CN114209369A - Axial power system suitable for flexible bending - Google Patents
Axial power system suitable for flexible bending Download PDFInfo
- Publication number
- CN114209369A CN114209369A CN202111510445.0A CN202111510445A CN114209369A CN 114209369 A CN114209369 A CN 114209369A CN 202111510445 A CN202111510445 A CN 202111510445A CN 114209369 A CN114209369 A CN 114209369A
- Authority
- CN
- China
- Prior art keywords
- flexible
- distal end
- power system
- assembly
- joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005452 bending Methods 0.000 title claims abstract description 51
- 239000012530 fluid Substances 0.000 claims description 33
- 238000001514 detection method Methods 0.000 claims description 13
- 238000007789 sealing Methods 0.000 claims description 13
- 239000007789 gas Substances 0.000 claims description 11
- 230000002093 peripheral effect Effects 0.000 claims description 10
- 210000003813 thumb Anatomy 0.000 claims description 8
- 239000010720 hydraulic oil Substances 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 230000036544 posture Effects 0.000 description 17
- 239000012636 effector Substances 0.000 description 9
- 239000007788 liquid Substances 0.000 description 8
- 230000009471 action Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 210000001519 tissue Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 description 1
- 230000003872 anastomosis Effects 0.000 description 1
- 230000004323 axial length Effects 0.000 description 1
- 238000001574 biopsy Methods 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000009969 flowable effect Effects 0.000 description 1
- 210000001035 gastrointestinal tract Anatomy 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Molecular Biology (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Surgical Instruments (AREA)
Abstract
The invention relates to an axial power system suitable for flexible bending, comprising: the power assembly is used for generating axial braking force and comprises a sleeve, a push rod and a piston column, wherein the distal end of the sleeve is an instrument joint, the proximal end of the sleeve is a bent joint, the piston column divides the sleeve into a first chamber and a second chamber, the proximal end of the push rod is connected with the piston column, and the distal end of the push rod penetrates through the first chamber and extends out of the distal end of the sleeve; the driving assembly is used for driving the push rod to move and comprises a hose and a hydraulic pump, the distal end of the hose penetrates through the bent joint to be communicated with the second chamber, and the proximal end of the hose is communicated with the hydraulic pump. The invention can not only provide enough axial braking force, but also can not generate bad acting force influencing the bending amplitude under the condition that the surgical operation instrument realizes flexible bending in any direction relative to the axial direction, thereby improving the use stability of the surgical operation instrument.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a power system suitable for flexible bending.
Background
Many surgical instruments transmit axial braking force from a handle to an end effector to achieve a given action of the instrument, for example, a linear stapler needs axial braking force to push a knife blade so as to complete the grasping, cutting and anastomosis of tissues by means of a sliding rail structure between the knife blade and an anvil plate and a cartridge seat, and a clamping type surgical instrument such as a forceps, a surgical scissors and the like needs axial braking force to pull/push a link mechanism at the end of the instrument so as to achieve the switching between a closed state and a closed state of the instrument, thereby completing the grasping, cutting and the like of tissues.
The prior surgical instruments which need to transmit axial braking force are mostly rigid structures, and the tips of a few instruments can only realize bending with one degree of freedom in an axial vertical plane. In such known surgical instruments, neither of the ends can reach two degrees of freedom (pitch, yaw) or more. The reason for this is mainly that the transmission chain of the axial braking force must have a portion that is flexible in order to achieve bending of the distal end of the instrument. Therefore, the existing axial braking force transmission scheme capable of realizing rotation in two degrees of freedom can only be used for very small force (such as biopsy forceps of an endoscope in the digestive tract). When the above solution is used in a medical surgical instrument requiring a large braking force, the transmission chain may generate a strong compression on the curved sidewall, thereby pressing the flexible bendable portion so that it cannot maintain the original bending amplitude. Due to the self-structure scheme, a bad force for restoring the bending part mechanism to the initial state is generated, so that the set bending amplitude cannot be maintained.
The surgical operation instrument in the prior art has low rigidity and poor stability. It is therefore desirable to design a power system that provides sufficient axial braking force in the event of a flexible bend without generating forces that return the structure to the original state.
Disclosure of Invention
Therefore, the technical problem to be solved by the present invention is to overcome the defects of low rigidity and poor stability of surgical instruments in the prior art, and provide an axial power system which can still provide sufficient axial braking force under the condition of flexible bending without affecting the bending amplitude.
In order to solve the above technical problem, the present invention provides an axial power system suitable for flexible bending, comprising:
the power assembly is used for generating axial braking force and comprises a sleeve, a push rod and a piston column, wherein the distal end of the sleeve is an instrument joint, the proximal end of the sleeve is a bent joint, the piston column divides the sleeve into a first chamber and a second chamber, the proximal end of the push rod is connected with the piston column, and the distal end of the push rod penetrates through the first chamber and extends out of the distal end of the sleeve;
the driving assembly is used for driving the push rod to move and comprises a hose and a hydraulic pump, the distal end of the hose penetrates through the bent joint to be communicated with the second chamber, and the proximal end of the hose is communicated with the hydraulic pump.
In one embodiment of the invention, the first chamber is separated from the instrument connector by an end cap, and the end cap is provided with a vent.
In one embodiment of the invention, a detection assembly is connected to the hose between the second chamber and the hydraulic pump.
In one embodiment of the invention, the detection assembly comprises a flow meter and/or a barometer.
In one embodiment of the invention, the piston column is circumferentially provided with a sealing groove, and a sealing ring is arranged in the sealing groove.
In one embodiment of the invention, the hose is a spring tube.
In one embodiment of the invention, the hydraulic pump is connected to a hydraulic reservoir, which is charged with fluid.
In one embodiment of the invention, the fluid is high pressure gas, water or hydraulic oil.
In one embodiment of the invention, the hose fixing device further comprises a flexible assembly and a supporting seat, wherein the distal end of the flexible assembly is connected with the bending joint, the proximal end of the flexible assembly is connected with the distal end of the supporting seat, an intermediate channel is arranged in the flexible assembly and the supporting seat, and the hose penetrates through the intermediate channel.
In one embodiment of the present invention, the flexible assembly includes a catheter holder, a plurality of joint members, and a tool holder, the joint members are arranged in a chain shape and are connected in series, adjacent joint members can rotate around a contact surface, the distal end of the catheter holder is connected to the proximal end of the chain formed by the joint members, the proximal end of the catheter holder is connected to the supporting seat, the proximal end of the tool holder is connected to the distal end of the chain formed by the joint members, and the distal end of the tool holder is connected to the bending joint.
In one embodiment of the invention, the flexible assembly is driven to bend by a handle assembly, the handle assembly is installed at the proximal end of the supporting seat, the handle assembly is connected with one end of an attitude force piece, the flexible assembly and the supporting seat are provided with a plurality of peripheral channels in the circumferential direction of the middle channel, and the attitude force piece is fixedly connected with the distal end of the flexible assembly through the peripheral channels.
In one embodiment of the invention, the handle assembly comprises a plurality of inner rotating wheels, the inner rotating wheels are coaxially arranged, and the inner rotating wheels penetrate out of the supporting seat and are connected with a shifting wheel.
Compared with the prior art, the technical scheme of the invention has the following advantages:
the power system can not only provide enough axial braking force, but also can not generate bad acting force influencing the bending amplitude under the condition that the surgical operation instrument realizes flexible bending in any direction relative to the axial direction, thereby improving the use stability of the surgical operation instrument.
Drawings
In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description of the embodiments of the present disclosure taken in conjunction with the accompanying drawings, in which
FIG. 1 is a schematic illustration of the powertrain of the present invention;
FIG. 2 is a schematic view of the hose construction of the present invention;
FIG. 3 is a diagrammatic view of an embodiment of the surgical instrument of the present invention;
FIG. 4 is a cross-sectional view of the present invention;
FIG. 5 is a schematic view of an embodiment of a flexible component of the present invention;
FIG. 6 is a schematic view of a second embodiment of a flexible component of the present invention;
FIG. 7 is a third schematic view of an embodiment of a flexible component of the present invention;
FIG. 8 is a schematic view of the surgical instrument assembly of the present invention in a closed position;
fig. 9 is a schematic view of the open state of the surgical instrument assembly of the present invention.
The specification reference numbers indicate: 10. a power system; 1. a sleeve; 11. a hydraulic pump; 111. a vent; 12. a hydraulic tank; 13. a fluid; 14. a detection component; 2. a push rod; 3. a hose; 4. an end cap; 5. a piston post; 6. a seal ring; 7. a brake tab; 8. a bend joint; 9. an instrument adapter;
20. supporting a tube;
30. a flexible component; 301. a multi-link linking structure; 3011. a single link; 302. a snake-like bone chain structure; 303. a multi-hinge structure; 3031. a single hinge joint; 3032. a hinge point; 3033. a set of articulation joints; 3034. the hinge point of the group joint;
40. a surgical instrument assembly; 41. a stapler end effector assembly; 411. opening the jaw; 412. closing the jaws;
50. a middle channel;
60. a peripheral channel;
70. a posture force member;
80. a handle assembly; 81. braking force; 811. a distally directed braking force; 812. a proximal braking force; 82. an attitude force;
91. a trigger; 93. pitching; 94. deflecting; 95. an upper dial wheel; 96. a lower dial wheel.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
In this specification, the term "proximal" is generally used to refer to the portion of the device that is proximal to the clinician, while the term "distal" is generally used to refer to the portion of the device that is distal to the clinician. As used herein, "surgical instrument assembly" refers generally to a surgical instrument, such as a linear stapler, that requires axial braking forces to be transferred from a handle to an end effector to achieve a given instrument action.
To better understand the design of the proposed power system, the present specification, in embodiments, generally introduces a flexible assembly and a posture force member that can achieve two degrees of freedom multi-directional deflection in opposite axial directions, in turn introducing the handle of the surgical instrument and its portion connected to the end effector assembly as inputs to achieve the intended function of the end effector. In addition, the present specification illustrates how the axial braking force is converted into an instrument action by taking the end effector of a linear stapler as an example.
Referring to FIG. 1, a schematic view of an axial power system 10 adapted for flexible bending according to the present invention is shown. The power system 10 of the present invention includes:
the power assembly is used for generating axial braking force 81 and comprises a sleeve 1, a push rod 2 and a piston column 5, wherein the distal end of the sleeve 1 is an instrument joint 9, the proximal end of the sleeve 1 is a bent joint 8, the piston column 5 divides the sleeve 1 into a first chamber and a second chamber, the proximal end of the push rod 2 is connected with the piston column 5, and the distal end of the push rod 2 penetrates through the first chamber to protrude from the distal end of the sleeve 1;
the driving assembly is used for driving the push rod 2 to move and comprises a hose 3 and a hydraulic pump 11, the distal end of the hose 3 penetrates through the bent joint 8 to be communicated with the second chamber, and the proximal end of the hose 3 is communicated with the hydraulic pump 11.
In the embodiment of the present invention, the hydraulic pump 11 is used as the power source input of the power system 10, and the hydraulic pump 11 uses the fluid 13 as the medium for providing the power source. In order to ensure a continuous supply of the fluid 13, a hydraulic reservoir 12 is also provided, and the hydraulic pump 11 is connected to the hydraulic reservoir 12 and pumps the fluid 13 in the hydraulic reservoir 12 into the power assembly. In the present embodiment, the fluid 13 includes, but is not limited to, a flowable substance such as high pressure gas, water, hydraulic oil, and the like. The power assembly serves as the final actuator for the power system 10. Therefore, under the condition that the surgical instrument assembly 40 realizes the change of the spatial postures of two degrees of freedom of pitch 93 and yaw 94, the axial braking force 81 is provided for the end effector. Specifically, when the surgical instrument sets a posture with two degrees of freedom relative to the axial direction and needs to provide the axial distal braking force 81, the hydraulic pump 11 starts to work, the fluid 13 starts to be injected into the second chamber of the cannula 1, the fluid 13 pushes the piston column 5 to move towards the distal end of the cannula 1, the push rod 2 is driven to move, the volume of the first chamber of the cannula 1 is reduced, and the axial distal braking force 81 is provided. When the axial proximal braking force 81 needs to be provided, the hydraulic pump 11 starts to work, the fluid 13 in the second chamber is sucked out, the volume of the first chamber is increased, the piston column 5 is pushed to move towards the proximal end of the sleeve 1, the push rod 2 is driven to reset, and therefore the axial proximal braking force 81 is provided. In the process, only the piston column 5 and the push rod 2 connected with the piston column 5 are involved to generate displacement, and the position of the hose 3 for conveying the fluid 13 is unchanged. Therefore, when the surgical instrument is set to have a posture in a plurality of directions relative to the axial direction, the posture of the hose 3 is consistent with the set posture and changes with the change of the set posture, and the posture of the hose 3 itself does not change under the condition that the posture of the outer wall is not changed. Even if the fluid 13 passes through, the main flow direction of the fluid 13 is the axial direction of the hose 3, and therefore the pressure of the fluid 13 on the hose 3 does not change the posture of the hose 3. Therefore, when the axial braking force 81 is provided, under the condition that the bending position and the posture of the hose 3 are not changed, the hose 3 cannot extrude the bending position of the outer wall to influence the posture of the outer wall, and therefore the sufficient axial braking force 81 is provided under the condition that the surgical instrument is ensured to realize stable multi-direction posture change relative to the axial direction. To facilitate coupling with components of the surgical instrument assembly 40 that are required to provide pulling and pushing forces, the distal end of the pusher arm 2 is provided with a stop tab 7.
Referring to fig. 1, to facilitate installation of the push rod 2, the first chamber is separated from the instrument connector 9 by an end cap 4, so that the push rod 2 and the piston post 5 can be installed in the sleeve 1 by opening the end cap 4. In order to ensure that the end cover 4 and the sleeve 1 are tightly installed, the outer diameter of the end cover 4 is less than or equal to the outer diameter of the sleeve 1 and greater than the inner diameter of the sleeve 1. When the hydraulic pump 11 injects or withdraws the fluid 13 into or from the second chamber, in order to ensure the pressure of the first chamber and the second chamber to be consistent, the first chamber needs to be exhausted or charged, and therefore, a vent hole 111 is formed in the end cover 4.
In this embodiment, a detection assembly 14 is further connected to the hose 3 between the second chamber and the hydraulic pump 11. The detection component 14 detects information such as flow, volume, pressure and the like of the power system 10 in real time, and provides feedback for system implementation. When the distal braking force 811 needs to be provided, the hydraulic pump 11 starts to operate, the fluid 13 is sucked from the hydraulic pool 12, and when the fluid 13 is liquid, the detection component 14 detects that the volume of the sucked liquid reaches the corresponding casing 1, the hydraulic pump 11 stops operating and maintains the pressure; when the fluid 13 is gas, the detecting component 14 detects that the pressure of the gas reaches a corresponding value, the hydraulic pump 11 stops working, and the pressure is maintained at the moment, and the action of providing the braking force 81 is completed. When the braking force 812 is required to be applied to the distal end, the hydraulic pump 11 starts to operate to suck the fluid 13 out of the cannula 1, and when the fluid 13 is a liquid, the detection module 14 detects that the volume of the sucked liquid reaches the corresponding cannula 1, and the hydraulic pump 11 stops to operate and maintains the pressure at the moment. When the fluid 13 is gas, the detecting component 14 detects that the pressure of the gas reaches a corresponding value, the hydraulic pump 11 stops working, and the pressure is maintained at the moment, and the action of providing the braking force 81 is completed. The sensing component 14 includes, but is not limited to, a flow meter and/or a pressure sensor for detecting the flow, volume and pressure of the fluid 13.
Because the second chamber is internally filled with the fluid 13, in order to ensure the sealing of the second chamber, the circumference of the piston column 5 is provided with a sealing groove, and a sealing ring 6 is arranged in the sealing groove. The piston column 5 is in a short cylindrical shape, the sealing groove is positioned on the circumference of the short cylindrical shape, and the diameter of the piston column 5 is slightly smaller than the inner diameter of the sleeve 1, so that the piston column is conveniently arranged in the sleeve 1. The outer diameter of the sealing ring 6 is slightly larger than the inner diameter of the sleeve 1, so that the sealing effect is ensured. The push rod 2 connected with the piston post 5 provides larger thrust, so the push rod 2 should be a cuboid or cylinder structure capable of bearing larger thrust, the maximum length of the cross section should be smaller than the diameter of the piston, and the length should be slightly larger than the length of the sleeve 1.
Referring to fig. 2, there are shown several embodiments of the hose 3, which are schematically shown in the initial state of no deflection 94 or bending in any one degree of freedom in the axial direction and the state after the deflection 94 in any one degree of freedom in the axial direction. Fig. 3 shows the bending of one degree of freedom in the plane of the front view of the reader, which also allows bending of another degree of freedom in a plane perpendicular to this plane and passing through the axis. The hose 3 is a spring tube, and includes, but is not limited to, a spring-like structure, and also includes other structures that can be bent with two degrees of freedom and have only a small change in length in the axial direction. When the hose 3 is deflected 94 or bent in any one of the axial degrees of freedom, the spring-like structure will compress in the portion facing the left side of the reader and expand in the portion facing the right side of the reader, ensuring that the overall axial length changes only slightly. The driving mode of the additional fluid 13 ensures that the bending part mechanism with any degree of freedom in the axial direction does not generate a bad force to restore the initial state, and the set bending amplitude is maintained. Therefore, in the process of providing the axial braking force 81, the bending position cannot be changed, so that the outer wall of the surgical instrument cannot be squeezed, and the bending amplitude cannot be changed.
Referring to fig. 3 and 4, the axial power system 10 of the present invention further includes a flexible assembly 30 and a support base, the support base includes a housing and a support tube 20, the housing is connected to the support tube 20 for supporting, a trigger 91 can be connected to a lower portion of a proximal end of the housing, the trigger 91 is connected to a switch of the hydraulic pump 11 in the driving assembly for controlling the operation of the hydraulic pump 11, and the support tube 20 is installed at a distal end of the housing. The distal end of the support tube 20 is fixedly connected to the proximal end of a flexible member 30, the distal end of the flexible member 30 is connected to the bending joint 8, and the flexible member 30 can be bent in two degrees of freedom along the axial direction (fig. 4 shows one degree of freedom in the front plane of the reader, which can also be bent in another degree of freedom in a plane perpendicular to the plane and passing through the axial direction). The proximal end of the power assembly is fixedly connected to the distal end of the flexible assembly 30. An intermediate channel 50 is arranged in the flexible assembly 30 and the support base, and the hose 3 passes through the intermediate channel 50. The hose 3 is bent with the intermediate channel 50 in two degrees of freedom with respect to the axial direction.
In order to meet the requirement of free bending of the flexible assembly 30 in the relative axial direction, the flexible assembly 30 is of a joint structure and comprises a plurality of joint pieces, the joint pieces are sequentially connected in a chain shape, and adjacent joint pieces can rotate around a contact surface, so that the flexible assembly 30 is bent. In order to facilitate connection with the support tube 20 at the proximal end of the flexible assembly 30 and the power assembly at the distal end, the device further comprises a catheter holder and an instrument holder, the distal end of the catheter holder is connected to the proximal end of the chain consisting of the joint elements, the proximal end of the catheter holder is connected to the support seat, in particular the support tube 20, the proximal end of the instrument holder is connected to the distal end of the chain consisting of the joint elements, and the distal end of the instrument holder is connected to the power assembly, in particular the bending joint 8.
Referring to fig. 5-7, a side view cross-section of several embodiments of the flexible component 30 is shown. In which flexible component 30 is shown in figure 5 as a multi-link structure 301, in which the articulating member links are shown. The two ends of the single link 3011 are provided with a rotating surface, the far end is a convex surface, and the near end is a concave surface, so that the steering with two degrees of freedom in the relative axial direction can be realized. After the far ends and the near ends of the links are connected in sequence, the deflection 94 with two degrees of freedom relative to the axial direction can be formed, the degree of the deflection 94 is determined by the radian of the rotating surface of the links and the number of the links, and the larger the radian is, the more the number is, the larger the rotatable angle is. The compliant member 30 of fig. 6 includes, but is not limited to, a serpentine chain structure 302, and is generally made of a plastically deformable tubular material with equally spaced grooves formed in the circumference of the tubular to ensure overall stability in the event of a deflection 94. The flexible assembly 30 in fig. 7 is a multi-hinge structure 303, the joint components are hinge joints, a single hinge joint 3031 is provided with hinge joints 3032 at the proximal end and the distal end, the two hinge joints can rotate along the hinge joints 3032 to form a hinge joint group 3033, the hinge joint group 3033 is hinged through a group joint hinge joint 3034, and the two hinge joint groups 3033 can relatively rotate along the group joint hinge joint 3034. The amount of deflection 94 is determined by the number of articulation joint sets 3033, with greater arc and greater number, and greater rotational angle.
Further, referring to fig. 3 and 4, in order to realize the bending of the flexible assembly 30, the flexible assembly 30 is driven to bend by a handle assembly 80, the handle assembly 80 is installed at the proximal end of the supporting seat, the handle assembly 80 is connected with one end of an attitude force member 70, the flexible assembly 30 and the supporting seat are provided with a plurality of peripheral channels 60 in the circumferential direction of the middle channel 50, and the attitude force member 70 passes through the peripheral channels 60 and is fixedly connected with the distal end of the flexible assembly 30. In this embodiment, the peripheral channel 60 has three or more channels and is uniformly distributed along the cross-sectional outer contour of the support tube 20 and the flexible member 30, and the handle member 80 drives the posture force member 70 to move axially along the peripheral channel 60.
Further, the handle assembly 80 comprises a plurality of inner rotating wheels, the inner rotating wheels are coaxially arranged, and the inner rotating wheels penetrate out of the supporting seat and are connected with shifting wheels. In this embodiment, two degrees of freedom are provided, so the thumb wheel includes an upper thumb wheel 95 and a lower thumb wheel 96, and the upper thumb wheel 95 and the lower thumb wheel 96 can be installed on one side or both sides of the housing. The upper thumb wheel 95 controls the magnitude of bending of the attitude force member 70 in the direction of the axial pitch 93 while rotating the attitude force member 70 to provide the attitude force 82 required for bending in the direction of the axial pitch 93, and the lower thumb wheel 96 controls the magnitude of bending of the attitude force member 70 in the direction of the axial yaw 94 while rotating the attitude force member 70 to provide the attitude force 82 required for bending in the direction of the axial yaw 94.
Referring to fig. 8 and 9, the end effector of surgical instrument assembly 40 is illustrated as stapler end effector assembly 41. The handle assembly 80 is pulled, the attitude force member 70 is driven to move axially along the peripheral channel 60 to output an attitude force 82, and the attitude force 82 is transmitted to the flexible assembly 30 through the attitude force member 70 to enable the joints thereof to rotate relatively, so that bending with two degrees of freedom, namely pitching 93 and yawing 94 shown in fig. 3 is realized. The posture force 82 may be controlled by other means such as an electric motor, which will not be described in detail. After the posture adjustment is completed, the external hydraulic pump 11 acts on the push rod 2 in the power assembly through the injection and withdrawal of the fluid 13 through the flexible tube 3 in the driving assembly, and is finally transmitted to the surgical instrument assembly 40 to provide a braking force 81 for the reciprocating motion in the axial direction, thereby completing the intended instrument action (grasping, cutting and stapling of the tissue). Specifically, when the jaws 412 are closed, the distal braking force 811 is applied, the trigger 91 is pulled, the hydraulic pump 11 starts to operate, the fluid 13 is sucked from the hydraulic reservoir 12, and when the fluid 13 is liquid, the detection assembly 14 detects that the volume of sucked liquid reaches the corresponding cannula 1, the hydraulic pump 11 stops operating and maintains the pressure at that time. When the fluid 13 is a gas, the detection assembly 14 detects that the pressure of the gas reaches a corresponding value, the hydraulic pump 11 stops operating, and the pressure is maintained at that time. When the jaws 411 are opened, a distally directed braking force 812 is applied, the trigger 91 is pulled again, the hydraulic pump 11 starts to operate to suck the fluid 13 out of the cannula 1, when the fluid 13 is liquid, the detection assembly 14 detects that the volume of the sucked liquid reaches the corresponding cannula 1, the hydraulic pump 11 stops operating and maintains the pressure at the moment. When the fluid 13 is a gas, the detection assembly 14 detects that the pressure of the gas reaches a corresponding value, the hydraulic pump 11 stops operating, and the pressure is maintained at that time.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (12)
1. An axial power system adapted for flexible bending, comprising:
the power assembly is used for generating axial braking force and comprises a sleeve, a push rod and a piston column, wherein the distal end of the sleeve is an instrument joint, the proximal end of the sleeve is a bent joint, the piston column divides the sleeve into a first chamber and a second chamber, the proximal end of the push rod is connected with the piston column, and the distal end of the push rod penetrates through the first chamber and extends out of the distal end of the sleeve;
the driving assembly is used for driving the push rod to move and comprises a hose and a hydraulic pump, the distal end of the hose penetrates through the bent joint to be communicated with the second chamber, and the proximal end of the hose is communicated with the hydraulic pump.
2. The axial power system adapted for flexible bending according to claim 1, wherein the first chamber is separated from the instrument joint by an end cap, and the end cap is provided with a vent.
3. An axial power system adapted for flexible bending according to claim 1, wherein a detection assembly is connected to the hose between the second chamber and the hydraulic pump.
4. The axial power system adapted for flexible bending according to claim 3, wherein the detection assembly comprises a flow meter and/or a pressure gauge.
5. The axial power system suitable for flexible bending of claim 1, wherein the piston column is circumferentially provided with a sealing groove, and a sealing ring is arranged in the sealing groove.
6. The axial power system adapted for flexible bending of claim 1, wherein the hose is a spring tube.
7. The axial power system adapted for flexible bending according to claim 1, wherein the hydraulic pump is connected to a hydraulic reservoir, the hydraulic reservoir being loaded with a fluid.
8. An axial power system adapted for flexible bending according to claim 7, wherein the fluid is high pressure gas, water or hydraulic oil.
9. The axial power system for flexible bending according to claim 1, further comprising a flexible member and a support base, wherein a distal end of the flexible member is connected to the bending joint, a proximal end of the flexible member is connected to a distal end of the support base, and wherein an intermediate channel is provided in the flexible member and the support base, and the hose passes through the intermediate channel.
10. The axial power system suitable for flexible bending according to claim 9, wherein the flexible assembly comprises a catheter holder, a plurality of joint members and a tool holder, the joint members are arranged in a chain shape and are sequentially connected, adjacent joint members can rotate around a contact surface, the distal end of the catheter holder is connected to the proximal end of a chain formed by the joint members, the proximal end of the catheter holder is connected to the supporting seat, the proximal end of the tool holder is connected to the distal end of the chain formed by the joint members, and the distal end of the tool holder is connected to the bending joint.
11. The axial power system for flexible bending according to claim 9, wherein the flexible assembly is driven to bend by a handle assembly mounted at a proximal end of the support base, the handle assembly being connected to one end of a posture force member, the flexible assembly and the support base being provided with a plurality of peripheral channels around the circumference of the intermediate channel, the posture force member passing through the peripheral channels and being fixedly connected to a distal end of the flexible assembly.
12. The axial power system for flexible bending of claim 11, wherein the handle assembly comprises a plurality of internal rollers coaxially disposed, the internal rollers extending through the support base and having a thumb wheel attached thereto.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111510445.0A CN114209369A (en) | 2021-12-10 | 2021-12-10 | Axial power system suitable for flexible bending |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111510445.0A CN114209369A (en) | 2021-12-10 | 2021-12-10 | Axial power system suitable for flexible bending |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114209369A true CN114209369A (en) | 2022-03-22 |
Family
ID=80700937
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111510445.0A Pending CN114209369A (en) | 2021-12-10 | 2021-12-10 | Axial power system suitable for flexible bending |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114209369A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5271379A (en) * | 1991-07-26 | 1993-12-21 | The Regents Of The University Of California | Endoscopic device actuator and method |
| KR20050059168A (en) * | 2002-09-30 | 2005-06-17 | 사이트라인 테크놀로지스 리미티드 | Piston-actuated endoscopic tool |
| CN101116624A (en) * | 2006-08-02 | 2008-02-06 | 伊西康内外科公司 | Pneumatically powered surgical cutting and fastening instrument with actuator at distal end |
| CN101522128A (en) * | 2006-10-06 | 2009-09-02 | Tyco医疗健康集团 | Endoscopic vessel sealer and divider having a flexible articulating shaft |
| CN102438500A (en) * | 2009-05-15 | 2012-05-02 | 约翰·克拉芬布克 | Medical instrument |
| CN102462514A (en) * | 2010-11-10 | 2012-05-23 | 上海理工大学 | Groove-shaped transmission piece of multi-degree-of-freedom transmission mechanism |
| CN102892363A (en) * | 2010-05-14 | 2013-01-23 | 直观外科手术操作公司 | Surgical system architecture |
| CN110234293A (en) * | 2017-06-29 | 2019-09-13 | 德克萨斯大学系统董事会 | Surgical device |
| CN113749777A (en) * | 2020-08-26 | 2021-12-07 | 上海微创医疗机器人（集团）股份有限公司 | Surgical instrument platform, instrument assembly and surgical instrument |
-
2021
- 2021-12-10 CN CN202111510445.0A patent/CN114209369A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5271379A (en) * | 1991-07-26 | 1993-12-21 | The Regents Of The University Of California | Endoscopic device actuator and method |
| KR20050059168A (en) * | 2002-09-30 | 2005-06-17 | 사이트라인 테크놀로지스 리미티드 | Piston-actuated endoscopic tool |
| CN101116624A (en) * | 2006-08-02 | 2008-02-06 | 伊西康内外科公司 | Pneumatically powered surgical cutting and fastening instrument with actuator at distal end |
| CN101522128A (en) * | 2006-10-06 | 2009-09-02 | Tyco医疗健康集团 | Endoscopic vessel sealer and divider having a flexible articulating shaft |
| CN102438500A (en) * | 2009-05-15 | 2012-05-02 | 约翰·克拉芬布克 | Medical instrument |
| CN102892363A (en) * | 2010-05-14 | 2013-01-23 | 直观外科手术操作公司 | Surgical system architecture |
| CN102462514A (en) * | 2010-11-10 | 2012-05-23 | 上海理工大学 | Groove-shaped transmission piece of multi-degree-of-freedom transmission mechanism |
| CN110234293A (en) * | 2017-06-29 | 2019-09-13 | 德克萨斯大学系统董事会 | Surgical device |
| CN113749777A (en) * | 2020-08-26 | 2021-12-07 | 上海微创医疗机器人（集团）股份有限公司 | Surgical instrument platform, instrument assembly and surgical instrument |
Non-Patent Citations (2)
| Title |
|---|
| 《消防安全知识培训读本》编委会: "《消防安全知识培训读本》", 31 May 2020, 中国铁道出版社, pages: 154 - 157 * |
| 丁淑贞，么莉等: "《实用洁净手术部护理管理》", 31 July 2012, 中国协和医科大学出版社, pages: 143 - 144 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA2497897C (en) | Piston-actuated endoscopic tool | |
| US7988215B2 (en) | Surgical robotic system | |
| CN110650691B (en) | Hydraulic instrument driving system for minimally invasive surgery | |
| US20060089535A1 (en) | Piston-actuated endoscopic steering system | |
| KR102521822B1 (en) | Electromechanical surgical system | |
| CN108095826B (en) | Force transmission mechanism for teleoperated surgical system | |
| JP4987319B2 (en) | Surgical instrument with fluid transfer control articulation mechanism | |
| KR102429815B1 (en) | Electromechanical Surgical System Including Linear Driven Instrument Rolls | |
| EP2163213A1 (en) | Method of transferring force using flexible fluid-filled tubing in an articulating surgical instrument | |
| US20190290310A1 (en) | Surgical instruments with electrically isolated actuation members, related devices, and related methods | |
| JP2011045500A (en) | Medical manipulator | |
| KR20130106274A (en) | Hand-actuated articulating surgical tool | |
| JP2007532262A (en) | Endoscopic surgical access instrument and method for articulating an external accessory channel | |
| EP3025830B1 (en) | Joint mechanism and medical equipment | |
| US20100331879A1 (en) | Articulating Surgical Hand Tool | |
| WO2011024888A1 (en) | Medical manipulator | |
| CN114209369A (en) | Axial power system suitable for flexible bending | |
| WO2023102904A1 (en) | Power system suitable for flexible bending | |
| EP1795115B1 (en) | Endoscope having guiding means with variable stiffness | |
| EP3563781A1 (en) | Forceps robot | |
| US20220087665A1 (en) | Articulating mechanism for the laparoscopic ablation device for blunt dissection | |
| JP5457649B2 (en) | Medical instrument insertion guide system | |
| AU2003263569B2 (en) | Piston-actuated endoscopic tool | |
| CN114209370A (en) | Flexible connecting piece and end effector assembly | |
| Rotinat-Libersa et al. | Compliant building blocks for the development of new portable robotized instruments for minimally invasive surgery |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |