CN103584829A - Endoscope surgical instrument outer sheath with variable rigidity - Google Patents
Endoscope surgical instrument outer sheath with variable rigidity Download PDFInfo
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- CN103584829A CN103584829A CN201310511754.9A CN201310511754A CN103584829A CN 103584829 A CN103584829 A CN 103584829A CN 201310511754 A CN201310511754 A CN 201310511754A CN 103584829 A CN103584829 A CN 103584829A
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Abstract
The invention discloses an endoscope surgical instrument outer sheath with variable rigidity and belongs to the technical field of minimally invasive surgical instruments. The endoscope surgical instrument outer sheath is composed of a plurality of variable-rigidity flexible units. Each variable-rigidity flexible unit comprises an instrument passage, three high-flexibility air bags, rigid connectors, a rigid wire and two discs; the rigid wire penetrates the rigid connectors and is connected with the same rigidly, the three high-flexibility air bags are connected by the method of looping the minimum-diameter positions of the air bags by round holes of the rigid connectors, and two ends of each of the three high-flexibility air bags are connected with the first disc and the second disc respectively. Spatial bending and rigidity adjusting can be realized by controlling internal pressure of the air bags. The endoscope surgical instrument outer sheath can be fit with the physiological curves of cavities of the human body, does not compress the inner-wall tissues, provides mechanical support to the surgical instruments by means of rigidity adjustment after reaching at focuses, and assists doctors to do operation more effectively on the premise of guaranteeing safety of minimally invasive surgery.
Description
Technical field
What the present invention relates to is a kind of operating theater instruments oversheath of minimally invasive medical instrument field, a passage for turnover human body is especially provided for endoscope surgical equipment, improves the endoscope surgical equipment oversheath of the stiffness variable of laparoscope apparatus motility and operation safety.
Background technology
Through natural tract endoscopic surgery, be to take soft scope as treatment tool, without skin incision, and the microinvasive surgical teatment method of coeliac disease being treated by natural tracts such as mouth, vagina, knot rectum, contact less with abdominal viscera with peritoneum, can reduce tradition and open the wound that abdomen surgery and laparoscopic surgery cause, alleviate postoperative pain, and avoid the complication such as traumatic infection, incisional hernia and intestinal obstruction.At present, limit of functions due to operating theater instruments, utilize existing operating theater instruments can only implement the operations not high to apparatus performance requirement such as per os or transvaginal clinically, for to avoid causing the unnecessary problems such as tissue injury in operation process, need to carry out the training of long period to surgeon and reduce operation risk simultaneously.In natural tract endoscopic surgery process, from instrumentation, can be divided into two stages: scope conduit that first will longer yardstick (being generally greater than 30cm), by deep in human body natural's tract insertosome, secondly carries out all kinds of surgical diagnosis and operative treatment after apparatus end arrives affected part.In the first stage, natural tract shape and anatomical structure complicated (as colon) due to human body, peripheral vessels is neural to gather, organize very easily impaired, require operating theater instruments to there is higher radial compliance and axial rigidity, and can the safety of the characteristic guarantee of compliance chamber road shape operation flexibly in three dimensions; And operating theater instruments will be carried out operation technique at the endoscopic instruments end near operative region in second stage, this just requires apparatus integral body to possess higher rigidity in this stage could provide mechanics support for end, by keeping the shape of itself, to avoid forming, involving of tract and surrounding tissue caused to damage, reach the object of safety, accurate operation technique simultaneously.Because the soft scope using clinically at present can not meet this two requirements simultaneously, the urgent needs of new instruments technology has been become to the common recognition of medical worker.The scope assistive device that research and development have high flexibility and variable rigidity becomes the technology Focal point and difficult point through natural tract endoscope surgical equipment innovation.
Find by prior art documents, in document " Yagi; Akihiko; et al. " Rigid-flexible outer sheath model using slider linkage locking mechanism and air pressure for endoscopic surgery. " Medical Image Computing and Computer-Assisted Intervention – MICCAI2006.Springer Berlin Heidelberg; 2006.503-510. ", propose a kind of endoscope oversheath device, can realize the conversion at flexible and rigidity two states.It comprises: sheath unit, spring, connecting rod, breather and one-sidedly have rackwork engageable slide block and a brake block.Operation principle is: originally slide block is separated with brake block, slide block move up and down the bending that realizes mechanism, when applying after air pressure in breather, brake block is locked oversheath shape by jack-up upwards with slide block engagement.But this apparatus structure is complicated, and it is crooked to realize two dimension, poor to tract environmental suitability, and locking device can only play the effect of locking shape and cannot realize and freely become rigidity.
Summary of the invention
The present invention is directed to above-mentioned the deficiencies in the prior art, provide a kind of shape and rigidity based on flexible continuum to control integrated endoscopic instruments oversheath, for endoscope surgical equipment provides the passage in turnover body, improve the motility of apparatus and the safety of operation.
The present invention is achieved through the following technical solutions, the present invention includes some stiffness variable flexible unit and be composed in series, each flexible unit comprises: the first flexible high expansion and contraction air bag, the second flexible high expansion and contraction air bag, the 3rd flexible high expansion and contraction air bag, rigid connector, rigid filaments, the first disk, the second disk, instrument channel, air inlet and airway passage; In each flexible unit, rigid filaments is passed some rigid connectors and is rigidly connected with it, circle hole sleeve on rigid connector links together three high expansion and contraction air bags of flexibility in the minimum diameter position of air bag, the two ends of three high expansion and contraction air bags of flexibility are connected with the first disk, the second disk respectively, instrument channel is positioned at the center of rigid connector, and air inlet and airway passage are arranged on the second disk; More piece stiffness variable flexible unit is all serially connected by the first disk and the second disk.
Further, in the present invention, rigid filaments is non-telescoping rigid filaments, and three the high expansion and contraction air bag of flexibility longitudinal sections are S type curved shape.
Further, in the present invention, the first flexible high expansion and contraction air bag, the second flexible high expansion and contraction air bag, the 3rd flexible high expansion and contraction air bag are circumference symmetric arrays along rigid filaments.
Further, in the present invention, the first flexible high expansion and contraction air bag, the second flexible high expansion and contraction air bag, the 3rd flexible high expansion and contraction air bag all drive by pneumatic mode.
In work process of the present invention, flexible high expansion and contraction air bag has larger expansion and contraction under pneumatic actuation, serves as the driver element of the bending of continuum mechanism and change rigidity, and three air bag circumferential arrangement can realize the bending in each orientation of mechanism; Non-telescoping rigid filaments and rigid connector are for being rigidly connected, and the circle hole sleeve on rigid connector links together three flexible air-bags in the minimum diameter position of air bag; The disk at two ends plays the effect that location, sealing are provided for air bag, and the flexible rigidity unit that becomes of more piece is in series by disk.In air bag, pouring after air pressure, an air bag extends the mechanical function producing and is delivered to other two air bags by rigid connector and rigid filaments, rigid connector plays the effect of lever arm of force, and rigid filaments plays the effect of balance pivot, and then realizes the bending of mechanism.Complicated bend that can implementation space after the change rigidity units in series of a plurality of independent controls is better to comply with the physiological bending of tract.By the control to air pressure in air bag, can realize the rigidity of mechanism under differently curved angle and control.
Compared with prior art, the present invention has the following advantages:
The first, the present invention adopts pneumatic mode to control separately the flexible of each air bag, can realize the ACTIVE CONTROL to crooked orientation and angle of bend;
The second, the present invention adopts the extension airbag of special construction, has larger expansion and contraction, makes mechanism can realize larger angle of bend, is embedded endoscopic instruments and can improve the adaptability to body cavities environment, improves operation safety;
The 3rd, the present invention adopts pneumatic control mode, can realize the control real-time to bending stiffness, makes structure can bear larger mechanical function under the prerequisite that keeps shape.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of stiffness variable flexible unit in the present invention;
Fig. 3 is the partial view of flexible high expansion and contraction air bag and rigid connector;
Fig. 4 is the structural representation of rigid connector and rigid filaments;
Fig. 5 is the longitudinal section of flexible steel expansion and contraction air bag;
Fig. 6 is the structural representation of the second disk;
Wherein: 1, the first flexible high expansion and contraction air bag, the 2, second flexible high expansion and contraction air bag, the 3, the 3rd flexible high expansion and contraction air bag, 4, rigid connector, 5, rigid filaments, the 6, first disk, the 7, second disk, 8, instrument channel, 9, air inlet, 10, airway passage.
The specific embodiment
Below in conjunction with accompanying drawing, embodiments of the invention are elaborated, the present embodiment be take technical solution of the present invention as prerequisite, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
embodiment
As shown in Figures 1 to 5, the present invention is composed in series by some stiffness variable flexible unit, and each flexible unit comprises: the flexible high expansion and contraction air bag 3 of the flexible high expansion and contraction air bag the 2, the 3rd of the first flexible high expansion and contraction air bag 1, second, rigid connector 4, rigid filaments 5, the first disk 6, the second disk 7, instrument channel 8, air inlet 9 and airway passage 10; In each flexible unit, rigid filaments 5 is passed some rigid connectors 4 and is rigidly connected with it, circle hole sleeve on rigid connector 4 links together three high expansion and contraction air bags of flexibility in the minimum diameter position of air bag, the two ends of three high expansion and contraction air bags of flexibility are connected with the first disk 6, the second disk 7 respectively, instrument channel 8 is positioned at the center of rigid connector 4, and air inlet 9 and airway passage 10 are arranged on the second disk 7; More piece stiffness variable flexible unit is all serially connected by the first disk 6 and the second disk 7; Rigid filaments 5 is non-telescoping rigid filaments, three the high expansion and contraction air bag of flexibility longitudinal sections are S type curved shape, the flexible high expansion and contraction air bag 3 of the flexible high expansion and contraction air bag the 2, the 3rd of the first flexible high expansion and contraction air bag 1, second is circumference symmetric arrays along rigid filaments 5, and the flexible high expansion and contraction air bag 3 of the flexible high expansion and contraction air bag the 2, the 3rd of the first flexible high expansion and contraction air bag 1, second all drives by pneumatic mode.
Operating process of the present invention is as follows: endoscope surgical equipment is inserted in the instrument channel 8 of oversheath, in entering the process of body cavities, the air pressure of controlling in flexible air-bag makes structural bending, by means such as sensings, obtain the shape information of tract and oversheath, regulate inside air bag air pressure to make oversheath adapt to tract shape and avoid tract inwall to cause compressing.After oversheath end arrives lesions position, regulate inside air bag air pressure, under the prerequisite that keeps oversheath shape invariance, increase bending stiffness, for applying tissue in the process of power, internal instrument provide mechanics to support.The process of pulling out in body at oversheath, by regulating air bag internal gas pressure, make oversheath obtain the bending of compliance chamber road shape, under the prerequisite without compressing to tract inwall, pull out externally, complete operation.
Claims (4)
1. the endoscope surgical equipment oversheath of a stiffness variable, it is characterized in that, it is to be composed in series by some stiffness variable flexible unit, and each flexible unit comprises: the first flexible high expansion and contraction air bag (1), the second flexible high expansion and contraction air bag (2), the 3rd flexible high expansion and contraction air bag (3), rigid connector (4), rigid filaments (5), the first disk (6), the second disk (7), instrument channel (8), air inlet (9) and airway passage (10); In each flexible unit, rigid filaments (5) is passed some rigid connectors (4) and is rigidly connected with it, circle hole sleeve on rigid connector (4) links together three high expansion and contraction air bags of flexibility in the minimum diameter position of air bag, the two ends of three high expansion and contraction air bags of flexibility are connected with the first disk (6), the second disk (7) respectively, instrument channel (8) is positioned at the center of rigid connector (4), and air inlet (9) and airway passage (10) are arranged on the second disk (7); More piece stiffness variable flexible unit is all serially connected by the first disk (6) and the second disk (7).
2. the endoscope surgical equipment oversheath of stiffness variable according to claim 1, is characterized in that, described rigid filaments (5) is non-telescoping rigid filaments, and described three the high expansion and contraction air bag of flexibility longitudinal sections are S type curved shape.
3. the endoscope surgical equipment oversheath of stiffness variable according to claim 2, it is characterized in that, described the first flexible high expansion and contraction air bag (1), the second flexible high expansion and contraction air bag (2), the 3rd flexible high expansion and contraction air bag (3) are circumference symmetric arrays along rigid filaments (5).
4. the endoscope surgical equipment oversheath of stiffness variable according to claim 3, it is characterized in that, described the first flexible high expansion and contraction air bag (1), the second flexible high expansion and contraction air bag (2), the 3rd flexible high expansion and contraction air bag (3) all drive by pneumatic mode.
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| CN201310511754.9A CN103584829B (en) | 2013-10-24 | 2013-10-24 | Endoscope surgical instrument outer sheath with variable rigidity |
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| CN201310511754.9A CN103584829B (en) | 2013-10-24 | 2013-10-24 | Endoscope surgical instrument outer sheath with variable rigidity |
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| CN103584829B CN103584829B (en) | 2015-07-08 |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104116528A (en) * | 2014-07-14 | 2014-10-29 | 上海交通大学 | Endoscopic surgery instrument outer sheath based on soft continuum mechanism |
| CN107280718A (en) * | 2017-07-27 | 2017-10-24 | 天津大学 | A kind of folding exhibition variation rigidity apparatus arm and its application process performed the operation for natural cavity |
| CN107405045A (en) * | 2015-03-26 | 2017-11-28 | 奥林巴斯株式会社 | Flexible pipe insertion apparatus |
| CN107756385A (en) * | 2017-08-31 | 2018-03-06 | 南京邮电大学 | Variation rigidity software driver, software arm and software platform based on blocking mechanism |
| CN108214473A (en) * | 2018-01-28 | 2018-06-29 | 北京工业大学 | A kind of adjustable multiple degrees of freedom Grazing condition machinery arm configuration of rigidity |
| CN108422418A (en) * | 2018-05-18 | 2018-08-21 | 燕山大学 | A kind of variation rigidity gasbag-type omnidirectional is bent flexible robot |
| CN109044487A (en) * | 2018-09-28 | 2018-12-21 | 朱海涛 | Operation on biliary tract device |
| WO2019015400A1 (en) * | 2017-07-17 | 2019-01-24 | 天津大学 | Expandable serpentine carrier with variable rigidity for natural orifice transluminal endoscopic surgery and method for using same |
| CN109770840A (en) * | 2019-01-24 | 2019-05-21 | 浙江工业大学 | A kind of flexible gastroscope of stiffness variable |
| CN109794926A (en) * | 2019-01-24 | 2019-05-24 | 浙江工业大学 | A kind of flexible structure of stiffness variable |
| CN111216161A (en) * | 2020-01-16 | 2020-06-02 | 哈尔滨工业大学 | Variable-stiffness flexible arm based on non-Newtonian fluid drive and manufacturing method thereof |
| CN111452066A (en) * | 2020-04-07 | 2020-07-28 | 安徽大学 | Full-flexible bionic pneumatic manipulator |
| CN113017861A (en) * | 2021-02-27 | 2021-06-25 | 陆文夫 | Universal glasses supporter for operating room |
| CN114601413A (en) * | 2022-03-31 | 2022-06-10 | 福州大学 | Flexible continuous endoscope system integrating rigid hinge and double-spiral structure |
| CN114748110A (en) * | 2022-04-01 | 2022-07-15 | 天津大学 | Flexible joint and flexible instrument arm |
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| JPH05503434A (en) * | 1989-10-23 | 1993-06-10 | バウアファインド，ペーター | Insertion means for tubular fiber optic instruments such as colonoscopes |
| US5018506A (en) * | 1990-06-18 | 1991-05-28 | Welch Allyn, Inc. | Fluid controlled biased bending neck |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104116528A (en) * | 2014-07-14 | 2014-10-29 | 上海交通大学 | Endoscopic surgery instrument outer sheath based on soft continuum mechanism |
| CN107405045A (en) * | 2015-03-26 | 2017-11-28 | 奥林巴斯株式会社 | Flexible pipe insertion apparatus |
| CN107405045B (en) * | 2015-03-26 | 2021-02-09 | 奥林巴斯株式会社 | Flexible pipe insertion device |
| WO2019015400A1 (en) * | 2017-07-17 | 2019-01-24 | 天津大学 | Expandable serpentine carrier with variable rigidity for natural orifice transluminal endoscopic surgery and method for using same |
| CN107280718A (en) * | 2017-07-27 | 2017-10-24 | 天津大学 | A kind of folding exhibition variation rigidity apparatus arm and its application process performed the operation for natural cavity |
| CN107756385B (en) * | 2017-08-31 | 2019-09-10 | 南京邮电大学 | Variation rigidity software driver, software arm and software platform based on blocking mechanism |
| CN107756385A (en) * | 2017-08-31 | 2018-03-06 | 南京邮电大学 | Variation rigidity software driver, software arm and software platform based on blocking mechanism |
| CN108214473A (en) * | 2018-01-28 | 2018-06-29 | 北京工业大学 | A kind of adjustable multiple degrees of freedom Grazing condition machinery arm configuration of rigidity |
| CN108422418A (en) * | 2018-05-18 | 2018-08-21 | 燕山大学 | A kind of variation rigidity gasbag-type omnidirectional is bent flexible robot |
| CN108422418B (en) * | 2018-05-18 | 2021-09-14 | 燕山大学 | Variable-rigidity air bag type omnidirectional bending flexible robot |
| CN109044487B (en) * | 2018-09-28 | 2023-08-18 | 朱海涛 | Biliary tract operation device |
| CN109044487A (en) * | 2018-09-28 | 2018-12-21 | 朱海涛 | Operation on biliary tract device |
| CN109770840A (en) * | 2019-01-24 | 2019-05-21 | 浙江工业大学 | A kind of flexible gastroscope of stiffness variable |
| CN109794926B (en) * | 2019-01-24 | 2024-01-09 | 浙江工业大学 | Flexible structure with variable rigidity |
| CN109794926A (en) * | 2019-01-24 | 2019-05-24 | 浙江工业大学 | A kind of flexible structure of stiffness variable |
| CN111216161B (en) * | 2020-01-16 | 2022-08-23 | 哈尔滨工业大学 | Variable-stiffness flexible arm based on non-Newtonian fluid drive and manufacturing method thereof |
| CN111216161A (en) * | 2020-01-16 | 2020-06-02 | 哈尔滨工业大学 | Variable-stiffness flexible arm based on non-Newtonian fluid drive and manufacturing method thereof |
| CN111452066A (en) * | 2020-04-07 | 2020-07-28 | 安徽大学 | Full-flexible bionic pneumatic manipulator |
| CN113017861A (en) * | 2021-02-27 | 2021-06-25 | 陆文夫 | Universal glasses supporter for operating room |
| CN113017861B (en) * | 2021-02-27 | 2022-11-22 | 邳州市景鹏创业投资有限公司 | Universal glasses supporter for operating room |
| CN114601413A (en) * | 2022-03-31 | 2022-06-10 | 福州大学 | Flexible continuous endoscope system integrating rigid hinge and double-spiral structure |
| CN114748110A (en) * | 2022-04-01 | 2022-07-15 | 天津大学 | Flexible joint and flexible instrument arm |
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