CN106308937A - Flexible surgery tool system with far end capable of turning in any direction - Google Patents
Flexible surgery tool system with far end capable of turning in any direction Download PDFInfo
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- CN106308937A CN106308937A CN201610796100.9A CN201610796100A CN106308937A CN 106308937 A CN106308937 A CN 106308937A CN 201610796100 A CN201610796100 A CN 201610796100A CN 106308937 A CN106308937 A CN 106308937A
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- far
- fixed plate
- push
- fastenedly connected
- operation tool
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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
- A61B2017/00017—Electrical control of surgical instruments
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Abstract
The invention relates to a flexible surgery tool system with the far end capable of turning in any direction. The flexible surgery tool system comprises a flexible surgery tool and a driving unit. The flexible surgery tool comprises a far-end structural body, a near-end structural body and a middle connecting body. The far-end structural body comprises far-end segments, and each far-end segment comprises far-end spacing discs, a far-end fixing disc and structural bones. The near-end structural body comprises near-end segments, and each near-end segment comprises near-end spacing discs, a near-end fixing disc and structural bones. The middle connecting body comprises channel fixing plates and structural bone guide channels. The driving unit comprises a motor part, a motion conversion part and linear motion mechanisms. The motor part comprises a first fixing plate and first motors, the motion conversion part comprises transmission chains used for converting rotary output of the first motors into linear motion of output rods, the linear motion is transmitted to the input ends of the linear motion mechanisms through a sterile barrier, the output ends of the linear motion mechanisms are connected with one ends of driving bones, the driving bones penetrate through the near-end spacing discs, and the other ends of the driving bones are connected with the near-end fixing discs.
Description
Technical field
The present invention relates to the flexible operation tool system that a kind of far-end can curve to any direction, belong to medical apparatus and instruments neck
Territory.
Background technology
Porous peritoneoscope Minimally Invasive Surgery, because its wound is little, post-operative recovery fast, has occupied important in surgical operation
Status.The da Vinci operating robot auxiliary doctor of existing Intuitive Surgical company completes porous peritoneoscope Wicresoft
Operation, achieves coml immense success.
Invasive surgery formula develops again single-hole laparoscopic surgery and the noinvasive through natural tract after porous laparoscopic surgery
Operation, they outputs less to patient trauma, postoperative are higher.But at single-hole laparoscopic surgery with through the non-invasive procedures of natural tract
In, all operating theater instruments including visual illumination module and operation technique arm all reach art portion by single channel, and this is right
The preparation of operating theater instruments requires extremely harsh.The distal structure of existing operating theater instruments is mainly the hinged in series of many rod members, uses
Lineoutofservice signal pull drives, and makes operating theater instruments realize curving at articulation joint.Owing to steel wire rope must keep lasting by pulley
Tensioning state, this type of drive is difficult to the further miniaturization of operating theater instruments, is also difficult to promote further the fortune of apparatus
Dynamic performance.
Although Intuitive Surgical company is proposed da Vinci Single-Site operating robot in the recent period, its
It transform original rigidity operating theater instruments as semi-rigid operating theater instruments, and add prebuckling sleeve pipe, improve to a certain extent
The exercise performance of operating theater instruments, but still cannot fundamentally solve tradition micro-surgical instrument problem encountered.
Summary of the invention
For the problems referred to above, it is an object of the present invention to provide the flexible operation that a kind of far-end can curve to any direction
Tool system, this flexibility operation tool system can preferably be applied to through human body natural's tract or through single operative incision and
Implement the robot system of operation.
For achieving the above object, the present invention is by the following technical solutions: the flexibility that a kind of far-end can curve to any direction
Operation tool system, it is characterised in that: it includes flexible operation tool and driver element；Described flexible operation tool kit includes by far
The flexible Continuum Structure that end structure body, near structure body and middle connection body are constituted；Described far structure body includes at least one
Individual far-end structure saves, and described far-end structure joint includes far-end space disc, far-end fixed disk and structural bone；Described near structure body includes number
Measuring the near-end structure joint equal with described far-end structure joint number, described near-end structure joint includes near-end space disc, near-end fixed disk and structure
Bone；Described middle connection body includes that two passage fixed plates and the structural bone being arranged on described in two between passage fixed plate guide logical
Road；Structural bone in described far-end structure joint is fastenedly connected with the structural bone one_to_one corresponding in described near-end structure joint or is same root knot
Llex cornuta, one end of described structural bone is fastenedly connected with described near-end fixed disk, sequentially passes through described near-end space disc, described structure
Bone guided passage, described far-end space disc, the other end is fastenedly connected with described far-end fixed disk；Described driver element includes motor
Portion, motion converter section and multiple straight-line motion mechanism, be provided with between described motion converter section and described straight-line motion mechanism
Sterile barrier；Described motor section includes the first fixed plate and the first motor being fastenedly connected in described first fixed plate, described
Motion converter section includes multiple driving-chain, and the rotation of described first motor is exported and is converted to two outputs by each described driving-chain
The linear motion of bar, the linear motion of described take-off lever passes to the input of described straight-line motion mechanism by described sterile barrier
End push-pull bar, the outfan of described straight-line motion mechanism and the one end driving bone are fastenedly connected, and described driving bone passes institute
Stating near-end space disc, the other end is fastenedly connected with described near-end fixed disk.
Described straight-line motion mechanism includes the optical axis being fastenedly connected between two described passage fixed plates and is slidably connected
Slide block on described optical axis, described slide block is fastenedly connected with described driving bone as the outfan of described straight-line motion mechanism,
Described slide block also one end with described push-pull bar is fastenedly connected, and the other end of described push-pull bar is through described passage fixed plate and logical
Cross described sterile barrier to be connected with described take-off lever.
Described sterile barrier includes guide rod base and is slidably disposed through the guide rod of described guide rail base, in the rear end of guide rod
Be provided with the first quick locking head for being connected with described take-off lever, be provided with in the front end of described guide rod base for institute
State the second quick locking head that push-pull bar connects；It is fastenedly connected with for system is sterilizable in the periphery of described sterile barrier
Part and the part do not sterilized carry out the sterile film isolated.
Described first quick locking head includes screw base, is provided with for inserting described take-off lever on described screw base
Jack, is additionally provided with the screwed hole communicated with described jack on described screw base, is connected with tight on described screwed hole
Determine screw.
Described second quick locking head includes two slide blocks and an elastic ring, and described in two, slide block is entrenched togather in opposite directions, two institutes
Stating slide block and clamp described elastic ring by being positioned at the flat recess of respective arranged on left and right sides, two described slide blocks are provided with center
Hole, it is protruding that slide block described in two is provided with a crescent on respective described centre bore, and crescent described in two is protruding in relative cloth
Put；The rear end of described push-pull bar is provided with first annular groove.
It is fastenedly connected with sterile barrier shell, the company of rotation in described sterile barrier shell in the periphery of described guide rod base
Being connected to quick locking dish, described quick locking dish is positioned at the front of described guide rod base, offers on described quick locking dish
Circumferentially distributed arcuate groove, is provided with multipair half-circle projection on the cell wall of described arcuate groove；When described quick locking dish
During rotation, every pair of described half-circle projection is respectively to two described cunnings on the second quick locking head stretched in described cannelure
Block applies lateral pressure, to order about the Kong Bian great that two the described crescent being positioned on described slide block convexes to form.
Also including that flexible operation tool connects shell, described near structure body and middle connection body are respectively positioned on described flexible operation
Instrument connects the inside of shell；The rear end connecting shell at described flexible operation tool is provided with push-pull bar position-arresting disk, described push-pull bar
Position-arresting disk is rotatably connected on described flexible operation tool and connects in shell, is provided with multiple for described on described push-pull bar position-arresting disk
The spacing hole that push-pull bar passes, the internal diameter of described spacing hole is more than the diameter of described push-pull bar；Same on each described push-pull bar
One axial positions is provided with the second cannelure, and described second cannelure is positioned at the front of described first annular groove.
Described motion converter section also include being arranged on second fixed plate in described first fixed plate front, the 3rd fixed plate and
4th fixed plate；Each described driving-chain includes that interval is rotatably supported between described 3rd fixed plate and described 4th fixed plate
The first screw rod and the second screw rod, the rear end of described first screw rod sequentially passes through described 3rd fixed plate and the second fixed plate and logical
Cross shaft coupling to be connected with the output shaft of described first motor, between described second fixed plate and described 3rd fixed plate
Being fastenedly connected the first gear on described first screw rod, described first gear is in transmission connection the second gear by idle pulley, and described second
Gear is fastenedly connected on described second screw rod；Described between described 3rd fixed plate and described 4th fixed plate
It is respectively cooperating with connection on one screw rod and the second screw rod and has the first nut and the second nut；Two described take-off levers respectively with the first spiral shell
Mother and the second nut are fastenedly connected and front end is through described 4th fixed plate.
Be provided with operation executor in the front end of described far structure body, the control line of described operation executor is from described far-end
Passing in structure, the other end is connected with in operation actuator driven mechanism between passage fixed plate described in two；Operation is held
Row device drive mechanism includes first operation executor's push rod that front end and described control line are fastenedly connected, described first operation executor
The rear end perpendicular fastener of push rod is connected to the middle part of second operation executor's push rod, the two ends of described second operation executor's push rod
Being fastenedly connected one end of the second push-pull bar respectively, the other end of described second push-pull bar through described passage fixed plate and prolongs backward
Stretch；Being fastenedly connected with the second motor in described first fixed plate, described motion converter section also includes the second driving-chain, described
The output that rotates of described second motor is converted to the linear motion of two second take-off levers by two driving-chains；Described second take-off lever
Linear motion pass to described second push-pull bar by described sterile barrier.
Described motion converter section also include being arranged on second fixed plate in described first fixed plate front, the 3rd fixed plate and
4th fixed plate；Described second driving-chain includes the 3rd screw rod, and described 3rd spiro rod rear end is by being positioned at the first fixed plate and the
Shaft coupling between two fixed plates is connected with described second motor, and described 3rd fixed plate and the 4th fixed plate common rotation support
Described 3rd screw rod, is connected with on described 3rd screw rod between described 3rd fixed plate and the 4th fixed plate
Three nuts, described 3rd nut and two bars are fastenedly connected, and the front end of two described bars is through described 4th fixed plate common
Support a contiguous block, be fastenedly connected two described second take-off levers in the front side of described contiguous block.
Also include that driver element housing, described first fixed plate are connected with described driver element housing into rotation, described driving
The inner wall tightening of unit housings connects ring gear, is fastenedly connected with the 3rd motor in described first fixed plate, and the described 3rd
The output shaft of motor is fastenedly connected with gear, and described gear engages with described ring gear.
Also include that driver element housing and linear module, described linear module include stake body, are fastenedly connected at described
The Linear feed mechanism that the 4th motor on support body and the output shaft with described 4th motor are fastenedly connected, described straight-line feed
The outfan of mechanism is fastenedly connected described driver element housing, and described 4th motor drives described by described Linear feed mechanism
Driver element housing drives described driver element, sterile barrier and flexible operation tool to move along a straight line.
Described Linear feed mechanism includes the leading screw being rotatably connected on described stake body, described leading screw is arranged with
The described leading screw the 3rd slide block by threaded engagement, is provided with straight on described stake body, and described 3rd slide block slides
It is arranged in described straight；The output shaft of described 4th motor is fastenedly connected with described leading screw by shaft coupling.
It is characterized in that: described first screw rod is different with the hand of spiral of described second screw rod, and described first screw rod
Identical with the pitch of described second screw rod.
Due to the fact that and take above technical scheme, it has the advantage that 1, the present invention use include near structure body,
The flexible Continuum Structure of middle connection body and far structure body is main body, and coordinates with driver element, wherein, and far structure body
Being associated with near structure body by middle connection body, driver element associates with near structure body, when drive unit drives near-end is tied
Structure body is when any direction curves, and far structure body curves the most in the opposite direction, therefore can realize by far structure body
The flexible surgical arm constituted with strip of paper used for sealing any to curving motion.2, driver element of the present invention includes straight-line motion mechanism, electricity
Machine portion and motion converter section, wherein, the push-pull bar of straight-line motion mechanism connects near structure body, motion converter section by driving bone
In kinematic chain the output of motor in motor section can be converted to the collaborative linear motion of two take-off levers, take-off lever and straight line
The push-pull bar of motion is attached by sterile barrier, thus the part effectively system not sterilized and the portion sterilized
Divide and isolate, it is ensured that the exploitativeness of clinical operation.3, sterile barrier of the present invention includes guide rod, one end of guide rod and kinematic chain
Take-off lever connected by the first quick locking head, the push-pull bar of the other end and straight-line motion mechanism is by the second quick locking head
Connect, therefore, enhance the modularity of whole system and use motility.4, the present invention is provided with in the front end of far structure body
Operation executor, operation executor controls line through far structure body, the other end and the operation executor being positioned at middle connection body
Drive mechanism connects, and motor section is provided with the motor for driving control line push-and-pull, and the output of motor is by another transmission
Chain arrives operation actuator driven mechanism, thus realizes the action control to operation executor.5, the present invention is at driver element shell
The inwall of body is provided with ring gear, and motor section is provided with motor, and the outfan of motor connects and ring gear meshed gears, because of
This, utilize motor that the part entirety in addition to driver element housing, ring gear can be driven to rotate, thus to operation executor
Roll angle be adjusted.6, the present invention is additionally provided with linear module, and it is attached with driver element housing, such that it is able to
Driver element, sterile barrier and flexible operation tool is driven to carry out linear feeding motion by driver element housing.
Present invention can apply to single hole endoscope-assistant surgery, it is possible to be applied to through natural tract non-invasive procedures.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the present invention；
Fig. 2 is the structural representation of far structure body of the present invention；
Fig. 3 is flexibility operation tool of the present invention and the structural representation of straight-line motion mechanism；
Fig. 4 is the structural representation of near structure body of the present invention；
Fig. 5 is the structural representation of middle connection body of the present invention；
Fig. 6 is straight-line motion mechanism of the present invention and the structural representation of operation actuator driven mechanism；
Fig. 7 is motor section and the structural representation of motion converter section of driver element of the present invention；
Fig. 8 is driving-chain of the present invention and the structural representation of the second driving-chain；
Fig. 9 is that the present invention removes the sterile barrier after sterile barrier shell and the structural representation of quick-locking mechanism；
Figure 10 is the attachment structure schematic diagram of sterile barrier of the present invention and quick-locking mechanism；
Figure 11 is the sterile barrier of the present invention structural representation under another visual angle；
Figure 12 is the fractionation structural representation of the present invention the second quick locking head；
Figure 13 is the present invention the second quick locking head structural representation under another visual angle；
Figure 14 is part driver element of the present invention and the structural representation of linear module；
Figure 15 is structural representation during the flexible sheath of far structure body of the present invention employing.
Detailed description of the invention
With embodiment, the present invention is described in detail below in conjunction with the accompanying drawings.
As it is shown in figure 1, the present invention includes flexible operation tool 10 and driver element 20.Flexible operation tool 10 includes by far
End structure body 101 (as shown in Figure 2), near structure body 102 (as shown in Figure 3) and middle connection body 103 (as shown in Figure 5) are constituted
Flexible Continuum Structure.Wherein, far structure body 101 is associated with near structure body 102 by middle connection body 103；Drive
Unit 20 associates with near structure body 102, when driver element 20 drives near structure body 102 to curve to any direction, and far-end
Structure 101 curves the most in the opposite direction.
As in figure 2 it is shown, far structure body 101 includes the first far-end structure joint 104 and the second far-end structure joint 105.First far-end
Structure joint 104 includes the first far-end space disc the 106, first far-end fixed disk 107 and the first structure nodule llex cornuta 108；Second far-end structure
Joint 105 includes the second far-end space disc the 109, second far-end fixed disk 110 and the second structure nodule llex cornuta 111.Wherein, the first far-end
Space disc 106 and the second far-end space disc 109 are spacedly distributed respectively in the first far-end structure joint 104 and the second far-end structure joint 105
In, effect is to prevent the first structure nodule llex cornuta 108 and second structure nodule llex cornuta 111 unstability when being pushed away.
As shown in Figure 3, Figure 4, near structure body 102 includes the first near-end structure joint 112 and the second near-end structure joint 113.First
Near-end structure joint 112 includes the first near-end space disc the 114, first near-end fixed disk 115 and the first structure nodule llex cornuta 116；Second is near
End structure joint 113 includes the second near-end space disc the 117, second near-end fixed disk 118 and the second structure nodule llex cornuta 119.Wherein, first
Near-end space disc 114 and the second near-end space disc 117 are respectively separated and are distributed in the first near-end structure joint 112 and the second near-end structure joint
In 113, effect is to prevent the first structure nodule llex cornuta 116 and second structure nodule llex cornuta 119 unstability when being pushed away.It is positioned at the first near-end
The first structure nodule llex cornuta 116 on structure joint 112 and the first structure nodule llex cornuta being positioned on the first far-end structure joint 104 108 1 a pair
Should be fastenedly connected or for same root knot llex cornuta；Be positioned at second near-end structure joint 113 on the second structure nodule llex cornuta 119 be positioned at second
The second structure nodule llex cornuta 111 one_to_one corresponding on far-end structure joint 105 is fastenedly connected or is same root knot llex cornuta.For each near-end
Structure joint 112,113 and each far-end structure joint 104,105, the quantity of structural bone is more than three.
As it is shown in figure 5, middle connection body 103 includes two passage fixed plates 120 and is fixedly connected on two passages and fixes
Structural bone guiding channel 121 between plate 120.One end of first structure nodule llex cornuta 116 (108) and the first near-end fixed disk 115
Being fastenedly connected, the other end sequentially passes through the first near-end space disc 114, structural bone guiding channel the 121, first far-end space disc 106
It is fastenedly connected with the first far-end fixed disk 107 afterwards.One end of second structure nodule llex cornuta 119 (111) and the second near-end fixed disk 118
Being fastenedly connected, the other end sequentially passes through the second near-end space disc 117, structural bone guiding channel the 121, first far-end structure joint 104, the
It is fastenedly connected with the second far-end fixed disk 110 after two far-end space discs 109.The effect of structural bone guiding channel 121 is to maintain knot
Llex cornuta is by shape invariance during push and draw force.It is provided with flexible operation tool in the outside of middle connection body 103 and connects shell 30, flexible
The middle connection body 103 of operation tool 10 and near structure body 102 are respectively positioned on flexible operation tool and connect the inside of shell 30, and two
Individual passage fixed plate 120 is connected shell 30 with flexible operation tool and is fastenedly connected.
Far-end structure joint number included by said distal ends structure 101 and the joint of the near-end structure included by near structure body 102
Number can also be one or more than two, but near-end structure joint number must keep consistent with far-end structure joint number.Additionally, work as distal colorectal
When far-end structure joint number included by structure body 101 is two or more, between each far-end structure joint, the mode of series connection is used to connect, i.e. second
Structure nodule llex cornuta from the first far-end fixed disk, the first far-end space disc (if first structure nodule llex cornuta use tubular structure, it is possible to from
Pass in first structure nodule structure) on through；When the near-end structure joint number included by near structure body 102 is two or more, each structure
Can use between joint and be connected in series, arrange parallel and nested setting (as shown in Figure 4) etc..
Driver element 20 include multiple be arranged between two passage fixed plates 120 straight-line motion mechanism 201 (as Fig. 3,
Shown in Fig. 6), each straight-line motion mechanism 201 includes a push-pull bar 205 and a cunning being fastenedly connected with push-pull bar 205
Block 204, slide block 204 is fastenedly connected with the one end driving bone 202, drives the other end of bone 202 through the first near-end interval
Be fastenedly connected with the first near-end fixed disk 115 after dish 114, or through after the second near-end space disc 117 with the second near-end fixed disk
118 are fastenedly connected.In the present embodiment, driving bone 202 to have eight, four therein fasten with the first near-end fixed disk 115
Connecting, another four are fastenedly connected with the second near-end fixed disk 118.Push-and-pull and the first near-end is worked in coordination with by straight-line motion mechanism 201
Structure joint 112 connection driving bones 202, can realize first near-end structure joint 112 go up in any direction curve degree of freedom, when first is near
End structure joint 112 is when curving to certain direction, the first far-end structure joint 104 will in certain proportion relation (by the first structure nodule llex cornuta
116 and first the distribution radius of structure nodule llex cornuta 108 together decide on) curve in the opposite direction；Similarly, by linear motion
Mechanism 201 works in coordination with the driving bone 202 that push-and-pull is connected with the second near-end structure joint 113, can realize the second near-end structure joint 113 in arbitrarily side
Upwards curve degree of freedom, when the second near-end structure save 113 curve to certain direction time, the second far-end structure joint is 105 by with certain
Proportionate relationship (being together decided on by the distribution radius of the second structure nodule llex cornuta 119 and the second structure nodule llex cornuta 111) is to contrary side
To curving.
As shown in Figure 6, straight-line motion mechanism 201 also includes the optical axis being fixedly connected between two passage fixed plates 120
203；Slide block 204 is slidably connected on optical axis 203；Push-pull bar 205 extends back through passage fixed plate 120.
As shown in Figure 7, Figure 8, driver element 20 also includes motor section 206 and motion converter section 207, and motor section 206 includes
First fixed plate 208 and multiple (the present embodiment is four) and the first fixed plate 208 be fastenedly connected for for driving bone 202 to carry
Motor 209 for driving force；Motion converter section 207 includes a plurality of (the present embodiment is four) driving-chain 210, every driving-chain
The output that rotates of one motor 209 is converted to the linear motion of two take-off levers 222,223, two take-off levers 222,223 by 210
Linear motion the most correspondingly pass to two push-pull bars 205, thus drive a pair driving bone 202 to complete collaborative push-and-pull fortune
Dynamic.
As shown in Figure 7, Figure 8, motion converter section 207 also includes the second fixed plate being arranged on the first fixed plate 208 front
211, the 3rd fixed plate 212 and the 4th fixed plate 213.Each driving-chain 210 includes that interval is rotatably supported in the 3rd fixed plate 212
And the first screw rod 214 and the second screw rod 215 between the 4th fixed plate 213, wherein, one end of the first screw rod 214 sequentially passes
3rd fixed plate 212 and the second fixed plate 211 and be connected with the output shaft of motor 209 by shaft coupling 216.Solid being positioned at second
Determine to be fastenedly connected the first gear 217 on the first screw rod 214 between plate 211 and the 3rd fixed plate 212；First gear 217 passes through
Idle pulley 218 is in transmission connection the second gear 219, and the second gear 219 is fastenedly connected on the second screw rod 215, the one of the second screw rod 215
End is through the 3rd fixed plate 212.First screw rod 214 must be different, such as the first screw rod 213 He with the hand of spiral of the second screw rod 215
Second screw rod 214 is respectively left-handed screw and right handed screw, it is preferable that the first screw rod 213 and pitch phase of the second screw rod 214
With.The first screw rod 214 between the 3rd fixed plate 212 and the 4th fixed plate 213 and the second screw rod 215 are respectively cooperating with
Connecting and have the first nut 220 and the second nut 221, the first nut 220 is fastenedly connected with take-off lever 222, and the second nut 221 is with defeated
Rod 223 is fastenedly connected.Take-off lever 222 and take-off lever 223 are through the 4th fixed plate 213, as the outfan of driving-chain 210.
As shown in Fig. 1, Fig. 9～Figure 11, logical between straight-line motion mechanism 201 and the motion converter section 207 of driver element 20
Cross sterile barrier 224 to be attached.Sterile barrier 224 includes that sterile barrier shell 225, fastening are arranged on sterile barrier shell
Guide rod base 226 in 225, be slidably disposed through guide rod base 226 guide rod 227, be arranged on guide rod 227 rear end for
The first quick locking head 228 that the take-off lever 222 of driving-chain 210 or take-off lever 223 connect and be arranged on guide rod 227 front end
For the second quick locking head 229 being connected with push-pull bar 205.Sterile film (figure it is fastenedly connected with in the periphery of sterile barrier 224
Not shown in), it is used for sterilizable for system part (as flexible operation tool 10, straight-line motion mechanism 201 etc. are positioned at sterile screen
Barrier 223 before part) with the part do not sterilized (as motion converter section 207, motor section 206, linear module 50 etc. are positioned at aseptic
Part after barrier 223) isolate, it is ensured that the clinical exploitativeness of operation.
First quick locking head 228 includes screw base 231, screw base 231 is provided with for insert take-off lever 222 or
The jack of take-off lever 223, is additionally provided with the screwed hole communicated with jack on screw base 231, is connected with on screwed hole
Holding screw 232.The quick of guide rod 227 and take-off lever 222 or take-off lever 223 can be realized by the first quick locking head 228
Connect, only the front end of take-off lever 222 or take-off lever 223 need to be inserted when connecting in the jack of corresponding screw base 231, then
Rotating holding screw 232 makes the head of holding screw 232 hold out against take-off lever 222 or take-off lever 223.
As shown in Figure 12 and Figure 13, the second quick locking head 229 includes 233,234 and elastic ring 235 of two slide blocks,
Wherein, two slide block 233,234 structures are identical and are entrenched togather in opposite directions, and two slide blocks 233,234 are respectively by being positioned at each
The flat recess of arranged on left and right sides clamps elastic ring 235.Two slide blocks 233,234 are provided with centre bore, and two slide blocks are all respectively
From centre bore on a crescent projection 236,237 is set, two crescent projections 236,237 are in positioned opposite.The present invention
The locking state of two quick locking heads 229 as shown in figure 13, when two slide blocks 233,234 bear lateral pressure, elastic ring 235
Deformation so that slide block 233,234 moves up in the side of respective stress respectively, and now two crescent projections 236,237 are mutually carried on the back
To movement, the center of circle of two crescent projections 236,237 tends to overlapping, and the Kong Bian great of formation, when two crescent projections 236,237
Formed Guan Bi circular hole time, push-pull bar 205 can be made to insert in the second quick locking head 229, after shedding pressure, elastic ring 235 with
Restore by means of natural resiliency, promote two slide blocks 233,234 to make two crescent projections 236,237 move toward one another, and to push-pull bar
205 form chucking power.First annular groove 238 it is provided with, when two crescent projections 236,237 are blocked in the rear end of push-pull bar 205
Time in the first annular groove 238 of push-pull bar 205, being fastenedly connected of guide rod 227 and push-pull bar 205 can be realized.Similarly, logical
Cross and can also easily extract push-pull bar 205 after two slide blocks 233,234 are applied lateral pressure.
It is connected to improve the installation effectiveness of system in order to realize each push-pull bar 205 with locking while each guide rod 227,
The present invention is additionally provided with the quick-locking mechanism 239 for realizing each push-pull bar 205 and guide rod 227 fast locking.Such as Fig. 9, figure
Shown in 11, quick-locking mechanism 239 includes the quick locking dish 240 being rotatably connected in sterile barrier shell 225, at fast lock
Offering circumferentially distributed arcuate groove 241 on tight dish 240, each second quick locking head 229 stretches in arcuate groove 241,
Multipair half-circle projection 242 it is provided with, every pair of half-circle projection when quick locking dish 240 rotates on the cell wall of arcuate groove 241
242 respectively slide block 233 and slide block 234 to the second quick locking head 229 apply lateral pressure, order about each second quick locking
The Kong Bian great that two crescent projections 236,237 on 229 are formed, in order to the insertion of each push-pull bar 205.
In above-described embodiment, as shown in Fig. 1, Fig. 9 and Figure 10, it is provided with in the rear end that flexible operation tool connects shell 30 and pushes away
Pull bar position-arresting disk 243, push-pull bar position-arresting disk 243 is rotatably connected on flexible operation tool and connects in shell 30, at push-pull bar position-arresting disk
Being provided with multiple spacing hole 244 passed for push-pull bar 205 on 243, the internal diameter of spacing hole 244 is more than the diameter of push-pull bar 205.
Same axial positions on each push-pull bar 205 is provided with the second cannelure 245, and the second cannelure 245 is positioned at first annular
The front of groove 238.When sterile barrier 224 is quickly connected by needs with each push-pull bar 205, first adjust the axle of each push-pull bar 205
To position, making the second cannelure 245 align with spacing hole 244, then rotate push-pull bar position-arresting disk 243, each spacing hole 244 snaps in
In second cannelure 245 of corresponding push-pull bar 205, now, each push-pull bar 205 is locked in the axial direction, it is simple to be inserted simultaneously into
Each second quick locking head 229.
In above-described embodiment, as shown in Figure 10, sterile barrier shell 225 offers chute 246 circumferentially,
The switch knob 247 being fastenedly connected with quick locking dish 240 it is slidably provided with in chute 246, can be more by switch knob 247
Quick locking dish 240 is driven to rotate easily.Correspondingly, as it is shown in figure 1, connect at flexible operation tool and offer edge on shell 30
Circumferentially extending chute 248, is slidably provided with the switch knob being fastenedly connected with push-pull bar position-arresting disk 243 in chute 248
249, by switch knob 249 can be more convenient drive push-pull bar position-arresting disk 243 to rotate.
In above-described embodiment, it is provided with operation executor 40 (as shown in Figure 1 and Figure 2) in the front end of far structure body 101,
The control line 401 of operation executor 40 passes from far structure body 101, the other end and the operation being positioned in passage fixed plate 120
Actuator driven mechanism 402 (as shown in Figure 6) connects, and operation actuator driven mechanism 402 is by the physics push-and-pull to control line 401
Realize the control to operation executor 40 (such as operating forceps).Control line 401 can also transmit equally as electric energy, dither etc. are various
The energy of form thus realize is performed the operation the particular procedure function of executor 40.Operation actuator driven mechanism 402 include front end with
The first operation executor's push rod 403 (as shown in Figure 6) that control line 401 is fastenedly connected, the rear end of first operation executor's push rod 403
Perpendicular fastener is connected to the middle part of second operation executor's push rod 404, and the two ends of second operation executor's push rod 404 fasten respectively
Connecting one end of push-pull bar 405, the other end of push-pull bar 405 extends back through passage fixed plate 120.Correspondingly, first
It is fastenedly connected useful in providing the motor 406 (as shown in Figure 8) of driving force for push-pull bar 405 in fixed plate 208, motor 406
Output shaft connects one end of screw rod 408 by shaft coupling 407, and the other end of screw rod 408 is rotatably supported in the 4th fixed plate 213
On, the screw rod 408 between the 3rd fixed plate 212 and the 4th fixed plate 213 is connected with nut 409, nut 409
Being fastenedly connected with two bars 410, the front end of two bars 410 is through the 4th fixed plate 213 and jointly supports a contiguous block 411,
On front side of contiguous block 411, interval is fastenedly connected two take-off levers 412, also through aforesaid between take-off lever 412 and push-pull bar 405
Guide rod 226 on sterile barrier 224 is attached.
In above-described embodiment, as shown in Fig. 1, Fig. 7 and Figure 14, present invention additionally comprises driver element housing 50, first fixes
Plate the 208, second fixed plate the 211, the 3rd fixed plate 212 and the 4th fixed plate 213 are all rotationally connected with driver element housing 50, drive
The inner wall tightening of moving cell housing 50 connects ring gear 501, is fastenedly connected with motor 502, motor in the first fixed plate 208
The output shaft of 502 is fastenedly connected gear 503, and gear 503 engages with ring gear 501.When the output shaft of motor 502 rotates, its
Driven gear 503 rotates, and gear 503 is by the circumference walking along ring gear 501, thus drives except driver element housing 50 and internal tooth
Entire infrastructure beyond circle 501 rotates around the axis of ring gear 501, thus realizes holding far structure body 101 and operation
The Angle ambiguity of row device 40.
In above-described embodiment, as shown in Fig. 1, Figure 14, present invention additionally comprises linear module 60, it includes propping up with chute
Support body 601, rotates on stake body 601 and is provided with leading screw 602, be arranged with and pass through threaded engagement with leading screw 602 on leading screw 602
And the slide block 603 being slidably arranged in chute, be provided with motor 604 in one end of stake body 601, the output shaft of motor 604 with
Leading screw 602 is fastenedly connected by shaft coupling.Driver element housing 50 is fastenedly connected with slide block 603.When the output shaft of motor 604 turns
Time dynamic, drive driver element housing 50 is done linear movement along chute by slide block 603, thus realizes the feeding of flexible operation tool 10
Motion.
In above-described embodiment, as it is shown in figure 1, be provided with strip of paper used for sealing 122 in the outside of far structure body 101, it act as changing
Kind far structure body 101 enters the smoothness of human body natural's tract or operative incision.In the outside of strip of paper used for sealing 122, sheath can also be set
70 (as shown in Figure 2) of set, in one application, sheath 70 is fixed on the single incision in abdominal cavity, and far structure body 101 is together with envelope
Skin 122, operation executor 40 can pass freely through the through hole passed through for operation tool in sheath 70 and arrive art portion.Such as Figure 15 institute
Showing, sheath 70 can also use flexible sheath, and it can more easily stretch into all kinds of natural tract of human body and along with tract
Shape and adaptively changing profile, one end of flexible sheath is fixed on tract porch, far structure body 101 together with strip of paper used for sealing 122,
Operation executor 40 equally passes freely through flexible sheath and puts the through hole arrival art portion passed through for operation tool.
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 (14)
1. the flexible operation tool system that a far-end can curve to any direction, it is characterised in that: it includes flexible operation work
Tool and driver element；Described flexible operation tool kit includes be made up of far structure body, near structure body and middle connection body soft
Property Continuum Structure；Described far structure body includes that at least one far-end structure saves, and described far-end structure joint includes far-end space disc, remote
End fixed disk and structural bone；Described near structure body include quantity equal with described far-end structure joint number near-end structure joint, described closely
End structure joint includes near-end space disc, near-end fixed disk and structural bone；Described middle connection body includes two passage fixed plates and sets
Put at structural bone guiding channel between passage fixed plate described in two；Structural bone in described far-end structure joint saves with described near-end structure
In structural bone one_to_one corresponding be fastenedly connected or for same root knot llex cornuta, one end of described structural bone is tight with described near-end fixed disk
Being solidly connected, sequentially pass through described near-end space disc, described structural bone guiding channel, described far-end space disc, the other end is with described
Far-end fixed disk is fastenedly connected；
Described driver element includes motor section, motion converter section and multiple straight-line motion mechanism, in described motion converter section and institute
State and between straight-line motion mechanism, be provided with sterile barrier；Described motor section includes the first fixed plate and is fastenedly connected described first
The first motor in fixed plate, described motion converter section includes multiple driving-chain, and each described driving-chain is by described first motor
The output that rotates be converted to the linear motion of two take-off levers, the linear motion of described take-off lever is transmitted by described sterile barrier
Tight to the input push-pull bar of described straight-line motion mechanism, the outfan of described straight-line motion mechanism and the one end driving bone
Being solidly connected, described driving bone passes described near-end space disc, and the other end is fastenedly connected with described near-end fixed disk.
The flexible operation tool system that a kind of far-end the most as claimed in claim 1 can curve to any direction, it is characterised in that:
Described straight-line motion mechanism includes the optical axis being fastenedly connected between two described passage fixed plates and is slidably connected at described light
Slide block on axle, described slide block is fastenedly connected with described driving bone as the outfan of described straight-line motion mechanism, described slide block
Also one end with described push-pull bar is fastenedly connected, and the other end of described push-pull bar is through described passage fixed plate and by described nothing
Bacterium barrier is connected with described take-off lever.
The flexible operation tool system that a kind of far-end the most as claimed in claim 1 can curve to any direction, it is characterised in that:
Described sterile barrier includes guide rod base and is slidably disposed through the guide rod of described guide rail base, and the rear end of guide rod is provided with use
In the first quick locking head being connected with described take-off lever, be provided with in the front end of described guide rod base for described push-pull bar
The the second quick locking head connected；Be fastenedly connected with in the periphery of described sterile barrier for by sterilizable for system part with not
The part of sterilization carries out the sterile film isolated.
The flexible operation tool system that a kind of far-end the most as claimed in claim 3 can curve to any direction, it is characterised in that:
Described first quick locking head includes screw base, is provided with the jack for inserting described take-off lever on described screw base,
It is additionally provided with the screwed hole communicated with described jack on described screw base, described screwed hole is connected with holding screw.
The flexible operation tool system that a kind of far-end the most as claimed in claim 3 can curve to any direction, it is characterised in that:
Described second quick locking head includes two slide blocks and an elastic ring, and described in two, slide block is entrenched togather in opposite directions, and slide block described in two leads to
Crossing and be positioned at the flat recess of respective arranged on left and right sides and clamp described elastic ring, two described slide blocks are provided with centre bore, described in two
It is protruding that slide block is provided with a crescent on respective described centre bore, and crescent described in two is protruding in positioned opposite；Described
The rear end of push-pull bar is provided with first annular groove.
The flexible operation tool system that a kind of far-end the most as claimed in claim 5 can curve to any direction, it is characterised in that:
It is fastenedly connected with sterile barrier shell in the periphery of described guide rod base, is rotatably connected in described sterile barrier shell quickly
Locking plate, described quick locking dish is positioned at the front of described guide rod base, offers and circumferentially divide on described quick locking dish
The arcuate groove of cloth, is provided with multipair half-circle projection on the cell wall of described arcuate groove；When described quick locking disc spins, often
Described half-circle projection is applied side to two described slide blocks on the second quick locking head stretched in described cannelure respectively
To pressure, to order about the Kong Bian great that two the described crescent being positioned on described slide block convexes to form.
The flexible operation tool system that a kind of far-end the most as claimed in claim 5 can curve to any direction, it is characterised in that:
Also including that flexible operation tool connects shell, described near structure body and middle connection body are respectively positioned on described flexible operation tool and connect
The inside of shell；The rear end connecting shell at described flexible operation tool is provided with push-pull bar position-arresting disk, and described push-pull bar position-arresting disk turns
It is automatically connected in described flexible operation tool to connect in shell, described push-pull bar position-arresting disk is provided with the described push-pull bar of multiple confession and wears
The spacing hole crossed, the internal diameter of described spacing hole is more than the diameter of described push-pull bar；Same axial position on each described push-pull bar
The place of putting is provided with the second cannelure, and described second cannelure is positioned at the front of described first annular groove.
The flexible operation tool system that a kind of far-end the most as claimed in claim 1 can curve to any direction, it is characterised in that:
Described motion converter section also includes that the second fixed plate, the 3rd fixed plate and the 4th that are arranged on described first fixed plate front are fixing
Plate；Each described driving-chain includes being spaced the first spiral shell being rotatably supported between described 3rd fixed plate and described 4th fixed plate
Bar and the second screw rod, the rear end of described first screw rod sequentially passes through described 3rd fixed plate and the second fixed plate and passes through shaft coupling
It is connected with the output shaft of described first motor, described first between described second fixed plate and described 3rd fixed plate
Being fastenedly connected the first gear on screw rod, described first gear is in transmission connection the second gear by idle pulley, described second gear fastening
It is connected on described second screw rod；At described first screw rod between described 3rd fixed plate and described 4th fixed plate and
It is respectively cooperating with connection on second screw rod and has the first nut and the second nut；Two described take-off levers respectively with the first nut and second
Nut is fastenedly connected and front end is through described 4th fixed plate.
The flexible operation tool system that a kind of far-end the most as claimed in claim 1 can curve to any direction, it is characterised in that:
Be provided with operation executor in the front end of described far structure body, the control line of described operation executor is from described far structure body
Passing, the other end is connected with in operation actuator driven mechanism between passage fixed plate described in two；Operation actuator driven
Mechanism includes first operation executor's push rod that front end and described control line are fastenedly connected, after described first operation executor's push rod
End perpendicular fastener is connected to the middle part of second operation executor's push rod, and the two ends of described second operation executor's push rod fasten respectively
Connecting one end of the second push-pull bar, the other end of described second push-pull bar is through described passage fixed plate and extends back；
Being fastenedly connected with the second motor in described first fixed plate, described motion converter section also includes the second driving-chain, described
The output that rotates of described second motor is converted to the linear motion of two second take-off levers by the second driving-chain；Described second output
The linear motion of bar passes to described second push-pull bar by described sterile barrier.
The flexible operation tool system that a kind of far-end the most as claimed in claim 9 can curve to any direction, its feature exists
In: described motion converter section also includes being arranged on second fixed plate in described first fixed plate front, the 3rd fixed plate and the 4th
Fixed plate；Described second driving-chain includes the 3rd screw rod, and described 3rd spiro rod rear end is solid with second by being positioned at the first fixed plate
The shaft coupling determined between plate is connected with described second motor, and described 3rd fixed plate and the 4th fixed plate common rotation support described
3rd screw rod, is connected with the 3rd spiral shell on described 3rd screw rod between described 3rd fixed plate and the 4th fixed plate
Mother, described 3rd nut and two bars are fastenedly connected, and the front end of two described bars through described 4th fixed plate and supports jointly
One contiguous block, is fastenedly connected two described second take-off levers in the front side of described contiguous block.
The flexible operation tool system that 11. a kind of far-ends as claimed in claim 1 can curve to any direction, its feature exists
In: also include that driver element housing, described first fixed plate are connected with described driver element housing into rotation, described driver element shell
The inner wall tightening of body connects ring gear, is fastenedly connected with the 3rd motor in described first fixed plate, described 3rd motor
Output shaft is fastenedly connected with gear, and described gear engages with described ring gear.
The flexible operation tool system that 12. a kind of far-ends as claimed in claim 1 can curve to any direction, its feature exists
In: also include that driver element housing and linear module, described linear module include stake body, are fastenedly connected on described stake body
The 4th motor and the Linear feed mechanism that is fastenedly connected with the output shaft of described 4th motor, described Linear feed mechanism
Outfan is fastenedly connected described driver element housing, and described 4th motor drives described driving single by described Linear feed mechanism
Unit's housing drives described driver element, sterile barrier and flexible operation tool to move along a straight line.
The flexible operation tool system that 13. a kind of far-ends as claimed in claim 12 can curve to any direction, its feature exists
In: described Linear feed mechanism includes the leading screw being rotatably connected on described stake body, is arranged with described on described leading screw
The leading screw slide block by threaded engagement, is provided with straight on described stake body, described slide block be slidably arranged in described directly
In line chute；The output shaft of described 4th motor is fastenedly connected with described leading screw by shaft coupling.
The flexible operation tool system that 14. a kind of far-ends as claimed in claim 8 can curve to any direction, its feature exists
In: it is characterized in that: described first screw rod is different with the hand of spiral of described second screw rod, and described first screw rod is with described
The pitch of the second screw rod is identical.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610796100.9A CN106308937B (en) | 2016-08-31 | 2016-08-31 | A kind of flexible operation tool system that distal end can be curved to any direction |
| PCT/CN2017/099855 WO2018041204A1 (en) | 2016-08-31 | 2017-08-31 | Flexible surgical instrument system |
| US16/329,758 US11173002B2 (en) | 2016-08-31 | 2017-08-31 | Flexible surgical instrument system |
| EP17845506.9A EP3539501B1 (en) | 2016-08-31 | 2017-08-31 | Flexible surgical instrument system |
| US17/449,246 US11872002B2 (en) | 2016-08-31 | 2021-09-28 | Flexible surgical instrument system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610796100.9A CN106308937B (en) | 2016-08-31 | 2016-08-31 | A kind of flexible operation tool system that distal end can be curved to any direction |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106308937A true CN106308937A (en) | 2017-01-11 |
| CN106308937B CN106308937B (en) | 2019-01-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610796100.9A Active CN106308937B (en) | 2016-08-31 | 2016-08-31 | A kind of flexible operation tool system that distal end can be curved to any direction |
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| CN (1) | CN106308937B (en) |
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Address after: Room d101a-63, B-2 / F, Dongsheng Science Park, 66 xixiaokou Road, Haidian District, Beijing, 100192 Patentee after: Beijing Shurui Robot Co.,Ltd. Address before: Room d101a-63, B-2 / F, Dongsheng Science Park, 66 xixiaokou Road, Haidian District, Beijing, 100192 Patentee before: BEIJING SURGERII TECHNOLOGY Co.,Ltd. |
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