CN103584829B - Endoscope surgical instrument outer sheath with variable rigidity - Google Patents
Endoscope surgical instrument outer sheath with variable rigidity Download PDFInfo
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- CN103584829B CN103584829B CN201310511754.9A CN201310511754A CN103584829B CN 103584829 B CN103584829 B CN 103584829B CN 201310511754 A CN201310511754 A CN 201310511754A CN 103584829 B CN103584829 B CN 103584829B
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- air bag
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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, especially for endoscope surgical equipment provides a passage for turnover human body, the endoscope surgical equipment oversheath of the stiffness variable of laparoscope apparatus motility and operation safety is improved.
Background technology
For treatment tool with soft scope through natural tract endoscopic surgery, without skin incision, and by microinvasive surgical teatment method that the natural tracts such as mouth, vagina, Colon and rectum are treated coeliac disease, contact less with abdominal viscera with peritoneum, tradition can be reduced 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, because the function of operating theater instruments limits, utilize existing operating theater instruments can only implement the operation not high to apparatus performance requirement such as per os or transvaginal clinically, in operation process, causing the problems such as unnecessary tissue injury for avoiding simultaneously, needing to carry out the training of long period to reduce operation risk to surgeon.In natural tract endoscopic surgery process, two stages can be divided into from instrumentation: first will the scope conduit of longer yardstick (being generally greater than 30cm) by deep in human body natural's tract insertosome, secondly after instrument end arrives affected part, carry out all kinds of surgical diagnosis and operative treatment.In the first phase, due to natural tract shape and the anatomical structure complexity (as colon) of human body, peripheral vessels nerve gathers, organize very easily impaired, require operating theater instruments there is higher radial compliance and axial rigidity, and can in three dimensions flexible compliance chamber road shape characteristic guarantee perform the operation safety; And operating theater instruments will carry out operation technique at the endoscopic instruments end near operative region in second stage, this just requires that apparatus entirety possesses higher rigidity in this stage and could provide mechanical support for end, simultaneously by keeping the shape of itself to cause damage to avoid the formation of tract and involving of surrounding tissue, reach the object of safety, accurately operation technique.Because the soft scope used clinically at present can not meet this two requirements simultaneously, the urgent needs of new instruments technology is become to the common recognition of medical worker.Research and development have high flexibility and the scope assistive device of variable rigidity becomes the technology Focal point and difficult point reformed through natural tract endoscope surgical equipment.
Find by prior art documents, in document " Yagi; Akihiko; et al. " Rigid-flexible outer sheath model using slider linkage locking mechanismand air pressure for endoscopic surgery. " Medical Image Computing andComputer-Assisted Intervention – MICCAI 2006.Springer Berlin Heidelberg; 2006.503-510. ", propose a kind of endoscope oversheath device, the conversion at flexible and rigidity two states can be realized.It comprises: sheath unit, spring, connecting rod, breather and one-sidedly have rackwork and engageable slide block and brake block.Operation principle is: originally slide block is separated with brake block, and the moving up and down of slide block realizes the bending of mechanism, and after apply air pressure in breather, brake block to be engaged with slide block by upwards jack-up and locks oversheath shape.But this apparatus structure is complicated, and it is bending to realize two dimension, poor to tract environmental suitability, and locking device can only play the effect of locking shape and cannot realize free variation rigidity.
Summary of the invention
The present invention is directed to above-mentioned the deficiencies in the prior art, a kind of endoscopic instruments oversheath integrated with stiffness reliability based on the shape of flexible continuum is provided, 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 to 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, three high expansion and contraction air bags of flexibility link together in the minimum diameter position of air bag by the circle hole sleeve on rigid connector, 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 flexibility high expansion and contraction air bag 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 along rigid filaments circumferentially symmetric arrays.
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 all driven 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 continuum means flex and variation rigidity, and three air bag circumferential arrangement can realize the bending of each orientation of mechanism; Non-telescoping rigid filaments and rigid connector are for being rigidly connected, and three flexible air-bags link together in the minimum diameter position of air bag by the circle hole sleeve on rigid connector; The disk at two ends plays the effect for air bag provides location, seals, and the flexible element with variable rigidity of more piece is in series by disk.After pour air pressure in air bag, an air bag extends the mechanical function produced 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.After the element with variable rigidity series connection of multiple independent control can the complicated bend of implementation space better to comply with the physiological bending of tract.By the control to air pressure in air bag, the stiffness reliability of mechanism under differently curved angle can be realized.
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 bending 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 adaptability to body cavities environment, improve operation safety;
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 keeping 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 high 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.
Detailed description of the invention
Elaborate to embodiments of the invention below in conjunction with accompanying drawing, the present embodiment, premised on technical solution of the present invention, give 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 2 of the first flexible high expansion and contraction air bag 1, second, the 3rd flexible high expansion and contraction air bag 3, rigid connector 4, rigid filaments 5, first disk 6, 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, three high expansion and contraction air bags of flexibility link together in the minimum diameter position of air bag by the circle hole sleeve on rigid connector 4, the two ends of three high expansion and contraction air bags of flexibility are connected with the first disk 6, 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 flexibility high expansion and contraction air bag longitudinal sections are S type curved shape, the flexible high expansion and contraction air bag 2 of first flexible high expansion and contraction air bag 1, second, the 3rd flexible high expansion and contraction air bag 3 are along rigid filaments 5 circumferentially symmetric arrays, and the flexible high expansion and contraction air bag 2 of the first flexible high expansion and contraction air bag 1, second, the 3rd flexible high expansion and contraction air bag 3 are all driven by pneumatic mode.
Operating process of the present invention is as follows: inserted by endoscope surgical equipment in the instrument channel 8 of oversheath, in the process entering body cavities, the air pressure controlled in flexible air-bag makes structural bending, obtained the shape information of tract and oversheath by means such as sensings, regulate inside air bag air pressure to make oversheath adapt to tract shape and avoid causing compressing to tract inwall.After sheath end arrives lesions position outside, regulate inside air bag air pressure, under the prerequisite keeping oversheath shape invariance, increase bending stiffness, for internal instrument provides mechanical support to organizing in the process of applying power.The process that oversheath pulls out in body, by regulating air bag internal gas pressure, making oversheath obtain the bending of compliance chamber road shape, pulling out under to the prerequisite of tract inwall without compressing external, completing operation.
Claims (4)
1. the endoscope surgical equipment oversheath of a stiffness variable, it is characterized in that, it is 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 through some rigid connectors (4) and be rigidly connected with it, three high expansion and contraction air bags of flexibility link together in the minimum diameter position of air bag by the circle hole sleeve on rigid connector (4), 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 flexibility high expansion and contraction air bag 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 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 along rigid filaments (5) circumferentially symmetric arrays.
4. the endoscope surgical equipment oversheath of stiffness variable according to claim 3, it is characterized in that, described 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 all driven by pneumatic mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310511754.9A CN103584829B (en) | 2013-10-24 | 2013-10-24 | Endoscope surgical instrument outer sheath with variable rigidity |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310511754.9A CN103584829B (en) | 2013-10-24 | 2013-10-24 | Endoscope surgical instrument outer sheath with variable rigidity |
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| Publication Number | Publication Date |
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| CN103584829A CN103584829A (en) | 2014-02-19 |
| CN103584829B true CN103584829B (en) | 2015-07-08 |
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| CN201310511754.9A Expired - Fee Related CN103584829B (en) | 2013-10-24 | 2013-10-24 | Endoscope surgical instrument outer sheath with variable rigidity |
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| CN104116528A (en) * | 2014-07-14 | 2014-10-29 | 上海交通大学 | Endoscopic surgery instrument outer sheath based on soft continuum mechanism |
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| CN109794926B (en) * | 2019-01-24 | 2024-01-09 | 浙江工业大学 | Flexible structure with variable rigidity |
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| CN111452066A (en) * | 2020-04-07 | 2020-07-28 | 安徽大学 | Full-flexible bionic pneumatic manipulator |
| 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 |
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| CN114748110B (en) * | 2022-04-01 | 2024-08-13 | 天津大学 | Flexible joint and flexible instrument arm |
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| US5018506A (en) * | 1990-06-18 | 1991-05-28 | Welch Allyn, Inc. | Fluid controlled biased bending neck |
| US5395361A (en) * | 1994-06-16 | 1995-03-07 | Pillco Limited Partnership | Expandable fiberoptic catheter and method of intraluminal laser transmission |
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