CN106264665B - A kind of flexible operation device - Google Patents
A kind of flexible operation device Download PDFInfo
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- CN106264665B CN106264665B CN201610609346.0A CN201610609346A CN106264665B CN 106264665 B CN106264665 B CN 106264665B CN 201610609346 A CN201610609346 A CN 201610609346A CN 106264665 B CN106264665 B CN 106264665B
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- 238000005452 bending Methods 0.000 claims abstract description 139
- 229910000831 Steel Inorganic materials 0.000 claims description 15
- 239000010959 steel Substances 0.000 claims description 15
- 239000003599 detergent Substances 0.000 claims description 5
- 241001416181 Axis axis Species 0.000 claims description 4
- 238000001356 surgical procedure Methods 0.000 abstract description 7
- 238000005516 engineering process Methods 0.000 abstract description 5
- 230000006641 stabilisation Effects 0.000 abstract description 2
- 238000011105 stabilization Methods 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 8
- 238000002324 minimally invasive surgery Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000007935 neutral effect Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 241001442589 Convoluta Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000037361 pathway Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in 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
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2904—Details of shaft curved, but rigid
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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)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Ophthalmology & Optometry (AREA)
- Surgical Instruments (AREA)
Abstract
The present invention relates to surgical medical equipment technology fields, disclose a kind of flexible operation device, rod body part, bending section, front end surgical device including sequentially axis connection, the flexible operation device further includes bending driving structure and front end operation driving structure, rod body part connected in sequence, bending section, front end surgical device are stretched into wound by the present invention, and drive bending section and front end surgical device to be bent jointly by being bent driving structure, while driving front end surgical device to carry out specific surgical work by front end operation driving structure；Present invention bending degree of freedom is higher, and front end surgical device can smoothly reach surgical procedure position, and realization is performed the operation under conditions of the relatively narrower of space；In addition, the configuration of the present invention is simple, flexible and convenient operation and stabilization, can generate larger operating force, cost is relatively low.
Description
Technical field
The present invention relates to surgical medical equipment technology fields, more particularly to a kind of flexible operation device.
Background technology
In Minimally Invasive Surgery, surgeon only needs that operation behaviour can be completed by the smaller wound opened with patient
Make.Compared with traditional open surgery, Minimally Invasive Surgery has wound small, and post-operative recovery is fast, and recurrence rate reduces, and complication is reduced
Etc. advantages.
Based on the small feature of Minimally Invasive Surgery wound, the operation pathway that Minimally Invasive Surgery requires is complicated, surgical procedure narrow space,
The case where operation occlusion area can often be encountered in operation.It is therefore desirable to which surgical instrument needs enough wrist degree of freedom, protect
Card end effector mechanism smoothly reaches surgical procedure position.But lack a kind of can carry out at present in more complex surgical environments
The special equipment of surgical procedure.
Invention content
(1) technical problems to be solved
The object of the present invention is to provide a kind of flexible operation device, solve under conditions of operative space relatively narrower into
The problem of row operation.
(2) technical solution
In order to solve the above technical problem, the present invention provides a kind of flexible operation device, including sequentially axis connection
Rod body part, bending section, front end surgical device, the flexible operation device further include that bending driving structure is driven with front end operation
Dynamic structure, the bending driving structure and the front end perform the operation driving structure be threaded through in an axial direction the rod body part with it is described curved
In pars convoluta, and the bending driving structure is flexibly connected with the rod body part, the bending section, and the bending driving structure is used
In driving the bending section to be bent, the front end operation driving structure is connect with the front end surgical device, the front end operation
Driving structure is for driving the front end surgical device to work.
Wherein, the bending section includes at least one bending section, multiple curved when the bending section includes multiple bending sections
Tune sequentially axis connection.
Wherein, the bending section includes the first bending section and the second bending section of sequentially axis connection, first bending section
Also with the rod body part axis connection, second bending section also with the front end surgical device axis connection.
Wherein, the bending driving structure includes that the sequentially drive link of axis connection, the first bent connecting rod, the second bending connect
Extension bar is additionally provided with body of rod sliding pin on first bent connecting rod, and is provided with the body of rod in an axial direction in the rod body part
Guiding groove, the body of rod sliding pin coordinate with the body of rod guiding groove, and first bent connecting rod connects with second bending
Extension bar slides axis connection by first, and the first guiding groove in an axial direction is additionally provided on first bending section, and described first slides
Moving axis coordinates with first guiding groove, the tail end of second bent connecting rod and the second rotation axis axis connection, described
Through-hole is additionally provided on second bending section, and second rotation axis is threaded through in the through-hole.
Wherein, the body of rod guiding groove includes the first extension, straight line portion, the second extension, and the straight line portion is along described
Rod body part is axially arranged, and first extension and second extension are located at the straight line portion both ends, and described first
Extension and the extending direction of second extension are vertical with the straight line portion, and first extension and described second
The extending direction of extension is opposite.
Wherein, the flexible operation device further includes body of rod shell, the first curved envelope, the second curved envelope, institute
It states body of rod shell, first curved envelope, second curved envelope and is successively set on the rod body part, first bending
Section and second bending section outside.
Wherein, the front end operation driving structure includes the first mounting base, the second mounting base, binding clip rotation axis, end cunning
Moving axis, fixing piece, driving steel cable, first mounting base and second mounting base by the binding clip rotation axis axis connection,
It is both provided with end sliding channel in first mounting base and second mounting base, the end sliding axle is threaded through two
In the end sliding channel, the fixing piece is and described solid between first mounting base and second mounting base
Determine part one end and slide axis connection with the end, the other end is connect with the driving steel cable.
Wherein, one end of the front end surgical device is provided with perforation, in an axial direction in second curved envelope
Second guiding groove, the binding clip rotation axis are threaded through in the perforation, and the end sliding axle is threaded through second guiding groove
In.
Wherein, the front end surgical device includes the first half portion and the second half portion, first half portion, second half portion
It is connect respectively with first mounting base, second mounting base.
Wherein, it is additionally provided between the rod body part and the body of rod shell for deploying endoscope and aqueous vapor detergent line
Channel.
(3) advantageous effect
Rod body part connected in sequence, bending section, front end surgical device are stretched into wound by the present invention, and by being bent driving knot
Structure drives bending section and front end surgical device to be bent jointly, at the same by front end perform the operation driving structure drive front end surgical device into
The specific surgical work of row；Present invention bending degree of freedom is higher, and front end surgical device can smoothly reach surgical procedure position, realizes
It performs the operation under conditions of relatively narrower in space；In addition, the configuration of the present invention is simple, flexible and convenient operation and stabilization, can generate compared with
Big operating force, cost are relatively low.
Description of the drawings
Fig. 1 is the structural schematic diagram of flexible operation device provided in an embodiment of the present invention；
Fig. 2 is the flexible operation device decomposition diagram that further embodiment of this invention provides；
Fig. 3 is the structural schematic diagram for the front end surgical device that further embodiment of this invention provides；
Fig. 4 is the structural schematic diagram for the flexible operation device that further embodiment of this invention provides；
Fig. 5 is the flexible operation device working state schematic representation that further embodiment of this invention provides；
Fig. 6 is the structural schematic diagram for the flexible operation device that further embodiment of this invention provides；
Fig. 7 is the flexible operation device working state schematic representation that further embodiment of this invention provides；
In figure：1 rod body part,
11 body of rod guiding grooves,
111 straight line portions, 112 first extensions, 113 second extensions,
2 bending sections,
21 first bending sections, 211 first guiding grooves,
22 second bending sections, 221 through-holes,
3 front end surgical devices, 31 first half portions, 32 second half portions,
4 bending driving structures,
41 drive links, 42 first bent connecting rods, 43 second bent connecting rods, 44 body of rod sliding pins, 45 first sliding axles,
46 second rotation axis,
5 front ends operation driving structure,
51 first mounting bases, 52 second mounting bases, 53 binding clip rotation axis,
54 end sliding channels, 55 end sliding axles, 56 fixing pieces, 57 driving steel cables,
6 body of rod shells,
7 first curved envelopes,
8 second curved envelopes, 81 perforation, 82 second guiding grooves,
9 channels.
Specific implementation mode
With reference to the accompanying drawings and examples, the specific implementation mode of the present invention is described in further detail.Following instance
For illustrating the present invention, but it is not limited to the scope of the present invention.
As shown in Figure 1, the embodiment of the present invention provides a kind of flexible operation device, including the sequentially rod body part of axis connection
1, bending section 2, front end surgical device 3, the flexible operation device further include that bending driving structure 4 drives with front end operation
Structure 5, the bending driving structure 4 and the front end operation driving structure 5 be threaded through in an axial direction the rod body part 1 with it is described
In bending section 2, and the bending driving structure 4 is flexibly connected with the rod body part 1, the bending section 2, the bending driving
Structure 4 is for driving the bending section 2 to be bent, and the front end operation driving structure 5 is connect with the front end surgical device 3, institute
Front end operation driving structure 5 is stated for driving the front end surgical device 3 to work.
Rod body part 1 connected in sequence, bending section 2, front end surgical device 3 are stretched into wound by the present invention, and are driven by being bent
Dynamic structure 4 drives bending section 2 and front end surgical device 3 to be bent jointly, while driving front end hand by front end operation driving structure 5
Art device 3 carries out specific surgical work；Present invention bending degree of freedom is higher, and front end surgical device 3 can smoothly reach operation behaviour
Make position, realization is performed the operation under conditions of the relatively narrower of space；In addition, the configuration of the present invention is simple, flexible and convenient operation, cost
It is relatively low.
Preferably, the bending section 2 includes at least one bending section, when the bending section 2 includes multiple bending sections,
Multiple bending sections sequentially axis connection.
As shown in Figure 1, also can be found in Fig. 2, preferably, in the embodiment of the present invention, the bending section 2 connects including sequentially axis
The first bending section 21 and the second bending section 22 connect, first bending section 21 also with 1 axis connection of the rod body part, described second
Bending section 22 also with 3 axis connection of front end surgical device.
As shown in Fig. 2, Fig. 5 is also can be found in, preferably, the bending driving structure 4 includes the transmission of sequentially axis connection
Bar 41, the first bent connecting rod 42, the second bent connecting rod 43 are additionally provided with body of rod sliding on first bent connecting rod 42
Pin 44, and body of rod guiding groove 11 in an axial direction is provided in the rod body part 1, the body of rod sliding pin 44 is guided with the body of rod
Slot 11 coordinates, and first bent connecting rod 42 is connect with second bent connecting rod 43 by the first sliding axle 45, described
The first guiding groove 211 in an axial direction, first sliding axle 45 and first guiding groove are additionally provided on first bending section 21
211 coordinate, the tail end of second bent connecting rod 43 and 46 axis connection of the second rotation axis, on second bending section 22
It is additionally provided with through-hole 221, and second rotation axis 46 is threaded through in the through-hole 221.Wherein, bending driving structure 4 is by each
A connecting rod realizes movement, has higher kinematic accuracy.
As shown in fig. 6, preferably, the body of rod guiding groove 11 prolongs including the first extension 112, straight line portion 111, second
Extending portion 113, the straight line portion 111 is along the axial setting of the rod body part 1, first extension 112 and second extension
113 are located at 111 both ends of the straight line portion, and the extending direction of first extension 112 and second extension 113 is equal
It is vertical with the straight line portion 111, and first extension 112 is opposite with the extending direction of second extension 113.
Wherein, body of rod sliding pin 44 is plugged in body of rod guiding groove 11, and is reciprocatingly slided along body of rod guiding groove 11, and first slides
Moving axis 45 is plugged in the first guiding groove 211, and is reciprocatingly slided along the first guiding groove 211, and the second rotation axis 46 be threaded through it is logical
In hole 221, for the present invention in 2 integrally bending of bending section, drive link 41 drives the bending of the first bent connecting rod 42, second to connect successively
Extension bar 43 moves, while the second bent connecting rod 43 drives the second rotation axis 46 and the second bending section 22 to move and be gradually curved,
And the first sliding axle 45 on the first bent connecting rod 42 reciprocatingly slides along the first guiding groove 211, when sliding into the first guiding groove
Then no longer slided when 211 end, at this point, the first bent connecting rod 42 then by the first sliding axle 45 drive the first bending section 21 by
Gradually it is bent, meanwhile, the body of rod sliding pin 44 on the first bent connecting rod 42 is inserted to reciprocatingly slide along body of rod guiding groove 11；The present invention is real
It applies in example, body of rod guiding groove 11 includes the first extension 112, straight line portion 111, the second extension 113, when the first bent connecting rod
Body of rod sliding pin 44 on 42 is inserted when sliding into 111 end of straight line portion along body of rod guiding groove 11, due to 11 end of body of rod guiding groove
With lateral the first extension 112 and the second extension 113 so that body of rod sliding pin 44 can be further along the first extension
112 and second extension 113 slide so that the first bent connecting rod 42 is further moved with the second bent connecting rod 43,
And then the first bending section 21 and the second further bending of bending section 22 are driven, to increase whole bending degree so that operation
When rotational angle bigger, it is more flexible.
As shown in Fig. 2, preferably, the flexible operation device further include body of rod shell 6, the first curved envelope 7,
Second curved envelope 8, the body of rod shell 6, first curved envelope 7, second curved envelope 8 are successively set on described
Rod body part 1, first bending section 21 and second bending section, 22 outside.Each shell can be connected with inner core by jackscrew
It connects.
As shown in figure 3, preferably, front end operation driving structure 5 includes the first mounting base 51, the second mounting base
52, binding clip rotation axis 53, end sliding axle 55, fixing piece 56, driving steel cable 57, first mounting base 51 are pacified with described second
Seat 52 is filled by 53 axis connection of binding clip rotation axis, first mounting base 51 is both provided with in second mounting base 52
End sliding channel 54, the end sliding axle 55 are threaded through in two end sliding channels 54, the fixing piece 56
Between first mounting base 51 and second mounting base 52, and 56 one end of the fixing piece and the end sliding axle 55
Connection, the other end are connect with the driving steel cable 57.
As shown in figure 3, preferably, close to the setting of one end of the front end surgical device 3 in second curved envelope 8
There are perforation 81, the second guiding groove 82 in an axial direction, the binding clip rotation axis 53 to be threaded through in the perforation 81, the end sliding
Axis 55 is threaded through in second guiding groove 82.
Wherein, through-hole is generally arranged after the second bending section 22 in driving steel cable 57 among the second bending section 22, drives
Dynamic steel cable 57 runs through from the through-hole, is connect with fixing piece 56, and binding clip rotation axis 53 is stuck in perforation 81, and end sliding axle 55 is worn
It is located in the second guiding groove 82, by driving steel cable 57 to pull fixing piece 56, drives end sliding axle 55 in the second guiding groove 82
Middle movement, so that end sliding axle 55 drives the first mounting base 51,52 phase of the second mounting base by end sliding channel 54
To movement, i.e. the first mounting base 51, the second mounting base 52 are rotated around binding clip rotation axis 53, thus the first mounting base 51 of realization,
Second mounting base 52 opens and closes, and then drives the first of the front end surgical device 3 being connect with the first mounting base 51, the second mounting base 52
Half portion 31 and the second half portion 32 open and close, smoothly into operation.Wherein, the front end surgical device 3 includes the first half portion 31 and second
Half portion 32, first half portion 31, second half portion 32 connect with first mounting base 51, second mounting base 52 respectively
It connects.
As shown in figure 4, preferably, being additionally provided between the rod body part 1 and the body of rod shell 6 for being peeped in placing
The channel 9 of mirror and aqueous vapor detergent line.
Wherein, it is additionally provided between rod body part 1 and the body of rod shell 6 for deploying endoscope and aqueous vapor detergent line
Channel 9 can also be that rod body part 1, the first bending section 21 and the second bending section 22 have been collectively constituted with respective shell for putting
The channel 9 of endoscope and aqueous vapor detergent line is set, and places the channel 9 of driving steel cable 57 and places bending driving structure 4
Channel 9.Miniature flexible endoscope and aqueous vapor washing hose can be placed as needed, passed through for driving steel cable 57, Yi Jiwei
It is bent driving structure 4 and space is provided.
Specifically, as shown in Figure 1, in the embodiment of the present invention：
Right-handed coordinate system XYZ is defined, wherein 1 center line of rod body part is X-axis, the first cradle head (i.e. the first bending section 21
The connecting shaft between rod body part 1) central axis be Z axis, direction as scheme, X/Y plane is horizontal plane, and each bending section is inverse along Z axis
Clockwise rotation then be just, be negative rotationally clockwise along Z axis.
Wherein, when work, when the second bending section 22 is around the second cradle head (i.e. the first bending section 21 and the second bending section 22
Between connecting shaft) rotation reach maximum bend angle before, the body of rod sliding pin 44 on the first bent connecting rod 42 is limited
It is slided along X-direction in body of rod guiding groove 11, and the first sliding axle 45 is moved along the first guiding groove 211；When second curved
After 22 positive negative direction of tune is rotated up to maximum angle, the second bending section 22 keeps opposing stationary with the first bending section 21, and first
Sliding axle 45 and the first guiding groove 211 are opposing stationary, hereafter both connecting shafts between the first bending section 21 and rod body part 1
Rotation, and body of rod sliding pin 44 is in the first extension 112 or the second extension of 11 end of body of rod guiding groove in motion process
113；
In embodiment as shown in Figure 3, the first half portion 31 of front end surgical device 3 is connected in the first peace by mounting screw
It fills on seat 51, the second half portion 32 is connected in by mounting screw in the second mounting base 52, by dismantling mounting screw or can
Head design is replaced into the mounting structure of Uniform provisions, then can replace the front ends such as pliers, scissors, drag hook, electric knife according to demand
Surgical device 3.First mounting base 51 and the second mounting base 52 are by 53 axis connection of binding clip rotation axis, wherein driving steel cable 57 and drive
Dynamic 57 fixing piece 56 of steel cable is connected, and push-and-pull steel cable control end sliding axle 55 is in end sliding channel 54 and the second bending section 22
Sliding in second guiding groove 82, controls the opening and closing on head.
The bending of one degree of freedom may be implemented in micro-surgical instrument bending apparatus of the present invention, single bending section,
Can also multiple bending sections be together in series the more bending degree of freedom of realization.
High rigidity end structure of the present invention can be applied on existing Minimally Invasive Surgery instrument, and rear end uses common micro-
Instrument handle is created, flexibility and the function of existing Minimally Invasive Surgery instrument are improved.Either using motor, pneumatic or special material,
The automatic technologies such as hydraulic pressure are implemented in combination with automation, high-precision, multivariant robot as driving source, with robot technology
Surgery systems, surgical instrument are installed in the multi-degree-of-freemechanical mechanical arm of automation, complete robot micro-wound operation.
Concrete operating principle of the present invention is as follows:
Multistage bending section under one bending degree of freedom of Minimally Invasive Surgery instrument end can be achieved to be bent stage by stage, front end bending point
For two stages, i.e., motionless by limitation in the first bending section of the first stage of bending 21, only the second bending section 22 is around the second rotation
Articulation, when the second bending section 22 reaches maximum bend angle, the restriction cancellation of the first bending section 21 allows the first bending
Section 21 is rotated around the first cradle head, by this structure design and bending method, has both improved flexibility ratio and the bending of front end
Degree, while multistage bending section is bent stage by stage can reduce bending radius, improves the stationarity and accuracy of bending.
Specifically, as shown in Figure 6 and Figure 7, dotted line A and dotted line B are that body of rod sliding pin 44 is sliding in body rod body guiding groove 11
Two limited extreme positions of dynamic process can only be along the straight of body of rod guiding groove 11 when body of rod sliding pin 44 is between dotted line
Line portion 111 linearly moves, and when on body of rod sliding pin 44 moves to dotted line A or under dotted line B, body of rod sliding pin 44 is not
It is limited by guiding groove straight line portion 111.Dotted line C is the direct limit position of the first guiding groove 211, and be the second bending section 22 around
The extreme position that the first sliding axle 45 moves when second cradle head positive direction (counterclockwise) turns to maximum angle；Dotted line D is
The negative sense extreme position of first guiding groove 211, and be the second bending section 22 around the rotation (clockwise) of the second cradle head negative direction
The extreme position moved to the first sliding axle 45 when maximum angle；
As shown in Figure 6 and Figure 7, positive direction rotation (rotating counterclockwise) and negative direction rotate (rotating clockwise)
First stage, at this time body of rod sliding pin 44 be between the dotted line A of body of rod guiding groove 11 and dotted line B, body of rod sliding pin 44 by
The limitation of body of rod guiding groove 11, drive link 41 along in X-direction moving process, protect always with rod body part 1 by the first bending section 21
Water holding is flat.First bending section 21 cannot rotate, and the first bent connecting rod 42 is moved along X-direction, and the first sliding axle 45 is
Sliding in one guiding groove 211, only the second bending section 22 are rotated around the second cradle head.Specifically, drive link 41 is from neutral position
It sets when being moved along X-axis positive direction, the front end surgical device 3 of the second bending section 22 and working front edge is around the second cradle head pros
It is rotated to (counterclockwise)；When the second bending section 22 reaches positive maximum bend angle, body of rod sliding pin 44 moves to the body of rod and draws
At the dotted line location A of guide groove 11；When drive link 41 is moved from neutral position along X-axis negative direction, the second bending section 22 and work
The front end surgical device 3 of front end reaches forward direction most around the rotation (clockwise) of the second cradle head negative direction, in the second bending section 22
When macrobending angle, body of rod sliding pin 44 moves at the dotted line B location of body of rod guiding groove 11.
The described positive direction rotation (rotating counterclockwise) and negative direction rotate the second stage of (rotating clockwise), and at this time the
Two bending sections, 22 positive negative direction is rotated up to maximum angle, and body of rod sliding pin 44 move on dotted line A or dotted line B it
Under, body of rod sliding pin 44 is not limited by 11 straight line portion 111 of body of rod guiding groove, the second stage of movement, the second bending section 22 with
First bending section 21 keeps opposing stationary, is both rotated along the first cradle head.Specifically, drive link 41 is by neutral position edge
It the X-axis positive direction movement first stage and terminates to enter second stage, the first sliding axle 45 moves to the dotted line of the first guiding groove 211
Location of C, when drive link 41 continues to move to X-axis positive direction, the first bending section 21, the second bending section 22 and working front edge front end
Surgical device 3 is opposing stationary, around the rotation (counterclockwise) of the first cradle head positive direction；Drive link 41 is from neutral position along X
The axis negative direction movement first stage terminates to enter second stage, and the first sliding axle 45 moves to D, the dotted line of the first guiding groove 211
Set, drive link 41 continue on X-axis negative direction movement when, the first bending section 21, the second bending section 22 and working front edge front end
Surgical device 3 is opposing stationary, around the rotation (clockwise) of the first cradle head negative direction.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention god.
Claims (7)
1. a kind of flexible operation device, which is characterized in that rod body part, bending section, front end operation including sequentially axis connection
Device, the flexible operation device further include bending driving structure and front end operation driving structure, the bending driving knot
Structure is threaded through with front end operation driving structure in the rod body part and the bending section in an axial direction, and the bending drives
Structure is flexibly connected with the rod body part, the bending section, and the bending driving structure is used to that the bending section to be driven to be bent,
The front end operation driving structure connect with the front end surgical device, the front end perform the operation driving structure be used to drive it is described before
Hold surgical device work；
The bending section includes the first bending section and the second bending section of sequentially axis connection, first bending section also with the bar
Body portion axis connection, second bending section also with the front end surgical device axis connection；
The bending driving structure includes the sequentially drive link of axis connection, the first bent connecting rod, the second bent connecting rod, described
It is additionally provided with body of rod sliding pin on first bent connecting rod, and is provided with body of rod guiding groove in an axial direction, institute in the rod body part
It states body of rod sliding pin and the body of rod guiding groove to coordinate, first bent connecting rod and second bent connecting rod pass through the
One sliding axis connection, is additionally provided with the first guiding groove in an axial direction on first bending section, first sliding axle with it is described
First guiding groove coordinates, the tail end of second bent connecting rod and the second rotation axis axis connection, on second bending section also
It is provided with through-hole, and second rotation axis is threaded through in the through-hole.
2. flexible operation device as described in claim 1, which is characterized in that the body of rod guiding groove includes the first extension
Portion, straight line portion, the second extension, the straight line portion are axially arranged along the rod body part, first extension and described second
Extension is located at the straight line portion both ends, the extending direction of first extension and second extension with it is described
Straight line portion is vertical, and first extension is opposite with the extending direction of the second extension.
3. flexible operation device as described in claim 1, which is characterized in that the flexible operation device further includes
Body of rod shell, the first curved envelope, the second curved envelope, the body of rod shell, first curved envelope, second bending
Shell is successively set on the rod body part, first bending section and second bending section outside.
4. flexible operation device as claimed in claim 3, which is characterized in that the front end operation driving structure includes the
One mounting base, the second mounting base, binding clip rotation axis, end sliding axle, fixing piece, driving steel cable, first mounting base and institute
The second mounting base is stated by the binding clip rotation axis axis connection, first mounting base is both provided with in second mounting base
End sliding channel, the end sliding axle are threaded through in two end sliding channels, and the fixing piece is located at described the
Between one mounting base and second mounting base, and axis connection, the other end and institute are slided in described fixing piece one end with the end
State driving steel cable connection.
5. flexible operation device as claimed in claim 4, which is characterized in that close to described in second curved envelope
One end of front end surgical device is provided with perforation, the second guiding groove in an axial direction, and the binding clip rotation axis is threaded through the perforation
In, the end sliding axle is threaded through in second guiding groove.
6. flexible operation device as claimed in claim 4, which is characterized in that the front end surgical device includes the first half
Portion and the second half portion, first half portion, second half portion connect with first mounting base, second mounting base respectively
It connects.
7. flexible operation device as claimed in claim 3, which is characterized in that the rod body part and the body of rod shell it
Between be additionally provided with channel for deploying endoscope and aqueous vapor detergent line.
Priority Applications (1)
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| CN107320183B (en) * | 2017-07-31 | 2021-03-19 | 成都博恩思医学机器人有限公司 | Surgical instrument for minimally invasive surgery robot and minimally invasive surgery robot |
| CN107320191B (en) * | 2017-07-31 | 2021-10-15 | 成都博恩思医学机器人有限公司 | Transmission assembly, surgical instrument of surgical robot and surgical robot |
| CN107374735B (en) * | 2017-07-31 | 2021-07-20 | 成都博恩思医学机器人有限公司 | Transmission assembly, surgical instrument of surgical robot and surgical robot |
| CN107334534B (en) * | 2017-07-31 | 2021-09-17 | 成都博恩思医学机器人有限公司 | Instrument transmission assembly, surgical instrument of surgical robot and surgical robot |
| CN107334530B (en) * | 2017-07-31 | 2021-04-16 | 成都博恩思医学机器人有限公司 | Surgical instrument for minimally invasive surgery robot and minimally invasive surgery robot |
| CN107260312B (en) * | 2017-07-31 | 2023-09-19 | 成都博恩思医学机器人有限公司 | Transmission assembly, surgical instrument of surgical robot and surgical robot |
| CN107320188B (en) * | 2017-07-31 | 2021-03-30 | 成都博恩思医学机器人有限公司 | Surgical instrument for minimally invasive surgery robot and minimally invasive surgery robot |
| CN109009458A (en) * | 2018-07-13 | 2018-12-18 | 深圳市精锋医疗科技有限公司 | Motion arm |
| CN109009456A (en) * | 2018-07-13 | 2018-12-18 | 深圳市精锋医疗科技有限公司 | The motion arm of replaceable end instrument |
| CN109009455A (en) * | 2018-07-13 | 2018-12-18 | 深圳市精锋医疗科技有限公司 | Replaceable end instrument from operation equipment |
| CN109009454A (en) * | 2018-07-13 | 2018-12-18 | 深圳市精锋医疗科技有限公司 | Detachable end instrument from operation equipment |
| CN109009457A (en) * | 2018-07-13 | 2018-12-18 | 深圳市精锋医疗科技有限公司 | From operation equipment |
| CN109223173B (en) * | 2018-11-10 | 2019-10-15 | 吉林大学 | A kind of department of stomatology multi-angle operation electric coagulation forceps |
| CN109223172B (en) * | 2018-11-10 | 2019-09-27 | 马晓丽 | A kind of gynaecology and obstetrics operation electric coagulation forceps |
| CN110464466B (en) * | 2019-08-20 | 2021-04-20 | 吉林大学 | Flexible robot for abdominal cavity minimally invasive surgery |
| CN111000599B (en) * | 2019-12-13 | 2021-07-27 | 山东大学 | Variable-rigidity snake-shaped surgical robot based on nickel-titanium alloy framework |
| CN112022240A (en) * | 2020-09-03 | 2020-12-04 | 生一科技(北京)有限公司 | Surgical instrument |
| CN113081247B (en) * | 2021-04-09 | 2022-10-04 | 珠海市司迈科技有限公司 | Universal bending multifunctional operation electrode |
| CN115005931B (en) * | 2022-08-09 | 2022-11-01 | 生一科技(北京)有限公司 | Minimally invasive surgery instrument assembly and minimally invasive surgery instrument |
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| DE10314827B3 (en) * | 2003-04-01 | 2004-04-22 | Tuebingen Scientific Surgical Products Gmbh | Surgical instrument used in minimal invasive surgery comprises an effector-operating gear train having a push bar displaceably arranged in a tubular shaft and lying in contact with a push bolt interacting with an engaging element |
| AT508161B1 (en) * | 2009-05-14 | 2011-08-15 | Peter Dr Metzger | FLEXIBLE SURGICAL BARRIER |
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| KR101731969B1 (en) * | 2010-12-03 | 2017-05-02 | 삼성전자주식회사 | Surgical instrument |
| US9113879B2 (en) * | 2011-12-15 | 2015-08-25 | Ethicon Endo-Surgery, Inc. | Devices and methods for endoluminal plication |
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