CN105796138A - Flexible minimally invasive surgery instrument based on natural orifice - Google Patents

Flexible minimally invasive surgery instrument based on natural orifice Download PDF

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Publication number
CN105796138A
CN105796138A CN201610312127.6A CN201610312127A CN105796138A CN 105796138 A CN105796138 A CN 105796138A CN 201610312127 A CN201610312127 A CN 201610312127A CN 105796138 A CN105796138 A CN 105796138A
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China
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rotating shaft
flexible
tensioning
folding
instrument
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Granted
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CN201610312127.6A
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Chinese (zh)
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CN105796138B (en
Inventor
王树新
张国凯
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Tianjin University
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Tianjin University
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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
    • 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
    • A61B2017/00238—Type of minimally invasive operation
    • 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
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • 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
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/0034—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means adapted to be inserted through a working channel of an endoscope
    • 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
    • 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

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Surgical Instruments (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a flexible minimally invasive surgery instrument based on a natural orifice. The flexible minimally invasive surgery instrument comprises an operation handle, a wrist driving device, a connecting catheter, a flexible wrist part and a tail end executing device. The flexible minimally invasive surgery instrument can be integrally applied to minimally invasive surgery in the fields of abdominal cavity, thoracic cavity, urination, gynecology and the like. In the surgery implementation process, the minimally invasive surgery intelligent instrument passes through a trocar hole formed in the body surface of a patient, and a doctor holds the instrument by hand, and puts the instrument into the body to implement the surgery operation; the instrument is held by the doctor by hand; all operations, including the instrument tail end opening and closing movement, of an ordinary minimally invasive surgery instrument can be realized; meanwhile, the three-freedom-degree movement (the pitching movement, the swinging movement and the auto-rotation movement) of the tail end of the instrument can also be realized through controlling the operation handle and the wrist driving device. The space multi-freedom-degree surgery actions can be output by the instrument, the action is flexible, and the operation force is great; the instrument is more suitable for minimally invasive surgery with complicated actions.

Description

Flexible Minimally Invasive Surgery apparatus based on natural tract
Technical field
The present invention relates to a kind of micro-wound surgical operation armarium, particularly a kind of Minimally Invasive Surgery apparatus based on natural tract.
Background technology
In micro-wound surgical operation process, doctor implements operation technique task by elongated Minimally Invasive Surgery apparatus.One end of operating theater instruments is by doctor's hand-held, and the other end is insinuated into internal being operated by the miniature incision of human body surface, and therefore, operating theater instruments is the part uniquely contacted with human lesion tissue, is also the sole instrument directly performing surgical action.In operation is implemented, owing to the motion of operating theater instruments end and the motion of instrument hand part have special mapping relations, action demand for satisfied different operation technique tasks (clamping, stitching, knotting etc.), doctor needs hand-held operating theater instruments grand movement, reduce instrument end and perform the motility of surgical action, meanwhile, long-time operation on a large scale makes doctor easily tired, virtually adds the difficulty of operation.Being limited to the size limitation of nature tract operating theater instruments, the problem that current existing procucts are primarily present is that instrument end number of degrees of freedom, is few, and work space is little, cause malfunction, it is difficult to operational motion complicated in operation, and operating physical force is inadequate, it is difficult to realize wound Guan Bi.
Summary of the invention
Present invention aim to overcome that the deficiency of prior art, it is provided that a kind of easy to use and reliable, the Minimally Invasive Surgery apparatus of flexible operation.
The present invention is attained in that by techniques below means
nullThe present invention is based on the flexible Minimally Invasive Surgery apparatus of natural tract，It includes operation handle，Described operation handle includes the first rotating shaft，Described first rotating shaft is arranged on the first sleeve by bearing rotary，The first described rotating shaft rear end is installed with runner，What the second rotating shaft rotated is arranged on the second sleeve，The first described sleeve and the second sleeve are all connected with handle，It is symmetrically arranged with two chutes with the axis of the second rotating shaft for axis of symmetry in the second described rotating shaft front end，The key of described runner rear end is slidably mounted in two described chutes,Second rotating shaft can rotate with runner，In the second described rotating shaft, it is installed with steel wire hangs code，Steel ball sleeve and end cap it is installed with in the rear end of the second described rotating shaft，The steel ball of steel ball connecting rod one end is stuck in the space between steel ball sleeve and end cap，The connection that the other end of steel ball connecting rod is rotated with pull bar by pin，Described pull bar is by the connection of pin with rotatable handle，The rotation of pull bar can drive the motion of steel ball connecting rod，And then drive the second rotating shaft and steel wire to hang code and slide axially along the second sleeve in the second sleeve，Described handle is provided with tooth bar，One end of described tooth bar is rotationally connected by tooth bar pin and handle，It is enclosed within one end of the torsion spring that rack pins nails on to be fixedly linked with handle and the other end and tooth bar are fixedly linked,Under the effect of torsion spring，Tooth bar contacts with pull bar，One end that described tooth bar contacts with pull bar is provided with ratchet，Ratchet on described tooth bar and the ratchet engagement of setting on pull bar，Described handle has chute,The sliding axle of one lockup switch is slidably connected in described chute，The rear end of the sliding axle of described lockup switch can contact with tooth bar so that tooth bar rotates around tooth bar pin；nullWrist driving device includes driving flexible pipe，It is installed with tapered core in described driving flexible pipe front end，Described tapered core is installed with connected with outer casing，It is installed with in the described rear end driving flexible pipe for installing and tensioning drives the tensioner of steel wire，Described tensioner includes being fixed on the tensioning catch driven on flexible pipe，It is fixed with tensioning frame in the rear end of described tensioning catch，The circumferential side wall of described tensioning frame uniformly has multiple sliding tray,It is connected with a tensioning block respectively through tensioning screw in each sliding tray,Described tensioning block can along driving flexible pipe axis direction to move forward and backward and rest on the setting position in sliding tray in sliding tray by the drive of tensioning screw，Driving flexible pipe between described tapered core and tensioner is set with joint，Described joint can along driving flexible pipe to move axially back and forth,The endoporus of described joint is provided with female thread,The tensioning frame of described tensioner is inserted in the hole of the first rotating shaft front end,The tensioning catch of described tensioner is inserted in the endoporus of joint and tensioning catch compresses the end being arranged on the first rotating shaft，External screw thread threaded engagement locking on the female thread of described joint and the first rotating shaft outer wall；Described connected with outer casing and flexible conduit rear end are fixedly linked, flexible wrist includes multiple spaced articular sclerite, between adjacent two articular sclerites, card has a joint ball, described joint ball is stuck in the hole in the middle of articular sclerite, described articular sclerite can rotate around joint ball, and described flexible conduit front end is fixing with the articular sclerite of flexible wrist rearmost end to be connected；End performs the folding seat that device includes being fixed on flexible wrist articular sclerite foremost, described folding seat is symmetrically set with two supports, on two described supports, symmetry has folding axle sliding tray, hole is axially had along folding seat in the centre of described folding seat, the rear portion of one folding axle is slidably mounted in described hole, the front end being arranged on two supports that first folding pincers and the second folding pincers are rotated by the first bearing pin, the sliding tray that the two ends, left and right of front portion and the second bearing pin that the second bearing pin is fixed on described folding axle are each passed through on the folding axle sliding tray being arranged on homonymy and folding pincers is arranged, folding axle can sliding axially along hole, the slip in folding seat of the described folding axle can make two folding pincers rotate around the first bearing pin；Four drive steel wire around the uniform setting of apparatus axis of rotation, described four driving steel wire one end are fixing with flexible wrist articular sclerite foremost to be connected, the steel wire other end is driven to sequentially pass through whole articular sclerite, flexible conduit, tapered core, drive flexible pipe, tensioning catch and tensioning block are also fixedly linked with tensioning block, it is arranged on the driving steel wire one end of the folding on apparatus axis of rotation and folding axle is fixed and is connected, other end traverse folding seat, whole articular sclerites and joint ball, flexible conduit, tapered core, drive flexible pipe, tensioning catch, tensioning frame, first rotating shaft, runner, second rotating shaft and steel wire hang code and hang code with steel wire and be fixedly linked.
The present invention compared with prior art has the advantages that
1. the present invention is based on the flexible Minimally Invasive Surgery apparatus of natural tract, adopt hand-held, manpower drives, it is operated by handle to drive end to perform device output multifreedom motion, comparing with tradition Minimally Invasive Surgery apparatus, the present invention can export space multiple degrees of freedom surgical action, flexible movements, operating physical force is big, is more suitable for carrying out sinuous Minimally Invasive Surgery；
2. operating theater instruments of the present invention, modus operandi, based on natural tract, is compared with tradition Minimally Invasive Surgery apparatus, and body surface is without wound, and postoperative without cicatrix, recovery time is short；
3. the flexible Minimally Invasive Surgery apparatus based on natural tract of the present invention, adopts silk transmission, and drives the control mode of flexible end to be operated with flexible hose, and end is easily controllable, easy to operate, flexible, accurate.
Accompanying drawing explanation
Fig. 1 is the flexible Minimally Invasive Surgery apparatus overall structure schematic diagram based on natural tract of the present invention；
Fig. 2 a is the flexible Minimally Invasive Surgery instrument end open and close movement schematic diagram based on natural tract of the present invention；
Fig. 2 b is the flexible Minimally Invasive Surgery instrument end elevating movement schematic diagram based on natural tract of the present invention；
Fig. 2 c is the flexible Minimally Invasive Surgery instrument end oscillating motion schematic diagram based on natural tract of the present invention；
Fig. 2 d is the flexible Minimally Invasive Surgery instrument end spinning motion schematic diagram based on natural tract of the present invention；
Fig. 3 a is the flexible Minimally Invasive Surgery instrumentation handle arrangement schematic diagram based on natural tract of the present invention；
Fig. 3 b is the flexible Minimally Invasive Surgery exercises on apparatus handle part schematic diagram based on natural tract of the present invention；
Fig. 3 c is flexible Minimally Invasive Surgery exercises on apparatus the second Rotating Shafts schematic diagram based on natural tract of the present invention；
Fig. 4 a is flexible Minimally Invasive Surgery apparatus driving device the first schematic diagram based on natural tract of the present invention；
Fig. 4 b is flexible Minimally Invasive Surgery apparatus driving device the second schematic diagram based on natural tract of the present invention；
Fig. 4 c is the flexible Minimally Invasive Surgery instrument wrist driving device based on natural tract of the present invention and operation handle connected mode schematic diagram；
Fig. 5 is the flexible Minimally Invasive Surgery apparatus flexibility wrist structural representation based on natural tract of the present invention；
Fig. 6 is that the flexible Minimally Invasive Surgery instrument end based on natural tract of the present invention performs apparatus structure schematic diagram；
Fig. 7 a is that the flexible Minimally Invasive Surgery apparatus based on natural tract of the present invention drives steel wire to install the first schematic diagram；
Fig. 7 b is that the flexible Minimally Invasive Surgery apparatus based on natural tract of the present invention drives steel wire to install the second schematic diagram；
Fig. 8 is that the flexible Minimally Invasive Surgery apparatus based on natural tract of the present invention drives hose bending schematic diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.
The present invention as shown in Figure 1 is based on the flexible Minimally Invasive Surgery apparatus of natural tract, including: operation handle 100, wrist driving device 200, flexible conduit 300, flexible wrist 400, end perform device 500, and its entirety can be applicable in the Minimally Invasive Surgery in the fields such as abdominal cavity, thoracic cavity, urinary system, gynecological.In operation implementation process, the described Minimally Invasive Surgery intelligence apparatus upper stamp hole clipping by patient's body surface, doctor's hand-held apparatus enter internal implementation operation technique.
Comparison Fig. 2 a, Fig. 2 b, Fig. 2 c, Fig. 2 d, the described flexible Minimally Invasive Surgery apparatus based on natural tract is hand-held by doctor, it can realize all operations of common Minimally Invasive Surgery apparatus, including instrument end open and close movement R1, simultaneously, the three-degree-of-freedom motion of instrument end is realized: elevating movement R2, oscillating motion R3 and spinning motion R4 also by control operation handle 100 and wrist driving device 200.
nullComparison Fig. 3 a、Fig. 3 b、Fig. 3 c，Described operation handle 100 includes the first rotating shaft 101，Described first rotating shaft 101 is arranged on the first sleeve 103 by what bearing 102 rotated，The first described rotating shaft 101 rear end is installed with runner 105，What the second rotating shaft 106 rotated is arranged on the second sleeve 107，The first described sleeve 103 and the second sleeve 107 are all connected with handle 104，It is symmetrically arranged with two chutes 116 with the axis of the second rotating shaft 106 for axis of symmetry in the second described rotating shaft 106 front end，The key of runner 105 rear end is slidably mounted in two described chutes 116,Second rotating shaft 106 can rotate with runner 105，Rotating wheel 105，The first rotating shaft 101 can be made、Second rotating shaft 106 synchronous axial system，In the second described rotating shaft 106, it is installed with steel wire hangs code 108，Described steel wire hangs code 108 and is used for fixing installation folding driving steel wire 209，Steel ball sleeve 109 and end cap 110 it is installed with in the rear end of the second described rotating shaft 106，The steel ball of steel ball connecting rod 111 one end is stuck in the space between steel ball sleeve 109 and end cap 110，The connection that the other end of steel ball connecting rod 111 is rotated with pull bar 112 by pin，The connection that described pull bar 112 is rotated with handle 104 by pin，The rotation of pull bar 112 can drive the motion of steel ball connecting rod 111，And then drive the second rotating shaft 106 and steel wire to hang code 108 and slide axially along the second sleeve 107 in the second sleeve 107.Described handle 104 is provided with tooth bar 114, one end of described tooth bar 114 is rotationally connected by tooth bar pin and handle 104, it is enclosed within one end of the torsion spring 115 that rack pins nails on to be fixedly linked with handle 104 and the other end and tooth bar 114 are fixedly linked, under the effect of torsion spring 115, tooth bar 114 contacts with pull bar 112, one end that described tooth bar 114 contacts with pull bar 112 is provided with ratchet, the ratchet on described tooth bar 114 and the ratchet engagement of setting on pull bar 112.Having chute on described handle 104, the sliding axle of a lockup switch 113 is slidably connected in described chute.The rear end of the sliding axle of described lockup switch 113 can contact with tooth bar 114 so that tooth bar 114 rotates around tooth bar pin.Pulling lockup switch 113, lockup switch 113 to promote tooth bar 114 to overcome the elastic force of torsion spring 115 to rotate along lockup switch slip axis, the ratchet of tooth bar 114 separates with the ratchet of pull bar 112, and pull bar 112 is free to rotate；Promoting lockup switch 113, tooth bar 114 rotates backward under torsion spring active force and contacts to pull bar 112, the ratchet engagement of the ratchet of tooth bar 114 and pull bar 112, and engagement back stay 112 is only capable of one-directional rotation.
nullComparison Fig. 4 a、Fig. 4 b，Described wrist driving device 200 includes driving flexible pipe 201，It is installed with tapered core 202 in described driving flexible pipe 201 front end，Described tapered core 202 is installed with connected with outer casing 203，Connected with outer casing 203 is used for fixing flexible conduit 300，It is installed with in the described rear end driving flexible pipe 201 for installing and tensioning drives the tensioner of steel wire 207，Described tensioner includes being fixed on the tensioning catch 204 driven on flexible pipe 201，It is fixed with tensioning frame 205 in the rear end of described tensioning catch 204，The circumferential side wall of described tensioning frame 205 uniformly has multiple sliding tray,It is connected with a tensioning block 206 respectively through tensioning screw 208 in each sliding tray,Described tensioning block 206 can along driving flexible pipe axis direction to move forward and backward and rest on the setting position in sliding tray in sliding tray by the drive of tensioning screw 208,Rotate tensioning screw 208，Tensioning block 206 can be slided in tensioning frame 205 groove，Tensioning drives steel wire 207.
It is described wrist driving device 200 and operation handle 100 connected mode schematic diagram according to Fig. 4 c.Described tensioning frame 205 can be inserted in the hole of the first rotating shaft 101 front end, driving flexible pipe 201 between described tapered core 202 and tensioner is set with joint 210, described joint 210 can along driving flexible pipe 201 to move axially back and forth, the endoporus of described joint 210 is provided with female thread, the tensioning frame 205 of described tensioner is inserted in the hole of the first rotating shaft 101 front end, the tensioning catch 204 of described tensioner is inserted in the endoporus of joint 210 and tensioning catch 204 compresses the end being arranged on the first rotating shaft 101, external screw thread threaded engagement locking on the female thread of described joint 210 and the first rotating shaft 101 outer wall, after locking, the rotation of described first rotating shaft 101 can drive tensioner and drive flexible pipe 201 synchronous axial system.
Comparison Fig. 5, flexible conduit 300 rear end is fixing with connected with outer casing 203 to be connected, flexible conduit 300 front end is fixing with the articular sclerite of flexible wrist 400 rearmost end to be connected, described flexible wrist 400 includes multiple spaced articular sclerite 402, between adjacent two articular sclerites 402, card has a joint ball 401, described joint ball 401 is stuck in the hole in the middle of articular sclerite 401, and articular sclerite 401 can rotate around joint ball 402.
nullComparison Fig. 6，In flexible wrist 400 front end, end is installed and performs device 500，Described end performs the folding seat 503 that device includes being fixed on flexible wrist 400 articular sclerite foremost,Described folding seat 503 is symmetrically set with two supports,On two described supports, symmetry has folding axle sliding tray 507,Hole 508 is axially had along folding seat 503 in the centre of described folding seat 503,The rear portion of one folding axle 504 is slidably mounted in described hole 508,The front end being arranged on two supports that first folding pincers 501 and the second folding pincers 502 are rotated by the first bearing pin 505，The sliding tray that the two ends, left and right of front portion and the second bearing pin 506 that the second bearing pin 506 is fixed on described folding axle 504 are each passed through on the folding axle sliding tray 507 being arranged on homonymy and folding pincers is arranged.Folding axle 504 can sliding axially along hole 508, the folding axle 504 slip in folding seat 503 can make two foldings pincers rotate around the first bearing pin 505, i.e. described open and close movement R1.
Comparison Fig. 7 a, Fig. 7 b, four drive steel wire 207 around the uniform setting of apparatus axis of rotation, described four driving steel wire 207 one end are fixing with flexible wrist 400 articular sclerite 402 foremost to be connected, and drives steel wire 207 other end to sequentially pass through whole articular sclerite 402, flexible conduit 300, tapered core 202, drive flexible pipe 201, tensioning catch 204 and tensioning block 206 and be fixedly linked with tensioning block 206.Being arranged on folding on apparatus axis of rotation and drive that steel wire 209 one end is fixing with folding axle 504 to be connected, the other end passes folding seat 503, whole articular sclerite 402 and joint ball 401, flexible conduit 300, tapered core 202, driving flexible pipe 201, tensioning catch 204, tensioning frame the 205, first rotating shaft 101, runner the 105, second rotating shaft 106 and steel wire and hangs code 108 and hang code 108 with steel wire and be fixedly linked.
Below in conjunction with accompanying drawing, the flexible Minimally Invasive Surgery apparatus based on natural tract of the present invention is described in detail.
Fig. 1 is the flexible Minimally Invasive Surgery apparatus overall structure schematic diagram based on natural tract of the present invention, and its entirety can be applicable in the Minimally Invasive Surgery in the fields such as abdominal cavity, thoracic cavity, urinary system, gynecological.In operation implementation process, the described Minimally Invasive Surgery intelligence apparatus upper stamp hole clipping by patient's body surface, doctor's hand-held apparatus enter internal implementation operation technique.
Fig. 2 a, Fig. 2 b, Fig. 2 c, Fig. 2 d are the flexible Minimally Invasive Surgery apparatus work schematic diagram based on natural tract of the present invention, the described flexible Minimally Invasive Surgery apparatus based on natural tract is hand-held by doctor, it can realize all operations of common Minimally Invasive Surgery apparatus, including instrument end open and close movement R1, simultaneously, the three-degree-of-freedom motion of instrument end is realized: elevating movement R2, oscillating motion R3 and spinning motion R4 also by control operation handle 100 and wrist driving device 200.
Comparison Fig. 2 a, Fig. 3 a, Fig. 6, rotating tension bar 112, the rotation of pull bar 112 can make connected steel ball connecting rod 111 move, and then drive the second rotating shaft 106 and steel wire to hang code 108 and slide in the second sleeve 107, steel wire hangs the movement of code 108 and folding can be pulled to drive steel wire 209 to move, folding drives steel wire 209 to pull folding axle 504 mobile in folding seat 503, move in the groove of second bearing pin 506 groove 507 on folding seat 503 and two foldings pincers simultaneously, two folding pincers are made to rotate around the first bearing pin 505, it is achieved open and close movement R1.
Comparison Fig. 2 b, Fig. 2 c, Fig. 4 a, Fig. 5, Fig. 7 a, Fig. 7 b, Fig. 8, after described four driving steel wire 207 tensionings, driving firm silk 207 length of tensioning is constant, drive firm silk 207 constant relative to the distance b of apparatus axis in driving flexible pipe 201, bending drives flexible pipe 201, the driving flexible pipe 201 central axis length l of described bending is constant, length of outer side l2Increase, inside length l1Reduce, l2>l>l1, fixing outside drives the tensioning block of steel wire to pull driving steel wire motion, and described driving steel wire pulls articular sclerite 402 to rotate around joint ball, makes flexible wrist 400 bend to correspondence direction, it is achieved elevating movement R2, oscillating motion R3.
Comparison Fig. 2 d, Fig. 3 a, Fig. 4 a, Fig. 4 c, rotating wheel 105, the rotation of described runner 105 drives the first rotating shaft 101 to rotate in the first sleeve 103, drive tensioner simultaneously, drive flexible pipe 201, tapered core 202, shell 203, flexible conduit 300, flexible wrist 400, end to perform the synchronous axial system of device 500, it is achieved spinning motion R4.

Claims (1)

  1. null1. based on the flexible Minimally Invasive Surgery apparatus of natural tract，It is characterized in that: it includes operation handle，Described operation handle includes the first rotating shaft，Described first rotating shaft is arranged on the first sleeve by bearing rotary，The first described rotating shaft rear end is installed with runner，What the second rotating shaft rotated is arranged on the second sleeve，The first described sleeve and the second sleeve are all connected with handle，It is symmetrically arranged with two chutes with the axis of the second rotating shaft for axis of symmetry in the second described rotating shaft front end，The key of described runner rear end is slidably mounted in two described chutes,Second rotating shaft can rotate with runner，In the second described rotating shaft, it is installed with steel wire hangs code，Steel ball sleeve and end cap it is installed with in the rear end of the second described rotating shaft，The steel ball of steel ball connecting rod one end is stuck in the space between steel ball sleeve and end cap，The connection that the other end of steel ball connecting rod is rotated with pull bar by pin，Described pull bar is by the connection of pin with rotatable handle，The rotation of pull bar can drive the motion of steel ball connecting rod，And then drive the second rotating shaft and steel wire to hang code and slide axially along the second sleeve in the second sleeve，Described pull bar bottom arc surface is provided with ratchet，Described handle is provided with tooth bar，One end of described tooth bar is rotationally connected by tooth bar pin and handle，It is enclosed within one end of the torsion spring that rack pins nails on to be fixedly linked with handle and the other end and tooth bar are fixedly linked,Under the effect of torsion spring，Tooth bar contacts with pull bar，One end that described tooth bar contacts with pull bar is provided with ratchet，Ratchet on described tooth bar and the ratchet engagement of setting on pull bar，Described handle has chute,The sliding axle of one lockup switch is slidably connected in described chute，The rear end of described lockup switch sliding axle can contact with tooth bar so that tooth bar rotates around tooth bar pin；nullWrist driving device includes driving flexible pipe，It is installed with tapered core in described driving flexible pipe front end，Described tapered core is installed with connected with outer casing，It is installed with in the described rear end driving flexible pipe for installing and tensioning drives the tensioner of steel wire，Described tensioner includes being fixed on the tensioning catch driven on flexible pipe，It is fixed with tensioning frame in the rear end of described tensioning catch，The circumferential side wall of described tensioning frame uniformly has multiple sliding tray,It is connected with a tensioning block respectively through tensioning screw in each sliding tray,The setting position that described tensioning block can be moved forward and backward by the drive of tensioning screw in sliding tray and rest in sliding tray，Driving flexible pipe between described tapered core and tensioner is set with joint，Described joint can along driving flexible pipe to move axially back and forth,The endoporus of described joint is provided with female thread,The tensioning frame of described tensioner is inserted in the hole of the first rotating shaft front end,The tensioning catch of described tensioner is inserted in the endoporus of joint and tensioning catch compresses the end being arranged on the first rotating shaft，External screw thread threaded engagement locking on the female thread of described joint and the first rotating shaft outer wall；Described connected with outer casing and flexible conduit rear end are fixedly linked, flexible wrist includes multiple spaced articular sclerite, between adjacent two articular sclerites, card has a joint ball, described joint ball is stuck in the hole in the middle of articular sclerite, described articular sclerite can rotate around joint ball, and described flexible conduit front end is fixing with the articular sclerite of flexible wrist rearmost end to be connected；End performs the folding seat that device includes being fixed on flexible wrist articular sclerite foremost, described folding seat is symmetrically set with two supports, on two described supports, symmetry has folding axle sliding tray, hole is axially had along folding seat in the centre of described folding seat, the rear portion of one folding axle is slidably mounted in described hole, the front end being arranged on two supports that first folding pincers and the second folding pincers are rotated by the first bearing pin, the two ends, left and right of front portion and the second bearing pin that the second bearing pin is fixed on described folding axle are each passed through the folding axle sliding tray being arranged on homonymy and folding pincers are arranged, folding axle can sliding axially along hole, the slip in folding seat of the described folding axle can make two folding pincers rotate around the first bearing pin；Four drive steel wire around the uniform setting of apparatus axis of rotation, described four driving steel wire one end are fixing with flexible wrist articular sclerite foremost to be connected, the steel wire other end is driven to sequentially pass through whole articular sclerite, flexible conduit, tapered core, drive flexible pipe, tensioning catch and tensioning block are also fixedly linked with tensioning block, described folding driving steel wire one end and folding axle are fixed and are connected, other end traverse folding seat, whole articular sclerites and joint ball, flexible conduit, tapered core, drive flexible pipe, tensioning catch, tensioning frame, first rotating shaft, runner, second rotating shaft and steel wire hang code and hang code with steel wire and be fixedly linked.
CN201610312127.6A 2016-05-11 2016-05-11 Flexible Minimally Invasive Surgery apparatus based on natural cavity Active CN105796138B (en)

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Application Number Priority Date Filing Date Title
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CN105796138A true CN105796138A (en) 2016-07-27
CN105796138B CN105796138B (en) 2018-04-10

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CN106955129A (en) * 2017-05-09 2017-07-18 佛山衡生医疗自动化有限公司 A kind of Minimally Invasive Surgery apparatus with force feedback
CN109788952A (en) * 2016-09-09 2019-05-21 直观外科手术操作公司 Stitching unstrument girder construction
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CN112128224A (en) * 2020-10-19 2020-12-25 南通伊诺精密塑胶导管有限公司 Device based on hooke hinge control is gentle to lock drive flexible joint motion
CN112603393A (en) * 2020-12-29 2021-04-06 极限人工智能有限公司 Auxiliary surgical instrument
CN113440238A (en) * 2021-07-27 2021-09-28 山东大学齐鲁医院(青岛) Steel wire tightening device
CN113476144A (en) * 2021-08-23 2021-10-08 上海生知医疗科技有限公司 Multi-degree-of-freedom portable minimally invasive surgery mechanical arm
CN113740097A (en) * 2021-11-03 2021-12-03 极限人工智能(北京)有限公司 Testing device
CN113729804A (en) * 2021-10-18 2021-12-03 天津大学 Flexible surgical instrument
CN113786222A (en) * 2020-10-19 2021-12-14 江苏木偶医疗器械有限公司 Driving device for minimally invasive surgery instrument flexible joint based on spherical universal joint control
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CN106264626A (en) * 2016-08-27 2017-01-04 天津大学 A kind of Minimally Invasive Surgery device based on natural tract
WO2018040662A1 (en) * 2016-08-27 2018-03-08 天津大学 Natural channel-based microsurgical device
US10702253B2 (en) 2016-08-27 2020-07-07 Tianjin University Natural orifice translumenal minimally invasive surgical apparatus
CN109788952A (en) * 2016-09-09 2019-05-21 直观外科手术操作公司 Stitching unstrument girder construction
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CN106955129A (en) * 2017-05-09 2017-07-18 佛山衡生医疗自动化有限公司 A kind of Minimally Invasive Surgery apparatus with force feedback
CN110710996A (en) * 2019-10-18 2020-01-21 淄博科智星机器人有限公司 Surgical instrument
CN112128224A (en) * 2020-10-19 2020-12-25 南通伊诺精密塑胶导管有限公司 Device based on hooke hinge control is gentle to lock drive flexible joint motion
CN113786222A (en) * 2020-10-19 2021-12-14 江苏木偶医疗器械有限公司 Driving device for minimally invasive surgery instrument flexible joint based on spherical universal joint control
CN113786222B (en) * 2020-10-19 2024-05-17 江苏木偶医疗器械有限公司 Driving device for flexible joint of minimally invasive surgical instrument based on spherical universal joint control
CN112128224B (en) * 2020-10-19 2024-05-31 南通伊诺精密塑胶导管有限公司 Device for controlling flexible lock to drive flexible joint to move based on Hooke hinge
CN112603393A (en) * 2020-12-29 2021-04-06 极限人工智能有限公司 Auxiliary surgical instrument
CN113440238A (en) * 2021-07-27 2021-09-28 山东大学齐鲁医院(青岛) Steel wire tightening device
CN113476144A (en) * 2021-08-23 2021-10-08 上海生知医疗科技有限公司 Multi-degree-of-freedom portable minimally invasive surgery mechanical arm
CN113729804A (en) * 2021-10-18 2021-12-03 天津大学 Flexible surgical instrument
CN113740097A (en) * 2021-11-03 2021-12-03 极限人工智能(北京)有限公司 Testing device
CN113740097B (en) * 2021-11-03 2022-02-08 极限人工智能(北京)有限公司 Testing device
CN114209370A (en) * 2021-12-10 2022-03-22 美科特医疗科技(苏州)有限公司 Flexible connecting piece and end effector assembly
CN114305591A (en) * 2021-12-20 2022-04-12 江苏集萃微纳自动化系统与装备技术研究所有限公司 Pincers end effector assembly and pincers surgical operation instrument
CN116158841A (en) * 2023-04-26 2023-05-26 武汉金柏威光电技术有限公司 Flexible single-action bipolar forceps and bipolar forceps with puncture function

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