CN106214190A - The snakelike mechanism in the controlled joint of rigidity for single hole operating theater instruments - Google Patents

The snakelike mechanism in the controlled joint of rigidity for single hole operating theater instruments Download PDF

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Publication number
CN106214190A
CN106214190A CN201610547241.7A CN201610547241A CN106214190A CN 106214190 A CN106214190 A CN 106214190A CN 201610547241 A CN201610547241 A CN 201610547241A CN 106214190 A CN106214190 A CN 106214190A
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CN
China
Prior art keywords
snakelike
rigidity
energy
skeleton
operating theater
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Pending
Application number
CN201610547241.7A
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Chinese (zh)
Inventor
王树新
王建辰
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Tianjin University
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Tianjin University
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Application filed by Tianjin University filed Critical Tianjin University
Priority to CN201610547241.7A priority Critical patent/CN106214190A/en
Publication of CN106214190A publication Critical patent/CN106214190A/en
Pending legal-status Critical Current

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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00681Aspects not otherwise provided for
    • A61B2017/0069Aspects not otherwise provided for with universal joint, cardan joint

Abstract

The invention discloses the snakelike mechanism in the controlled joint of rigidity for single hole operating theater instruments, it includes flexible supporting frames, on flexible supporting frames, coiling has energy exchanger, energy exchanger is cased with snakelike skeleton and insulated heat set the most successively, liquid metal is filled in flexible supporting frames, space between energy exchanger and snakelike skeleton, energy exchanger controls source and is connected by the change by realizing energy exchanger own temperature in the way of conducting with external energy, flexible supporting frames and snakelike skeleton are made up of elastomeric material, snakelike skeleton has for through controlling the deflection degree of freedom of snakelike skeleton and deflecting the silk duct driving silk of degree of freedom up and down.Mechanism can more effectively avoid the instrument collision problem when operation technique.

Description

The snakelike mechanism in the controlled joint of rigidity for single hole operating theater instruments
Technical field
The present invention relates to a kind of Minimally Invasive Surgery apparatus articulation mechanism, particularly to a kind of rigidity for single hole operating theater instruments Controlled joint.
Background technology
Along with the development of science and technology, Modern Medical Field has had been enter into the minimally invasive surgery epoch.Although, have people in one's early years and carry Go out endoscopic surgery (the natural orificetrans-luminal endoscopic through human body natural's tract Surgery, NOTES) noinvasive surgical operation, but owing to this technical difficulty is high, and need to carry out in a long and narrow space Clamp the operation techniques such as stitching, and performance accuracy cannot meet the demand of doctor, thus this technology does not the most obtain extensively General application.And it is referred to as the single hole operation of transitional technology, because its cosmetic result more general Minimally Invasive Surgery technology is more preferable, and technology Relative maturity, is widely used on the contrary.
Single hole operation refers to insert multiple perforator or multi-pore channel perforator on the little otch of a 15mm-40mm, then Implantation surgery apparatus is operated.In existing single-hole surgical, owing to apparatus mostly is stiff rod instrument and all by one Individual passage enters, and easily produces " chopsticks effect " and causes apparatus to collide in vivo, affects operating time and surgical quality.Although The single hole machine as representative with Da Vinci (patent No. US 8771180 B2) and Titan (patent No. US 20110230894 A1) Device people's surgery systems utilizes serpentine configuration to solve this problem, but brings apparatus rigidity simultaneously and decline, and promotes hypodynamic Problem.And the controlled articulation mechanism of snakelike rigidity for single hole apparatus that this patent proposes, original apparatus can not only be solved and touch Hit problem, more can be by the control of rigidity, the hypodynamic problem of lifting brought to make up snakelike compliant mechanism to introduce, to single hole The development of robotic surgery is significant.
Summary of the invention
Present invention aim to overcome that the deficiency of prior art, it is provided that one had both avoided apparatus because of single hole operative space The collision problem caused and the snakelike mechanism in the controlled joint of the rigidity for single hole operating theater instruments of apparatus good rigidly.
The present invention is attained in that by techniques below means
The snakelike mechanism in the controlled joint of rigidity for single hole operating theater instruments of the present invention, it includes flexible supporting frames, in institute On the flexible supporting frames stated, coiling has energy exchanger, is cased with snakelike on described energy exchanger the most successively Skeleton and insulated heat set, liquid metal is filled in the space between flexible supporting frames, energy exchanger and snakelike skeleton, institute The energy exchanger stated controls source and is connected by by realizing energy exchanger own temperature in the way of conducting with external energy Change, described flexible supporting frames and snakelike skeleton are made up of elastomeric material, have for wearing on described snakelike skeleton Cross the deflection degree of freedom controlling snakelike skeleton and the silk duct driving silk deflecting degree of freedom up and down.
The present invention compared with prior art has the advantages that
1. controlled for rigidity joint is drawn by the snakelike mechanism in the controlled joint of the rigidity for single hole operating theater instruments of the present invention first Enter in operating theater instruments, filled up single hole operating theater instruments blank in this aspect.
2. the snakelike mechanism in the controlled joint of the rigidity for single hole operating theater instruments of the present invention can more effectively avoid instrument to exist Collision problem during operation technique.
3. the snakelike mechanism in the controlled joint of the rigidity for single hole operating theater instruments of the present invention due to the controllability of rigidity permissible Realize snakelike framing structure to change from firm state to the 0-1 of soft state so that operation technique is more accurately with flexible.
4. the snakelike mechanism in the controlled joint of the rigidity for single hole operating theater instruments of the present invention phase transformation control by liquid metal Rigidity processed, makes it have bigger lifting force while keeping motility.
5. although the snakelike mechanism in the controlled joint of the rigidity for single hole operating theater instruments of the present invention is for single hole surgical device Tool designs, but this articulation mechanism has higher portability, it is possible to be directly used in other operation tools, has and cures to other The potentiality for the treatment of field extension.
Accompanying drawing explanation
Fig. 1 is the present invention snakelike mechanism in the controlled joint of the rigidity overall structure schematic diagram for single hole operating theater instruments;
Fig. 2 is the present invention snakelike mechanism in the controlled joint of the rigidity overall structure exploded perspective view for single hole operating theater instruments;
Fig. 3 is the present invention snakelike mechanism in the controlled joint of the rigidity hydrothermal exchange working method principle for single hole operating theater instruments Schematic diagram;
Fig. 4 is the present invention snakelike mechanism in the controlled joint of the rigidity electric heating exchange working method principle for single hole operating theater instruments Schematic diagram;
Fig. 5 is the present invention snakelike mechanism in the controlled joint of the rigidity rigidity working state schematic representation for single hole operating theater instruments;
Fig. 6 is the present invention controlled joint of the rigidity snakelike mechanism flexibility working state schematic representation for single hole operating theater instruments.
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.
Fig. 1 is the snakelike structural scheme of mechanism in the controlled joint of the rigidity for single hole operating theater instruments of the present invention, the controlled list of rigidity Hole operating theater instruments includes binding clip assembly 1-1 and the controlled snakelike articulation mechanism 1-2 two parts of rigidity, and the present invention performs the operation for single hole The controlled joint of the rigidity snakelike mechanism 1-2 of apparatus is connected with binding clip assembly 1-1 by bonding or tight fit mode.
The snakelike mechanism in the controlled joint of rigidity for single hole operating theater instruments of the present invention has two kinds of rigidity driving methods, point Other hydro-thermal energy exchange method and electric heating energy exchange process.
The snakelike mechanism in the controlled joint of rigidity for single hole operating theater instruments of the present invention as shown in drawings, it includes elasticity Bracing frame 2-5, on described flexible supporting frames 2-5, coiling has energy exchanger 2-4, at described energy exchanger 2- Be cased with the most successively on 4 snakelike skeleton 2-2 and insulated heat set 2-1, liquid metal 2-3 be filled in flexible supporting frames 2-5, Space between energy exchanger 2-4 and snakelike skeleton 2-2, described energy exchanger 2-4 controls source with external energy It is connected by the change by realizing energy exchanger own temperature in the way of conducting.As one embodiment of the present invention institute The snakelike skeleton 2-2 stated includes that multiple unit joint, the mode that between two adjacent unit joints, employing type is sealed are connected to Together so that each the unit joint in snakelike skeleton links together.The snakelike skeleton of other forms can certainly be used 2-2.Structure as disclosed in patent CN104490477A.Described liquid metal 2-3 can use the alloy of gallium indium bismuth copper, also Can use gallium-indium alloy, bi-material all can be buied in market.So this metal at room temperature can spontaneous curing or logical Cross energy exchanger and carry out heat radiation realization solidification, can liquefy when being heated by energy exchanger.
Snakelike skeleton 2-2 is wrapped up by described insulated heat set 2-1, forms the form of Fig. 2.
On described snakelike skeleton 2-2, it is provided with the silk duct driving silk simultaneously, drives silk through silk duct, be fixed on On binding clip assembly 1-1, drive silk for controlling the deflection degree of freedom of snakelike skeleton 2-2 and deflecting degree of freedom up and down.Drive The set-up mode driving silk described in Si can use existing structure, such as Chinese patent 201510665781.0 He 201510669801.1 disclosed structure.
Described flexible supporting frames 2-5 and snakelike skeleton 2-2 is made up of elastomeric material, and the elastomeric material of employing can be bullet Property rubber or other have resilient organic polymer.
The snakelike mechanism in the controlled joint of rigidity of the present invention uses hydrothermal exchange operation principle as shown in Figure 3.When not carrying out During thermal energy exchange, liquid metal is in solid state shape, by the most locked for snakelike skeleton 2-2 so that it is lose deflection freely Degree R1 and up and down deflection degree of freedom R2, the most snakelike mechanism is rigidity duty.Described energy exchanger uses double spiral shell Rotation energy exchange pipe, described external energy controls source and uses thermal source, and the import of described Double helix energy exchange pipe is by dress The injection channel 3-6 having two-way peristaltic pump is connected with thermal source, and the outlet of described Double helix energy exchange pipe passes through loop pipe Road 3-3 is connected with holding vessel 3-4.When carrying out thermal energy exchange, peristaltic pump 3-5 by the hot water in thermal source 3-7 from injection channel 3-6 In middle introducing Double helix energy exchange pipe, make heat energy sufficiently be absorbed by liquid metal 2-3, hot-fluid is introduced Double helix energy and hands over Change and liquid metal is carried out phase transformation control by pipe, afterwards from return 3-3 to holding vessel 3-4, by liquid gold after heat exchange Belonging to 2-3 liquid phase, untie locked R1 and R2 and deflect degree of freedom, instrument becomes soft state, it can be made to reach by controlling driving silk 3-2 To duty as shown in Figure 5.It should be noted that if snakelike skeleton 2-2 being moved to 5-in Fig. 5 under flexible state Behind position shown in 1, then carry out rigidity lifting control, then can ensure that snake bone maintains 5-1 place in Figure 5 with rigid state The position shown, has thus reached snakelike skeleton 2-2 rigidity under free position controlled so that it is be not only provided with the highest spirit Activity makes up flexible joint simultaneously and promotes hypodynamic problem.
The snakelike mechanism in the controlled joint of described rigidity electric heating exchange operation principle is as shown in Figure 4.Described energy exchange dress Putting employing double spiral wounded resistance silk 4-2, described external energy controls source and uses power supply, and described double spiral wounded resistance silk 4-2 passes through Anelectrode 4-3 and negative electrode 4-4 be connected with power supply generation heat, liquid metal 2-3 heat absorption after liquid phase, untie locked R1 and R2 deflects degree of freedom, in flexible state, reaches rigidity controlled.
Fig. 5 is that a kind of of the snakelike mechanism in the controlled joint of rigidity of the present invention uses installation method.The snakelike machine in the controlled joint of rigidity Structure overall structure 1-2 is arranged in the front portion of variation rigidity single hole apparatus, and 5-2 is conventional serpentine mechanism.The controlled joint of described rigidity Snakelike mechanism overall structure 1-2 be connected with conventional serpentine mechanism 5-2 by the way of tight fit or bonding or draw-in groove thus It is assembled into complete variation rigidity single hole operation tool.
Fig. 6 is that the snakelike mechanism in the controlled joint of rigidity of the present invention is at single hole robot application schematic diagram on the whole.Rigidity The snakelike mechanism in controlled joint applies the front portion at variation rigidity single hole apparatus 6-4, variation rigidity single hole apparatus 6-4 to open up under flexible state Open as operating conditions, and according to operation needs, single hole apparatus can switch under firm state-soft state two states.6-1 is body Table, 6-2 is endoscope, and 6-3 is pathological tissues.

Claims (5)

1. for the snakelike mechanism in the controlled joint of rigidity of single hole operating theater instruments, it is characterised in that: it includes flexible supporting frames, in institute On the flexible supporting frames stated, coiling has energy exchanger, is cased with snakelike on described energy exchanger the most successively Skeleton and insulated heat set, liquid metal is filled in the space between flexible supporting frames, energy exchanger and snakelike skeleton, institute The energy exchanger stated controls source and is connected by by realizing energy exchanger own temperature in the way of conducting with external energy Change, described flexible supporting frames and snakelike skeleton are made up of elastomeric material, have for wearing on described snakelike skeleton Cross the deflection degree of freedom controlling snakelike skeleton and the silk duct driving silk deflecting degree of freedom up and down.
The snakelike mechanism in the controlled joint of rigidity for single hole operating theater instruments the most according to claim 1, it is characterised in that: institute The energy exchanger stated uses Double helix energy exchange pipe, described external energy to control source and uses thermal source, described double spiral shells The import of rotation energy exchange pipe is by being connected hot-fluid introduces Double helix energy with thermal source equipped with the injection channel of two-way peristaltic pump Amount exchange pipe carries out phase transformation control to liquid metal, the outlet of described Double helix energy exchange pipe by return with Holding vessel is connected.
The snakelike mechanism in the controlled joint of rigidity for single hole operating theater instruments the most according to claim 1, it is characterised in that: institute The energy exchanger stated uses double spiral wounded resistance silk, described external energy to control source and uses power supply, described Double helix electricity Resistance silk is connected generation heat so that liquid phase after liquid metal heat absorption by anelectrode and negative electrode with power supply.
4. according to the rigidity controllable tool mechanism for single hole operating theater instruments one of claim 1-3 Suo Shu, it is characterised in that: Described elastomeric material is gum elastic or has resilient organic polymer.
5. according to the rigidity controllable tool mechanism for single hole operating theater instruments one of claim 1-3 Suo Shu, it is characterised in that: Described liquid metal uses the alloy of gallium indium bismuth copper or uses gallium-indium alloy.
CN201610547241.7A 2016-07-12 2016-07-12 The snakelike mechanism in the controlled joint of rigidity for single hole operating theater instruments Pending CN106214190A (en)

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CN201610547241.7A CN106214190A (en) 2016-07-12 2016-07-12 The snakelike mechanism in the controlled joint of rigidity for single hole operating theater instruments
PCT/CN2017/087260 WO2018010503A1 (en) 2016-07-12 2017-06-06 Stiffness-controllable joint snake-like mechanism, single-port surgical instrument, and single-port robot

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Cited By (7)

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CN107361727A (en) * 2017-07-17 2017-11-21 天津大学 A kind of controllable apparatus of rigidity and its application process for natural cavity operation
WO2018010503A1 (en) * 2016-07-12 2018-01-18 天津大学 Stiffness-controllable joint snake-like mechanism, single-port surgical instrument, and single-port robot
WO2018010502A1 (en) * 2016-07-12 2018-01-18 天津大学 Stiffness-controllable tool mechanism
CN108814722A (en) * 2018-04-20 2018-11-16 天津大学 Variation rigidity natural cavity surgical instrument support construction and application method
CN110269689A (en) * 2018-03-14 2019-09-24 深圳市精锋医疗科技有限公司 Connection component, motion arm, from operation equipment and operating robot
CN110269692A (en) * 2018-03-14 2019-09-24 深圳市精锋医疗科技有限公司 Connection component, motion arm, from operation equipment and operating robot
CN110584571A (en) * 2019-10-21 2019-12-20 苏州中科先进技术研究院有限公司 Double-helix snake bone and endoscope

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018010503A1 (en) * 2016-07-12 2018-01-18 天津大学 Stiffness-controllable joint snake-like mechanism, single-port surgical instrument, and single-port robot
WO2018010502A1 (en) * 2016-07-12 2018-01-18 天津大学 Stiffness-controllable tool mechanism
CN107361727A (en) * 2017-07-17 2017-11-21 天津大学 A kind of controllable apparatus of rigidity and its application process for natural cavity operation
CN107361727B (en) * 2017-07-17 2019-06-04 天津大学 A kind of controllable instrument of rigidity and its application method for natural cavity operation
CN110269692B (en) * 2018-03-14 2021-01-05 深圳市精锋医疗科技有限公司 Connecting assembly, operating arm, slave operating equipment and surgical robot
CN110269689A (en) * 2018-03-14 2019-09-24 深圳市精锋医疗科技有限公司 Connection component, motion arm, from operation equipment and operating robot
CN110269692A (en) * 2018-03-14 2019-09-24 深圳市精锋医疗科技有限公司 Connection component, motion arm, from operation equipment and operating robot
CN110269689B (en) * 2018-03-14 2021-01-05 深圳市精锋医疗科技有限公司 Connecting assembly, operating arm, slave operating equipment and surgical robot
WO2019200798A1 (en) * 2018-04-20 2019-10-24 天津大学 Support structure for rigidity-variable natural orifice surgical instrument, and rigidity control method for support structure
CN108814722A (en) * 2018-04-20 2018-11-16 天津大学 Variation rigidity natural cavity surgical instrument support construction and application method
CN108814722B (en) * 2018-04-20 2021-07-23 天津大学 Variable-rigidity natural cavity surgical instrument supporting structure and using method
CN110584571A (en) * 2019-10-21 2019-12-20 苏州中科先进技术研究院有限公司 Double-helix snake bone and endoscope

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Application publication date: 20161214