CN106175849A - A kind of single hole endoscope-assistant surgery system based on flexible operation tool - Google Patents
A kind of single hole endoscope-assistant surgery system based on flexible operation tool Download PDFInfo
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- CN106175849A CN106175849A CN201610795885.8A CN201610795885A CN106175849A CN 106175849 A CN106175849 A CN 106175849A CN 201610795885 A CN201610795885 A CN 201610795885A CN 106175849 A CN106175849 A CN 106175849A
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- 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
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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
- 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
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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
- 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
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
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- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
Abstract
The present invention relates to a kind of single hole endoscope-assistant surgery system based on flexible operation tool, it is characterised in that this system includes flexible operation tool, imaging tool and catheter body；Wherein, flexible operation tool kit includes operation executor, flexible arm body, driving handle and near structure body, operation executor associate with flexible arm body far-end, and flexible arm body associates with driving handle proximally by near structure body, and driving handle drives flexible arm body to realize curving motion；Imaging tool includes imaging illumination module, curves joint and imaging tool driver element, and imaging illumination module associates with curving joint far-end, curves joint near-end and associates with imaging tool driver element, and imaging tool drive unit drives curves joint and realizes curving motion；Catheter body, for the imaging illumination module guiding performed the operation executor with curve joint far-end of flexible arm body far-end is arrived the same area, will be located in flexible arm body simultaneously and curves the later part of joint near-end to the guiding of space different directions.
Description
Technical field
The present invention relates to a kind of medical apparatus and instruments, be specifically related to a kind of single hole of based on flexible operation tool endoscope-assistant surgery system
System.
Background technology
In modern medical service field, manual porous peritoneoscope Minimally Invasive Surgery has been widely used in clinic.This type of Minimally Invasive Surgery
Successfully reduce the postoperative pain of patient, complication probability, rehabilitation duration and improve scar after the operation.In recent years, for convenience of doctor
Life operates and realizes more preferable postoperative output, and the porous peritoneoscope Minimally Invasive Surgery of robot assisted is widely used, its
In Leonardo da Vinci's surgical robot system of being released by American I ntuitive Surgical company (intuition surgery company of the U.S.), can
Auxiliary doctor completes porous peritoneoscope Minimally Invasive Surgery, achieves coml immense success.
In order to reduce operation wound area and rehabilitation duration further, researcher proposes single-port laparoscopic minimally-invasive surgery.
Compared to porous peritoneoscope Minimally Invasive Surgery need multiple body surface otch, in single-port laparoscopic minimally-invasive surgery all operation tools by
One body surface otch (typically umbilicus) enters abdominal cavity, further reduces the wound to patient.But, this type of single entrance
Configuration no matter designs operating theater instruments or the operation of the Shi doctor that performs the operation all is had higher requirement.Based on conventional rigid hands
The manual single-hole laparoscopic surgery of art instrument works in coordination with operational requirements owing to there is complicated trick, the flexibility ratio of operation tool in addition
The difficulties such as limited, working range is less, manual single-hole laparoscopic surgery is not yet applied to clinic.
Summary of the invention
For the problems referred to above, it is an object of the invention to provide a set of single hole chamber mirror Minimally Invasive Surgery based on flexible operation tool
System, and for the feature of instrument entrained by this surgery systems, two kinds of feasible facility layout schemes are proposed.
For achieving the above object, the present invention is by the following technical solutions: a kind of single hole chamber mirror based on flexible operation tool
Surgery systems, it is characterised in that this system includes flexible operation tool, imaging tool and catheter body；Wherein, described flexible operation
Instrument includes perform the operation executor, flexible arm body, driving handle and near structure body, described operation executor and described flexible arm body
Far-end associates, and described flexible arm body associates with described driving handle proximally by described near structure body, and described driving handle drives
Dynamic described flexible arm body realizes curving motion；Described imaging tool includes imaging illumination module, curve joint and imaging tool is driven
Moving cell, described imaging illumination module associates with the described joint far-end that curves, described in curve joint near-end and described imaging tool
Driver element associates, and curves joint and realize curving motion described in described imaging tool drive unit drives；Described catheter body is used for
Operation executor and the described imaging illumination module curving joint far-end of described flexible arm body far-end are guided and arrive same district
Territory, will be located in described flexible arm body simultaneously and curves the later part of joint near-end to the guiding of space different directions.
In a preferred embodiment, described flexible arm body includes that more than one far-end structure saves, each described far-end structure
Joint includes far-end fixed disk, far-end space disc and structural bone；Multiple described far-end space discs are spaced apart to be saved in described far-end structure
In, structural bone one end of described far-end structure joint is fixed on described far-end fixed disk, and the other end sequentially passes through between each described far-end
It is fixed on after dish in described near structure body.
In a preferred embodiment, described near structure body includes near-end space disc, near-end fixed disk and near-end knot
Llex cornuta, multiple described near-end space discs are spaced apart in described near structure body, many described proximal structure bone one end and institute
Stating near-end fixed disk to be fastenedly connected, the structural bone one_to_one corresponding that the other end and described far-end structure save is fastenedly connected or is same root knot
Llex cornuta.
In a preferred embodiment, described driving handle is with the near-end fixed disk fastening in described near structure body even
Connecing, manual lateral rotation driving handle curves to any direction to control described near structure body, thus drives described flexible arm
Body curves to any direction.
In a preferred embodiment, described driving handle being provided with press button, the most described operation performs
The control line of device is after described flexible arm body and near structure body pass, with the operation actuator driven mechanism in described driving handle
Being fastenedly connected, it is right that the up and down motion of described press button can be converted to by the operation actuator driven mechanism in described joystick
Push-and-pull campaign before and after the control line of described operation executor, and then realize the action control to described operation executor.
In a preferred embodiment, described catheter body includes multi-cavity body, supporting construction and guiding sleeve；Described many
Lumen body is positioned at described catheter body distal end and is shaft-like linear structure, is provided with flexible operation tool and passes through tract；Described
Flexible operation tool is stretched in described supporting construction by tract and extends to described supporting construction near-end；Described supporting construction is near
End is fastenedly connected with multiple guiding sleeves, and the flexible hand of the hollow tract in described guiding sleeve and described supporting construction near-end
Art instrument is alignd by tract, so that described flexible operation tool can smoothly insert described guiding sleeve and flexible operation tool
By in tract.
In a preferred embodiment, described guiding sleeve is in dissipating distribution, with by described flexible operation tool
The later part of flexible arm body near-end guides to space different directions；Described guiding sleeve near-end is provided with guiding sleeve entrance,
Its inwall is smooth rigid cylindrical passage, and described flexible operation tool has and entering that described guiding sleeve is slidably connected
To guide pipe, described feeding guide pipe can the most slidably, rotate, manually driving handle described in push-and-pull is to change institute
State flexible arm body and stretch out the described flexible operation tool length by tract, thus the entirety realizing described flexible operation tool is entered
To degree of freedom；Meanwhile, manually rotate the described driving handle integral-rotation with the described flexible arm body of control, and then realize institute
State the integral-rotation degree of freedom of flexible operation tool and the regulation to described operation executor's roll angle.
In a preferred embodiment, it is additionally provided with imaging tool in described multi-lumen tube body by tract, described one-tenth
As instrument extends to the rear portion of described supporting construction by tract from described multi-lumen tube, described imaging tool can smoothly be inserted
Enter described imaging tool by tract, and described imaging tool can in described imaging tool is by tract slidably, turn
Dynamic, manually push-and-pull, rotate described imaging tool and realize its overall feeding and degree of freedom of rotation.
In a preferred embodiment, described catheter body includes distal plate, proximal plate, conduit, multi-cavity body and guiding
Sleeve pipe, and described multi-cavity body are provided with flexible operation tool and pass through tract by tract and imaging tool；Described distal plate
Being fastenedly connected integral with proximal plate, described multi-cavity body near-end and described distal end of catheter are all fastenedly connected in described distal plate
On, and described conduit connected and tangent by tract with the flexible operation tool in described multi-cavity body, described catheter proximal end is tight
Be connected be connected in described proximal plate and with as the described guiding sleeve that is fastenedly connected in described proximal plate connect and tangent, with
Described flexible operation tool is made can smoothly to insert described guiding sleeve, conduit and flexible operation tool by tract.
In a preferred embodiment, described guiding sleeve is parallel distribution and has mutually enough offset distances
From, described guiding sleeve near-end is provided with guiding sleeve entrance, and its inwall is smooth rigid cylindrical passage, described flexible hand
Having the feeding guide pipe being slidably connected with described guiding sleeve on art instrument, described feeding guide pipe can free skating wherein
Dynamic, rotate, manually driving handle described in push-and-pull stretches out described flexible operation tool and passes through chamber changing described flexible arm body
The length in road, thus realize the overall feeding degree of freedom of described flexible operation tool；Meanwhile, described driving hands is manually rotated
Handle is to control the integral-rotation of described flexible arm body, and then realizes the integral-rotation degree of freedom of described flexible operation tool and to institute
State the regulation of operation executor's roll angle.
In a preferred embodiment, it is additionally provided with imaging tool in described multi-lumen tube body by tract, described one-tenth
As instrument by tract also cross described distal plate and proximal plate；Described imaging tool can smoothly insert described imaging tool
By in tract, and described imaging tool can in described imaging tool is by tract slidably, rotate, manually push away
Draw, rotate described imaging tool and realize its overall feeding and degree of freedom of rotation.
In a preferred embodiment, when described flexible arm body includes that two or more far-end structure saves, described flexible arm
Body also includes that flexible operation tool drives unit, described flexible arm body near-end associate with described flexible operation tool drives unit,
Described flexible operation tool drives unit is associated with described driving handle by described near structure body；Now, a portion
Structural bone one end of described far-end structure joint is fixed on described far-end fixed disk, and the other end sequentially passes through each described far-end space disc
After be fixed in described flexible operation tool drives unit, described flexible operation tool drives unit drives and described flexible operation
Tool drives unit association far-end structure joint specific curve plane in curve.
In a preferred embodiment, described flexible operation tool drives unit includes fixed pedestal, motor, gear
To, worm screw, worm gear, power transmission shaft, connecting rod, guide rod, slide block and passage fixed plate；Described electricity it is fastenedly connected on described fixed pedestal
Machine, the output shaft of described motor is coaxially fastenedly connected with a gear in described gear mesh, another in described gear mesh
Gear is coaxially fastenedly connected with described worm screw, and described worm screw engages with described worm gear, and described worm gear adapter sleeve is connected on described transmission
On axle, described power transmission shaft is rotationally connected with described fixed pedestal, and described power transmission shaft is fastenedly connected with described connecting rod；Described slide block is
Two, laying respectively at the both sides of described power transmission shaft and be slidably connected on described guide rod, described guide rod is fastenedly connected described logical
In road fixed plate；The two ends of described connecting rod are connected with a described slide block respectively, close with described flexible operation tool drives unit
The structural bone of the far-end structure joint of connection is fastenedly connected with described slide block.
In a preferred embodiment, described driving handle is additionally provided with toggle switch, the most described flexible hand
The motor control panel for controlling described motor rotary motion, described motor control panel and institute it is provided with in art tool drives unit
Stating toggle switch electrical connection, described toggle switch can control described motor and rotate forward, keeps current location and reversion, so driving and
The far-end structure of described flexible operation tool drives unit association save respectively specific curve plane in curve to side, keep current
Attitude and curving to opposite side.
In a preferred embodiment, described structural bone is shaft-like or tubular structure, when described structure joint number more than two
Time, use the mode of series connection to connect between each described structure joint, i.e. away from the far-end structure joint of described flexible operation tool drives unit
Structural bone wear from the far-end fixed disk and far-end space disc of the far-end structure joint close to described flexible operation tool drives unit
Cross；If the structural bone close to the far-end structure joint of described flexible operation tool drives unit uses tubular structure, then away from described soft
Property operation tool driver element the structural bone of far-end structure joint from the far-end structure joint close to described flexible operation tool drives unit
Structural bone in pass.
In a preferred embodiment, described imaging tool also includes rigidity body, now described in curve joint tight
Being solidly connected at described rigidity body distal end, described rigidity body near-end is fastenedly connected with described imaging tool driver element；More enter
One step ground, described imaging tool also includes the control knob being positioned at described imaging tool driver element near-end, described imaging illumination
Module includes multiple photographic head for realizing stereoscopic vision and multiple illuminating device, curves pass described in the control of described control knob
That saves is any to curving, and controls the duty of described photographic head and illuminating device simultaneously.
In a preferred embodiment, described flexible operation tool is two or more by tract quantity, described imaging
Instrument is more than one by tract quantity, and described multi-cavity body also includes more than one multi-functional tract.
Due to the fact that and take above technical scheme, it has the advantage that 1, the present invention proposes and a set of meets single hole
Endoscope-assistant surgery puts the surgery systems of flow process to good use, and flexible operation tool and imaging tool front end in this system all use and can realize appointing
The structure that purpose curves, therefore, three flexible operation tools and an imaging tool can enter human body by same multi-cavity body
And put operation flexibly to good use.2, the catheter body of the present invention uses and has the guiding tract of particular space curved configuration, and catheter body can be by
Flexible operation tool and imaging tool lead in same multi-cavity body, it is ensured that when multiple instruments are by single operative incision
Size limitation.According to different flexible operation tools and the size of imaging tool and motion feature, adjustable guides
The space curve configuration of tract, to realize compact extrapersonal space arrangement.3, the present invention contains catheter body, imaging tool, soft
Property operation tool, and propose feasible single hole endoscope-assistant surgery and install and put flow process to good use.4, the catheter body of the present invention is purely mechanic knot
Structure, flexible operation tool and imaging tool can carry out seal encapsulation so that this surgery systems can carry out overall disinfection, it is ensured that faces
The exploitativeness of bed operation.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the present invention；
Fig. 2 is the structural representation of flexibility operation tool of the present invention；
Fig. 3 is the structural representation of flexible arm body of the present invention；
Fig. 4 is the structural representation of flexibility of the present invention operation tool drives unit；
Fig. 5 is the structural representation of near structure body of the present invention；
Fig. 6 is the structural representation of imaging tool of the present invention；
Fig. 7 is the structural representation of catheter body of the present invention；
Fig. 8 a-c is that flow chart is put in the installation of the present invention to good use；
Fig. 9 is the structural representation of catheter body in another embodiment of the present invention；
Figure 10 is the overall structure schematic diagram of another embodiment of the present invention.
Detailed description of the invention
Below with reference to accompanying drawing, presently preferred embodiments of the present invention is described in detail, in order to become apparent from understanding the present invention's
Objects, features and advantages.It should be understood that embodiment shown in the drawings is not limitation of the scope of the invention, and be simply
The connotation of explanation technical solution of the present invention.
As it is shown in figure 1, the single hole endoscope-assistant surgery system that the present invention provides includes flexible operation tool 10, imaging tool 30 and
Catheter body 40.
As shown in Figure 2, Figure 4 shows, flexible operation tool 10 includes that operation executor 101, operation executor control line 102, flexibility
Arm body 11, flexible cover 104, rigidity strip of paper used for sealing 105, flexible operation tool drives unit 20, driving handle 21 and near structure body
16.Operation executor 101 is fastenedly connected at flexible arm body 11 far-end, and it can be electro-mechanical surgical executor, such as operating forceps, cuts
Cutter, mosquito forceps etc., also can be that energy type is performed the operation executor, as first-class in electric knife, coagulation.Operation executor control line 102 far-end with
Operation executor 101 be fastenedly connected, and near-end is through flexible arm body 11, flexible operation tool drives unit 20 and near structure body 16
After, it is connected with the operation actuator driven jam in driving handle 21.Flexible arm body 11 multiple curves degree of freedom for having
Many structures joint flexible structure, far-end with operation executor 101 be fastenedly connected, near-end with flexibility perform the operation tool drives unit 20 close
Connection.Flexible arm body 11 is coated with strip of paper used for sealing, and strip of paper used for sealing is flexible cover 104 in the part near operation executor 101, and strip of paper used for sealing is leaning on
The rigidity strip of paper used for sealing 105 that part is rigid tubular structure of nearly flexible operation tool drives unit 20.Flexible operation tool drives list
Unit 20 is associated with driving handle 21 by near structure body 16, and flexible operation tool drives unit 20 and driving handle 21 drive jointly
Move the flexible arm body 11 under flexible cover 104 is coated with to realize curving motion, the flexible arm body 11 under rigidity strip of paper used for sealing 105 is coated with
Then can not realize any curving motion.
As it is shown on figure 3, flexible arm body 11 includes the first far-end structure joint 12 and the second far-end structure joint 13, the first far-end structure joint 12
Including the first far-end space disc the 121, first far-end fixed disk 122 and the first structure nodule llex cornuta 123；Second far-end structure joint 13 includes
Second far-end space disc the 131, second far-end fixed disk 132 and the second structure nodule llex cornuta 133.Wherein, the first far-end space disc 121
Being respectively separated with the second far-end space disc 131 and be distributed in the first far-end structure joint 12 and the second far-end structure joint 13, effect is to prevent
First structure nodule llex cornuta 123 and second structure nodule llex cornuta 133 unstability when being pushed away.First structure nodule llex cornuta 123 one end is fixed on
On first far-end fixed disk 122, the other end passes the first far-end space disc 121, is finally fixed on flexible operation tool drives list
In unit 20；Similar, second structure nodule llex cornuta 131 one end is fixed on the second far-end fixed disk 132, and the other end sequentially passes through
Two far-end space disc the 131, first far-end fixed disk 122 and the first far-end space discs 121, are finally fixed near structure body 16
In.Flexible operation tool drives unit 20 can realize the first far-end structure joint 12 by collaborative push-and-pull the first structure nodule llex cornuta 123 and exist
Specific curve in plane curve；Near structure body 16 can realize the second far-end by collaborative push-and-pull the second structure nodule llex cornuta 133
Structure joint 13 curving to any direction.It should be noted that owing to the first far-end structure joint 12 simply curves plane inflection specific
Turning, therefore the first structure nodule llex cornuta 123 quantity is more than two.
As shown in Figure 4, flexible operation tool drives unit 20 includes fixed pedestal 221, motor 222, gear mesh 223, snail
Bar 224, worm gear 225, power transmission shaft 226, connecting rod 227, slide block 228, guide rod 229 and passage fixed plate 230.Wherein, fixed pedestal
221 is two (only illustrating one in figure), is fastenedly connected motor 222 wherein on a fixed pedestal 221, motor 222 defeated
Shaft is coaxially fastenedly connected with a gear in gear mesh 223, and another gear in gear mesh 223 is coaxial with worm screw 224
Being fastenedly connected, worm screw 224 engages with worm gear 225, and worm gear 225 adapter sleeve is located on power transmission shaft 226, power transmission shaft 226 rotational support
Between two fixed pedestals 221, power transmission shaft 226 is fastenedly connected with the middle part of connecting rod 227.Slide block 228 is two, is positioned at transmission
The both sides of axle 226 and being slidably connected at respectively on guide rod 229, guide rod 229 is fastenedly connected between two passage fixed plates 230
(figure only illustrates one).The chute at connecting rod 227 two ends is connected with a slide block 228 respectively, and two slide blocks 228 are as flexible hand
Outfan and the first structure nodule llex cornuta 123 of art tool drives unit 20 are fastenedly connected.The rotary power of motor 222 can pass through
Gear mesh 223, worm screw 224, worm gear 225 pass to power transmission shaft 226, thus drive link 227 rotates, and the rotation of connecting rod 227 turns
Turn to the slide block 228 linear motion along guide rod 229, and then form the collaborative push-and-pull campaign to the first structure nodule llex cornuta 123, order about
First far-end structure joint 12 specific curve in plane curve.
In a preferred embodiment, the structure joint number that flexible arm body 11 includes can also be one or more than two,
Each structure nodule llex cornuta can be shaft-like or tubular structure.When structure joint number is one, flexible operation tool drives unit can be given up
20 and associated first far-end structure joint 12, now flexible arm body 11 only includes the second far-end associated with near structure body 16
Structure joint 13；When structure joint number more than two, between each structure joint, the mode of series connection is used to connect, i.e. away from flexibility operation tool drives
The structural bone 133 (123) of the structure joint of unit 20 is from the fixed disk 122 of the structure joint close to flexible operation tool drives unit 20
(132) and on space disc 121 (131) through.If the structural bone 133 of the structure joint close to flexible operation tool drives unit 20
(123) using tubular structure, the structural bone 133 (123) away from the structure joint of flexibility operation tool drives unit 20 also can be from close
Pass in the structural bone 123 (133) of the structure joint of flexible operation tool drives unit 20.
As it is shown in figure 5, near structure body 16 includes near-end space disc 161, near-end fixed disk 162 and proximal structure bone 163；
Wherein, near-end space disc 161 is spaced apart near structure body 16, and effect is to prevent proximal structure bone 163 from being lost when pushing away
Surely.Many proximal structure bone 163 one end are fastenedly connected on near-end fixed disk 162, and the other end saves 13 with being positioned at the second far-end structure
On the second structure nodule llex cornuta 133 one_to_one corresponding be fastenedly connected or for same root knot llex cornuta.Preferably, near structure body 16 is outer also
It is coated with strip of paper used for sealing.It should be noted that owing to the second far-end structure joint 13 is intended to curve to any direction, therefore for proximal structure
Body 16 and the second far-end structure joint 13, structural bone quantity therein should be more than three.
As in figure 2 it is shown, driving handle 21 is fastenedly connected, the most laterally with the near-end fixed disk 162 near structure body 16
Rotation driving handle 21 can control near structure body 16 and curve to any direction, thus drives the second far-end structure joint 13 to arbitrarily
Direction curves.Driving handle 21 is provided with toggle switch 202 and press button 201, simultaneously in flexibility operation tool drives
Be provided with the motor control panel (not shown) for controlling motor 222 rotary motion in unit 20, motor control panel with dial
The electrical connection of dynamic switch 202, toggle switch 202 is provided with three gears, is respectively used to control motor 222 and rotates forward, keeps present bit
Putting and invert, the toggle switch 202 on driving handle 21 is stirred in left and right, and the first far-end structure joint 12 can be driven respectively specific curved
Curve to side in turning plane, keep current pose and curve to opposite side.Button press switch 201, in joystick 21
Operation actuator driven mechanism pushes away before and after can being converted to the up and down motion of press button 201 operation executor is controlled line 102
Roping is moved, and then realizes the action control to operation executor 101.
As shown in Figure 6, imaging tool 30 includes imaging illumination module 301, curves joint 302, rigidity body 303, imaging
Tool drives unit 304 and control knob 305.Wherein, imaging illumination module 301 is integrated with two for realizing stereoscopic vision
Photographic head 306 and multiple illuminating device 307.Imaging illumination module 301 is carried by curving joint 302, curves joint 302 and fastens
Being connected to rigidity body 303 far-end, rigidity body 303 near-end is fastenedly connected with imaging tool driver element 304.It is positioned at imaging work
The control knob 305 of tool driver element 304 near-end can control to curve curving of joint 302, and control knob 305 also can be controlled simultaneously
Photographic head 306 processed and the duty of illuminating device 307.Manually push-and-pull, rotation tomography instrument 30 and press control knob
305, imaging tool 30 can realize overall feeding, integral-rotation and curve joint 302 arbitrarily to four freedoms of motion curved,
And then realize photographic head 306 monitoring of multi-angle in operation process.It should be noted that imaging tool driver element 304
Structure is similar to flexible operation tool drives unit 20 to driving principle, therefore repeats no more.
As it is shown in fig. 7, catheter body 40 includes multi-cavity body 401, supporting construction 403, flexible operation tool pass through tract
404, imaging tool passes through tract 405 and guiding sleeve 410.Preferably, multi-cavity body 401 can also include multiple multi-functional
Tract (not shown), in order to insert surgical assist tool in operation.Multi-cavity body 401 is positioned at catheter body 40 far-end and is
Shaft-like linear structure, is provided with an imaging tool and passes through tract 404 by tract 405 and three flexible operation tools.
Imaging tool stretches in supporting construction 403 and extends to support knot by tract 404 by tract 405 and each flexible operation tool
The near-end of structure 403 junction of guiding sleeve 410 (i.e. with).The near-end of supporting construction 403 and three guiding sleeve 410 fastenings are even
Connect, and the hollow tract in guiding sleeve 410 is alignd by tract 404 with the flexible operation tool of supporting construction 403 near-end, makes
Flexible operation tool 10 can smoothly insert guiding sleeve 410 and flexible operation tool arrives art portion by tract 404.Draw
Part later for flexible operation tool 10 rigidity strip of paper used for sealing 105, in dissipating distribution, can be drawn by guide thimble 410 to space different directions
Lead, to avoid each flexible operation tool 10 to interfere.The near-end of guiding sleeve 410 is provided with guiding sleeve entrance 409, in it
Wall is smooth rigid cylindrical passage, flexible operation tool 10 front end and being fastenedly connected with flexibility operation tool drives unit 20
Feeding guide pipe 106 be slidably connected with guiding sleeve 410, feeding guide pipe 106 can the most slidably, rotate, therefore hands
Dynamic push-and-pull driving handle 21 can change flexible arm body 11 and stretch out the flexible operation tool length by tract 404, thus realizes
The overall feeding degree of freedom of flexible operation tool 10；Manual rotation driving handle 21 can control the integral-rotation of flexible arm body 11
Point to the specific plane that curves of the first far-end structure joint 12, and then realize the integral-rotation degree of freedom of flexible operation tool 10 and right
The regulation of operation executor 101 roll angle.Imaging tool extends to support knot from multi-cavity body 401 by tract 405
The rear portion of structure 403, is the tract of a rigid, straight so that imaging tool 30 can also smoothly be inserted imaging tool and pass through tract
405 arrive art portions, and the rigidity body 303 of imaging tool 30 can imaging tool by tract 405 slidably, rotate,
Therefore can manually push-and-pull, rotate imaging tool 30 and realize its overall feeding and degree of freedom of rotation.
Fig. 8 a-c shows that the installation of the present invention puts flow process to good use, including below scheme:
1) operation consent, the imaging tool 30 by catheter body 40 and being packaged, flexible operation tool 10 carry out immersion and disappear
Poison.
2) as shown in Figure 8 a, people is inserted through the sheath being fixed on the single operative incision of patient in the front end of catheter body 40
Body, passes through tract 405 by the imaging tool 30 sterilized through imaging tool, inserts in catheter body 40, until imaging illumination mould
Block 301 stretches out completely with curving joint 302 from imaging tool is by tract 405.The maximum outside diameter of imaging illumination module 301 and
The maximum outside diameter of steering connections 302 is all less than the maximum outside diameter of rigidity body 303, to ensure that imaging illumination module 301 can
Pass through imaging tool by tract 405, and rigidity body 303 in imaging tool is by tract 405 slidably.Pass through
Position, integral-rotation angle and curve curving angle and can being adjusted to picture of joint 302 before and after Non-follow control imaging tool 30
Visual angle.
3) as shown in Figure 8 b, by the flexible operation tool 10 sterilized in guiding sleeve 410 is inserted into catheter body 40
Flexible operation tool by tract 404, until flexible arm body 11 is stretched completely from flexible operation tool is by tract 404
Go out.Flexible arm body 11 can pass through flexible operation tool by tract 404 and the most slidably, rotation.
4) flexible operation tool 10 and imaging tool 30 at the relative position that inside of human body divides and configuration as shown in Figure 8 c, become
As the illuminating device 307 of instrument 30 front end provides illumination, three flexible surgical arms 11 and operation executor for operation technique space
101 all within the field range of photographic head 306.
Fig. 9 illustrate according to another embodiment of the present invention provide catheter body 50, this catheter body 50 include distal plate 501,
Proximal plate 502, supporting construction bar 504, conduit 505, multi-cavity body 401 and guiding sleeve 410.Distal plate 501 and proximal plate 502
Being fastenedly connected integral by supporting construction bar 504, the near-end of multi-cavity body 401 is fastenedly connected in distal plate 501, conduit
505 far-ends are fastenedly connected in distal plate 501 and are connected also by tract 404 with the flexible operation tool in multi-cavity body 401
Tangent, conduit 505 near-end be fastenedly connected in proximal plate 502 and with as be fastenedly connected the guiding sleeve in proximal plate 502
410 connect and tangent.Imaging tool in multi-cavity body 401 passes through tract 405 then also cross distal plate 501 and proximal plate
502。
In the present embodiment, catheter body 50 and catheter body 40 differ primarily in that flexible operation tool 10 is in space
Arrangement difference.In catheter body 40, three flexible operation tools 10 are radially arranged and have certain angle each other, its
Purpose is in order to avoid the external drive part of flexible operation tool 10 interferes when operational movement and the most optimum
Change volume shared by the single hole external drive part of endoscope-assistant surgery system as shown in Figure 1.And three flexible operations in catheter body 50
The parallel distribution of instrument 10 and have mutually enough offset distances, this kind arranges that to achieve single hole endoscope-assistant surgery system equally external
The compact arrangement (as shown in Figure 10) of drive part, can also avoid the external drive part of flexible operation tool 10 in operation fortune
Interfere time dynamic.
The present invention only illustrates with above-described embodiment, the structure of each parts, arranges position and to connect be all to have
Changed.On the basis of technical solution of the present invention, all improvement individual part carried out according to the principle of the invention or equivalent
Conversion, the most should not get rid of outside protection scope of the present invention.
Claims (17)
1. a single hole endoscope-assistant surgery system based on flexible operation tool, it is characterised in that this system includes flexible operation work
Tool, imaging tool and catheter body；
Wherein, described flexible operation tool kit includes operation executor, flexible arm body, driving handle and near structure body, described hands
Art executor associates with described flexible arm body far-end, and described flexible arm body is proximally by described near structure body and described driving hands
Handle associates, and described driving handle drives described flexible arm body to realize curving motion；
Described imaging tool includes imaging illumination module, curves joint and imaging tool driver element, described imaging illumination module
Associate with the described joint far-end that curves, described in curve joint near-end and associate with described imaging tool driver element, described imaging work
Curve joint described in tool drive unit drives to realize curving motion；
Described catheter body is for by perform the operation executor and the described imaging illumination curving joint far-end of described flexible arm body far-end
Module guides and arrives the same area, and the part that simultaneously will be located in described flexible arm body later with curving joint near-end is different to space
Direction guides.
A kind of single hole endoscope-assistant surgery system based on flexible operation tool, it is characterised in that described
Flexible arm body includes that more than one far-end structure saves, and each described far-end structure joint includes far-end fixed disk, far-end space disc and structure
Bone；Multiple described far-end space discs are spaced apart in described far-end structure saves, and structural bone one end of described far-end structure joint is fixed on
On described far-end fixed disk, the other end is fixed in described near structure body after sequentially passing through each described far-end space disc.
A kind of single hole endoscope-assistant surgery system based on flexible operation tool, it is characterised in that described
Near structure body includes near-end space disc, near-end fixed disk and proximal structure bone, multiple described near-end space discs spaced apart in
In described near structure body, many described proximal structure bone one end are fastenedly connected with described near-end fixed disk, and the other end is with described
The structural bone one_to_one corresponding of far-end structure joint is fastenedly connected or is same root knot llex cornuta.
A kind of single hole endoscope-assistant surgery system based on flexible operation tool, it is characterised in that described
Driving handle is fastenedly connected with the near-end fixed disk in described near structure body, and manual lateral rotation driving handle is described to control
Near structure body curves to any direction, thus drives described flexible arm body to curve to any direction.
A kind of single hole endoscope-assistant surgery system based on flexible operation tool, it is characterised in that described
Being provided with press button on driving handle, the control line of the most described operation executor is worn from described flexible arm body and near structure body
Later, it is connected with the operation actuator driven jam in described driving handle, the operation executor in described joystick
The up and down motion of described press button can be converted to push-and-pull campaign before and after the control line to described operation executor by drive mechanism,
And then realize the action control to described operation executor.
A kind of single hole endoscope-assistant surgery system based on flexible operation tool, it is characterised in that described
Catheter body includes multi-cavity body, supporting construction and guiding sleeve；Described multi-lumen tube body is positioned at described catheter body distal end and for shaft-like
Linear structure, is provided with flexible operation tool and passes through tract；Described flexible operation tool stretches into described support by tract
In structure and extend to described supporting construction near-end；Described supporting construction near-end is fastenedly connected with multiple guiding sleeves, and described
Hollow tract in guiding sleeve is alignd by tract with the flexible operation tool of described supporting construction near-end, so that described flexibility
Operation tool can smoothly insert described guiding sleeve and flexible operation tool by tract.
A kind of single hole endoscope-assistant surgery system based on flexible operation tool, it is characterised in that described
Guiding sleeve is in dissipating distribution, with the later part of the flexible arm body near-end by described flexible operation tool to space different directions
Guide；Described guiding sleeve near-end is provided with guiding sleeve entrance, and its inwall is smooth rigid cylindrical passage, described flexibility
Having the feeding guide pipe being slidably connected with described guiding sleeve on operation tool, described feeding guide pipe can free skating wherein
Dynamic, rotate, manually driving handle described in push-and-pull stretches out described flexible operation tool and passes through chamber changing described flexible arm body
The length in road, thus realize the overall feeding degree of freedom of described flexible operation tool；Meanwhile, described driving hands is manually rotated
Handle is to control the integral-rotation of described flexible arm body, and then realizes the integral-rotation degree of freedom of described flexible operation tool and to institute
State the regulation of operation executor's roll angle.
A kind of single hole endoscope-assistant surgery system based on flexible operation tool, it is characterised in that described
Being additionally provided with imaging tool in multi-lumen tube body and pass through tract, described imaging tool is extended to from described multi-lumen tube by tract
The rear portion of described supporting construction, described imaging tool can smoothly be inserted described imaging tool and pass through in tract, and described imaging
Instrument can described imaging tool by tract slidably, rotate, manually push-and-pull, rotate described imaging tool and realize
Its overall feeding and degree of freedom of rotation.
A kind of single hole endoscope-assistant surgery system based on flexible operation tool, it is characterised in that described
Catheter body includes being provided with flexible hand in distal plate, proximal plate, conduit, multi-cavity body and guiding sleeve, and described multi-cavity body
Art instrument passes through tract by tract and imaging tool；Described distal plate and proximal plate are fastenedly connected integral, described multi-lumen tube
Body near-end and described distal end of catheter are all fastenedly connected in described distal plate, and the flexibility in described conduit and described multi-cavity body
Operation tool is connected by tract and tangent, described catheter proximal end be fastenedly connected in described proximal plate and with as be fastenedly connected
Described guiding sleeve in described proximal plate connects and tangent so that described flexible operation tool can smoothly insert described in draw
Guide thimble, conduit and flexible operation tool are by tract.
A kind of single hole endoscope-assistant surgery system based on flexible operation tool, it is characterised in that institute
Stating guiding sleeve to be parallel distribution and have mutually enough offset distances, described guiding sleeve near-end is provided with guiding sleeve and enters
Mouthful, its inwall is smooth rigid cylindrical passage, described flexible operation tool has and is slidably connected with described guiding sleeve
Feeding guide pipe, described feeding guide pipe can the most slidably, rotate, manually driving handle described in push-and-pull is to change
Become described flexible arm body and stretch out the described flexible operation tool length by tract, thus realize the whole of described flexible operation tool
Body feeding degree of freedom；Meanwhile, described driving handle is manually rotated to control the integral-rotation of described flexible arm body, Jin Ershi
The integral-rotation degree of freedom of existing described flexible operation tool and the regulation to described operation executor's roll angle.
11. a kind of single hole endoscope-assistant surgery systems based on flexible operation tool, it is characterised in that institute
Be additionally provided with imaging tool in stating multi-lumen tube body by tract, described imaging tool by tract also cross described distal plate and
Proximal plate；Described imaging tool can smoothly be inserted described imaging tool and pass through in tract, and described imaging tool can be described
Imaging tool by tract slidably, rotate, manually push-and-pull, rotate described imaging tool realize its overall feeding and
The degree of freedom rotated.
12. a kind of single hole endoscope-assistant surgery systems based on flexible operation tool, it is characterised in that when
Described flexible arm body includes when two or more far-end structure saves, and described flexible arm body also includes flexible operation tool drives unit, institute
Stating flexible arm body near-end to associate with described flexible operation tool drives unit, described flexible operation tool drives unit is by described
Near structure body associates with described driving handle；Now, described in a portion, institute is fixed in structural bone one end of far-end structure joint
Stating on far-end fixed disk, the other end is fixed on described flexible operation tool drives unit after sequentially passing through each described far-end space disc
In, described flexible operation tool drives unit drives the far-end structure associated with described flexible operation tool drives unit to save specific
Curve in curving plane.
13. a kind of single hole endoscope-assistant surgery systems based on flexible operation tool, it is characterised in that institute
State flexible operation tool drives unit and include fixed pedestal, motor, gear mesh, worm screw, worm gear, power transmission shaft, connecting rod, guide rod, cunning
Block and passage fixed plate；It is fastenedly connected on described fixed pedestal in described motor, the output shaft of described motor and described gear mesh
A gear be coaxially fastenedly connected, another gear in described gear mesh is coaxially fastenedly connected with described worm screw, described snail
Bar engages with described worm gear, and described worm gear adapter sleeve is connected on described power transmission shaft, and described power transmission shaft rotates with described fixed pedestal
Connecting, described power transmission shaft is fastenedly connected with described connecting rod；Described slide block is two, lays respectively at both sides and the cunning of described power transmission shaft
Being automatically connected on described guide rod, described guide rod is fastenedly connected in described passage fixed plate；The two ends of described connecting rod are respectively with one
Individual described slide block connects, and the structural bone of the far-end structure joint associated with described flexible operation tool drives unit fastens with described slide block
Connect.
14. a kind of single hole endoscope-assistant surgery systems based on flexible operation tool, it is characterised in that institute
State and on driving handle, be additionally provided with toggle switch, be provided with for controlling described in the most described flexible operation tool drives unit
The motor control panel of motor rotary motion, described motor control panel electrically connects with described toggle switch, and described toggle switch can be controlled
Make described motor to rotate forward, keep current location and reversion, and then drive tool drives unit of performing the operation with described flexibility to associate remote
End structure joint respectively specific curve plane in curve to side, keep current pose and curve to opposite side.
15. a kind of single hole endoscope-assistant surgery systems based on flexible operation tool, it is characterised in that institute
Stating structural bone is shaft-like or tubular structure, when described structure joint number more than two, uses the mode of series connection between each described structure joint
Connect, i.e. the structural bone away from the far-end structure joint of described flexible operation tool drives unit is driven from close to described flexible operation tool
Pass on the far-end fixed disk of the far-end structure joint of moving cell and far-end space disc；If close to described flexible operation tool drives unit
The structural bone of far-end structure joint use tubular structure, then away from the structure of far-end structure joint of described flexible operation tool drives unit
Bone passes in the structural bone of the far-end structure joint close to described flexible operation tool drives unit.
16. a kind of based on flexible operation tool the single hole endoscope-assistant surgery systems as described in any one of claim 1 to 15, it is special
Levying and be, described imaging tool also includes rigidity body, now described in curve joint and be fastenedly connected at described rigidity body distal end,
Described rigidity body near-end is fastenedly connected with described imaging tool driver element；
Further, described imaging tool also includes the control knob being positioned at described imaging tool driver element near-end, described
Imaging illumination module includes multiple photographic head for realizing stereoscopic vision and multiple illuminating device, and described control knob controls institute
State and curve any to curving of joint, control the duty of described photographic head and illuminating device simultaneously.
17. a kind of based on flexible operation tool the single hole endoscope-assistant surgery systems as described in claim 8 or 11, its feature exists
In, described flexible operation tool is two or more by tract quantity, and described imaging tool is more than one by tract quantity,
And described multi-cavity body also includes more than one multi-functional tract.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610795885.8A CN106175849B (en) | 2016-08-31 | 2016-08-31 | A kind of single hole endoscope-assistant surgery system based on flexible operation tool |
| PCT/CN2017/099857 WO2018041206A1 (en) | 2016-08-31 | 2017-08-31 | Single-port endoscopic surgical system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610795885.8A CN106175849B (en) | 2016-08-31 | 2016-08-31 | A kind of single hole endoscope-assistant surgery system based on flexible operation tool |
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| Publication Number | Publication Date |
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| CN106175849A true CN106175849A (en) | 2016-12-07 |
| CN106175849B CN106175849B (en) | 2019-03-01 |
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| CN201610795885.8A Active CN106175849B (en) | 2016-08-31 | 2016-08-31 | A kind of single hole endoscope-assistant surgery system based on flexible operation tool |
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| WO (1) | WO2018041206A1 (en) |
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| WO2018041206A1 (en) * | 2016-08-31 | 2018-03-08 | 北京术锐技术有限公司 | Single-port endoscopic surgical system |
| CN108852515A (en) * | 2018-03-23 | 2018-11-23 | 深圳市精锋医疗科技有限公司 | Single incision operation from operation equipment and operating robot |
| CN109431601A (en) * | 2018-10-09 | 2019-03-08 | 北京术锐技术有限公司 | A kind of endoscopic surgery robot combined system and its application method |
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| CN111227939A (en) * | 2018-11-29 | 2020-06-05 | 中国科学院沈阳自动化研究所 | Modular single-hole endoscopic surgery driving device |
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| CN111714162A (en) * | 2019-05-10 | 2020-09-29 | 微创（上海）医疗机器人有限公司 | Surgical device and surgical instrument |
| CN113598949A (en) * | 2021-07-02 | 2021-11-05 | 北京理工大学 | Flexible surgical robot for natural cavity of human body |
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| CN108852515B (en) * | 2018-03-23 | 2022-06-24 | 深圳市精锋医疗科技股份有限公司 | Slave operation device for single incision surgery and surgical robot |
| CN112190336A (en) * | 2018-10-09 | 2021-01-08 | 北京术锐技术有限公司 | Flexible surgical robot system |
| CN109431601A (en) * | 2018-10-09 | 2019-03-08 | 北京术锐技术有限公司 | A kind of endoscopic surgery robot combined system and its application method |
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| CN112190336B (en) * | 2018-10-09 | 2023-12-05 | 北京术锐机器人股份有限公司 | Flexible surgical robot system |
| CN109431606B (en) * | 2018-10-09 | 2021-03-09 | 北京术锐技术有限公司 | Vascular intervention operation robot combination system and use method thereof |
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| CN109567927A (en) * | 2018-11-22 | 2019-04-05 | 清华大学 | A kind of transluminal operation tool |
| CN111227939A (en) * | 2018-11-29 | 2020-06-05 | 中国科学院沈阳自动化研究所 | Modular single-hole endoscopic surgery driving device |
| WO2020133368A1 (en) * | 2018-12-29 | 2020-07-02 | 天津大学 | Flexible surgical instrument, operating arm system and minimally invasive surgical robotic slave manipulator system |
| CN109700537B (en) * | 2018-12-29 | 2021-07-30 | 天津大学 | Flexible surgical instrument, operation arm system and minimally invasive surgery robot slave hand system |
| CN109700537A (en) * | 2018-12-29 | 2019-05-03 | 天津大学 | Flexible surgical instrument operates arm system and micro-wound operation robot from hand system |
| CN111714162A (en) * | 2019-05-10 | 2020-09-29 | 微创（上海）医疗机器人有限公司 | Surgical device and surgical instrument |
| CN111714162B (en) * | 2019-05-10 | 2023-03-28 | 上海微创医疗机器人（集团）股份有限公司 | Surgical device and surgical instrument |
| CN113749777A (en) * | 2020-08-26 | 2021-12-07 | 上海微创医疗机器人（集团）股份有限公司 | Surgical instrument platform, instrument assembly and surgical instrument |
| CN113749777B (en) * | 2020-08-26 | 2023-07-18 | 上海微创医疗机器人（集团）股份有限公司 | Surgical instrument platform, instrument assembly and surgical instrument |
| CN113598949A (en) * | 2021-07-02 | 2021-11-05 | 北京理工大学 | Flexible surgical robot for natural cavity of human body |
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| CN114869359B (en) * | 2022-05-27 | 2023-08-22 | 四川大学华西医院 | Catheter apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106175849B (en) | 2019-03-01 |
| WO2018041206A1 (en) | 2018-03-08 |
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