CN104116528A - Endoscopic surgery instrument outer sheath based on soft continuum mechanism - Google Patents
Endoscopic surgery instrument outer sheath based on soft continuum mechanism Download PDFInfo
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- CN104116528A CN104116528A CN201410334395.9A CN201410334395A CN104116528A CN 104116528 A CN104116528 A CN 104116528A CN 201410334395 A CN201410334395 A CN 201410334395A CN 104116528 A CN104116528 A CN 104116528A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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Abstract
The invention discloses an endoscopic surgery instrument outer sheath based on a soft continuum mechanism, and belongs to the technical field of minimally invasive surgery instruments. The endoscopic surgery instrument outer sheath comprises a plurality of flexible units, each soft unit comprises a soft air with the high ratio of expansion and contraction, a rigid connecting piece, a steel wire soft shaft, a nickel-titanium wire, a disc, a surgical instrument channel, a pretightening force support, a pretightening force air cylinder and a fastening screw. Air pressure in the air bags is controlled to change the lengths of the air bags, and space bending of the units is achieved. Under any bent state, the pretightening force air cylinders apply pretightening force to the three nickel-titanium wires, the bending rigidity of the units is controlled, the effect of changing the rigidity is achieved, and the function of passive protection is achieved. The endoscopic surgery instrument outer sheath is used as an outer sheath unit of an endoscopic surgery instrument entering a human body, the outer sheath can be bent along with the cavity of the human body, the tissue of an inner wall is prevented from being oppressed, the rigidity is changed after the endoscopic surgery instrument outer sheath reaches the position of a disease, mechanical support is provided for the surgical instrument, the tissue can be prevented from being over-pressed to be hurt through the passive protection characteristic of the outer sheath when the surgical operation is carried out, and therefore the safety and effectiveness of surgery are improved.
Description
Technical field
What the present invention relates to is that technology is realized in a kind of operating theater instruments oversheath unit of minimally invasive medical instrument field; especially for a passage for turnover human body is provided through natural tract endoscope surgical equipment, improves laparoscope apparatus motility and ensure the thering is passive protection and becoming the endoscope surgical equipment oversheath unit of stiffness characteristics based on submissive continuum mechanism of operation safety.
Background technology
Taking soft scope as treatment tool through natural tract endoscopic surgery, 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, due to the limit of functions of operating theater instruments, utilize existing operating theater instruments can only implement clinically the operation that per os or transvaginal etc. are not high to apparatus performance requirement, for to avoid causing the problems such as unnecessary 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, due to natural tract shape and the anatomical structure complexity (as colon) of 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 be in three dimensions the safety of the characteristic guarantee operation of compliance chamber road shape flexibly; 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 entirety to possess higher rigidity in this stage could provide mechanics support for end, to avoid forming, involving of tract and surrounding tissue caused to damage by the shape that keeps itself simultaneously, reach the object of safety, accurate operation technique.Because the soft scope using 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.The high security 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.But this apparatus structure complexity, and can only realize the bending in two dimensional surface, poor to tract environmental suitability, locking device can only play the effect of locking shape and cannot realize change rigidity, does not more possess passive protection character.
Summary of the invention
The present invention is directed to above-mentioned the deficiencies in the prior art; provide a kind of based on flexible continuum mechanism to have curvature of space ability, rigidity controlled and have an endoscope surgical equipment oversheath unit of passive protection characteristic; for endoscope surgical equipment provides the passage of turnover in body, improve the motility of apparatus and ensure the safety of operation technique.
The present invention is achieved through the following technical solutions, the present invention includes some flexible unit, 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, Bowden cable, nitinol alloy wire, the first disk, the second disk, operating theater instruments passage, pretightning force bearing, pretightning force cylinder and trip bolt, in each flexible unit, rigid connector is seven groups, rigid connector is arranged in the first disk equably, between the second disk, 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 interconnects by rigid connector, one end of Bowden cable is successively through the first disk, rigid connector, the center of the second disk, Bowden cable and rigid connector adopt and are rigidly connected, one end of nitinol alloy wire is successively through the first disk, rigid connector, the second disk, the first disk, the second disk and Bowden cable, 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 is all rigidly connected by trip bolt, between nitinol alloy wire and the second disk, adopt trip bolt to be rigidly connected, pretightning force bearing is arranged on the first disk, pretightning force cylinder is rigidly attached on pretightning force bearing.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 rigidly connected with the first disk, the second disk respectively, nitinol alloy wire and the second disk are rigidly connected, be through in the aperture of rigid connector and the first disk, can free slippage, pretightning force cylinder is used for applying pretightning force on nitinol alloy wire and makes to produce frictional force between nitinol alloy wire and pretightning force bearing, thus the bending stiffness of control unit.And in the stressed effect of playing passive protection when excessive of cell end.
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 Bowden cable; The longitudinal section of 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 is S type curved shape, thereby has higher expansion and contraction.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 adopt pneumatic actuation mode, and under the effect of air pressure, realize the change of length, thus implementation space bending.
Further; in the present invention; three nitinol alloy wires are circumferentially evenly arranged in flexible unit; one end of nitinol alloy wire is successively through the aperture on the first disk, rigid connector edge; slip be can in hole, produce, thereby shape after unit bending the stressed effect of playing passive protection when excessive endways complied with.
Further, in the present invention, unit is under any case of bending, and pretightning force cylinder applies pretightning force on three nitinol alloy wires, and the bending stiffness of control unit plays the object that becomes rigidity.In the time that the suffered radial force of cell end is greater than setting value, between nitinol alloy wire and pretightning force bearing, produce slippage, thereby protection is avoided damage by operational objectives, plays the effect of passive protection.
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 mechanism bending, and three air bag circumferential arrangement can realize the bending in each orientation of mechanism; Non-telescoping Bowden cable 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 of fixation balloon, and the flexible rigidity unit that becomes of more piece is in series by disk.Pouring after air pressure in air bag, 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 multiple independent controls is better to comply with the physiological bending of tract.By controlling the atmospheric pressure value in pretightning force cylinder, can change the size of pretightning force, thereby ensure the bending stiffness of unit.In the time that the suffered power of cell end is greater than preset value, nitinol alloy wire and and pretightning force bearing between produce slippage, thereby avoid, to being damaged by the overvoltage of operational objectives, playing the effect of passive protection.
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 air bag of S shape structure, 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 the element of nitinol alloy wire as control unit rigidity, and in safe field of load, nitinol alloy wire position is locked endways, thereby the shape of lock cell supports for end operation technique provides mechanics;
The 4th, the present invention adopts the frictional force between pretightning force cylinder control nitinol alloy wire and bearing, when cell end is stressed while exceeding default safety range; nitinol alloy wire generation slippage; cell configuration generation resilience, thus the overvoltage damage to tissue avoided, play the effect of passive protection.
Brief description of the drawings
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of rigid connector and rigid filaments;
Fig. 3 is the partial view of flexible high expansion and contraction air bag and rigid connector;
Fig. 4 is the longitudinal section of flexible high expansion and contraction air bag;
Wherein: 1, the first flexible high expansion and contraction air bag, 2, the second flexible high expansion and contraction air bag, 3, the 3rd flexible high expansion and contraction air bag, 4,7 groups of rigid connectors, 5, Bowden cable, 6, nitinol alloy wire, 7, the first disk, 8, the second disk, 9, instrument channel, 10, pretightning force bearing, 11, pretightning force cylinder, 12, trip bolt.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the invention are elaborated, the present embodiment, taking 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 4, the present invention includes some flexible unit, 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, Bowden cable 5, nitinol alloy wire 6, the first disk 7, the second disk 8, operating theater instruments passage 9, pretightning force bearing 10, pretightning force cylinder 11 and trip bolt 12, in each flexible unit, rigid connector 4 is seven groups, and rigid connector 4 is arranged in the first disk 7 equably, between the second disk 8, 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 interconnects by rigid connector 4, and one end of Bowden cable 5 is successively through the first disk 7, rigid connector 4, the center of the second disk 8, Bowden cable 5 adopts and is rigidly connected with rigid connector 4, and one end of nitinol alloy wire 6 is successively through the first disk 7, rigid connector 4, the second disk 8, the first disks 7, the second disk 8 and Bowden cable 5, 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 is all rigidly connected by trip bolt 12, between nitinol alloy wire 6 and the second disk 8, adopt trip bolt 12 to be rigidly connected, pretightning force bearing 10 is arranged on the first disk 7, pretightning force cylinder 11 is rigidly attached on pretightning force bearing 10, and the other end of nitinol alloy wire 6 is connected with pretightning force cylinder 11, 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 Bowden cable 5, and the longitudinal section of 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 is S shape curved shape, nitinol alloy wire 6 has three, and nitinol alloy wire 6 is circumferentially evenly arranged in flexible unit, and one end of nitinol alloy wire 6 is passed the aperture on the first disk 7, rigid connector 4 edges successively, and can in hole, produce slip, 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, pretightning force cylinder 11 can apply pretightning force to nitinol alloy wire 6 under air pressure drives, thereby makes to produce frictional force between nitinol alloy wire 6 and pretightning force bearing 10, makes unit have higher bending stiffness, and stressed when excessive endways, between nitinol alloy wire 6 and pretightning force bearing 10, produce slippage, thereby play the effect of passive protection, 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, and the two ends of three high expansion and contraction air bags of flexibility are rigidly connected with the first disk 7, the second disk 8 respectively, nitinol alloy wire 6 and the second disk 8 are rigidly connected, and are through in the aperture of rigid connector 4 and the first disk 7, can free slippage, pretightning force cylinder 11 is used for applying pretightning force on nitinol alloy wire 6 and makes generation frictional force between nitinol alloy wire 6 and pretightning force bearing 10, thus the bending stiffness of control unit.
Operating process of the present invention is as follows: endoscope surgical equipment is inserted in the instrument channel 9 of oversheath unit, in the process that enters body cavities, the shape that makes unit comply with body cavities by the air pressure in the flexible high expansion and contraction air bag of ACTIVE CONTROL bends, thereby avoids tract inwall to cause overvoltage damage.Sheath unit end arrives after lesions position outside, keeping under the prerequisite of oversheath unit bending shape invariance, pretightning force cylinder 11 applies pretightning force under the effect of air pressure on nitinol alloy wire 6, and on three nitinol alloy wires 6, the size of pretightning force is according to end institute maximum pressure allowed to bear and be converted to by mechanical relationship.Stressed while being less than maximum allowble pressure endways, three nitinol alloy wires 6, by the shape locking of oversheath unit, make it have higher rigidity, provide mechanics to support for internal instrument applies tissue in the process of power.When end is stressed while exceeding preset value, between nitinol alloy wire 6 and pretightning force bearing 10, produce slippage, oversheath cell configuration generation resilience, thus avoid being damaged by the overvoltage of manipulation of tissue.The process pulling out in body at oversheath, by real-time adjusting air bag internal gas pressure, make oversheath unit obtain the bending of compliance chamber road shape, under the prerequisite without compressing to tract inwall, pull out externally, complete operation.
Claims (5)
1. the endoscope surgical equipment oversheath based on submissive continuum mechanism, comprise some flexible unit, it is characterized in that, 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), Bowden cable (5), nitinol alloy wire (6), the first disk (7), the second disk (8), operating theater instruments passage (9), pretightning force bearing (10), pretightning force cylinder (11) and trip bolt (12), in each flexible unit, rigid connector (4) is seven groups totally two ten one, rigid connector (4) is arranged in the first disk (7) equably, between the second disk (8), 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) interconnects by rigid connector (4), one end of Bowden cable (5) is successively through the first disk (7), rigid connector (4), the center of the second disk (8), Bowden cable (5) adopts and is rigidly connected with rigid connector (4), one end of nitinol alloy wire (6) is successively through the first disk (7), rigid connector (4), the second disk (8), the first disk (7), the second disk (8) and Bowden cable (5), 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) is all rigidly connected by trip bolt (12), between nitinol alloy wire (6) and the second disk (8), adopt trip bolt (12) to be rigidly connected, pretightning force bearing (10) is arranged on the first disk (7), pretightning force cylinder (11) is rigidly attached on pretightning force bearing (10).
2. the endoscope surgical equipment oversheath based on submissive continuum mechanism according to claim 1, 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 Bowden cable (5), and the longitudinal section of 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) is S shape curved shape.
3. the endoscope surgical equipment oversheath based on submissive continuum mechanism according to claim 1, it is characterized in that, described nitinol alloy wire (6) has three, nitinol alloy wire (6) is circumferentially evenly arranged in flexible unit, one end of nitinol alloy wire (6) is passed the aperture on the first disk (7), rigid connector (4) edge successively, and can in hole, produce slip.
4. the endoscope surgical equipment oversheath based on submissive continuum mechanism according to claim 1, 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.
5. the endoscope surgical equipment oversheath based on submissive continuum mechanism according to claim 1, it is characterized in that, described pretightning force cylinder (11) can apply pretightning force to nitinol alloy wire (6) under air pressure drives, thereby make to produce frictional force between nitinol alloy wire (6) and pretightning force bearing (10), make unit there is higher bending stiffness; And stressed when excessive endways, between nitinol alloy wire (6) and pretightning force bearing (10), produce slippage, thereby play the effect of passive protection.
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Cited By (14)
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| CN107251414A (en) * | 2015-01-30 | 2017-10-13 | 森福鼎股份有限公司 | jet actuator system and method |
| CN107361727A (en) * | 2017-07-17 | 2017-11-21 | 天津大学 | A kind of controllable apparatus of rigidity and its application process for natural cavity operation |
| CN108214459A (en) * | 2017-08-28 | 2018-06-29 | 北京邮电大学 | It is a kind of can simultaneous retractable and bending and there are the flexible robots of instrument channel |
| CN108210089A (en) * | 2018-01-26 | 2018-06-29 | 浙江大学 | The gas that the postoperative per anum of Colon and rectum takes out tumor specimen fills formula lane device |
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| CN107361727A (en) * | 2017-07-17 | 2017-11-21 | 天津大学 | A kind of controllable apparatus of rigidity and its application process for natural cavity operation |
| CN107361727B (en) * | 2017-07-17 | 2019-06-04 | 天津大学 | A kind of controllable instrument of rigidity and its application method for natural cavity operation |
| CN108214459A (en) * | 2017-08-28 | 2018-06-29 | 北京邮电大学 | It is a kind of can simultaneous retractable and bending and there are the flexible robots of instrument channel |
| CN108214459B (en) * | 2017-08-28 | 2019-08-09 | 北京邮电大学 | It is a kind of can simultaneous retractable and bending and there are the flexible robots of instrument channel |
| CN108210089A (en) * | 2018-01-26 | 2018-06-29 | 浙江大学 | The gas that the postoperative per anum of Colon and rectum takes out tumor specimen fills formula lane device |
| CN108210089B (en) * | 2018-01-26 | 2023-06-16 | 浙江大学 | Air inflation type channel device for taking out tumor specimen through anus after colorectal operation |
| 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 |
| CN108673558B (en) * | 2018-05-28 | 2021-10-15 | 哈尔滨工业大学 | Variable-rigidity flexible operating arm |
| CN108673558A (en) * | 2018-05-28 | 2018-10-19 | 哈尔滨工业大学 | Variation rigidity flexible motion arm |
| CN110900654A (en) * | 2019-12-13 | 2020-03-24 | 中国科学院沈阳自动化研究所 | Inflatable flexible light mechanical arm |
| CN112998860A (en) * | 2020-12-11 | 2021-06-22 | 北京信息科技大学 | Be used for minimal access surgery operation single section software manipulator |
| CN112809656B (en) * | 2021-02-08 | 2022-02-18 | 清华大学 | Flexible driving structure, flexible driver and driving system |
| CN112809656A (en) * | 2021-02-08 | 2021-05-18 | 清华大学 | Flexible driving structure, flexible driver and driving system |
| 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 |
| CN114748110A (en) * | 2022-04-01 | 2022-07-15 | 天津大学 | Flexible joint and flexible instrument arm |
| CN114938996A (en) * | 2022-04-01 | 2022-08-26 | 天津大学 | Flexible joint and flexible endoscope robot for minimally invasive surgery |
| CN115068015A (en) * | 2022-06-17 | 2022-09-20 | 清华大学 | Multi-section flexible instrument based on variable stiffness, variable curvature and variable bending length of spring |
| CN115068015B (en) * | 2022-06-17 | 2024-07-02 | 清华大学 | Spring-based multi-section flexible instrument with variable stiffness, variable curvature and variable bending length |
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