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 PDFInfo
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- 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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- Prior art keywords
- snakelike
- rigidity
- skeleton
- energy
- single hole
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00681—Aspects not otherwise provided for
- A61B2017/0069—Aspects not otherwise provided for with universal joint, cardan joint
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
- Prostheses (AREA)
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
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.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106214190A true CN106214190A (en) | 2016-12-14 |
Family
ID=57519623
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610547241.7A Pending CN106214190A (en) | 2016-07-12 | 2016-07-12 | The snakelike mechanism in the controlled joint of rigidity for single hole operating theater instruments |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106214190A (en) |
| WO (1) | WO2018010503A1 (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| WO2018010502A1 (en) * | 2016-07-12 | 2018-01-18 | 天津大学 | Stiffness-controllable tool mechanism |
| 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 |
| CN108527439A (en) * | 2018-06-14 | 2018-09-14 | 北京思宇博特科技有限公司 | A kind of liquid metal non-individual body machinery arm configuration |
| CN108524000A (en) * | 2017-03-06 | 2018-09-14 | 新加坡国立大学 | Surgical procedures arm and surgical procedures system |
| CN108814722A (en) * | 2018-04-20 | 2018-11-16 | 天津大学 | Variation rigidity natural cavity surgical instrument support construction and application method |
| CN109172130A (en) * | 2018-08-30 | 2019-01-11 | 上海西地众创空间管理有限公司 | Medical robot for operation for myopia |
| 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 |
| CN112603394A (en) * | 2020-12-29 | 2021-04-06 | 极限人工智能有限公司 | Auxiliary surgical instrument |
| CN112890739A (en) * | 2021-02-26 | 2021-06-04 | 天津大学 | Medical endoscope insertion unit |
| WO2022000709A1 (en) * | 2020-06-30 | 2022-01-06 | 天津大学 | Minimally invasive surgical robot operating tool |
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| CN108567451B (en) * | 2018-04-24 | 2020-04-14 | 天津大学 | Sponge-based variable-rigidity natural cavity surgical instrument supporting structure and using method |
| CN113712666B (en) * | 2021-08-03 | 2023-10-27 | 复旦大学 | Flexible continuum surgical robot |
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| WO2018010502A1 (en) * | 2016-07-12 | 2018-01-18 | 天津大学 | Stiffness-controllable tool mechanism |
| 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 |
| CN108524000B (en) * | 2017-03-06 | 2022-08-09 | 新加坡国立大学 | Surgical operation arm and surgical operation system |
| CN108524000A (en) * | 2017-03-06 | 2018-09-14 | 新加坡国立大学 | Surgical procedures arm and surgical procedures system |
| 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 |
| 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 |
| 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 |
| 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 |
| CN108527439A (en) * | 2018-06-14 | 2018-09-14 | 北京思宇博特科技有限公司 | A kind of liquid metal non-individual body machinery arm configuration |
| CN109172130A (en) * | 2018-08-30 | 2019-01-11 | 上海西地众创空间管理有限公司 | Medical robot for operation for myopia |
| 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 |
| CN110584571B (en) * | 2019-10-21 | 2022-04-26 | 苏州中科先进技术研究院有限公司 | Double-helix snake bone and endoscope |
| WO2022000709A1 (en) * | 2020-06-30 | 2022-01-06 | 天津大学 | Minimally invasive surgical robot operating tool |
| CN112603394A (en) * | 2020-12-29 | 2021-04-06 | 极限人工智能有限公司 | Auxiliary surgical instrument |
| CN112890739A (en) * | 2021-02-26 | 2021-06-04 | 天津大学 | Medical endoscope insertion unit |
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| WO2018010503A1 (en) | 2018-01-18 |
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Application publication date: 20161214 |