RU2181566C2 - Управляемый поворотный механизм - Google Patents
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Abstract
Изобретение относится к медицине и может быть использовано в хирургических и стоматологических инструментах, в ветеринарии или в других областях, например в манипуляторах с дистанционным управлением, в устройствах для изменения направления световода, потока жидкости или газа и т.д. Управляемый поворотный механизм включает полый корпус из шарнирно соединенных частей с расположенными под углом к продольной оси корпуса двумя и более парами торцевых поверхностей сопряжения, с ориентированными перпендикулярно торцевым поверхностям сопряжения осями. Оси имеют центральный канал и зубчатые колеса на концах. Дистанционный механизм управления состоит из двух концентрично расположенных цилиндров, из которых наружный содержит в проксимальном отделе рукоятку для вращения и фиксации и концевой эксцентричный шток. Эксцентричный шток входит в зацепление с промежуточной частью инструмента. В промежуточной части расположен внутренний цилиндр, расположенный концентрично корпусу промежуточной части. Внутренний цилиндр имеет зубчатые колеса с каждого торца и колеса входят в зацепление с зубчатыми колесами осей проксимальной и дистальной частей инструмента. В результате создано устройство, которое может быть использовано в корпусе почти любого хирургического инструмента или другого манипулятора для легкого и быстрого изменения угла отклонения рабочих частей инструмента от продольной оси корпуса в широких пределах. Устройство позволяет прочно фиксировать выбранное положение и всегда сохранять жесткость конструкции. Управление устройством производится дистанционно в области рукояток независимо от длины корпуса. 1 з.п. ф-лы, 6 ил.
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Изобретение относится к медицине и может быть использовано в хирургических и стоматологических инструментах, в ветеринарии или в других областях, например в манипуляторах с дистанционным управлением, в устройствах для изменения направления световода, потока жидкости или газа и т.д.
В медицинской технике известны конструкции, позволяющие отклонять рабочие части инструмента от продольной оси основного корпуса, однако эти конструкции имеют определенные недостатки и приспособлены лишь для частных случаев.
Наиболее близким к предлагаемому изобретению в настоящее время является устройство Probe swivel mechanism по патенту США 4641657 от 10.02.1987 г. А 61 В 5/00. Это устройство имеет удлиненный полый корпус, разделенный на три части. Концевые части имеют зубчатые шестерни, сцепленные друг с другом. Оси шестерен находятся под фиксированными острыми углами к осям соответствующих концевых частей. Такая конструкция позволяет быстро изменять угол поворота зонда довольно малого диаметра при вращении центральной части и имеет центральный канал. Существенным недостатком этой конструкции является отсутствие механизма дистанционного управления углом поворота и жесткой фиксации заданного положения. Не указан также механизм закрепления концевых частей корпуса в его центральной части. Это устройство может быть выбрано в качестве прототипа к предлагаемому изобретению.
Целью изобретения является создание устройства, которое может быть использовано в корпусе почти любого хирургического инструмента или другого манипулятора для легкого и быстрого изменения угла отклонения рабочих частей инструмента от продольной оси корпуса в широких пределах. Устройство позволяет прочно фиксировать выбранное положение и всегда сохранять жесткость конструкции. Управление устройством производится дистанционно, в области рукояток, независимо от длины корпуса.
Очень важной особенностью предлагаемой конструкции является пологость дуги изгиба, достигаемая тем, что общий угол поворота делится на две части (или большее число частей), расстояние между которыми может быть любой величины. При этом в любом положении внутри устройства сохраняется центральный канал с минимальной редукцией его объема в местах изгибов. Пологость дуги изгиба создает благоприятные условия для внутренних элементов инструмента, находящихся в центральном канале (гибкий трос, гибкий шланг, световоды, токонесущие провода и т.д.), т.к. изгибаются они в минимальных пределах, что предотвращает возможность их пережатия и изломов при многократных поворотах.
Предлагаемая конструкция состоит из двух или более пар плоских сопряженных торцевых поверхностей, расположенных под углом α к продольной оси инструмента. Углы α с каждой стороны могут быть равными или различной величины. При этом углы α в каждой паре открыты в противоположные направления. При двух парах сопряженных торцевых поверхностей корпус инструмента разделен на три части: первая, проксимальная часть, содержит рукоятки и механизм управления углом поворота, вторая, промежуточная часть, содержит гнезда для осей с обеих сторон и внутренний цилиндр, края которого находятся в зацеплении с краями осей с обеих сторон через соответствующие зубчатые передачи, и третья часть, дистальная, с рабочими губками или другими органами. Сопряжение каждой пары торцевых поверхностей осуществляется осью, располагающейся перпендикулярно торцевой поверхности. Каждая ось имеет центральный полый канал. Гнездо для оси располагается в промежуточной части инструмента. Крепление оси в гнезде может, например, осуществляться за счет кольцевой борозды на оси и точно соответствующего борозде выступа (лучше кольцевого) в гнезде за счет кольцевой пружины, боковых винтов или другими способами. Заканчивается каждая ось зубчатой нарезкой по всему периметру (зубчатое колесо). Зубцы этого колеса находятся в зацеплении с соответствующими им зубцами, расположенными по периметру торца полого внутреннего цилиндра, расположенного в промежуточной части инструмента. Таким образом, оси проксимальной и дистальной части инструмента находятся в зацеплении друг с другом через внутренний цилиндр промежуточной части. Это создает ряд преимуществ перед конструкцией упомянутого ранее прототипа. Во-первых, это дает возможность создавать промежуточную часть любой длины, что весьма существенно для конфигурации некоторых инструментов. Во-вторых, делает дугу изгиба значительно более пологой, чем в упомянутом прототипе. В-третьих, дает возможность использовать углы α с каждой стороны разной величины. В-четвертых, дает возможность сократить длину осей до минимума, что уменьшает участки редуцированного по объему внутреннего центрального канала.
Для дистанционного управления поворотным механизмом проксимальная часть инструмента состоит из двух концентрично расположенных цилиндров с возможностью их независимого вращения вокруг продольной оси инструмента. Один из цилиндров используется как основа корпуса инструмента, другой цилиндр используется для управления поворотным механизмом. В проксимальной части управляющего цилиндра имеется рукоятка для удобства его вращения и фиксации в нужном положении, в дистальной части имеется выступ (эксцентричный поворотный шток), который входит в зацепление с корпусом промежуточной части инструмента. При вращении управляющего цилиндра этот выступ поворачивает промежуточную часть по отношению к основе корпуса инструмента, что приводит к отклонению промежуточной части и еще большему отклонению дистальной рабочей части от продольной оси инструмента. Отклонение происходит в объемно-сферической зоне по отношению к проксимальному звену и зависит от углов α. Поворот может быть осуществлен и при вращении основного корпуса инструмента при фиксации управляющего цилиндра. Объем вращения управляющего цилиндра вокруг продольной оси инструмента (или основного корпуса при фиксации управляющего цилиндра) не ограничен - 360o в любую сторону можно повторять многократно. При повороте на 180 oдостигается максимальный угол отклонения рабочей части от продольной оси проксимальной части корпуса инструмента. При дальнейшем вращении управляющего цилиндра (или основного корпуса при фиксации управляющего цилиндра) угол отклонения постепенно уменьшается и отклоняющаяся часть возвращается в исходное положение.
Максимальный угол отклонения рабочей части от продольной оси проксимальной части корпуса инструмента зависит от угла скоса торцевых поверхностей α. Так, при угле α в 67,5 o (в случае равных углов α1 и α2 максимальный угол отклонения равен 90 o, а при угле α в 45 o угол отклонения достигает 180 o. Общий максимальный угол отклонения рабочей части от продольной оси инструмента составляет 360-2(α1+α2) или 2(180-α1-α2). В случае равных углов α1 и α2 общий угол отклонения равен 360-4α или 4(90-α).
Изгиб в данном поворотном механизме создается весьма пологим. Однако конструкция предлагаемого поворотного механизма позволяет создать дугу изгиба еще более пологой. Для этого корпус инструмента может быть выполнен с множественными парами примыкающих друг к другу плоских сопряженных торцевых поверхностей, расположенных под определенными или разными углами α к продольной оси инструмента. Количество сопряженных торцевых поверхностей может быть четным или нечетным. Для создания такой многочленной конструкции необходимо, чтобы после каждой промежуточной части корпус состоял из двух концентрично расположенных цилиндров, как и проксимальная часть инструмента, с соответствующими эксцентричными выступами на одном из цилиндров, входящими в зацепление как с предыдущей, так и с последующей промежуточной частью.
Изгиб в данном поворотном механизме создается весьма пологим. Однако конструкция предлагаемого поворотного механизма позволяет создать дугу изгиба еще более пологой. Для этого корпус инструмента может быть выполнен с множественными парами примыкающих друг к другу плоских сопряженных торцевых поверхностей, расположенных под определенными или разными углами α к продольной оси инструмента. Количество сопряженных торцевых поверхностей может быть четным или нечетным. Для создания такой многочленной конструкции необходимо, чтобы после каждой промежуточной части корпус состоял из двух концентрично расположенных цилиндров, как и проксимальная часть инструмента, с соответствующими эксцентричными выступами на одном из цилиндров, входящими в зацепление как с предыдущей, так и с последующей промежуточной частью.
На фиг. 1 показан общий вид механизма с разрезом в области промежуточного звена. На фиг. 2 показана конструкция при максимальном повороте. На фиг. 3, 4 и 5 показаны различные виды зубчатых зацеплений. На фиг. 6 показан общий вид многочленной конструкции.
Как показано на фиг.1, управляемый поворотный механизм состоит из трех частей: 1 - проксимальная к рукояткам инструмента часть, 2 - промежуточная часть, 3 - дистальная часть с рабочими губками или другими рабочими органами. Торцевые поверхности сопряжения 4 и 5 расположены под углами α1 и α2 к продольной оси инструмента.
Первая (проксимальная) часть инструмента состоит из двух цилиндров, расположенных концентрично, один в другом, с возможностью независимого друг от друга вращения вокруг продольной оси инструмента: внутренний цилиндр 1 и наружный цилиндр 6. На проксимальной части наружного цилиндра 6 предусматривается рукоятка (не показана) для удобства его вращения и фиксации. На дистальном его конце имеется эксцентрично расположенный выступ 7, входящий в гнездо 8 в промежуточной части 2. Возможны и другие варианты зацепления наружного цилиндра 6 с промежуточной частью 2.
Каждая пара сопряженных торцевых поверхностей выполнена в виде примыкающих друг к другу плоских скосов 4 и 5, соединенных между собой ориентированными перпендикулярно скосам цилиндрическими полыми осями 9 и 10 с кольцевыми вырезами 11 и 12. Оси 9 и 10 заканчиваются зубчатой нарезкой (зубчатым колесом) 13 и 14. Зубцы 13 оси 9 находятся в зацеплении с соответствующими им зубцами 19, расположенными по торцу внутреннего цилиндра 18 промежуточной части 2, а зубцы 14 оси 10 находятся в зацеплении с зубцами 20, расположенными по другому торцу цилиндра 18. Зубцы могут быть различной формы, как показано на фиг. 1, 3 и 5, важна лишь надежность зацепления. При формах зубцов, показанных на фиг. 1 и 5, зацепление осуществляется на небольшой площади зубцов по наружному их краю. В варианте, показанном на фиг. 3 и 4, зубцы 13 и 14 нарезаны на внутренней поверхности полых осей 9 и 10, а зубцы 19 и 20 нарезаны на наружной поверхности цилиндра 18. При этом торцы цилиндра 18 с наружной нарезкой располагаются внутри полых осей 9 и 10, имеющих внутреннюю нарезку. В этом варианте зацепление зубцов 13 и 19, а также зубцов 14 и 20 осуществляется на значительно большей площади. Это важно для надежности и долговечности инструмента, а также имеет особое значение в инструментах и манипуляторах с тяжелыми рабочими органами.
Промежуточная часть 2 имеет с каждого торца плоские скошенные поверхности 4, расположенные под углами α1 и α2 по отношению к продольной оси инструмента, открытыми в противоположные стороны. В центре этих торцевых плоскостей располагаются специальные гнезда 16 и 17 для цилиндрических осей 9 и 10. Гнездо 8 в промежуточной части 2 предназначено для эксцентричного выступа 7 наружного цилиндра 6.
Внутри промежуточной части 2 располагается внутренний цилиндр 18, полый, с зубчатыми нарезками с каждого торца 19 и 20, соответствующим зубчатым нарезкам 13 и 14 осей 9 и 10. Для предотвращения смещения цилиндра 18, его перекоса и уменьшения трения при его вращении могут быть предусмотрены направляющие выступы 21 на корпусе промежуточной части 2 и соответствующие им кольцевые вырезы 22 на цилиндре 18. Вместо выступов могут быть использованы шарикоподшипники.
Использование внутреннего цилиндра 18 для передачи вращения от проксимальной части инструмента 1 к дистальной части 3 позволяет создавать промежуточную часть 2 любой длины, при этом дуга изгиба становится более пологой, а конфигурация инструмента в изогнутом положении - более соответствовать поставленной задаче. Углы α1 и α2 могут быть разные, что дает дополнительные возможности для выбора оптимальной конфигурации изгиба. Редукция объема внутреннего центрального канала в участках изгибов минимальная, т.к. длина осей 9 и 10 сокращается до минимума.
Работа предлагаемого управляемого поворотного механизма производится следующим образом: при вращении наружного цилиндра 6 вокруг внутреннего цилиндра 1 эксцентричный шток 7 вращает промежуточную часть 2 вокруг оси 9. При этом промежуточная часть отклоняется от продольной оси инструмента и отклоняет дистальную часть 3 еще на больший угол благодаря прочной сопряженности скошенных торцевых поверхностей 4 и 5 с каждой стороны и связи осей 9 и 10 через цилиндр 18. В случае вращения внутреннего цилиндра 1 при фиксации наружного цилиндра 6 вращательное движение на дистальную часть передается через цилиндр 18, что приводит к тем же результатам - отклонению промежуточной и дистальной частей инструмента от продольной оси. Точное соответствие осей и их гнезд при наличии хорошо сопряженных торцевых поверхностей и достаточности зубчатых зацеплений осей и цилиндра 18 позволяет совершать повороты на требуемый угол, сохраняя жесткость конструкции.
Claims (2)
- Управляемый поворотный механизм, содержащий механизм управления и полый корпус из шарнирно соединенных частей с расположенными под углом к продольной оси корпуса двумя и более парами торцевых поверхностей сопряжения, с ориентированными перпендикулярно торцевым поверхностям сопряжения осями, имеющими центральный канал и зубчатые колеса на концах, отличающийся тем, что промежуточная часть инструмента содержит внутренний полый концентрично корпусу расположенный цилиндр с зубчатыми колесами с каждого торца, входящими в зацепление с зубчатыми колесами осей, при этом угол наклона каждого торца промежуточной части по отношению к продольной оси может быть одинаковым или разным, а механизм управления выполнен в виде двух концентрично расположенных полых цилиндров, один из которых имеет рукоятку для вращения и фиксации и эксцентричный поворотный шток, входящий в зацепление с промежуточной частью корпуса.
- 2. Управляемый поворотный механизм по п. 1, отличающийся тем, что корпус выполнен с множественными парами примыкающих друг к другу торцевых поверхностей сопряжения, расположенных под одинаковыми или разными углами к продольной оси корпуса, с соответствующими осями, направленными перпендикулярно торцевым плоскостям сопряжения.
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