CN106073833A - A kind of Minimally Invasive Surgery apparatus flexible joint driving means and method thereof - Google Patents

A kind of Minimally Invasive Surgery apparatus flexible joint driving means and method thereof Download PDF

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Publication number
CN106073833A
CN106073833A CN201610312955.XA CN201610312955A CN106073833A CN 106073833 A CN106073833 A CN 106073833A CN 201610312955 A CN201610312955 A CN 201610312955A CN 106073833 A CN106073833 A CN 106073833A
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China
Prior art keywords
flexible
driving
flexible pipe
wrist
tensioning
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CN201610312955.XA
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Chinese (zh)
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CN106073833B (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
    • A61B2017/00292—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
    • A61B2017/00305—Constructional details of the flexible means

Abstract

The invention discloses a kind of Minimally Invasive Surgery apparatus flexible joint driving means and method thereof, the method step is: under the effect of rotatory force, driving flexible pipe is downward, upwards, bend an input angle to the left or to the right, tensioner moves with the bending driving flexible pipe simultaneously, tensioning block pulls driving steel wire motion, drive flexible pipe central axis length constant, steel wire is driven to pull the articular sclerite of end flexibility wrist around joint ball the most upwards, downwards, to the right or turn left, flexible wrist is upwards, downwards, bend to the right or to the left an output angle, described input angle and the ratio of output angle are flexible wrist radius and the ratio driving flexible pipe radius.The present invention can export space multiple degrees of freedom surgical action, and flexible movements are accurate, easily operate, and operating physical force is big, is more suitable for carrying out sinuous Minimally Invasive Surgery.

Description

A kind of Minimally Invasive Surgery apparatus flexible joint driving means and method thereof
Technical field
The present invention relates to a kind of micro-wound surgical operation armarium, a kind of Minimally Invasive Surgery apparatus flexible joint Driving means.
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 internal being operated by doctor's hand-held, the other end by the miniature incision of human body surface, 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, for Meeting the action demand of different operation technique task (clamp, sew up, knotting etc.), doctor needs hand-held operating theater instruments to transport on a large scale Dynamic, reduce instrument end and perform the motility of surgical action, meanwhile, long-time operation on a large scale makes doctor the most tired, Virtually add the difficulty of operation.The problem that existing procucts are primarily present at present is that instrument end number of degrees of freedom, is few, work sky Between little, cause malfunction, it is difficult to complete operational motion complicated in operation, and operating physical force is inadequate, it is difficult to realize wound and close Close.
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 Wicresoft of flexible operation Operating theater instruments flexible joint and driving means thereof.
The present invention is attained in that by techniques below means
The driving means of the Minimally Invasive Surgery apparatus flexible joint of the present invention, it includes wrist driving means, described wrist Portion's driving means includes driving flexible pipe, is installed with tapered core, in described tapered core in described driving flexible pipe front end It is installed with connected with outer casing, is installed with in the described rear end driving flexible pipe and drives opening of steel wire for installation and tensioning Tight device, described tensioner includes being fixed on the tensioning catch driven on flexible pipe, fixes in the rear end of described tensioning catch There is tensioning frame, the circumferential side wall of described tensioning frame uniformly has multiple sliding tray, leads to respectively in each sliding tray Cross tensioning screw and be connected with a tensioning block, described tensioning block by the drive of tensioning screw can in sliding tray edge Flexible pipe axis direction is driven to move forward and backward and rest on the setting position in sliding tray；Connect rear end of conduit to fix with connected with outer casing Connecting, connection catheter proximal end is fixing with the articular sclerite of flexible wrist rearmost end to be connected, and described flexible wrist includes that multiple interval sets The articular sclerite put, between adjacent two articular sclerites, card has a joint ball, and described joint ball is stuck in the hole in the middle of articular sclerite, Articular sclerite can rotate around joint ball；Four drive steel wire around the uniform setting of apparatus axis of rotation, and described four drive steel wire one End is fixing with flexible wrist articular sclerite foremost to be connected, the driving steel wire other end sequentially pass through whole articular sclerite, connection conduit, Tapered core, driving flexible pipe, tensioning catch and tensioning block are also fixedly linked with tensioning block.
The driving method of Minimally Invasive Surgery apparatus flexible joint, it comprises the following steps: under the effect of rotatory force, drive Flexible pipe bends downwards, upwards, to the left or to the right an input angle, and tensioner moves with the bending driving flexible pipe simultaneously, Tensioning block pulls driving steel wire motion, drives flexible pipe central axis length constant, drives steel wire to pull the pass of end flexibility wrist Around joint ball the most upwards, downwards, to the right or turn left, flexible wrist bends nodal plate upwards, downwards, to the right or to the left One output angle, described input angle and the ratio of output angle are flexible wrist radius and the ratio driving flexible pipe radius Value.
The present invention compared with prior art has the advantages that
Minimally Invasive Surgery apparatus flexible joint driving means the most of the present invention, drives flexible pipe to drive end flexible by operation Joint, is the type of drive using a kind of flexible apparatus to control another kind of flexible apparatus, and its mode is simple and reliable, with tradition Wicresoft Operating theater instruments is compared, and the present invention can export space multiple degrees of freedom surgical action, and flexible movements are accurate, easily operate, and operating physical force Greatly, it is more suitable for carrying out sinuous Minimally Invasive Surgery；
Minimally Invasive Surgery apparatus flexible joint driving means the most of the present invention, uses silk transmission, and every driving wire has independence Tensioner, driving wire tensioning easy for installation and easy, driving wire tensile force can be regulated during use the most at any time.
Accompanying drawing explanation
Fig. 1 is Minimally Invasive Surgery apparatus flexible joint driving means the first overall structure schematic diagram of the present invention；
Fig. 2 is Minimally Invasive Surgery apparatus flexible joint driving means the second overall structure schematic diagram of the present invention；
Fig. 3 is the Minimally Invasive Surgery apparatus flexible joint driving means flexibility wrist structural representation of the present invention；
Fig. 4 is that the Minimally Invasive Surgery apparatus flexible joint driving means of the present invention drives steel wire to install the first schematic diagram；
Fig. 5 is that the Minimally Invasive Surgery apparatus flexible joint driving means of the present invention drives steel wire to install the second schematic diagram；
Fig. 6-1 is the flexible joint bending principle signal of the Minimally Invasive Surgery apparatus flexible joint driving means of the present invention Figure；
Fig. 6-2 is the driving hose bending schematic diagram of Minimally Invasive Surgery apparatus flexible joint driving means of the present invention；
Fig. 7 is Minimally Invasive Surgery apparatus flexible joint driving means and the operation handle connection diagram of the present invention；
Fig. 8 is the Minimally Invasive Surgery apparatus flexible joint driving means end elevating movement schematic diagram of the present invention；
Fig. 9 is the Minimally Invasive Surgery apparatus flexible joint driving means end oscillating motion schematic diagram of the present invention；
Detailed description of the invention
Below in conjunction with the accompanying drawings, the detailed description of the invention of the present invention is described in detail.
The driving means of the Minimally Invasive Surgery apparatus flexible joint of the present invention as shown in Figure 1, 2, 3, it includes that wrist drives Dynamic device 200, described wrist driving means 200 includes driving flexible pipe 201, the fixing peace in described driving flexible pipe 201 front end Equipped with tapered core 202, described tapered core 202 is installed with connected with outer casing 203, connected with outer casing 203 company of being used for fixing Connect conduit 300, be installed with in the described rear end driving flexible pipe 201 for installing and the tensioning of tensioning driving steel wire 207 Device, described tensioner includes being fixed on the tensioning catch 204 driven on flexible pipe 201, after described tensioning catch 204 End is fixed with tensioning frame 205, uniformly has multiple sliding tray on the circumferential side wall of described tensioning frame 205, sliding at each Being connected with a tensioning block 206 by tensioning screw 208 respectively in dynamic groove, described tensioning block 206 passes through tensioning screw The drive of 208 can move forward and backward and rest on the setting position in sliding tray along driving flexible pipe axis direction in sliding tray, Rotating tensioning screw 208, tensioning block 206 can be slided in tensioning frame 205 groove, and tensioning drives steel wire 207.
Connection conduit 300 rear end is fixing with connected with outer casing 203 to be connected, and connects conduit 300 front end last with flexible wrist 400 The articular sclerite of end is fixing to be connected, and described flexible wrist 400 includes multiple spaced articular sclerite 402, in adjacent two joints Between sheet 402, card has a joint ball 401, described joint ball 401 to be stuck in the hole in the middle of articular sclerite 401, and articular sclerite 401 can be around Joint ball 402 rotates.
Comparison Fig. 4, Fig. 5, four drive steel wire 207 around the uniform setting of apparatus axis of rotation, and described four drive 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 all passes Nodal plate 402, connection conduit 300, tapered core 202, driving flexible pipe 201, tensioning catch 204 and tensioning block 206 and tensioning block 206 are fixedly linked.
Using the operational approach of apparatus of the present invention, it comprises the following steps: under the effect of rotatory force, drives flexible pipe 201 Downwards, input angle θ is bent upwards, to the left or to the right2, tensioner moves with the bending driving flexible pipe 201 simultaneously, Tensioning block 206 pulls driving steel wire 207 to move, and drives flexible pipe 201 central axis length L constant, drives steel wire 207 to pull end The articular sclerite 402 of flexible wrist 400 around joint ball 401 the most upwards, downwards, to the right or turn left, flexible wrist 400 to Above, output angle θ is bent downwards, to the right or to the left1, described input angle is performance on compliant wrist with the ratio of output angle Portion 400 radius and the ratio driving flexible pipe 201 radius.
Below against accompanying drawing, its mode of operation is described in detail.
Shown in comparison Fig. 6-1,6-2, if flexible wrist 400 radius be a, a length of l, angle of bend be θ1, bending radius For r, if driving flexible pipe 201 radius is b, a length of L, angle of bend are θ2, bending radius be R, flexible wrist 400 and drive soft After pipe 201 bending, the relation between diameter, length, angle of bend, bending radius is represented by:
l - l 1 = θ 1 r - θ 1 r 1 = θ 1 ( r - r 1 ) = θ 1 a l 2 - l = θ 1 r 2 - θ 1 r = θ 1 ( r 2 - r ) = θ 1 a ,
L - L 1 = θ 2 R - θ 2 R 1 = θ 2 ( R - R 1 ) = θ 2 b L 2 - L = θ 2 R 2 - θ 2 R = θ 2 ( R 2 - R ) = θ 2 b ,
The angle of bend of flexible wrist 400 and the angle of bend driving flexible pipe 201 have constant mapping relations:
k = θ 2 θ 1 = a b ,
By above-mentioned analysis, when flexible wrist 400 radius a and driving flexible pipe 201 radius b determines, wrist is flexible 400 angle of bend θ1With driving flexible pipe 201 angle of bend θ2Ratio be fixed value, and this value is only the most relevant with a and b, illustrates permissible By adjusting the angle of bend θ driving flexible pipe 2012Control the angle of bend θ of flexible wrist 4001, and flexible wrist 400 is curved Bent angle, θ1Controlled.
Apparatus of the present invention and method can be used for Minimally Invasive Surgery apparatus, as it is shown in fig. 7, wrist driving means 200 and manipulator Handle 100 is connected, and end flexibility wrist 400 performs device 500 with end and is connected, its entirety can be applicable to abdominal cavity, thoracic cavity, urinary system, In the Minimally Invasive Surgery in the fields such as gynecological.In operation implementation process, described Minimally Invasive Surgery intelligence apparatus is upper by patient's body surface Stamp hole clipping, by doctor's hand-held apparatus enter internal implementation operation technique.
Step one, compare Fig. 7, Fig. 8, described in have flexible wrist Minimally Invasive Surgery apparatus be use time, connected with outer casing 203 To be fixed, hand-held handle 100, rotated down operation handle 100, under the effect of rotatory force, drive flexible pipe 201 downward Angle of bend θ2, tensioner moves with the bending driving flexible pipe 201 simultaneously, and tensioning block 206 pulls upside to drive steel wire 207 to transport Dynamic, drive flexible pipe 201 central axis length L constant, in driving flexible pipe 201, upside drives steel wire length L2Increasing, downside drives Steel wire length L1Reduce, L2>L>L1, upside drives steel wire 207 to pull the articular sclerite 402 of end flexibility wrist 400 around joint ball 401 are rotated up, and flexible wrist 400 is bent upwards angle, θ1；In like manner, it is rotated up operating handle 100, in the effect of rotatory force Under, drive flexible pipe 201 to be bent upwards angle, θ2, downside drive steel wire 207 pull the articular sclerite 402 of end flexibility wrist 400 around Joint ball 401 rotates down, and flexible wrist 400 is bent downwardly angle, θ1。
Step 2, compares Fig. 7, Fig. 9, and connected with outer casing 203 is fixed, hand-held handle 104, and turn left operation handle 100, Under the effect of rotatory force, drive flexible pipe 201 angle of bend θ to the left2, tensioner moves with the bending driving flexible pipe 201 simultaneously, Tensioning block 206 pulls right side to drive steel wire 207 to move, and drives flexible pipe 201 central axis length L constant, in driving flexible pipe 201, Right side drives steel wire length L2Increasing, left side drives steel wire length L1Reduce, L2>L>L1, right side drives steel wire 207 to pull end The articular sclerite 402 of flexible wrist 400 turns right around joint ball 401, flexible wrist 400 angle of bend θ to the right1；In like manner, to the right Rotating operation handle 100, under the effect of rotatory force, drives flexible pipe 201 angle of bend θ to the right2, left side drives steel wire 207 to draw The articular sclerite 402 of dynamic end flexibility wrist 400 turns left around joint ball 401, flexible wrist 400 angle of bend θ to the left1。

Claims (2)

1. the driving means of Minimally Invasive Surgery apparatus flexible joint, it is characterised in that: it includes wrist driving means, described wrist Portion's driving means includes driving flexible pipe, is installed with tapered core, in described tapered core in described driving flexible pipe front end It is installed with connected with outer casing, is installed with in the described rear end driving flexible pipe and drives opening of steel wire for installation and tensioning Tight device, described tensioner includes being fixed on the tensioning catch driven on flexible pipe, fixes in the rear end of described tensioning catch There is tensioning frame, the circumferential side wall of described tensioning frame uniformly has multiple sliding tray, leads to respectively in each sliding tray Cross tensioning screw and be connected with a tensioning block, described tensioning block by the drive of tensioning screw can in sliding tray edge Flexible pipe axis direction is driven to move forward and backward and rest on the setting position in sliding tray；Connect rear end of conduit to fix with connected with outer casing Connecting, connection catheter proximal end is fixing with the articular sclerite of flexible wrist rearmost end to be connected, and described flexible wrist includes that multiple interval sets The articular sclerite put, between adjacent two articular sclerites, card has a joint ball, and described joint ball is stuck in the hole in the middle of articular sclerite, Articular sclerite can rotate around joint ball；Four drive steel wire around the uniform setting of apparatus axis of rotation, and described four drive steel wire one End is fixing with flexible wrist articular sclerite foremost to be connected, the driving steel wire other end sequentially pass through whole articular sclerite, connection conduit, Tapered core, driving flexible pipe, tensioning catch and tensioning block are also fixedly linked with tensioning block.
2. the driving method of the Minimally Invasive Surgery apparatus flexible joint using claim 1 device, it is characterised in that: its bag Include following steps: under the effect of rotatory force, drive flexible pipe to bend downwards, upwards, to the left or to the right an input angle, Tight device moves with the bending driving flexible pipe simultaneously, and tensioning block pulls driving steel wire motion, drives flexible pipe central axis length not Become, drive steel wire to pull the articular sclerite of end flexibility wrist around joint ball the most upwards, downwards, to the right or turn left, soft Property wrist bends an output angle upwards, downwards, to the right or to the left, and described input angle with the ratio of output angle is Flexible wrist radius and the ratio driving flexible pipe radius.
CN201610312955.XA 2016-05-11 2016-05-11 A kind of Minimally Invasive Surgery instrument flexible joint driving device and its method Active CN106073833B (en)

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CN107260310A (en) * 2017-07-31 2017-10-20 成都中科博恩思医学机器人有限公司 The operating theater instruments and operating robot of operating robot
CN109172130A (en) * 2018-08-30 2019-01-11 上海西地众创空间管理有限公司 Medical robot for operation for myopia
CN109199591A (en) * 2018-10-19 2019-01-15 上海交通大学 Ear nose basis cranii micro-wound operation robot and its operating method
CN110269695A (en) * 2018-03-14 2019-09-24 深圳市精锋医疗科技有限公司 Connection component, motion arm and operating robot
CN112603393A (en) * 2020-12-29 2021-04-06 极限人工智能有限公司 Auxiliary surgical instrument
CN113197667A (en) * 2021-04-22 2021-08-03 浙江大学 Modular joint time-sharing switching driving flexible operating arm
CN114748167A (en) * 2022-04-01 2022-07-15 天津大学 Flexible endoscope minimally invasive surgery instrument arm

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