CN105796138B - Flexible Minimally Invasive Surgery apparatus based on natural cavity - Google Patents
Flexible Minimally Invasive Surgery apparatus based on natural cavity Download PDFInfo
- Publication number
- CN105796138B CN105796138B CN201610312127.6A CN201610312127A CN105796138B CN 105796138 B CN105796138 B CN 105796138B CN 201610312127 A CN201610312127 A CN 201610312127A CN 105796138 B CN105796138 B CN 105796138B
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- tensioning
- rotating shaft
- flexible
- folding
- rack
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Classifications
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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
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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
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
Abstract
The invention discloses the flexible Minimally Invasive Surgery apparatus based on natural cavity, including：Operation handle, wrist drive device, connecting conduit, flexible wrist, end performs device, its entirety can be applied in the Minimally Invasive Surgery in the fields such as abdominal cavity, thoracic cavity, uropoiesis, gynaecology.In implementation process of performing the operation, the Minimally Invasive Surgery intelligence apparatus is entered by doctor's hand-held apparatus by the upper stamp hole clipping of the patient's body surface and carries out operation technique in vivo.Being held by doctor, it can realize all operations of common Minimally Invasive Surgery apparatus, including instrument end open and close movement, meanwhile, the three-degree-of-freedom motion of instrument end can be also realized by control operation handle and wrist drive device：Elevating movement, oscillating motion and spinning motion.This apparatus can export space multiple degrees of freedom surgical action, and flexible movements, operating physical force is big, be more suitable for carrying out sinuous Minimally Invasive Surgery.
Description
Technical field
The present invention relates to a kind of micro-wound surgical operation Medical Devices, particularly a kind of Minimally Invasive Surgery device based on natural cavity
Tool.
Background technology
During micro-wound surgical operation, doctor implements operation technique task by elongated Minimally Invasive Surgery apparatus.Operation
One end of apparatus is insinuated into by the miniature incision of human body surface and is operated in vivo by doctor's hand-held, the other end,
Therefore, operating theater instruments is the part being uniquely in contact with human lesion tissue, and directly performs the sole instrument of surgical action.
In operation is implemented, because the motion of operating theater instruments end and the motion of instrument hand part have special mapping relations, it is
Meet the action demand of different operation technique tasks (clamping, suture, knotting etc.), doctor need to hold operating theater instruments and transport on a large scale
It is dynamic, the flexibility that instrument end performs surgical action is reduced, meanwhile, operation makes doctor easily tired on a large scale for a long time,
Virtually add the difficulty of operation.The size limitation of natural cavity operating theater instruments is limited to, existing procucts are primarily present at present
The problem of be that instrument end number of degrees of freedom, is few, working space is small, causes malfunction, it is difficult to completes complicated operation in operation
Action, and operating physical force is inadequate, it is difficult to realize that wound closes.
The content of the invention
Present invention aims to overcome that the deficiency of prior art, there is provided a kind of easy to use and reliable, operation is flexible minimally invasive
Operating theater instruments.
The present invention realizes above-mentioned purpose by following technological means：
Flexible Minimally Invasive Surgery apparatus of the invention based on natural cavity, it includes operation handle, and the operation handle includes
First rotating shaft, the first rotating shaft are arranged on the first sleeve by bearing rotary, and peace is fixed in described first rotating shaft rear end
Equipped with runner, the second rotating shaft rotation is arranged in second sleeve, and the first described sleeve and second sleeve are connected with handle,
In the second described rotating shaft front end two chutes, the key of the runner rear end are symmetrically arranged with by symmetry axis of the axis of the second rotating shaft
It is slidably mounted in two described chutes, the second rotating shaft can rotate with runner, be fixedly mounted in the second described rotating shaft
There is steel wire to hang code, steel ball sleeve and end cap, the steel ball of steel ball connecting rod one end are installed with the rear end of the second described rotating shaft
It is stuck in the space between steel ball sleeve and end cap, the other end of steel ball connecting rod is described by pin and the connection of pull bar rotation
For pull bar by the connection of pin and 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 hangs code and slid axially in second sleeve interior edge second sleeve, rack is provided with the handle, the one of the rack
End is rotatablely connected by rack pin and handle, and the one end for being enclosed on the torsion spring that rack pins nail on is fixedly linked and another with handle
End is fixedly linked with rack, and in the presence of torsion spring, rack is contacted with pull bar, and one end that the rack contacts with pull bar is provided with
Ratchet, the ratchet engagement set on the ratchet and pull bar on the rack, is provided with chute, a lockup switch on the handle
Sliding axle be slidably connected in described chute, the rear end of the sliding axle of the lockup switch can be contacted with rack so that tooth
Bar is around rack pin rotation；Wrist drive device includes driving flexible pipe, and taper is installed with described driving flexible pipe front end
Core, connected with outer casing is installed with described tapered core, is installed with the rear end of described driving flexible pipe for pacifying
The tensioning apparatus of dress and tensioning driving steel wire, the tensioning apparatus includes the tensioning catch being fixed on driving flexible pipe, described
The rear end of tensioning catch be fixed with tensioning frame, multiple sliding grooves are uniformly provided with the circumferential side wall of described tensioning frame,
A tensioning block is connected with by tensioning screw respectively in each sliding groove, described tensioning block passes through tensioning screw
The flexible pipe axis direction setting position that moves forward and backward and rest in sliding groove can be driven in sliding groove interior edge by driving, described
Tapered core and tensioning apparatus between driving flexible pipe on be set with joint, described joint can be along driving flexible pipe axially back and forth
It is mobile, internal thread is provided with the endoporus of described joint, the tensioning frame of described tensioning apparatus is inserted in first rotating shaft front end
Hole in, the tensioning catch of described tensioning apparatus be inserted in the endoporus of joint and be tensioned catch compress is arranged on first rotating shaft
End, the internal thread of described joint locks with the external screw thread screw thread on first rotating shaft outer wall；Outside described connection
Shell is fixedly linked with flexible conduit rear end, and flexible wrist includes multiple spaced articular sclerites, between two neighboring articular sclerite
Card has a joint ball, and described joint ball is stuck in the hole among articular sclerite, and described articular sclerite can rotate around joint ball, institute
The flexible conduit front end stated is fixedly connected with the articular sclerite of flexible wrist rearmost end；End performs device includes being fixed on performance on compliant wrist
Folding seat on the articular sclerite of portion front end, two supports are symmetrically set with described folding seat, described two
Folding axle sliding groove is symmetrically provided with individual support, is axially provided with hole along folding seat in the centre of described folding seat, one is opened
The rear portion of sympodium is slidably mounted in described hole, the installation that the first folding pincers and the second folding pincers are rotated by the first bearing pin
In the front end of two supports, the second bearing pin is fixed on the front portion of described folding axle and the left and right ends of the second bearing pin and worn respectively
Cross the folding axle sliding groove for being arranged on homonymy and folding pincers on sliding groove set, folding axle can sliding axially along hole, institute
Slip of the folding axle stated in folding seat can be such that two foldings pincers are rotated around the first bearing pin；Four driving steel wires turn round around apparatus
Axis is uniformly arranged, and described four drivings steel wire one end is fixedly connected with the articular sclerite of flexible wrist front end, and driving steel wire is another
One end sequentially passes through whole articular sclerites, flexible conduit, tapered core, driving flexible pipe, tensioning catch and tensioning block and and tensioning block
It is fixedly linked, the folding driving steel wire one end being arranged on apparatus axis of rotation is fixedly connected with folding axle, and the other end is passed through and opened
Close seat, whole articular sclerites and joint ball, flexible conduit, tapered core, driving flexible pipe, tensioning catch, tensioning frame, first rotating shaft, turn
Wheel, the second rotating shaft and steel wire hang code and hang code with steel wire and be fixedly linked.
The present invention has the advantages that compared with prior art：
1. the flexible Minimally Invasive Surgery apparatus of the invention based on natural cavity, using hand-held, manpower driving, pass through operation
Handle drives end performs device output multifreedom motion, and compared with traditional 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 is based on natural cavity, compared with traditional Minimally Invasive Surgery apparatus, body surface
Without wound, postoperative no scar, recovery time is short；
3. the flexible Minimally Invasive Surgery apparatus of the present invention based on natural cavity, is driven, and driven with flexible hose using silk
The control mode of dynamic flexible end is operated, and end is easily controllable, easy to operate, flexible, accurate.
Brief description of the drawings
Fig. 1 is the flexible Minimally Invasive Surgery apparatus overall structure diagram of the present invention based on natural cavity；
Fig. 2 a are the flexible Minimally Invasive Surgery instrument end open and close movement schematic diagram of the present invention based on natural cavity；
Fig. 2 b are the flexible Minimally Invasive Surgery instrument end elevating movement schematic diagram of the present invention based on natural cavity；
Fig. 2 c are the flexible Minimally Invasive Surgery instrument end oscillating motion schematic diagram of the present invention based on natural cavity；
Fig. 2 d are the flexible Minimally Invasive Surgery instrument end spinning motion schematic diagram of the present invention based on natural cavity；
Fig. 3 a are the flexible Minimally Invasive Surgery instrumentation handle arrangement schematic diagram of the present invention based on natural cavity；
Fig. 3 b are the flexible Minimally Invasive Surgery exercises on apparatus handle part schematic diagram of the present invention based on natural cavity；
Fig. 3 c are flexible the second Rotating Shafts of Minimally Invasive Surgery exercises on apparatus schematic diagram of the present invention based on natural cavity；
Fig. 4 a are flexible Minimally Invasive Surgery apparatus drive device the first schematic diagram of the present invention based on natural cavity；
Fig. 4 b are flexible Minimally Invasive Surgery apparatus drive device the second schematic diagram of the present invention based on natural cavity；
Fig. 4 c are flexible Minimally Invasive Surgery instrument wrist drive device and operation handle of the present invention based on natural cavity
Connected mode schematic diagram；
Fig. 5 is the flexible Minimally Invasive Surgery apparatus flexibility wrist structural representation of the present invention based on natural cavity；
Fig. 6 is the flexible Minimally Invasive Surgery instrument end performs device structural representation of the present invention based on natural cavity；
Fig. 7 a are that the flexible Minimally Invasive Surgery apparatus of the present invention based on natural cavity drives steel wire to install the first schematic diagram；
Fig. 7 b are that the flexible Minimally Invasive Surgery apparatus of the present invention based on natural cavity drives steel wire to install the second schematic diagram；
Fig. 8 is that the flexible Minimally Invasive Surgery apparatus of the present invention based on natural cavity drives hose bending schematic diagram.
Embodiment
Below in conjunction with the accompanying drawings, the embodiment of the present invention is described in detail.
The flexible Minimally Invasive Surgery apparatus of the invention based on natural cavity as shown in Figure 1, including：Operation handle 100, wrist
Portion's drive device 200, flexible conduit 300, flexible wrist 400, end performs device 500, its entirety can be applied to abdominal cavity, chest
In the Minimally Invasive Surgery in the fields such as chamber, uropoiesis, gynaecology.In implementation process of performing the operation, the Minimally Invasive Surgery intelligence apparatus passes through patient
The upper stamp hole clipping of body surface, entered by doctor's hand-held apparatus and carry out operation technique in vivo.
Compares figure 2a, Fig. 2 b, Fig. 2 c, Fig. 2 d, the flexible Minimally Invasive Surgery apparatus based on natural cavity are held by doctor,
It can realize all operations of common Minimally Invasive Surgery apparatus, including instrument end open and close movement R1, meanwhile, it can also pass through control
Operation handle 100 and wrist drive device 200 realize the three-degree-of-freedom motion of instrument end：Elevating movement R2, oscillating motion R3
And spinning motion R4.
Compares figure 3a, Fig. 3 b, Fig. 3 c, the operation handle 100 include first rotating shaft 101, and the first rotating shaft 101 passes through
What bearing 102 rotated is arranged on the first sleeve 103, and the described rear end of first rotating shaft 101 is installed with runner 105, and second
What rotating shaft 106 rotated is arranged in second sleeve 107, and the first described sleeve 103 and second sleeve 107 are solid with handle 104
Even, two chutes 116, runner are symmetrically arranged with by symmetry axis of the axis of the second rotating shaft 106 in the described front end of the second rotating shaft 106
The key of 105 rear ends is slidably mounted in two described chutes 116, and the second rotating shaft 106 can rotate with runner 105, rotating wheel
105, first rotating shaft 101, the synchronous axial system of the second rotating shaft 106 can be made, being installed with steel wire in the second described rotating shaft 106 hangs
Code 108, the steel wire hang code 108 and are used for that folding driving steel wire 209 is fixedly mounted, consolidate in the rear end of the second described rotating shaft 106
Dingan County is equipped with steel ball sleeve 109 and end cap 110, and the steel ball of the one end of steel ball connecting rod 111 is stuck between steel ball sleeve 109 and end cap 110
Space in, connection that the other end of steel ball connecting rod 111 is rotated by pin and pull bar 112, described pull bar 112 passes through pin
The connection rotated with handle 104, 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 hangs code 108 and slid axially in the interior edge second sleeve 107 of second sleeve 107.Rack is provided with the handle 104
114, one end of the rack 114 is rotatablely connected by rack pin and handle 104, is enclosed on the torsion spring 115 that rack pins nail on
One end is fixedly linked with handle 104 and the other end is fixedly linked with rack 114, in the presence of torsion spring 115, rack 114 with
Pull bar 112 contacts, and the rack 114 and one end that pull bar 112 contacts are provided with ratchet, ratchet and drawing on the rack 114
The ratchet engagement set on bar 112.Chute is provided with the handle 104, the sliding axle of a lockup switch 113 is slidably connected
In described chute.The rear end of the sliding axle of the lockup switch 113 can contact with rack 114 so that rack 114 is around tooth
Bar pin rotation.Axis is slided along lockup switch and pulls lockup switch 113, and lockup switch 113 promotes rack 114 to overcome torsion spring
115 elastic force rotates, and the ratchet of rack 114 separates with the ratchet of pull bar 112, and pull bar 112 is free to rotate；Promote locking
Switch 113, rack 114 is rotated backward to pull bar 112 under torsion spring active force and contacted, ratchet and the pull bar 112 of rack 114
Ratchet engagement, engagement back stay 112 are only capable of one-directional rotation.
Compares figure 4a, Fig. 4 b, the wrist drive device 200 includes driving flexible pipe 201, in described driving flexible pipe 201
Front end is installed with tapered core 202, and connected with outer casing 203, connected with outer casing 203 are installed with described tapered core 202
For fixing flexible conduit 300, it is installed with the rear end of described driving flexible pipe 201 for installing and being tensioned driving steel wire
207 tensioning apparatus, the tensioning apparatus include the tensioning catch 204 being fixed on driving flexible pipe 201, kept off in described tensioning
The rear end of piece 204 is fixed with tensioning frame 205, and multiple sliding grooves are uniformly provided with the circumferential side wall of described tensioning frame 205,
A tensioning block 206 is connected with by tensioning screw 208 respectively in each sliding groove, described tensioning block 206 passes through
Driving for tensioning screw 208 can drive flexible pipe axis direction to move forward and backward and rest on setting in sliding groove in sliding groove interior edge
Positioning is put, and rotates tensioning screw 208, and tensioning block 206 can be slided in the groove of tensioning frame 205, tensioning driving steel wire 207.
It is the wrist drive device 200 and the connected mode schematic diagram of operation handle 100 according to Fig. 4 c.The tensioning frame 205
It can be inserted into the hole of the front end of first rotating shaft 101, covered on the driving flexible pipe 201 between described tapered core 202 and tensioning apparatus
Equipped with joint 210, described joint 210 can move axially back and forth along driving flexible pipe 201, in the endoporus of described joint 210
In be provided with internal thread, the tensioning frame 205 of described tensioning apparatus is inserted in the hole of the front end of first rotating shaft 101, described tensioning
The tensioning catch 204 of device, which is inserted in the endoporus of joint 210 and is tensioned catch 204, compresses the end for being arranged on first rotating shaft 101
At face, internal thread and the external screw thread screw thread on the outer wall of first rotating shaft 101 of described joint 210 lock, described after locking
The rotation of first rotating shaft 101 can drive tensioning apparatus and the driving synchronous axial system of flexible pipe 201.
Compares figure 5, the rear end of flexible conduit 300 are fixedly connected with connected with outer casing 203, the front end of flexible conduit 300 and performance on compliant wrist
The articular sclerite of the rearmost end of portion 400 is fixedly connected, and the flexible wrist 400 includes multiple spaced articular sclerites 402, adjacent
Card has a joint ball 401 between two articular sclerites 402, and described joint ball 401 is stuck in the hole among articular sclerite 401, joint
Piece 401 can rotate around joint ball 402.
Compares figure 6, end performs device 500 is provided with the flexible front end of wrist 400, and the end performs device includes solid
The folding seat 503 being scheduled on the articular sclerite of the flexible front end of wrist 400, is symmetrically set with described folding seat 503
Two supports, folding axle sliding groove 507 is symmetrically provided with two described supports, in the centre of described folding seat 503
Hole 508 is axially provided with along folding seat 503, the rear portion of a folding axle 504 is slidably mounted in described hole 508, and first opens
The front end for being arranged on two supports that the folding pincers 502 of pincers 501 and second are rotated by the first bearing pin 505 is closed, the second bearing pin 506 is solid
It is scheduled on the front portion of described folding axle 504 and the left and right ends of the second bearing pin 506 and is each passed through the folding axle for being arranged on homonymy
Sliding groove on sliding groove 507 and folding pincers is set.Folding axle 504 can sliding axially along hole 508, folding axle 504 opening
Closing the slip in seat 503 can be such that two foldings pincers are rotated around the first bearing pin 505, i.e., described open and close movement R1.
Compares figure 7a, Fig. 7 b, four driving steel wires 207 are uniformly arranged around apparatus axis of rotation, four drivings steel
207 one end of silk are fixedly connected with the articular sclerite 402 of the flexible front end of wrist 400, and the driving other end of steel wire 207 sequentially passes through whole
Articular sclerite 402, flexible conduit 300, tapered core 202, driving flexible pipe 201, tensioning catch 204 and tensioning block 206 and with tensioning
Block 206 is fixedly linked.The folding driving one end of steel wire 209 being arranged on apparatus axis of rotation is fixedly connected with folding axle 504, separately
One end through folding seat 503, whole articular sclerites 402 and joint ball 401, flexible conduit 300, tapered core 202, driving flexible pipe 201,
Tensioning catch 204, tensioning frame 205, first rotating shaft 101, runner 105, the second rotating shaft 106 and steel wire hang code 108 and and steel wire
Code 108 is hung to be fixedly linked.
The flexible Minimally Invasive Surgery apparatus of the present invention based on natural cavity is described in detail below in conjunction with the accompanying drawings.
Fig. 1 is the flexible Minimally Invasive Surgery apparatus overall structure diagram of the present invention based on natural cavity, and its entirety can
In Minimally Invasive Surgery applied to fields such as abdominal cavity, thoracic cavity, uropoiesis, gynaecology.In implementation process of performing the operation, the Minimally Invasive Surgery intelligence
Apparatus is entered by doctor's hand-held apparatus by the upper stamp hole clipping of the patient's body surface and carries out operation technique in vivo.
Fig. 2 a, Fig. 2 b, Fig. 2 c, Fig. 2 d are the flexible Minimally Invasive Surgery apparatus work signal of the present invention based on natural cavity
Figure, the flexible Minimally Invasive Surgery apparatus based on natural cavity are held by doctor, and it can realize common Minimally Invasive Surgery apparatus
All operations, including instrument end open and close movement R1, meanwhile, it can also pass through control operation handle 100 and wrist drive device 200
Realize the three-degree-of-freedom motion of instrument end：Elevating movement R2, oscillating motion R3 and spinning motion R4.
Compares figure 2a, Fig. 3 a, Fig. 6, rotating tension bar 112, the rotation of pull bar 112 can make connected steel ball connecting rod 111
Motion, and then drive the second rotating shaft 106 and steel wire to hang code 108 and slided in second sleeve 107, the movement that steel wire hangs code 108 can
Folding driving steel wire 209 is pulled to move, folding driving steel wire 209 pulls folding axle 504 to be moved in folding seat 503, while the
Moved in the groove of the folding of groove 507 and two pincers of two bearing pins 506 on folding seat 503, make two foldings pincers around 505 turns of the first bearing pin
It is dynamic, realize open and close movement R1.
Compares figure 2b, Fig. 2 c, Fig. 4 a, Fig. 5, Fig. 7 a, Fig. 7 b, Fig. 8, after four drivings steel wire 207 is tensioned, tensioning
Drive the firm length of silk 207 constant, drive firm silk 207 constant relative to the distance b of apparatus axis in flexible pipe 201 is driven, bend
Flexible pipe 201 is driven, the central axis length l of driving flexible pipe 201 of the bending is constant, length of outer side l2Increase, inside length l1Subtract
It is few, l2>l>l1, the tensioning block of fixed outside driving steel wire, which pulls, drives steel wire motion, and the driving steel wire pulls articular sclerite 402
Rotated around joint ball, flexible wrist 400 is bent to correspondence direction, realize elevating movement R2, oscillating motion R3.
Compares figure 2d, Fig. 3 a, Fig. 4 a, Fig. 4 c, rotating wheel 105, the rotation of the runner 105 drive first rotating shaft 101
Rotated in the first sleeve 103, while drive tensioning apparatus, driving flexible pipe 201, tapered core 202, shell 203, flexible conduit
300th, flexible wrist 400, the synchronous axial system of end performs device 500, realize spinning motion R4.
Claims (1)
1. the flexible Minimally Invasive Surgery apparatus based on natural cavity, it includes operation handle, and the operation handle includes first rotating shaft,
Described first rotating shaft rear end is installed with runner, and flexible wrist includes multiple spaced articular sclerites, two neighboring
Card has a joint ball between articular sclerite, and described joint ball is stuck in the hole among articular sclerite, and described articular sclerite can be around joint
Ball rotates, and end performs device includes the folding seat being fixed on the articular sclerite of flexible wrist front end, in described folding seat
On be symmetrically set with two supports, be axially provided with hole along folding seat in the centre of described folding seat, folding axle
Rear portion is slidably mounted in described hole, and the first folding pincers and the second folding pincers are arranged on two by what the first bearing pin rotated
The front end of support, folding axle can sliding axially along hole, slip of the described folding axle in folding seat can make two foldings clamp
Rotated around the first bearing pin；Four driving steel wires are uniformly arranged around apparatus axis of rotation, it is characterised in that:The first rotating shaft is led to
Cross bearing rotary be arranged on the first sleeve on, the second rotating shaft rotation be arranged on second sleeve on, the first described sleeve and
Second sleeve is connected with handle, and two are symmetrically arranged with as symmetry axis using the axis of the second rotating shaft in the second described rotating shaft front end
Chute, the key of the runner rear end are slidably mounted in two described chutes, and the second rotating shaft can rotate with runner, described
The second rotating shaft in be installed with steel wire and hang code, be installed with steel ball sleeve and end in the rear end of the second described rotating shaft
Lid, the steel ball of steel ball connecting rod one end is stuck in the space between steel ball sleeve and end cap, the other end of steel ball connecting rod by pin with
The connection of pull bar rotation, described pull bar can drive steel ball connecting rod by the connection of pin and rotatable handle, the rotation of pull bar
Motion, and then drive the second rotating shaft and steel wire to hang code and slid axially in second sleeve interior edge second sleeve, under described pull bar
Ratchet is provided with portion's arc surface, rack is provided with the handle, one end of the rack passes through rack pin and handle
Rotation connection, the one end for being enclosed on the torsion spring that rack pins nail on are fixedly linked and the other end is fixedly linked with rack with handle,
In the presence of torsion spring, rack contacts with pull bar, and one end that the rack contacts with pull bar is provided with ratchet, the spine on the rack
Tooth and the ratchet engagement set on pull bar, are provided with chute, the sliding axle of a lockup switch is slidably connected on the handle
In described chute, the rear end of the lockup switch sliding axle can contact with rack so that rack is around rack pin rotation；Wrist
Portion's drive device includes driving flexible pipe, tapered core is installed with described driving flexible pipe front end, in described tapered core
Connected with outer casing is installed with, for installing and being tensioned driving steel wire is installed with the rear end of described driving flexible pipe
Tight device, the tensioning apparatus include the tensioning catch being fixed on driving flexible pipe, fixed in the rear end of described tensioning catch
There is tensioning frame, multiple sliding grooves are uniformly provided with the circumferential side wall of described tensioning frame, lead to respectively in each sliding groove
Cross tensioning screw and be connected with a tensioning block, before described tensioning block can be in sliding groove by the drive of tensioning screw
The setting position moved and rested in sliding groove afterwards, it is set with the driving flexible pipe between described tapered core and tensioning apparatus
There is joint, described joint can be moved axially back and forth along driving flexible pipe, and internal thread is provided with the endoporus of described joint,
The tensioning frame of described tensioning apparatus is inserted in the hole of first rotating shaft front end, and the tensioning catch of described tensioning apparatus is inserted in joint
Endoporus in and be tensioned catch and compress and be arranged on the end of first rotating shaft, outside the internal thread and first rotating shaft of described joint
External screw thread screw thread on wall locks；Described connected with outer casing is fixedly linked with flexible conduit rear end, described flexible conduit
Front end is fixedly connected with the articular sclerite of flexible wrist rearmost end；The slip of folding axle is symmetrically provided with two described supports
Groove, the second bearing pin are fixed on the front portion of described folding axle and the left and right ends of the second bearing pin and are each passed through and are arranged on homonymy
Folding axle sliding groove and folding pincers are set, and the articular sclerite of described four driving steel wire one end and flexible wrist front end, which is fixed, to be connected
Connect, the driving steel wire other end sequentially passes through whole articular sclerites, flexible conduit, tapered core, driving flexible pipe, tensioning catch and tensioning
Block is simultaneously fixedly linked with tensioning block, and folding driving steel wire one end is fixedly connected with folding axle, the other end through folding seat, entirely
Portion's articular sclerite and joint ball, flexible conduit, tapered core, driving 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610312127.6A CN105796138B (en) | 2016-05-11 | 2016-05-11 | Flexible Minimally Invasive Surgery apparatus based on natural cavity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610312127.6A CN105796138B (en) | 2016-05-11 | 2016-05-11 | Flexible Minimally Invasive Surgery apparatus based on natural cavity |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105796138A CN105796138A (en) | 2016-07-27 |
| CN105796138B true CN105796138B (en) | 2018-04-10 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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