable 124 sequentially passes through the driving rod 135 and the flexible autorotation arm 136 to be connected with the opening and closing shaft 322, and when the opening and closing transmission shaft 121 rotates to drive the opening and closing transmission cable 124 thereon to take up, the opening and closing transmission cable 124 pulls the opening and closing shaft 322 to slide upwards along the fourth connecting seat 137, so that the two executing fingers 321 are folded. Furthermore, an elastic reset element is further arranged in the fourth connecting seat 137, the elastic reset element is used for providing a reset acting force for the opening and closing shaft 322, and the opening and closing transmission cable 124 passes through the elastic reset element to be connected with the opening and closing shaft 322. When the two executing fingers 321 need to be folded, the opening and closing transmission shaft 121 rotates to drive the opening and closing transmission cable 124 on the opening and closing transmission shaft to fold, and the opening and closing transmission cable 124 drives the opening and closing shaft 322 to slide upwards along the axial direction by overcoming the acting force of the elastic reset piece, so that the two executing fingers 321 are folded; when two execution fingers 321 need to be opened, the opening and closing transmission shaft 121 rotates to drive the opening and closing transmission cable 124 to pay off, and the opening and closing shaft 322 slides downwards along the fourth connecting seat 137 under the action of the elastic reset piece, so that the opening of the two execution fingers 321 is realized. Preferably, the elastic restoring member may be selected from, but not limited to, a compression spring.

As shown in fig. 22-24, the method for controlling the structure of a minimally invasive surgical instrument based on the bionic principle provided by the invention comprises the following steps:

1) the operator grips the hand-held portion 5 in a posture in which the palm corresponds to the palm operation portion 51 and the fingers correspond to the finger operation portion 52;

2) when the operator applies force to the wrist to control the palm operating part 51 to perform a pitching motion, the flexible arm 31 drives the executing component 32 to perform a corresponding pitching motion (as shown in A, B in fig. 22);

3) when the operator applies force to the wrist to control the palm operating part 51 to perform a corresponding swing motion, the flexible arm 31 drives the executing component 32 to perform a corresponding swing motion (shown as C, D in fig. 22);

4) when the operator applies force to control the finger operation part 52 to perform opening and closing actions, the execution assembly 32 performs corresponding opening and closing actions (as shown in fig. 23);

5) when the operator applies force to control the finger operation unit 52 to perform a rotation operation, the actuator unit 32 performs a corresponding rotation operation (as shown in fig. 24).

Specifically, when the executing end 3 is required to execute pitching and yawing actions, the palm drives the third housing 511 to yaw, the spherical sleeve 512 in the third housing 511 swings relative to the ball head of the ball head rod 513, the rocker sensor 5131 obtains a pitching electrical signal and a yawing electrical signal corresponding to the swinging of the palm, and transmits the obtained pitching electrical signal and yawing electrical signal to the main control board 412, the main control board 412 receives the pitching electrical signal and the yawing electrical signal and calculates and converts the signals into rotation amounts of two actuating motors in the motor group 42, and the main control board 412 controls the two actuating motors to rotate according to the rotation amounts; the two actuating motors drive the two deflection transmission shafts 115 to rotate, the two deflection transmission shafts 115 drive the two transmission cables 113 to retract and release, the actuating frame 111 and/or the actuator 112 are driven to deflect, and the driving cable group 1121 on the actuator 112 pulls the joint connecting rod 312 of the flexible arm 31 to perform pitching and yawing actions.

When the execution end 3 is required to execute the opening and closing actions, fingers hold the clamping piece 522 to overcome the acting force of the reset piece to deflect, the connecting rod 523 deflects along with the acting force, the connecting rod 523 drives the movable rod 524 to do linear motion, the notch 526 on the rotary rod 524 drives the linear sensor 527 to do linear motion along with the movable rod, the linear sensor 527 acquires opening and closing electric signals and transmits the opening and closing electric signals to the main control board 412, the main control board 412 receives the opening and closing electric signals and calculates and converts the rotation quantity of an opening and closing motor in the motor group 42, and the main control board 412 controls the rotation of the opening and closing motor according to the rotation quantity; the opening and closing motor drives the opening and closing transmission shaft 121 to rotate, the opening and closing transmission shaft 121 drives the opening and closing transmission cable 124 to retract and retract, the opening and closing transmission cable 124 drives the opening and closing shaft 322 to do linear motion along the first limiting groove 3241, and the opening and closing shaft 322 drives the driving ends of the two execution fingers 321 to realize opening and closing of the two execution fingers 321.

When the execution end 3 is required to execute the rotation action, the finger rotates the fourth shell 521 to drive the movable rod 524 therein to rotate, the rotation sensor 525 on the movable rod 524 also rotates along with the rotation, the rotation sensor 525 acquires the rotation electric signal and transmits the rotation electric signal to the main control board 412, the main control board 412 receives the rotation electric signal and calculates and converts the rotation electric signal into the rotation amount of the rotation motor in the motor group 42, and the main control board 412 controls the rotation of the rotation motor according to the rotation amount; the rotation motor drives the rotation transmission shaft 131 to rotate, the rotation transmission shaft 131 drives the driving gear 132 thereon to rotate, the driving gear 132 drives the driven gear 134 to rotate through the transmission gear 133, so as to drive the driving rod 135 to rotate, the driving rod 135 drives the execution assembly 32 to rotate through the flexible rotation arm 136, and the rotation of the execution assembly 32 is realized.

The steps 2) to 5) can be carried out independently at will, or can be carried out simultaneously in any combination, and the actions are not coupled and mutually influenced; when the palm operating part 51 performs pitching or yawing actions, the executing component 32 performs pitching or yawing actions with one-to-one corresponding direction and angle under the driving of the flexible arm 31; when the finger operation part 52 performs opening and closing or rotation actions, the execution assembly 32 performs opening and closing or rotation actions with one-to-one correspondence of directions and angles, the bionic wrist of the flexible arm 31 and the bionic finger of the execution assembly 32 are achieved, the hand action of an operator is visually consistent with the action of an instrument, the operation is simplified, the learning time of the operator is shortened, and the actions are completely independent without coupling, so that the operation and the control are facilitated.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. A minimally invasive surgical instrument structure based on a bionic principle is characterized by comprising:

a hand-held portion including a palm operating portion and a finger operating portion;

the transmission mechanism comprises an actuating device, an opening and closing transmission device and a self-rotation transmission device;

the actuating end comprises a flexible arm and an actuating assembly, one end of the flexible arm is connected with the transmission mechanism through a shaft, and the other end of the flexible arm is rotatably connected with the actuating assembly;

the handheld part is connected with the execution end through a transmission mechanism, wherein:

the finger operation part drives the execution assembly to perform autorotation action through the autorotation transmission device;

the actuating device comprises an actuating frame, actuators and transmission cables, wherein the actuating frame is hinged to the base body, the actuators are hinged in the actuating frame, the transmission cables drive the actuators or the actuating frame to deflect, the deflection direction of the actuators is perpendicular to the deflection direction of the actuating frame, the number of the transmission cables is two, and when one transmission cable is retracted and the other transmission cable is simultaneously and quantitatively placed, the actuators deflect; when the two transmission cables are simultaneously and quantitatively wound or released, the actuating frame deflects;

the two deflection transmission shafts correspond to the transmission cables one by one, and the transmission cables are retracted under the driving of the deflection transmission shafts;

the two reverse cables are respectively connected with the two side connecting positions of the actuator, which are connected with the transmission cables, each reverse cable is driven to retract by a deflection transmission shaft corresponding to the transmission cable connected with the same connecting position of the actuator, and the retracting actions of the transmission cable and the reverse cable on the same deflection transmission shaft are opposite.

2. The minimally invasive surgical instrument structure based on the bionic principle according to claim 1, characterized in that: still be equipped with actuating mechanism between handheld portion and the drive mechanism, can dismantle between drive mechanism and the actuating mechanism and be connected.

3. The minimally invasive surgical instrument structure based on the bionic principle according to claim 1, characterized in that: the palm operation part and the finger operation part are rotatably connected.

4. The minimally invasive surgical instrument structure based on the bionic principle according to claim 1, characterized in that: the opening and closing transmission device comprises an opening and closing transmission shaft, and the opening and closing transmission shaft drives the execution assembly to open and close through an opening and closing transmission cable.

5. The minimally invasive surgical instrument structure based on the bionic principle according to claim 1, characterized in that: the rotation transmission device comprises a rotation transmission shaft, and the rotation transmission shaft drives the execution assembly to rotate through the gear set and the driving rod.

6. The minimally invasive surgical instrument structure based on the bionic principle according to claim 4, characterized in that: the flexible arm comprises at least two joint connecting rods which are sequentially hinged, the flexible arm can deflect under the driving of the actuator, and the flexible arm can pitch under the driving of the actuating frame.

7. The minimally invasive surgical instrument structure based on the bionic principle according to claim 1, characterized in that: the execution assembly comprises two execution fingers and an opening and closing shaft, wherein the middle parts of the execution fingers are hinged, and the driving ends of the two execution fingers are movably connected with the opening and closing shaft.