CN106073833B - Species apparatus and method for minimally invasive surgical instrument for driving a flexible joint - Google Patents

Species apparatus and method for minimally invasive surgical instrument for driving a flexible joint Download PDF

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CN106073833B
CN106073833B CN201610312955.XA CN201610312955A CN106073833B CN 106073833 B CN106073833 B CN 106073833B CN 201610312955 A CN201610312955 A CN 201610312955A CN 106073833 B CN106073833 B CN 106073833B
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drive
tensioning
flexible
joint
hose
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CN201610312955.XA
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CN106073833A (en
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王树新
张国凯
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天津大学
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Abstract

本发明公开了种微创手术器械用柔性关节驱动装置及其方法,该方法步骤为:在转动力的作用下,驱动软管向下、向上、向左或者向右弯曲个输入角度,张紧装置随驱动软管的弯曲同时运动,张紧块拉动驱动钢丝运动,驱动软管中心轴线长度不变,驱动钢丝拉动末端柔性腕部的关节片绕关节球分别向上、向下、向右或者向左转动,柔性腕部向上、向下、向右或者向左弯曲个输出角度,所述的输入角度与输出角度的比值为柔性腕部半径与驱动软管半径的比值。 The present invention discloses a kind of apparatus and method for minimally invasive surgical instrument for driving a flexible joint, the method steps of: under the action of a rotational force, a drive hose down, up, left, or right bending angle input tension bending drive means with simultaneous movement of the hose, the tension block pulls the drive wire movement, constant axial length of the central drive tube, the drive end of the flexible wire is pulled around the wrist joint sheet ball joints respectively up, down, to the right or to the left rotation, the flexible arm upward, downward, rightward or leftward bending angle output, the input angle and the output angle ratio is the ratio of the radius of the flexible arm driving radius of the hose. 本发明能够输出空间多自由度手术动作,动作灵活精准,易操作,且操作力大,更适于进行动作复杂的微创手术。 The present invention is capable of outputting multi-DOF surgical action space, operation flexibility accurate, easy to operate, and a large operating force is more suitable for complex minimally invasive surgery operation.

Description

一种微创手术器械用柔性关节驱动装置及其方法 Apparatus and method for minimally invasive surgical instrument for driving a flexible joint

技术领域 FIELD

[0001] 本发明涉及一种微创外科手术医疗设备,特别是一种微创手术器械用柔性关节的驱动装置。 [0001] The present invention relates to medical devices for minimally invasive surgery, in particular minimally invasive surgical instrument with a flexible joint drive device.

背景技术 Background technique

[0002] 在微创外科手术过程中,医生借助细长的微创手术器械实施手术操作任务。 [0002] In the minimally invasive surgical procedure, the doctor minimally invasive surgical instrument by means of an elongated surgical operation tasks embodiment. 手术器械的一端由医生手持操作,另一端通过人体表面的微小切口探入到体内进行手术操作, 因此,手术器械是唯一与人体病变组织相接触的部分,也是直接执行手术动作的唯一工具。 One end of the surgical instrument held by the operating physician, the other end of the body surface by microincision probe into the body for surgical operation, therefore, is the only part of the surgical instrument in contact with the tissues of human disease, is the only tool to perform direct surgical operation. 在手术实施中,由于手术器械末端的运动与器械手持部分的运动具有特殊的映射关系,为满足不同手术操作任务(夹持、缝合、打结等)的动作需求,医生需手持手术器械大范围运动,降低了器械末端执行手术动作的灵活性,同时,长时间大范围的操作使医生容易疲劳, 无形中增加了手术的难度。 In operation the embodiment, since the movement of the moving part of the instrument of the handheld surgical instrument tip has a special mapping relationship, in order to meet different surgical operation tasks (clamping, suturing, tying, etc.) needs an operation, the doctor needs a wide range of hand-held surgical instrument movement, reduces the flexibility of the surgical operation instrument of the end effector, while a wide range of operation for a long time that the physician fatigue, potentially increasing the difficulty of surgery. 目前已有产品主要存在的问题是器械末端自由度数少,工作空间小,导致操作不灵活,难以完成手术中复杂的操作动作,且操作力不够,难以实现创口闭合。 At present product main problem is the instrument tip a small number of degrees of freedom, a small work space, resulting in operation is not flexible, difficult to complete complex operating actions surgery, and the operation is not enough, it is difficult to achieve wound closure.

发明内容 SUMMARY

[0003] 本发明目的在于克服已有技术的不足,提供一种使用方便可靠,操作灵活的微创手术器械用柔性关节及其驱动装置。 [0003] The present invention aims to overcome the deficiencies of the prior art, to provide a convenient and reliable, flexible operation of the minimally invasive surgical instrument and a driving means of a flexible joint.

[0004] 本发明通过以下技术手段实现上述目的: [0004] The present invention achieves the above object is achieved by the following technical means:

[0005] 本发明的微创手术器械用柔性关节的驱动装置,它包括腕部驱动装置,所述的腕部驱动装置包括驱动软管,在所述的驱动软管前端固定安装有锥形芯,在所述的锥形芯上固定安装有连接外壳,在所述的驱动软管的后端固定安装有用于安装及张紧驱动钢丝的张紧装置,所述张紧装置包括固定在驱动软管上的张紧挡片,在所述的张紧挡片的后端固定有张紧架,在所述的张紧架的圆周侧壁上均匀开有多个滑动槽,在每一个滑动槽内分别通过张紧螺钉连接设置有一个张紧块,所述的张紧块通过张紧螺钉的带动能够在滑动槽内沿驱动软管轴线方向前后移动并停留在滑动槽内的设定位置;连接导管后端与连接外壳固定连接,连接导管前端与柔性腕部最后端的关节片固定连接,所述柔性腕部包括多个间隔设置的关节片,在相邻两个关节片间卡有一个关节球, [0005] The minimally invasive surgical instrument according to the present invention, a flexible joint drive device, comprising a drive arm means, said arm drive means includes a drive tube, the drive end of the hose is fixedly mounted to the tapered core , on the tapered core fixed to said connector housing is attached to the rear end of the hose is fixedly mounted drive means for mounting and tensioning wire tensioning drive, said tensioning device comprises a fixed driver software tensioning bracket on the tube, the rear end of the tension flap is fixed to the tensioning frame, the circumferential side wall on the clamping frame with a plurality of uniform slide groove, each sliding groove are connected by tensioning screws disposed within a tensioning block, driven by the tensioning block tensioning screw can be moved along the drive and remain in the set position of the sliding groove longitudinal direction of the tube axis in the sliding groove; connecting duct connecting the rear end of the housing is fixedly connected, is connected with the joint piece catheter distal end of the final flexible arm fixedly connected to the flexible arm comprises a plurality of sheets spaced joints, two joints between adjacent sheets card has a joint ball, 述的关节球卡在关节片中间的孔内, 关节片可绕关节球转动;四根驱动钢丝围绕器械回转轴线均布设置,所述四根驱动钢丝一端与柔性腕部最前端的关节片固定连接,驱动钢丝另一端依次穿过全部关节片、连接导管、 锥形芯、驱动软管、张紧挡片以及张紧块并与张紧块固定相连。 Card joint ball joint in the middle of said sheet hole, the joint piece is rotatable about the joint ball; four wire around an instrument pivot axis driving the cloth are provided, fixing the four wires at one end of the flexible arm driving most distal joint sheet , and the other end of the drive wire passes through the entire joint sheet, the connecting conduit, the tapered core, drive the hose, and tensioning the flap tensioning block and fixedly connected with the tensioning block.

[0006] 微创手术器械用柔性关节的驱动方法,它包括以下步骤:在转动力的作用下,驱动软管向下、向上、向左或者向右弯曲一个输入角度,张紧装置随驱动软管的弯曲同时运动, 张紧块拉动驱动钢丝运动,驱动软管中心轴线长度不变,驱动钢丝拉动末端柔性腕部的关节片绕关节球分别向上、向下、向右或者向左转动,柔性腕部向上、向下、向右或者向左弯曲一个输出角度,所述的输入角度与输出角度的比值为柔性腕部半径与驱动软管半径的比值。 [0006] The minimally invasive surgical instrument driving method of a flexible joint, comprising the steps of: under the influence of rotational force, driving the hose down, up, left, or right angle bend input a tensioning device driver software with tube bending motion simultaneously, the tension block pulls the drive wire movement, the axial length of the central drive hose constant, the driving end of the flexible wire is pulled around the wrist joint sheet ball joints respectively up, down, right or left turn, the flexible arm upward, downward, rightward or leftward bending angle of an output, the input angle and the output angle ratio is the ratio of the radius of the flexible arm driving radius of the hose.

[0007] 本发明与现有技术相比具有以下有益效果: [0007] The prior art and the present invention has the following advantages compared to:

[0008] 1.本发明微创手术器械用柔性关节驱动装置,通过操作驱动软管来驱动末端柔性关节,是采用一种柔性装置控制另一种柔性装置的驱动方式,其方式简单可靠,同传统微创手术器械相比,本发明能够输出空间多自由度手术动作,动作灵活精准,易操作,且操作力大,更适于进行动作复杂的微创手术; [0008] 1. The present invention is minimally invasive surgical instrument with a flexible joint drive means for driving the joints by operation of the drive end of the flexible hose, is the use of a flexible control apparatus of another embodiment of the flexible drive means, which is simple and reliable manner, with compared to the conventional minimally invasive surgical instrument, the present invention is capable of outputting multi-DOF surgical action space, operation flexibility accurate, easy to operate, and the operation force, the operation is more complex suitable for minimally invasive surgery;

[0009] 2.本发明微创手术器械用柔性关节驱动装置,采用丝传动,每根传动丝具有独立的张紧装置,传动丝安装方便且容易张紧,使用时可根据需要随时调节传动丝张紧力。 [0009] 2. The present invention is a flexible joint with minimally invasive surgical instrument drive apparatus, using wire transmission, each transmission wire has a separate tensioning device, easy to install and easy to drive the wire tension, the wire adjusting mechanism can always necessary when using the tension.

附图说明 BRIEF DESCRIPTION

[0010] 图1为本发明的微创手术器械用柔性关节驱动装置第一整体结构示意图; A first structural schematic view of the entire apparatus minimally invasive surgical instrument [0010] FIG. 1 of the present invention for driving a flexible joint;

[0011] 图2为本发明的微创手术器械用柔性关节驱动装置第二整体结构示意图; Overall schematic structural diagram of a second apparatus minimally invasive surgical instrument [0011] FIG. 2 of the present invention, a flexible drive joints;

[0012] 图3为本发明的微创手术器械用柔性关节驱动装置柔性腕部结构示意图; Minimally invasive surgical instrument [0012] Figure 3 is a schematic view of the invention with a flexible articulated arm structure of the flexible drive means;

[0013] 图4为本发明的微创手术器械用柔性关节驱动装置驱动钢丝安装第一示意图; [00M]图5为本发明的微创手术器械用柔性关节驱动装置驱动钢丝安装第二示意图; Minimally invasive surgical instrument [0013] FIG. 4 of the present invention, the driving means drives a first schematic view of a flexible joint mounting wire; [00M] FIG. 5 of the present invention is minimally invasive surgical instrument with a flexible joint driving means for driving the second wire mounting a schematic view;

[0015] 图6-1为本发明的微创手术器械用柔性关节驱动装置的柔性关节弯曲原理示意图; The flexible joint minimally invasive surgical instrument [0015] FIG. 6-1 of the present invention a flexible joint drive device Schematic curved;

[0016] 图6-2为本发明微创手术器械用柔性关节驱动装置的驱动软管弯曲原理图; [0016] FIG. 6-2 bending drive hose schematic minimally invasive surgical instrument with a flexible joint drive device of the present invention;

[0017] 图7为本发明的微创手术器械用柔性关节驱动装置与操作手柄连接示意图; Minimally invasive surgical instrument [0017] FIG. 7 of the present invention with a flexible joint drive means operating handle connection diagram;

[0018] 图8为本发明的微创手术器械用柔性关节驱动装置末端俯仰运动示意图; Minimally invasive surgical instrument [0018] FIG. 8 of the present invention, the driving means of a flexible joint pitch end of the movement diagram;

[0019] 图9为本发明的微创手术器械用柔性关节驱动装置末端摆动运动示意图; Minimally invasive surgical instrument [0019] FIG. 9 of the present invention, the terminal driving means of a flexible joint pivoting movement schematic;

具体实施方式 Detailed ways

[0020] 下面结合附图,对本发明的具体实施方式进行详细说明。 [0020] below with the accompanying drawings, specific embodiments of the present invention will be described in detail.

[0021] 如图1、2、3所示的本发明的微创手术器械用柔性关节的驱动装置,它包括腕部驱动装置200,所述的腕部驱动装置200包括驱动软管201,在所述的驱动软管201前端固定安装有锥形芯202,在所述的锥形芯202上固定安装有连接外壳203,连接外壳203用来固定连接导管300,在所述的驱动软管201的后端固定安装有用于安装及张紧驱动钢丝207的张紧装置,所述张紧装置包括固定在驱动软管201上的张紧挡片204,在所述的张紧挡片204的后端固定有张紧架205,在所述的张紧架205的圆周侧壁上均匀开有多个滑动槽,在每一个滑动槽内分别通过张紧螺钉208连接设置有一个张紧块206,所述的张紧块206通过张紧螺钉208的带动能够在滑动槽内沿驱动软管轴线方向前后移动并停留在滑动槽内的设定位置, 旋转张紧螺钉208,张紧块206可在张紧架205槽内滑动,张紧驱动钢丝207。 [0021] The minimally invasive surgical instrument according to the present invention shown in FIG. 1, 2, a flexible joint drive device, comprising a hose 200 includes a drive arm 201 drive apparatus 200, the arm drive means, in said tapered core 202 distal end of drive tube 201 is fixedly mounted on the tapered core 202 is fixed to the connector housing 203 is mounted to connector housing 203 is fixedly connected to the conduit 300, drive tube 201 in the the rear end of the tensioning means fixedly mounted for mounting the drive and the tension of the wire 207, the tensioning device comprises a hose 201 fixed to the drive of the tensioning bracket 204, the tension in the flaps 204 clamping frame 205 is fixed to an end, the clamping frame on the circumferential sidewall 205 with a plurality of evenly sliding groove, a sliding slot in each tensioning screw 208 is provided with a tensioning block 206 respectively, back and forth movement of the tensioning drive block 206 by tensioning screw 208 can be driven along the slide groove in the hose axial direction and remain in the set position of the sliding groove, rotation of the tensioning screw 208, the tensioning block 206 may tensioning frame slide groove 205, the wire 207 tensioned drive.

[0022] 连接导管300后端与连接外壳203固定连接,连接导管300前端与柔性腕部400最后端的关节片固定连接,所述柔性腕部400包括多个间隔设置的关节片402,在相邻两个关节片402间卡有一个关节球401,所述的关节球401卡在关节片401中间的孔内,关节片401可绕关节球402转动。 [0022] The connecting conduit 300 is connected with the rear end of the housing 203 is fixed, connecting catheter 300 and the distal end 400 of the last sheet of flexible wrist joint is fixedly connected to the arm portion 400 includes a plurality of flexible joints spaced sheet 402, adjacent two joints card sheet 402 has a ball joint 401, the ball joint 401 in the card sheet 401 of the intermediate joint hole 402 joint piece 401 may rotate about the ball joints.

[0023] 对照图4、图5,四根驱动钢丝207围绕器械回转轴线均布设置,所述四根驱动钢丝207—端与柔性腕部400最前端的关节片402固定连接,驱动钢丝207另一端依次穿过全部关节片402、连接导管300、锥形芯202、驱动软管201、张紧挡片204以及张紧块206并与张紧块206固定相连。 [0023] Control 4, FIG. 5, four drive wire 207 around an instrument disposed uniform pivot axis, 402 is fixedly connected to the four ends of the flexible drive wire 207- 400 most distal wrist joint sheet, the other driving wire 207 an end plate 402 passes through the entire joint, the connecting conduit 300, the tapered die 202, a drive tube 201, and tensioning 204 the tensioning bracket fixed block 206 and block 206 is connected to the tension.

[0024] 采用本发明装置的操作方法,它包括以下步骤:在转动力的作用下,驱动软管201 向下、向上、向左或者向右弯曲一个输入角度Θ2,张紧装置随驱动软管201的弯曲同时运动, 张紧块206拉动驱动钢丝207运动,驱动软管201中心轴线长度L不变,驱动钢丝207拉动末端柔性腕部400的关节片402绕关节球401分别向上、向下、向右或者向左转动,柔性腕部400向上、向下、向右或者向左弯曲一个输出角度Θ1,所述的输入角度与输出角度的比值为柔性腕部400半径与驱动软管201半径的比值。 [0024] The method of operating apparatus according to the present invention, comprising the steps of: under the action of a rotational force of the drive tube 201 down, up, left, or right bending angle theta] 2 input, tensioning means with the drive tube 201 while the bending motion, the tensioning block 206 pulls the drive wire 207 movement, the center axis of the drive tube 201 length L constant, the driving end of the flexible wire 207 pulls the arm 400 about the joint ball joint pieces 402 respectively 401 upward, downward, right or left turn, the flexible arm 400 up, down, right or left angle [Theta] l bent at an output, said input angle ratio of the output angle of the flexible hose to the drive arm 400 radius 201 radius ratio.

[0025] 下面对照附图对其操作方式进行详细说明。 [0025] reference to the drawings the following detailed description of its operation.

[0026] 对照图6-1、6-2所示,设柔性腕部400半径为a、长度为1、弯曲角度为Q1、弯曲半径为r,设驱动软管201半径为b、长度为L、弯曲角度为θ2、弯曲半径为R,柔性腕部400和驱动软管201弯曲后直径、长度、弯曲角度、弯曲半径间的关系可表示为: [0026] The control shown in FIG. 6-1, the flexible arm 400 is provided as a radius a, the length of a bending angle of Q1, bending radius r, the drive tube 201 is provided radius is b, a length L , the bending angle theta] 2, the bending radius R, the relationship between the diameter, length, bend angle, bend radius of the flexible hose 201 and the drive arm 400 is bent can be expressed as:

Figure CN106073833BD00051

[0029]柔性腕部400的弯曲角度与驱动软管201的弯曲角度有一恒定映射关系: [0029] The flexible arms 400 of the bending angle of the drive tube 201 has a bending angle constant mapping relationship:

Figure CN106073833BD00052

[0031] 通过上述分析可知,当柔性腕部400半径a和驱动软管201半径b确定时,腕部柔性400弯曲角度01与驱动软管201弯曲角度02的比值为固定值,且该值只与a和b有关,说明可以通过调整驱动软管201的弯曲角度02来控制柔性腕部400的弯曲角度Q1,且柔性腕部400的弯曲角度S1可控。 [0031] Through the above analysis, when the radius of the flexible arm 400 and a radius of the drive tube 201 b is determined, the flexible wrist bending angle of 01 and 400 drive the bending angle of the hose 201 is a fixed value ratio of 02, and this value is only For the a and b, the bending angle may be explained hose 201 by adjusting the drive 02 controlling the flexible wrist bending angle 400 of Q1, and the bending angle of the flexible arm 400 is controlled S1.

[0032] 本发明装置和方法可用于微创手术器械,如图7所示,腕部驱动装置200与操作手柄100相连,末端柔性腕部400与末端执行装置500相连,其整体可应用于腹腔、胸腔、泌尿、 妇科等领域的微创手术中。 [0032] The apparatus and method of the present invention can be used in minimally invasive surgical instrument shown in Figure 7, the arm driving means 200 is connected to the operation handle 100, 500 is connected to the end of a flexible arm portion 400 and the end effector means, which can be applied to the entire abdominal cavity , the field of minimally invasive surgery of the chest, urology, gynecology and the like. 在手术实施过程中,所述微创手术智能器械通过病人体表的上的戳卡孔,由医生手持器械进入体内实行手术操作。 In embodiments the surgical procedure, the minimally invasive surgical poke holes in the smart card device through the patient's body, hand-held instrument into the body by a physician to implement the surgical procedure.

[0033] 步骤一,对照图7、图8,所述具有柔性腕部微创手术器械在是使用时,连接外壳203 将被固定,手持操作手柄100,向下转动操作手柄100,在转动力的作用下,驱动软管201向下弯曲角度θ2,张紧装置随驱动软管201的弯曲同时运动,张紧块206拉动上侧驱动钢丝207运动,驱动软管201中心轴线长度L不变,驱动软管201内,上侧驱动钢丝长度L2增加,下侧驱动钢丝长度1^减少,LADL1,上侧驱动钢丝207拉动末端柔性腕部400的关节片402绕关节球401向上转动,柔性腕部400向上弯曲角度θ1;同理,向上转动操作手柄100,在转动力的作用下,驱动软管201向上弯曲角度θ2,下侧驱动钢丝207拉动末端柔性腕部400的关节片402绕关节球401向下转动,柔性腕部400向下弯曲角度Q1。 [0033] Step a control FIG. 7, FIG. 8, the flexible arm having a minimally invasive surgical instrument during use, will be connected to the fixed housing 203, the handheld operating handle 100, downward rotation of the operation lever 100, the rotational force under the action of the drive tube 201 is bent downward angle theta] 2, with the tensioning means of the bending drive tube 201 while moving the tensioning block 206 pulls the wire 207 on the side of the drive movement, the drive tube 201 central axis length L constant, inner drive tube 201, the upper drive wire length L2 is increased, the lower side driving wire length 1 ^ reduced, LADL1, the upper end of the flexible drive wire 207 pulls the arm 400 about the joint ball joint 402 sheet 401 is rotated upward, the flexible arm 400 upward bending angle theta] 1; Similarly, the operating handle 100 is rotated upward, under the action of a rotational force of the drive tube 201 is bent upward angle theta] 2, the lower side of the wire 207 pulls the driving end of the flexible wrist joint 400 of the sheet 402 around the joint ball 401 rotated downward, the flexible arm 400 is bent downward angle Q1.

[0034] 步骤二,对照图7、图9,连接外壳203固定,手持手柄104,向左转动操作手柄100,在转动力的作用下,驱动软管201向左弯曲角度θ2,张紧装置随驱动软管201的弯曲同时运动, 张紧块206拉动右侧驱动钢丝207运动,驱动软管201中心轴线长度L不变,驱动软管201内, 右侧驱动钢丝长度L2增加,左侧驱动钢丝长度L1减少,LAI^L1,右侧驱动钢丝207拉动末端柔性腕部400的关节片402绕关节球401向右转动,柔性腕部400向右弯曲角度Q1;同理,向右转动操作手柄100,在转动力的作用下,驱动软管201向右弯曲角度θ2,左侧驱动钢丝207拉动末端柔性腕部400的关节片402绕关节球401向左转动,柔性腕部400向左弯曲角度 [0034] Step two, the control of FIG. 7, FIG. 9, the fixed connector housing 203, holding the handle 104, the operating handle 100 is rotated to the left, under the influence of rotational force, a drive tube 201 to the left bending angle theta] 2, the tensioning device bending drive tube 201 with simultaneous movement of the tensioning block 206 is pulled right drive wire 207 movement, the center axis of the drive tube 201 length L constant, the drive tube 201, the right drive wire length L2 is increased, the left drive reducing the wire length L1, LAI ^ L1, the right end of the flexible drive wire 207 pulls the wrist joint 400 of the right plate 402 is rotated about the ball joint 401, the flexible wrist bending angle Ql 400 to the right; the same reason, rightward rotation operating handle 100, under the action of a rotational force of the drive tube 201 to the right bending angle theta] 2, the left end of the flexible drive wire 207 pulls the arm 400 about the joint plate 402 is rotated to the left ball joints 401, 400 to the flexible arm left bending angle

Claims (2)

1. 微创手术器械用柔性关节的驱动装置,其特征在于:它包括腕部驱动装置,所述的腕部驱动装置包括驱动软管,在所述的驱动软管前端固定安装有锥形芯,在所述的锥形芯上固定安装有连接外壳,在所述的驱动软管的后端固定安装有用于安装及张紧驱动钢丝的张紧装置,所述张紧装置包括固定在驱动软管上的张紧挡片,在所述的张紧挡片的后端固定有张紧架,在所述的张紧架的圆周侧壁上均匀开有多个滑动槽,在每一个滑动槽内分别通过张紧螺钉连接设置有一个张紧块,所述的张紧块通过张紧螺钉的带动能够在滑动槽内沿驱动软管轴线方向前后移动并停留在滑动槽内的设定位置;连接导管后端与连接外壳固定连接,连接导管前端与柔性腕部最后端的关节片固定连接,所述柔性腕部包括多个间隔设置的关节片,在相邻两个关节片间卡有一个关节球, 1. minimally invasive surgical instrument with a flexible joint drive device, characterized in that: it comprises wrist drive means, said drive means includes a drive arm tube, the driving end of the hose is fixedly mounted a tapered core , on the tapered core fixed to said connector housing is attached to the rear end of the hose is fixedly mounted drive means for mounting and tensioning wire tensioning drive, said tensioning device comprises a fixed driver software tensioning bracket on the tube, the rear end of the tension flap is fixed to the tensioning frame, the circumferential side wall on the clamping frame with a plurality of uniform slide groove, each sliding groove are connected by tensioning screws disposed within a tensioning block, driven by the tensioning block tensioning screw can be moved along the drive and remain in the set position of the sliding groove longitudinal direction of the tube axis in the sliding groove; connecting duct connecting the rear end of the housing is fixedly connected, is connected with the joint piece catheter distal end of the final flexible arm fixedly connected to the flexible arm comprises a plurality of sheets spaced joints, two joints between adjacent sheets card has a joint ball, 述的关节球卡在关节片中间的孔内, 关节片可绕关节球转动;四根驱动钢丝围绕器械回转轴线均布设置,所述四根驱动钢丝一端与柔性腕部最前端的关节片固定连接,驱动钢丝另一端依次穿过全部关节片、连接导管、 锥形芯、驱动软管、张紧挡片以及张紧块并与张紧块固定相连。 Card joint ball joint in the middle of said sheet hole, the joint piece is rotatable about the joint ball; four wire around an instrument pivot axis driving the cloth are provided, fixing the four wires at one end of the flexible arm driving most distal joint sheet , and the other end of the drive wire passes through the entire joint sheet, the connecting conduit, the tapered core, drive the hose, and tensioning the flap tensioning block and fixedly connected with the tensioning block.
2. —种采用权利要求1装置的微创手术器械用柔性关节的驱动方法,其特征在于:它包括以下步骤:在转动力的作用下,驱动软管向下、向上、向左或者向右弯曲一个输入角度,张紧装置随驱动软管的弯曲同时运动,张紧块拉动驱动钢丝运动,驱动软管中心轴线长度不变,驱动钢丝拉动末端柔性腕部的关节片绕关节球分别向上、向下、向右或者向左转动,柔性腕部向上、向下、向右或者向左弯曲一个输出角度,所述的输入角度与输出角度的比值为柔性腕部半径与驱动软管半径的比值。 2. - Species apparatus using minimally invasive surgical instrument as claimed in claim 1 a method of driving a flexible joint, characterized in that: it comprises the steps of: under the influence of rotational force, driving the hose down, up, left or right input a bending angle, bending drive tensioning means with simultaneous movement of the hose, the tension block pulls the drive wire movement, constant axial length of the central drive tube, the drive end of the flexible wire is pulled around the wrist joint ball joints respectively upwardly sheet, down, right or left turn, the flexible arm upward, downward, rightward or leftward bending angle of an output, a ratio of the input angle and the output angle of the radius of the drive arm is a flexible hose radius ratio.
CN201610312955.XA 2016-05-11 2016-05-11 Species apparatus and method for minimally invasive surgical instrument for driving a flexible joint CN106073833B (en)

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