CN106361387A - Flexible surgical tool with cross arrangement of structural bones - Google Patents
Flexible surgical tool with cross arrangement of structural bones Download PDFInfo
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- CN106361387A CN106361387A CN201610799314.1A CN201610799314A CN106361387A CN 106361387 A CN106361387 A CN 106361387A CN 201610799314 A CN201610799314 A CN 201610799314A CN 106361387 A CN106361387 A CN 106361387A
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- llex cornuta
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- nodule llex
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/0034—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means adapted to be inserted through a working channel of an endoscope
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- 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)
- Surgical Instruments (AREA)
- Prostheses (AREA)
Abstract
The invention relates to a flexible surgical tool with cross arrangement of structural bones. The flexible surgical tool comprises a flexible continuum structure, wherein the flexible continuum structure comprises a far-end structural body, a near-end structural body and a middle connecting body; the far-end structural body comprises first far-end structural sections and second far-end structural sections; the near-end structural body comprises near-end structural sections; first structural section structural bones positioned on the near-end structural sections are in one-to-one correspondence to and are fastened connection with the first structural section structural bones positioned on the first far-end structural sections or form the same structural bone with the first structural section structural bones positioned on the first far-end structural sections; the second structural section structural bones positioned on the near-end structural sections are in one-to-one correspondence to and are fastened connection with the second structural section structural bones positioned on the second far-end structural sections or form the same structural bone with the second structural section structural bones positioned on the second far-end structural sections; the middle connecting body comprises two channel fixing plates; a structural bone guiding channel and a structural bone cross guiding channel are in fastened connection between the two channel fixing plates; the first structural section structural bones penetrate through the cross guiding channel; the second structural section structural bones penetrate through the structural bone guiding channel.
Description
Technical field
The present invention relates to a kind of flexible operation tool of structural bone arranged crosswise, belong to medical instruments field.
Background technology
In modern medical service field, manual porous peritoneoscope Minimally Invasive Surgery has been widely used in clinic.Such minimally invasive handss
Art successfully reduces the postoperative pain of patient, complication, rehabilitation hospital stayss and improves scar after the operation outward appearance.In order to enter one
Step reduces operation wound, reduces patient's slight illness, and researcher proposes single-port laparoscopic minimally-invasive surgery.
Need multiple body surface otch, all operations in single-port laparoscopic minimally-invasive surgery compared to porous peritoneoscope Minimally Invasive Surgery
Instrument enters abdominal cavity by a body surface otch (typically umbilicuss), further reduces the wound to patient.However, such list
No matter the configuration of one entrance all puts forward higher requirement to the design of operating theater instruments or the operation of operation Shi doctor.
Traditional rigid operating theater instruments mostly are elongated rod-like structure, the end of instrument is provided with operation executor, leads to
Cross steel wire or the tractive of rope carries out motor control.Manual single-hole laparoscopic surgery based on conventional rigid operating theater instruments is due to depositing
In complicated trick cooperating demand, the difficulty such as the flexibility ratio of operation tool is limited in addition, working range is less, manual single hole
Laparoscopic surgery is not yet widely used in clinic.
Content of the invention
For the problems referred to above, it is an object of the present invention to provide a kind of flexible operation tool of structural bone arranged crosswise,
This flexible operation tool can preferably be applied to the operation implemented through single operative incision or multiple operative incision.
For achieving the above object, the present invention employs the following technical solutions: a kind of flexible operation work of structural bone arranged crosswise
Tool it is characterised in that: it includes flexible Continuum Structure, and described flexibility Continuum Structure includes far structure body, proximal structure
Body and middle connection body；Described far structure body includes the first far-end structure section and the second far-end structure section, described first far-end structure section
Including the first far-end space disc, the first far-end fixed disk and the first structure nodule llex cornuta；It is remote that described second far-end structure section includes second
End space disc, the second far-end fixed disk and the second structure nodule llex cornuta；Described near structure body includes near-end structure section, described near-end structure
Section includes near-end space disc, near-end fixed disk, the first structure nodule llex cornuta and the second structure nodule llex cornuta；On described near-end structure section
The first structure nodule llex cornuta correspond with the first structure nodule llex cornuta on described first far-end structure section and be fastenedly connected or be
Same root knot llex cornuta；Positioned at the second structure nodule llex cornuta on described near-end structure section and the second structure section on the second far-end structure section
Structural bone one-to-one corresponding is fastenedly connected or is same root knot llex cornuta；Described middle connection body includes two passage fixed plates, two
It is fastenedly connected with structural bone guiding channel between individual described passage fixed plate and structural bone intersects guiding channel；Described first structure section
One end of structural bone is fastenedly connected with described near-end fixed disk, and the other end sequentially passes through described near-end space disc, structural bone is intersected
It is fastenedly connected with the first far-end fixed disk after guiding channel, the first far-end space disc；One end of described second structure nodule llex cornuta with
Described near-end fixed disk is fastenedly connected, and the other end sequentially passes through described near-end space disc, structural bone guiding channel, the first far-end structure
It is fastenedly connected with the second far-end fixed disk after section, the second far-end space disc；Described structural bone intersects guiding channel in the horizontal direction
Upper be in left and right arranged in a crossed manner or go to upper and lower arranged in a crossed manner in vertical direction, make first on the left of described near-end structure section
Structure nodule llex cornuta is connected with the first structure nodule llex cornuta on the right side of described first far-end structure section and is located at described near-end structure section
The first structure nodule llex cornuta on right side is connected with the first structure nodule llex cornuta on the left of described first far-end structure section, or is located at institute
State the first structure nodule llex cornuta on the upside of near-end structure section to be connected with the first structure nodule llex cornuta on the downside of described first far-end structure section
And it is located at the first structure nodule llex cornuta on the downside of described near-end structure section and the first structure section on the upside of described first far-end structure section
Structural bone connects.
Also include driving handle, described driving handle includes driving handle seat, universal joint and linear slide module；Described drive
Fixed handle seat is passed through from described near structure body and is connected with described passage fixed plate by described universal joint；Described driving handss
Handle seat is connected with described near-end fixed disk by linear slide module.
The slide block that described linear slide module includes guide rail and is slidably connected on described guide rail, described guide rail is fastenedly connected
On described driving handle seat, described slide block is fastenedly connected with described near-end fixed disk.
The front end of described far structure body is provided with operation executor, the control line of described operation executor is from described far-end
Pass through in structure, the other end is connected with the operation actuator driven mechanism being arranged on described driving handle seat.
Described operation actuator driven mechanism includes horizontal guide, horizontal movement slide block, connecting rod, vertical guide stem and vertical fortune
Movable slider, wherein, described vertical guide stem and described driving handle seat are fastenedly connected and the axis perpendicular to described driving handle seat
Direction, described slide block moving vertically is slidably connected in described vertical guide stem, and described horizontal guide is tight with described driving handle seat
It is solidly connected and the axis direction parallel to described driving handle seat, described horizontal movement slide block is slidably connected at described horizontal guide
On, described horizontal movement slide block is located at the front of described vertical guide stem, described slide block moving vertically and described horizontal movement slide block
Connected by described connecting rod；Spring is arranged with described vertical guide stem, one end of described spring is tight with described driving handle seat
It is solidly connected, the other end is fastenedly connected with described slide block moving vertically；Described horizontal movement slide block is fastened with one end of described control line
Connect.
It is provided with control line guiding channel between described passage fixed plate, described control line is worn from described control line guiding channel
Cross.
Also include driving handle lid and flexible operation tool outer casing；Described driving handle lid and described driving handle seat fastening
Connect；Described middle connection body and near structure body are respectively positioned in described flexible operation tool outer casing, described passage fixed plate with
Described flexible operation tool outer casing is fastenedly connected；It is provided with for described driving handle in the rear end of described flexible operation tool outer casing
The chute rotating.
Described chute is in cross.
A kind of flexible operation tool of structural bone arranged crosswise it is characterised in that: it includes flexible Continuum Structure, described
Flexible Continuum Structure includes far structure body, near structure body and middle connection body；It is remote that described far structure body includes first
End structure section and the second far-end structure section, described first far-end structure section includes the first far-end space disc, the first far-end fixed disk and first
Structure nodule llex cornuta；Described second far-end structure section includes the second far-end space disc, the second far-end fixed disk and the second structure nodule llex cornuta；
Described near structure body includes near-end structure section, and described near-end structure section includes near-end space disc, near-end fixed disk, the first structure nodule structure
Bone and the second structure nodule llex cornuta；Positioned at the first structure nodule llex cornuta on described near-end structure section and on described first far-end structure section
First structure nodule llex cornuta correspond be fastenedly connected or be same root knot llex cornuta；The second structure section on described near-end structure section
Structural bone is fastenedly connected with the second structure nodule llex cornuta one-to-one corresponding on the second far-end structure section or is same root knot llex cornuta；Institute
State middle connection body and include two passage fixed plates, be fastenedly connected with structure bone guided between two described passage fixed plates and lead to
Road and structural bone intersect guiding channel；One end of described first structure nodule llex cornuta is fastenedly connected with described near-end fixed disk, another
End is sequentially passed through described near-end space disc, structural bone guiding channel, is fastened with the first far-end fixed disk after the first far-end space disc
Connect；One end of described second structure nodule llex cornuta is fastenedly connected with described near-end fixed disk, and the other end sequentially passes through described near-end
After space disc, structural bone intersection guiding channel, the first far-end structure section, the second far-end space disc with the second far-end fixed disk fastening even
Connect；Described structural bone is intersected guiding channel and is in left and right arranged in a crossed manner in the horizontal direction or goes to upper and lower friendship in vertical direction
Fork setting, makes the second structure nodule llex cornuta on the left of described near-end structure section and second on the right side of described second far-end structure section
Structure nodule llex cornuta connect and be located at described near-end structure section on the right side of the second structure nodule llex cornuta with positioned at described second far-end structure section
The second structure nodule llex cornuta in left side connects, or be located at the second structure nodule llex cornuta on the upside of described near-end structure section with positioned at described the
On the downside of two far-end structure sections second structure nodule llex cornuta connect and be located at described near-end structure section on the downside of the second structure nodule llex cornuta with
The second structure nodule llex cornuta on the upside of described second far-end structure section connects.
Also include driving handle, described driving handle includes driving handle seat, universal joint and linear slide module；Described drive
Fixed handle seat is passed through from described near structure body and is connected with described passage fixed plate by described universal joint；Described driving handss
Handle seat is connected with described near-end fixed disk by linear slide module.
The present invention due to taking above technical scheme, its have the advantage that the 1, present invention using include near structure body,
The flexible Continuum Structure of middle connection body and far structure body be main body, wherein, far structure body pass through middle connection body with
Near structure body associates, and near structure body is associated with driving handle, when driving handle drives near structure body curved to any direction
When turning, far structure body correspondingly curves, therefore can achieve flexibility surgical arm any to curving motion.2nd, the present invention is remote
End structure body, middle connection body and near structure body adopt the structural bone arrangement (quantity of structural bone is more than three) of redundancy, can
The stability of raising system and load capacity.3rd, the present invention is provided with structural bone intersection guiding channel in middle connection body, makes
Obtaining the first structure nodule llex cornuta is in arranged crosswise on level (vertical) direction, thus realizing when driving near structure body is in level
When curving on (vertical) direction, the first far-end structure section curves to correspondingly equidirectional, and the second far-end structure section is to correspondingly contrary
Direction curves；When driving near structure body to curve in vertical (horizontal) direction, the first far-end structure section and the second far-end structure section are equal
Curve to correspondingly rightabout.4th, the present invention is provided with operation executor in the front end of far structure body, operation executor's
Control line passes through far structure body, is connected with the operation actuator driven mechanism on driving handle seat, and operation executor pass through
Push-and-pull to control line can realize the action control to operation executor.
Present invention can apply to porous endoscope-assistant surgery, also apply be applicable to single hole endoscope-assistant surgery.
Brief description
Fig. 1 is the structural representation of present invention flexibility Continuum Structure；
Fig. 2 is the connection diagram of driving handle of the present invention and flexible Continuum Structure；
Fig. 3 is the structural representation of far structure body of the present invention；
Fig. 4 is the structural representation of near structure body of the present invention and middle connection body；
Fig. 5 is the structural representation of driving handle of the present invention；
Fig. 6 is the structural representation after the present invention loads onto flexible operation tool outer casing.
Specific embodiment
With reference to the accompanying drawings and examples the present invention is described in detail.
Embodiment one:
As shown in Figure 1 and Figure 2, the present embodiment includes flexible Continuum Structure 10 and driving handle 20.
Flexible Continuum Structure 10 include far structure body 11 (as shown in Figure 3), near structure body 16 (as shown in Figure 4) and
Middle connection body 15.Far structure body 11 includes the first far-end structure section 12 and the second far-end structure section with the relation of being connected in series
13；Near structure body 16 includes a near-end structure section.Near-end structure section passes through middle connection body 15 and the first far-end structure section 12 and the
Two far-end structure sections 13 associate, and far structure body 11 can be driven to occur to curve accordingly when near structure body 16 curves.
Driving handle 20 is associated near structure body 16, for controlling curving of near structure body 16.
First far-end structure section 12 includes the first far-end space disc 121, the first far-end fixed disk 122 and the first structure nodule llex cornuta
123；Second far-end structure section 13 includes the second far-end space disc 131, the second far-end fixed disk 132 and the second structure nodule llex cornuta 132.
Wherein, the first far-end space disc 121 and the second far-end space disc 131 are respectively separated that to be distributed in the first far-end structure section 12 and second remote
In the structure section 13 of end, effect is to prevent the first structure nodule llex cornuta 123 and second structure nodule llex cornuta 133 unstability when being pushed away.
Near-end structure section includes near-end space disc 161, near-end fixed disk 162, the first structure nodule llex cornuta 163 and the second structure nodule
Llex cornuta 164.Wherein, in the near-end space disc 161 structure section in near-end spaced apart, effect is to prevent the first structure nodule llex cornuta 163 He
Second structure nodule llex cornuta 164 unstability when being pushed away.The first structure nodule llex cornuta 163 on proximally-located structure section with positioned at the first far-end
The first structure nodule llex cornuta 123 one-to-one corresponding on structure section 12 is fastenedly connected or is same root knot llex cornuta；On proximally-located structure section
Second structure nodule llex cornuta 164 and the second structure nodule llex cornuta 133 on the second far-end structure section 13 correspond be fastenedly connected or
For same root knot llex cornuta.The first structure nodule llex cornuta 123 on first far-end structure section 12 and second on the second far-end structure section 13
The quantity of structure nodule llex cornuta 133 is more than three.
Middle connection body 15 includes passage fixed plate 152, the structure bone guided being fastenedly connected between passage fixed plate 152
Passage 151 and structural bone intersect guiding channel 153.One end of first structure nodule llex cornuta 163 (123) is tight with near-end fixed disk 162
It is solidly connected, the other end sequentially passes through near-end space disc 161, structural bone intersects guiding channel 153, after the first far-end space disc 121
It is fastenedly connected with the first far-end fixed disk 122；One end of second structure nodule llex cornuta 164 (133) is with near-end fixed disk 162 fastening even
Connect, the other end sequentially passes through near-end space disc 161, structural bone guiding channel 151, the first far-end structure section 12, the second far-end interval
It is fastenedly connected with the second far-end fixed disk 132 after disk 131.Structural bone guiding channel 151 and structural bone intersect guiding channel 153
Effect is to maintain structural bone and is subject to shape invariance during push and draw force.Wherein, structural bone intersection guiding channel 153 is in the horizontal direction
Left and right arranged in a crossed manner or go to upper and lower in vertical direction arranged in a crossed manner so that the first structure nodule on the left of proximally-located structure section
Llex cornuta 163 be connected with the first structure nodule llex cornuta 123 positioned at the first far-end structure section 12 right side and proximally-located structure section on the right side of
First structure nodule llex cornuta 163 is connected with the first structure nodule llex cornuta 123 positioned at the first far-end structure section 12 left side, or proximally-located
The first structure nodule llex cornuta 163 on the upside of structure section be connected with the first structure nodule llex cornuta 123 positioned at the first far-end structure section 12 downside with
And the first structure nodule llex cornuta 163 on the downside of proximally-located structure section and the first structure nodule llex cornuta positioned at the first far-end structure section 12 upside
123 connections.
When structural bone is intersected guiding channel 153 and is in arranged crosswise in the horizontal direction, if near structure body 16 is in level
Curve on direction, the first far-end structure section 12 in the horizontal direction will be with certain proportion (first by near-end structure section middle left and right both sides
Structure nodule llex cornuta 163 distance in the horizontal direction and the first structure nodule llex cornuta 123 of the first far-end structure section 12 middle left and right both sides
Distance in the horizontal direction together decides on) curve to identical direction, the second far-end structure section 13 in the horizontal direction will be with one
Certainty ratio (the second structure nodule llex cornuta 164 distance in the horizontal direction and the second far-end structure by near-end structure section middle left and right both sides
Save the second structure nodule llex cornuta 133 of 13 middle left and right both sides distance in the horizontal direction to together decide on) curved in the opposite direction
Turn；If near structure body 16 curves in vertical direction, the first far-end structure section 12 in vertical direction will be with certain proportion (by near
Upper and lower in first structure nodule llex cornuta 163 distance in vertical direction of upper and lower both sides and the first far-end structure section 12 in the structure section of end
First structure nodule llex cornuta 123 of both sides distance in vertical direction together decides on) curve in the opposite direction, the second far-end structure
Section 13 in vertical direction will with certain proportion (by upper and lower both sides in near-end structure section the second structure nodule llex cornuta 164 in Vertical Square
In distance upwards and the second far-end structure section 13, the second structure nodule llex cornuta 133 of upper and lower both sides distance in vertical direction is altogether
With decision) curve in the opposite direction.
When structural bone is intersected guiding channel 153 and is in arranged crosswise in vertical direction, if near structure body 16 is in level
Curve on reversely, the first far-end structure section 12 in the horizontal direction will be with certain proportion (first by near-end structure section middle left and right both sides
Structure nodule llex cornuta 163 distance in the horizontal direction and the first structure nodule llex cornuta 123 of the first far-end structure section 12 middle left and right both sides
Distance in the horizontal direction together decides on) curve in the opposite direction, the second far-end structure section 13 in the horizontal direction will be with one
Certainty ratio (the second structure nodule llex cornuta 164 distance in the horizontal direction and the second far-end structure by near-end structure section middle left and right both sides
Save the second structure nodule llex cornuta 133 of 13 middle left and right both sides distance in the horizontal direction to together decide on) curved in the opposite direction
Turn；If near structure body 16 curves in vertical direction, the first far-end structure section 12 in vertical direction will be with certain proportion (by near
Upper and lower in first structure nodule llex cornuta 163 distance in vertical direction of upper and lower both sides and the first far-end structure section 12 in the structure section of end
First structure nodule llex cornuta 123 of both sides distance in vertical direction together decides on) curve to identical direction, the second far-end structure
Section 13 in vertical direction will with certain proportion (by upper and lower both sides in near-end structure section the second structure nodule llex cornuta 164 in Vertical Square
In distance upwards and the second far-end structure section 13, the second structure nodule llex cornuta 133 of upper and lower both sides distance in vertical direction is altogether
With decision) curve in the opposite direction.
As shown in Fig. 2, Fig. 5, driving handle 20 includes driving handle seat 21, universal joint 22 and linear slide module 23.Its
In, driving handle seat 21 is proximally passed through in structure 16 and is connected with passage fixed plate 152 by universal joint 22, makes driving handss
Handle seat 21 can rotate to any direction around fixing point.Driving handle seat 21 passes through linear slide module 23 and near-end fixed disk
162 connections, linear slide module 23 includes guide rail 231 and the slide block 232 being slidably connected on guide rail 231, wherein, guide rail 231
It is fixedly connected on driving handle seat 21, slide block 232 is connected with near-end fixed disk 162.The effect of linear slide module 23 is to make
The central axis of near-end fixed disk 162 is all the time with the central axes of driving handle 20 and driving handle 20 can be solid along near-end
The central axis of price fixing 162 slides, and thereby guarantees that its meandering shape is near when driving handle 20 controls near structure body 16 to curve
Like circular arc.
Further, the front end in far structure body 11 is provided with operation executor 101, the control line of operation executor 101
102 pass through from far structure body 11, and the other end is with the operation actuator driven mechanism 25 being arranged on driving handle seat 21 even
Connect.Operation actuator driven mechanism 25 includes horizontal guide 251, horizontal movement slide block 252, connecting rod 253, vertical guide stem 254 and
Slide block moving vertically 255, wherein, vertical guide stem 254 and driving handle seat 21 are fastenedly connected and perpendicular to driving handle seat 21
Axis direction；Slide block moving vertically 255 is slidably connected in vertical guide stem 254；Horizontal guide 251 is two, is fastenedly connected
On driving handle seat 21 and be distributed in the both sides of vertical guide stem 254, horizontal guide 251 is parallel to the axis side of driving handle seat 21
To.Two horizontal guide 251 slidably support horizontal movement slide block 252 jointly, and horizontal movement slide block 252 is located at vertical guide stem 254
Front.Slide block moving vertically 255 is connected by connecting rod 253 with horizontal movement slide block 252.Vertical guide stem 254 is arranged with
Spring 256, one end of spring 256 is fastenedly connected with driving handle seat 21, and the other end is fastenedly connected with slide block moving vertically 255.
Horizontal movement slide block 252 is fastenedly connected with control line 102.When pressing down on slide block moving vertically 255, slide block moving vertically 255
Horizontal movement slide block 252 is promoted to travel forward along horizontal guide 251 by connecting rod 253, thus thrust is formed to control line 102, with
It is easy to drive operation executor 101 (as operating forcepies) generation action.The control line 102 of operation executor 101 equally can also transmit
Abilities as various forms of in electric energy, dither etc. are thus implement electrosurgery.
Further, it is additionally provided with control line guiding channel 257 between passage fixed plate 152, control line 102 is from control line guiding
Pass through in passage 257, the effect of control line guiding channel 257 is to prevent from controlling line 102 unstability when being pushed away.
Further, as shown in fig. 6, present invention additionally comprises driving handle lid 24 and flexible operation tool outer casing 105.Its
In, driving handle lid 24 and driving handle seat 21 are fastenedly connected the handle contours forming closing.Middle connection body 15 and near-end knot
Structure body 16 is respectively positioned in flexible operation tool outer casing 105, and passage fixed plate 152 is fastenedly connected with flexible operation tool outer casing 105.
It is provided with criss-cross chute 106 in the rear end of flexible operation tool outer casing 105, driving handle 20 can enter along chute 106
Row rotates, and rotates in the horizontal direction and the vertical direction respectively.Additionally, when rotating driving handle 20, rotary motion can be led to
Cross universal joint 22 and be transferred to passage fixed plate 152, and then entirely flexible operation tool rotation can be driven, realize to operation executor
The control of 101 roll angle.Furthermore, chute 106 of the present invention also can be designed to different shapes according to different motion requirements.
Embodiment two:
The present embodiment is with the difference of embodiment one: the first structure nodule llex cornuta 163 (123) leads to from structure bone guided
Pass through in road 151, and the second structure nodule llex cornuta 164 (133) passes through from structural bone intersection guiding channel 153.Other parts
Structure is all identical with embodiment one.
The present invention is only illustrated with above-described embodiment, and the structure of each part, set location and its connection are all to have
Changed.On the basis of technical solution of the present invention, all improvement or equivalent individual part being carried out according to the principle of the invention
Conversion, all should not exclude outside protection scope of the present invention.
Claims (10)
1. a kind of flexible operation tool of structural bone arranged crosswise it is characterised in that: it includes flexible Continuum Structure, described soft
Property Continuum Structure includes far structure body, near structure body and middle connection body；Described far structure body includes the first far-end
Structure section and the second far-end structure section, described first far-end structure section includes the first far-end space disc, the first far-end fixed disk and the first structure
Nodule llex cornuta；Described second far-end structure section includes the second far-end space disc, the second far-end fixed disk and the second structure nodule llex cornuta；Institute
State near structure body and include near-end structure section, described near-end structure section includes near-end space disc, near-end fixed disk, the first structure nodule llex cornuta
With the second structure nodule llex cornuta；Positioned at the first structure nodule llex cornuta on described near-end structure section and on described first far-end structure section
First structure nodule llex cornuta one-to-one corresponding is fastenedly connected or is same root knot llex cornuta；The second structure nodule on described near-end structure section
Llex cornuta is fastenedly connected with the second structure nodule llex cornuta one-to-one corresponding on the second far-end structure section or is same root knot llex cornuta；Described
Middle connection body includes two passage fixed plates, is fastenedly connected with structural bone guiding channel between two described passage fixed plates
Intersect guiding channel with structural bone；One end of described first structure nodule llex cornuta is fastenedly connected with described near-end fixed disk, the other end
Sequentially pass through described near-end space disc, structural bone intersects guiding channel, tight with the first far-end fixed disk after the first far-end space disc
It is solidly connected；One end of described second structure nodule llex cornuta is fastenedly connected with described near-end fixed disk, and the other end sequentially passes through described near
After end space disc, structural bone guiding channel, the first far-end structure section, the second far-end space disc with the second far-end fixed disk fastening even
Connect；
Described structural bone is intersected guiding channel and is in left and right arranged in a crossed manner in the horizontal direction or goes to upper and lower in vertical direction
Arranged in a crossed manner, make the first structure nodule llex cornuta on the left of described near-end structure section and the on the right side of described first far-end structure section
One structure nodule llex cornuta connect and be located at described near-end structure section on the right side of the first structure nodule llex cornuta with positioned at described first far-end structure
Section left side first structure nodule llex cornuta connect, or be located at described near-end structure section on the upside of the first structure nodule llex cornuta with positioned at described
The first structure nodule llex cornuta on the downside of first far-end structure section connects and is located at the first structure nodule llex cornuta on the downside of described near-end structure section
It is connected with the first structure nodule llex cornuta on the upside of described first far-end structure section.
2. as claimed in claim 1 a kind of flexible operation tool of structural bone arranged crosswise it is characterised in that: also include drive
Handle, described driving handle includes driving handle seat, universal joint and linear slide module；Described driving handle seat is from described near-end
Pass through in structure and be connected with described passage fixed plate by described universal joint；Described driving handle seat passes through linear slide mould
Block is connected with described near-end fixed disk.
3. as claimed in claim 2 a kind of flexible operation tool of structural bone arranged crosswise it is characterised in that: described straight line is slided
Dynamic model block includes guide rail and the slide block being slidably connected on described guide rail, and described guide rail is fastenedly connected in described driving handle seat
On, described slide block is fastenedly connected with described near-end fixed disk.
4. as claimed in claim 2 a kind of flexible operation tool of structural bone arranged crosswise it is characterised in that: in described far-end
The front end of structure is provided with operation executor, and the control line of described operation executor passes through from described far structure body, another
End is connected with the operation actuator driven mechanism being arranged on described driving handle seat.
5. as claimed in claim 4 a kind of flexible operation tool of structural bone arranged crosswise it is characterised in that: described operation is held
Row device drive mechanism includes horizontal guide, horizontal movement slide block, connecting rod, vertical guide stem and slide block moving vertically, wherein, described vertical
Straight guide rod is fastenedly connected and the axis direction perpendicular to described driving handle seat with described driving handle seat, and described vertical movement is slided
Block is slidably connected in described vertical guide stem, and described horizontal guide and described driving handle seat are fastenedly connected and parallel to described drive
The axis direction of fixed handle seat, described horizontal movement slide block is slidably connected in described horizontal guide, described horizontal movement slide block
Positioned at the front of described vertical guide stem, described slide block moving vertically is connected by described connecting rod with described horizontal movement slide block；?
Spring is arranged with described vertical guide stem, one end of described spring is fastenedly connected with described driving handle seat, the other end with described
Slide block moving vertically is fastenedly connected；Described horizontal movement slide block is fastenedly connected with one end of described control line.
6. as claimed in claim 4 a kind of flexible operation tool of structural bone arranged crosswise it is characterised in that: in described passage
It is provided with control line guiding channel, described control line passes through from described control line guiding channel between fixed plate.
7. as claimed in claim 2 a kind of flexible operation tool of structural bone arranged crosswise it is characterised in that: also include drive
Handle cover and flexible operation tool outer casing；Described driving handle lid is fastenedly connected with described driving handle seat；Described middle part connects
Body and near structure body are respectively positioned in described flexible operation tool outer casing, outside described passage fixed plate and described flexibility operation tool
Shell is fastenedly connected；The rear end of described flexible operation tool outer casing is provided with the chute rotating for described driving handle.
8. as claimed in claim 7 a kind of flexible operation tool of structural bone arranged crosswise it is characterised in that: described chute is in
Cross.
9. a kind of flexible operation tool of structural bone arranged crosswise it is characterised in that: it includes flexible Continuum Structure, described soft
Property Continuum Structure includes far structure body, near structure body and middle connection body；Described far structure body includes the first far-end
Structure section and the second far-end structure section, described first far-end structure section includes the first far-end space disc, the first far-end fixed disk and the first structure
Nodule llex cornuta；Described second far-end structure section includes the second far-end space disc, the second far-end fixed disk and the second structure nodule llex cornuta；Institute
State near structure body and include near-end structure section, described near-end structure section includes near-end space disc, near-end fixed disk, the first structure nodule llex cornuta
With the second structure nodule llex cornuta；Positioned at the first structure nodule llex cornuta on described near-end structure section and on described first far-end structure section
First structure nodule llex cornuta one-to-one corresponding is fastenedly connected or is same root knot llex cornuta；The second structure nodule on described near-end structure section
Llex cornuta is fastenedly connected with the second structure nodule llex cornuta one-to-one corresponding on the second far-end structure section or is same root knot llex cornuta；Described
Middle connection body includes two passage fixed plates, is fastenedly connected with structural bone guiding channel between two described passage fixed plates
Intersect guiding channel with structural bone；One end of described first structure nodule llex cornuta is fastenedly connected with described near-end fixed disk, the other end
Sequentially pass through described near-end space disc, structural bone guiding channel, after the first far-end space disc with the first far-end fixed disk fastening even
Connect；One end of described second structure nodule llex cornuta is fastenedly connected with described near-end fixed disk, and the other end sequentially passes through between described near-end
After disk, structural bone intersection guiding channel, the first far-end structure section, the second far-end space disc with the second far-end fixed disk fastening even
Connect；
Described structural bone is intersected guiding channel and is in left and right arranged in a crossed manner in the horizontal direction or goes to upper and lower in vertical direction
Arranged in a crossed manner, make the second structure nodule llex cornuta on the left of described near-end structure section and the on the right side of described second far-end structure section
Two structure nodule llex cornuta connect and be located at described near-end structure section on the right side of the second structure nodule llex cornuta with positioned at described second far-end structure
Section left side second structure nodule llex cornuta connect, or be located at described near-end structure section on the upside of the second structure nodule llex cornuta with positioned at described
The second structure nodule llex cornuta on the downside of second far-end structure section connects and is located at the second structure nodule llex cornuta on the downside of described near-end structure section
It is connected with the second structure nodule llex cornuta on the upside of described second far-end structure section.
10. as claimed in claim 9 a kind of flexible operation tool of structural bone arranged crosswise it is characterised in that: also include drive
Fixed handle, described driving handle includes driving handle seat, universal joint and linear slide module；Described driving handle seat is from described near
Pass through in end structure body and be connected with described passage fixed plate by described universal joint；Described driving handle seat passes through linear slide
Module is connected with described near-end fixed disk.
Priority Applications (8)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610799314.1A CN106361387B (en) | 2016-08-31 | 2016-08-31 | A kind of flexible operation tool of structural bone arranged crosswise |
| KR1020197009262A KR102257229B1 (en) | 2016-08-31 | 2017-08-31 | Flexible surgical tool in which structural bones are intersected |
| PCT/CN2017/099851 WO2018041201A1 (en) | 2016-08-31 | 2017-08-31 | Flexible surgical instrument with structural bones in a crossed arrangement |
| US16/329,740 US11266388B2 (en) | 2016-08-31 | 2017-08-31 | Flexible surgical instrument with structural bones in a crossed arrangement |
| JP2019531523A JP7060599B2 (en) | 2016-08-31 | 2017-08-31 | Flexible Surgical Instruments and Flexible Surgical Instrument Systems |
| EP17845503.6A EP3508136B1 (en) | 2016-08-31 | 2017-08-31 | Flexible surgical instrument with structural bones in a crossed arrangement |
| CA3035282A CA3035282C (en) | 2016-08-31 | 2017-08-31 | Flexible surgical instrument with structural bones in a crossed arrangement |
| US17/648,411 US20220142629A1 (en) | 2016-08-31 | 2022-01-19 | Flexible surgical instrument with structural bones in a crossed arrangement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610799314.1A CN106361387B (en) | 2016-08-31 | 2016-08-31 | A kind of flexible operation tool of structural bone arranged crosswise |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106361387A true CN106361387A (en) | 2017-02-01 |
| CN106361387B CN106361387B (en) | 2019-09-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610799314.1A Active CN106361387B (en) | 2016-08-31 | 2016-08-31 | A kind of flexible operation tool of structural bone arranged crosswise |
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| Country | Link |
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| CN (1) | CN106361387B (en) |
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| CN106361387B (en) | 2019-09-13 |
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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. |