CN106361387B - A kind of flexible operation tool of structural bone arranged crosswise - Google Patents
A kind of flexible operation tool of structural bone arranged crosswise Download PDFInfo
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- CN106361387B CN106361387B CN201610799314.1A CN201610799314A CN106361387B CN 106361387 B CN106361387 B CN 106361387B CN 201610799314 A CN201610799314 A CN 201610799314A CN 106361387 B CN106361387 B CN 106361387B
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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
Abstract
The present invention relates to a kind of flexible operation tool of structural bone arranged crosswise, including flexible Continuum Structure, flexible Continuum Structure includes far structure body, near structure body and middle connection body；Far structure body includes the first distal end structure section and the second distal end structure section, and near structure body includes proximal end structure section；The first structure section structure bone on the structure section of proximal end is fastenedly connected with the first structure section structure bone one-to-one correspondence being located on the first distal end structure section or is same root structural bone；The second structure section structure bone on the structure section of proximal end is fastenedly connected with the second structure section structure bone one-to-one correspondence being located on the second distal end structure section or is same root structural bone；Middle connection body includes two channel fixed plates, and structural bone guiding channel is fastenedly connected between two channel fixed plates and structural bone intersects guiding channel；First structure section structure bone is passed through from intersection guiding channel, and the second structure section structure bone is passed through from structural bone guiding channel.
Description
Technical field
The present invention relates to a kind of flexible operation tools of structural bone arranged crosswise, belong to medical instruments field.
Background technique
In modern medical service field, manual porous laparoscopic minimally invasive surgery has been widely used in clinic.Such minimally invasive hand
Art successfully reduces the postoperative pain of patient, complication, rehabilitation hospital stays and improves scar after the operation appearance.In order into one
Step reduces operation wound, reduces patient's slight illness, and researcher proposes single-port laparoscopic minimally-invasive surgery.
Multiple body surface notch, all operations in single-port laparoscopic minimally-invasive surgery are needed compared to porous laparoscopic minimally invasive surgery
Tool enters abdominal cavity by a body surface notch (usually navel), further reduces the wound to patient.However, such list
No matter equal to the design of surgical instrument or the operation of operation Shi doctor the configuration of one entrance is, and more stringent requirements are proposed.
Traditional rigid surgical instrument is mostly elongated rod-like structure, and the end of tool is provided with operation actuator, is led to
The drawing for crossing steel wire or rope carries out motion control.Based on the manual single-hole laparoscopic surgery of conventional rigid surgical instrument due to depositing
In complicated trick cooperating demand, the difficulties such as the flexibility ratio of operation tool is limited in addition, working range is smaller, manual single hole
Laparoscopic surgery is not yet widely used in clinic.
Summary of the invention
In view of the above-mentioned problems, it is an object of the present invention to provide a kind of flexible operation tool of structural bone arranged crosswise,
The flexibility operation tool can preferably be applied to the operation implemented through single operative incision or multiple operative incisions.
To achieve the above object, the invention adopts the following technical scheme: a kind of flexible operation work of structural bone arranged crosswise
Tool, it is characterised in that: it includes flexible Continuum Structure, and the flexibility Continuum Structure includes far structure body, proximal structure
Body and middle connection body；The far structure body includes the first distal end structure section and the second distal end structure section, the first distal end structure section
Including the first distal end space disc, the first distal end fixed disk and the first structure section structure bone；The second distal end structure section includes second remote
Hold space disc, the second distal end fixed disk and the second structure section structure bone；The near structure body includes proximal end structure section, the proximal end structure
Section includes proximal end space disc, proximal end fixed disk, the first structure section structure bone and the second structure section structure bone；On the proximal end structure section
The first structure section structure bone be fastenedly connected with the first structure section structure bone one-to-one correspondence being located on the first distal end structure section or be
Same root structural bone；The second structure section structure bone on the proximal end structure section and the second structure section on the second distal end structure section
Structural bone one-to-one correspondence is fastenedly connected or is same root structural bone；The middle connection body includes two channel fixed plates, two
It is fastenedly connected with structural bone guiding channel between a channel fixed plate and structural bone intersects guiding channel；The first structure section
One end of structural bone is fastenedly connected with the proximal end fixed disk, and the other end sequentially passes through the proximal end space disc, structural bone is intersected
It is fastenedly connected after guiding channel, the first distal end space disc with the first distal end fixed disk；One end of the second structure section structure bone with
The proximal end fixed disk is fastenedly connected, and the other end sequentially passes through the proximal end space disc, structural bone guiding channel, the first distal end structure
It is fastenedly connected after section, the second distal end space disc with the second distal end fixed disk；The structural bone intersects guiding channel in the horizontal direction
It is upper in left and right arranged in a crossed manner or go to upper and lower in vertical direction arranged in a crossed manner, make to be located at first on the left of the proximal end structure section
Structure section structure bone connect with the first structure section structure bone being located on the right side of the first distal end structure section and is located at the proximal end structure section
The first structure section structure bone on right side is connect with the first structure section structure bone being located on the left of the first distal end structure section, or is located at institute
The first structure section structure bone on the upside of the structure section of proximal end is stated to connect with the first structure section structure bone being located on the downside of the first distal end structure section
And the first structure section structure bone on the downside of the proximal end structure section be located at the first distal end structure section on the upside of the first structure section
Structural bone connection.
It further include driving handle, the driving handle includes driving handle seat, universal joint and linear slide module；The drive
Fixed handle seat is passed through from the near structure body and is connect by the universal joint with the channel fixed plate；The driving hand
Handle seat is connect by linear slide module with the proximal end fixed disk.
The linear slide module includes guide rail and the sliding block that is slidably connected on the guide rail, and the guide rail is fastenedly connected
On the driving handle seat, the sliding block is fastenedly connected with the proximal end fixed disk.
The front end of the far structure body is provided with operation actuator, the control line of the operation actuator is from the distal end
It is passed through in structural body, the other end is connect with the operation actuator driven mechanism being arranged on the driving handle seat.
The operation actuator driven mechanism includes horizontal guide, horizontal movement sliding block, connecting rod, vertical guide stem and vertical fortune
Movable slider, wherein the vertical guide stem and the driving handle seat are fastenedly connected and perpendicular to the axis of the driving handle seat
Direction, the slide block moving vertically are slidably connected in the vertical guide stem, and the horizontal guide and the driving handle seat are tight
It is solidly connected and is parallel to the axis direction of the driving handle seat, the horizontal movement sliding block is slidably connected at the horizontal guide
On, the horizontal movement sliding block is located at the front of the vertical guide stem, the slide block moving vertically and the horizontal movement sliding block
It is connected by the connecting rod；Spring is arranged in the vertical guide stem, one end of the spring and the driving handle seat are tight
It is solidly connected, the other end is fastenedly connected with the slide block moving vertically；One end of the horizontal movement sliding block and the control line fastens
Connection.
Control line guiding channel is provided between the channel fixed plate, the control line is worn from the control line guiding channel
It crosses.
It further include driving handle lid and flexible operation tool outer casing；The driving handle lid and the driving handle seat fasten
Connection；The middle connection body and near structure body are respectively positioned in the flexible operation tool outer casing, the channel fixed plate with
The flexible operation tool outer casing is fastenedly connected；It is provided in the rear end of the flexible operation tool outer casing for the driving handle
The sliding slot to rotate.
The sliding slot 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；The far structure body includes first remote
Structure section and the second distal end structure section are held, the first distal end structure section includes the first distal end space disc, the first distal end fixed disk and first
Structure section structure bone；The second distal end structure section includes the second distal end space disc, the second distal end fixed disk and the second structure section structure bone；
The near structure body includes proximal end structure section, and the proximal end structure section includes proximal end space disc, proximal end fixed disk, the first structure section structure
Bone and the second structure section structure bone；The first structure section structure bone on the proximal end structure section be located on the first distal end structure section
The first structure section structure bone one-to-one correspondence be fastenedly connected or for same root structural bone；The second structure section on the proximal end structure section
Structural bone is fastenedly connected with the second structure section structure bone one-to-one correspondence being located on the second distal end structure section or is same root structural bone；Institute
Stating middle connection body includes two channel fixed plates, and it is logical that structure bone guided is fastenedly connected between two channel fixed plates
Road and structural bone intersect guiding channel；One end of the first structure section structure bone is fastenedly connected with the proximal end fixed disk, another
End fastens after sequentially passing through the proximal end space disc, structural bone guiding channel, the first distal end space disc with the first distal end fixed disk
Connection；One end of the second structure section structure bone is fastenedly connected with the proximal end fixed disk, and the other end sequentially passes through the proximal end
Space disc, structural bone connect after intersecting guiding channel, the first distal end structure section, the second distal end space disc with the fastening of the second distal end fixed disk
It connects；The structural bone intersects guiding channel and is in the horizontal direction in left and right arranged in a crossed manner or goes to upper and lower friendship in vertical direction
Fork setting makes be located at the second structure section structure bone on the left of the proximal end structure section be located on the right side of the second distal end structure section second
Structure section structure bone connection and the second structure section structure bone on the right side of the proximal end structure section be located at the second distal end structure section
The second structure section structure bone in left side connects, or the second structure section structure bone on the upside of the proximal end structure section be located at described the
On the downside of two distal end structure sections the second structure section structure bone connection and the second structure section structure bone on the downside of the proximal end structure section with
The second structure section structure bone connection on the upside of the second distal end structure section.
It further include driving handle, the driving handle includes driving handle seat, universal joint and linear slide module；The drive
Fixed handle seat is passed through from the near structure body and is connect by the universal joint with the channel fixed plate；The driving hand
Handle seat is connect by linear slide module with the proximal end fixed disk.
The invention adopts the above technical scheme, which has the following advantages: 1, the present invention using include near structure body,
Based on the flexible Continuum Structure of middle connection body and far structure body, wherein far structure body by middle connection body with
Near structure body association, near structure body are associated with driving handle, when driving handle driving near structure body is curved to any direction
When turning, far structure body is correspondingly curved, thus can realize flexible surgical arm it is any to curve movement.2, the present invention is remote
End structure body, middle connection body and near structure body, can using the structural bone arrangement (quantity of structural bone is greater than three) of redundancy
The stability and load capacity of raising system.3, the present invention is provided with structural bone intersection guiding channel in middle connection body, makes
It is in arranged crosswise that the first structure section structure bone, which is obtained, on horizontal (vertical) direction, drives near structure body in level to realize and work as
When curving on (vertical) direction, the first distal end structure section is curved to correspondingly the same direction, and the second distal end structure section is to correspondingly opposite
Direction curves；When driving near structure body is when vertical (horizontal) direction curves, the first distal end structure section and the second distal end structure section are equal
It is curved to correspondingly opposite direction.4, the present invention is provided with operation actuator in the front end of far structure body, actuator of performing the operation
It controls line and passes through far structure body, connect with the operation actuator driven mechanism being located on driving handle seat, operation actuator passes through
The push-and-pull of control line may be implemented the action control to operation actuator.
Present invention can apply to porous endoscope-assistant surgeries, can also be applied to single hole endoscope-assistant surgery.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of flexible Continuum Structure of the invention；
Fig. 2 is the connection schematic diagram of driving handle of the present invention and flexible Continuum Structure；
Fig. 3 is the structural schematic diagram of far structure body of the present invention；
Fig. 4 is the structural schematic diagram of near structure body and middle connection body of the present invention；
Fig. 5 is the structural schematic diagram of driving handle of the present invention；
Fig. 6 is that the present invention loads onto the structural schematic diagram after flexible operation tool outer casing.
Specific embodiment
The present invention is described in detail below with reference to the accompanying drawings and embodiments.
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 distal end structure section 12 and the second distal end structure section with series connection relationship
13；Near structure body 16 includes a proximal end structure section.Proximal end structure section passes through middle connection body 15 and the first distal end structure section 12 and the
The association of two distal end structure sections 13, can drive far structure body 11 to occur to curve accordingly when near structure body 16 curves.
Driving handle 20 is associated with near structure body 16, for controlling curving near structure body 16.
First distal end structure section 12 includes the first distal end space disc 121, the first distal end fixed disk 122 and the first structure section structure bone
123；Second distal end structure section 13 includes the second distal end space disc 131, the second distal end fixed disk 132 and the second structure section structure bone 132.
Wherein, the first distal end space disc 121 and the second distal end space disc 131, which are respectively separated, is distributed in the first distal end structure section 12 and second remote
It holds in structure section 13, effect is to prevent the first structure section structure bone 123 and the second unstability when being pushed away of structure section structure bone 133.
Proximal end structure section includes proximal end space disc 161, proximal end fixed disk 162, the first structure section structure bone 163 and the second structure nodule
Structure bone 164.Wherein, proximal end space disc 161 is spaced apart in the structure section of proximal end, and effect is to prevent 163 He of the first structure section structure bone
Second unstability when being pushed away of structure section structure bone 164.The first structure section structure bone 163 on the structure section of proximal end be located at the first distal end
The first structure section structure bone 123 one-to-one correspondence on structure section 12 is fastenedly connected or is same root structural bone；On the structure section of proximal end
Second structure section structure bone 164 be fastenedly connected with the second structure section structure bone 133 one-to-one correspondence being located on the second distal end structure section 13 or
For same root structural bone.Second on the first structure section structure bone 123 and the second distal end structure section 13 on first distal end structure section 12
The quantity of structure section structure bone 133 is three or more.
Middle connection body 15 includes channel fixed plate 152, the structure bone guided being fastenedly connected between channel fixed plate 152
Channel 151 and structural bone intersect guiding channel 153.One end of first structure section structure bone 163 (123) and proximal end fixed disk 162 are tight
It is solidly connected, after the other end sequentially passes through proximal end space disc 161, structural bone intersects guiding channel 153, the first distal end space disc 121
It is fastenedly connected with the first distal end fixed disk 122；One end of second structure section structure bone 164 (133) and the fastening of proximal end fixed disk 162 connect
It connects, the other end sequentially passes through proximal end space disc 161, structural bone guiding channel 151, first the 12, second distal end of distal end structure section interval
It is fastenedly connected after disk 131 with the second distal end fixed disk 132.Structural bone guiding channel 151 and structural bone intersect guiding channel 153
Effect is to maintain structural bone by shape invariance when push and draw force.Wherein, structural bone intersection guiding channel 153 is in the horizontal direction
It is left and right arranged in a crossed manner or go to upper and lower in vertical direction it is arranged in a crossed manner so that be located at proximal end structure section on the left of the first structure nodule
Structure bone 163 is connect and on the right side of the structure section of proximal end with the first structure section structure bone 123 for being located at 12 right side of the first distal end structure section
First structure section structure bone 163 is connect with the first structure section structure bone 123 for being located at 12 left side of the first distal end structure section, or is located at proximal end
The first structure section structure bone 163 on the upside of structure section connect with the first structure section structure bone 123 for being located at 12 downside of the first distal end structure section with
And the first structure section structure bone 163 on the downside of the structure section of proximal end and the first structure section structure bone for being located at 12 upside of the first distal end structure section
123 connections.
When it is in arranged crosswise that structural bone, which intersects guiding channel 153 in the horizontal direction, if near structure body 16 is in level
It is curved on direction, the first distal end structure section 12 in the horizontal direction will be with certain proportion (by the first of proximal end structure section middle left and right two sides
First structure section structure bone 123 of the 12 middle left and right two sides of distance and the first distal end structure section of structure section structure bone 163 in the horizontal direction
Distance in the horizontal direction codetermines) it is curved to identical direction, the second distal end structure section 13 in the horizontal direction will be with one
Certainty ratio is (by the second structure section structure bone 164 distance in the horizontal direction of proximal end structure section middle left and right two sides and the second distal end structure
The distance of the second structure section structure bone 133 of 13 middle left and right two sides in the horizontal direction is saved to codetermine) it is curved in the opposite direction
Turn；If near structure body 16 curves in vertical direction, the first distal end structure section 12 in vertical direction will be with certain proportion (by close
It holds upper and lower in the first structure section structure bone 163 of upper and lower two sides in structure section distance in vertical direction and the first distal end structure section 12
The distance of first structure section structure bone 123 of two sides in vertical direction codetermines) it curves in the opposite direction, the second distal end structure
Section 13 in vertical direction will be with certain proportion (by the second structure section structure bone 164 of two sides upper and lower in the structure section of proximal end in Vertical Square
The distance of second structure section structure bone 133 of upper and lower two sides in vertical direction is total in upward distance and the second distal end structure section 13
With decision) it curves in the opposite direction.
When it is in arranged crosswise that structural bone, which intersects guiding channel 153 in vertical direction, if near structure body 16 is in level
It is curved on reversed, the first distal end structure section 12 in the horizontal direction will be with certain proportion (by the first of proximal end structure section middle left and right two sides
First structure section structure bone 123 of the 12 middle left and right two sides of distance and the first distal end structure section of structure section structure bone 163 in the horizontal direction
Distance in the horizontal direction codetermines) it curves in the opposite direction, the second distal end structure section 13 in the horizontal direction will be with one
Certainty ratio is (by the second structure section structure bone 164 distance in the horizontal direction of proximal end structure section middle left and right two sides and the second distal end structure
The distance of the second structure section structure bone 133 of 13 middle left and right two sides in the horizontal direction is saved to codetermine) it is curved in the opposite direction
Turn；If near structure body 16 curves in vertical direction, the first distal end structure section 12 in vertical direction will be with certain proportion (by close
It holds upper and lower in the first structure section structure bone 163 of upper and lower two sides in structure section distance in vertical direction and the first distal end structure section 12
The distance of first structure section structure bone 123 of two sides in vertical direction codetermines) it is curved to identical direction, the second distal end structure
Section 13 in vertical direction will be with certain proportion (by the second structure section structure bone 164 of two sides upper and lower in the structure section of proximal end in Vertical Square
The distance of second structure section structure bone 133 of upper and lower two sides in vertical direction is total in upward distance and the second distal end structure section 13
With decision) it curves 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 structural body 16 and is connect by universal joint 22 with channel fixed plate 152, makes driving hand
Handle seat 21 can be rotated around fixed point to any direction.Driving handle seat 21 passes through linear slide module 23 and proximal end fixed disk
162 connections, linear slide module 23 include guide rail 231 and the sliding block 232 being slidably connected on guide rail 231, wherein guide rail 231
It is fixedly connected on driving handle seat 21, sliding block 232 is connect with proximal end fixed disk 162.The effect of linear slide module 23 is to make
The central axis of proximal end fixed disk 162 is overlapped with the central axis of driving handle 20 always and driving handle 20 can be solid along proximal end
The central axis of price fixing 162 slides, and thereby guarantees that meandering shape is close when driving handle 20 controls near structure body 16 and curves
Like arc-shaped.
Further, the front end of far structure body 11 is provided with operation actuator 101, the control line for actuator 101 of performing the operation
102 pass through from far structure body 11, and the other end connects with the operation actuator driven mechanism 25 being arranged on driving handle seat 21
It connects.The actuator driven mechanism 25 that performs the operation includes horizontal guide 251, horizontal movement sliding block 252, connecting rod 253,254 and of vertical guide stem
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 the two sides of vertical guide stem 254 are distributed in, horizontal guide 251 is parallel to the axis side of driving handle seat 21
To.Sliding support horizontal movement sliding block 252, horizontal movement sliding block 252 are located at vertical guide stem 254 to two horizontal guides 251 jointly
Front.Slide block moving vertically 255 is connect with horizontal movement sliding block 252 by connecting rod 253.It is arranged in vertical guide stem 254
Spring 256, one end and the driving handle seat 21 of spring 256 are fastenedly connected, and the other end is fastenedly connected with slide block moving vertically 255.
Horizontal movement sliding 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 sliding block 252 is pushed to travel forward along horizontal guide 251 by connecting rod 253, so that thrust is formed to control line 102, with
It is acted convenient for driving operation actuator 101 (such as surgical clamp).The control line 102 of operation actuator 101 can also equally transmit
Such as various forms of abilities of electric energy, high-frequency vibration are to implement electrosurgery.
Further, control line guiding channel 257 is additionally provided between channel fixed plate 152, control line 102 is guided from control line
It is passed through in channel 257, the effect of control line guiding channel 257 is to prevent the control unstability when being pushed away of line 102.
Further, as shown in fig. 6, the invention also includes driving handle lids 24 and flexible operation tool outer casing 105.Its
In, driving handle lid 24 and driving handle seat 21 are fastenedly connected to form closed handle contours.Middle connection body 15 and proximal end knot
Structure body 16 is respectively positioned in flexible operation tool outer casing 105, and channel fixed plate 152 is fastenedly connected with flexibility operation tool outer casing 105.
Be provided in the rear end of flexible operation tool outer casing 105 in criss-cross sliding slot 106, driving handle 20 can along sliding slot 106 into
Row rotation, i.e., rotate in the horizontal direction and the vertical direction respectively.In addition, rotary motion can lead to when rotate driving handle 20
It crosses universal joint 22 and is transferred to channel fixed plate 152, and then entire flexible operation tool rotation can be driven, realize to operation actuator
The control of 101 roll angle.Furthermore sliding slot 106 of the present invention can also be designed to different shapes according to different motion requirements.
Embodiment two:
The present embodiment and embodiment one the difference is that: the first structure section structure bone 163 (123) is logical from structure bone guided
It is passed through in road 151, and the second structure section structure bone 164 (133) is passed through from structural bone intersection guiding channel 153.Other parts
Structure is the same as example 1.
The present invention is only illustrated with above-described embodiment, and structure, setting position and its connection of each component are all can have
Changed.Based on the technical solution of the present invention, the improvement or equivalent that all principles according to the present invention carry out individual part
Transformation, should not exclude except 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；The far structure body includes the first distal end
Structure section and the second distal end structure section, the first distal end structure section include the first distal end space disc, the first distal end fixed disk and the first structure
Section structure bone；The second distal end structure section includes the second distal end space disc, the second distal end fixed disk and the second structure section structure bone；Institute
Stating near structure body includes proximal end structure section, and the proximal end structure section includes proximal end space disc, proximal end fixed disk, the first structure section structure bone
With the second structure section structure bone；The first structure section structure bone on the proximal end structure section be located on the first distal end structure section
First structure section structure bone one-to-one correspondence is fastenedly connected or is same root structural bone；The second structure nodule on the proximal end structure section
Structure bone is fastenedly connected with the second structure section structure bone one-to-one correspondence being located on the second distal end structure section or is same root structural bone；It is described
Middle connection body includes two channel fixed plates, is fastenedly connected with structural bone guiding channel between two channel fixed plates
Intersect guiding channel with structural bone；One end of the first structure section structure bone is fastenedly connected with the proximal end fixed disk, the other end
Sequentially pass through the proximal end space disc, structural bone intersects guiding channel, tight with the first distal end fixed disk after the first distal end space disc
It is solidly connected；One end of the second structure section structure bone is fastenedly connected with the proximal end fixed disk, and the other end sequentially passes through described close
Connect after holding space disc, structural bone guiding channel, the first distal end structure section, the second distal end space disc with the fastening of the second distal end fixed disk
It connects；The structural bone intersects guiding channel and the structural bone guiding channel be respectively used to keep the first structure section structure bone and
The second structure section structure bone is by shape invariance when push and draw force；
The structural bone intersects guiding channel and is in the horizontal direction in left and right arranged in a crossed manner or goes to upper and lower in vertical direction
It is arranged in a crossed manner, make be located at the first structure section structure bone on the left of the proximal end structure section be located on the right side of the first distal end structure section the
One structure section structure bone connection and the first structure section structure bone on the right side of the proximal end structure section be located at first distal end structure
The first structure section structure bone connection in section left side, or the first structure section structure bone on the upside of the proximal end structure section be located at it is described
The first structure section structure bone connection on the downside of first distal end structure section and the first structure section structure bone on the downside of the proximal end structure section
It is connect with the first structure section structure bone being located on the upside of the first distal end structure section；
When it is in the horizontal direction arranged crosswise that the structural bone, which intersects guiding channel, if the near structure body is in level side
It curves upwards, the first distal end structure section is curved to identical direction in the horizontal direction, and the second distal end structure section is in level
It is curved in the opposite direction on direction；If the near structure body curves in vertical direction, the first distal end structure section is hanging down
Histogram curves in the opposite direction upwards, and the second distal end structure section curves in the opposite direction in vertical direction；
When it is in vertical direction arranged crosswise that the structural bone, which intersects guiding channel, if the near structure body is in level side
It curves upwards, the first distal end structure section curves in the opposite direction in the horizontal direction, and the second distal end structure section is in level
It is curved in the opposite direction on direction；If the near structure body curves in vertical direction, the first distal end structure section is hanging down
Histogram is curved to identical direction upwards, and the second distal end structure section curves in the opposite direction in vertical direction.
2. a kind of flexible operation tool of structural bone arranged crosswise as described in claim 1, it is characterised in that: further include driving
Handle, the driving handle include driving handle seat, universal joint and linear slide module；The driving handle seat is from the proximal end
It passes through in structural body and is connect by the universal joint with the channel fixed plate；The driving handle seat passes through linear slide mould
Block is connect with the proximal end fixed disk.
3. a kind of flexible operation tool of structural bone arranged crosswise as claimed in claim 2, it is characterised in that: the straight line is sliding
Dynamic model block includes guide rail and the sliding block that is slidably connected on the guide rail, and the guide rail is fastenedly connected in the driving handle seat
On, the sliding block is fastenedly connected with the proximal end fixed disk.
4. a kind of flexible operation tool of structural bone arranged crosswise as claimed in claim 2, it is characterised in that: in the distal end
The front end of structural body is provided with operation actuator, and the control line of the operation actuator is passed through from the far structure body, another
The operation actuator driven mechanism held and be arranged on the driving handle seat connects.
5. a kind of flexible operation tool of structural bone arranged crosswise as claimed in claim 4, it is characterised in that: the operation is held
Row device driving mechanism includes horizontal guide, horizontal movement sliding block, connecting rod, vertical guide stem and slide block moving vertically, wherein described to hang down
Straight guide rod and the driving handle seat are fastenedly connected and perpendicular to the axis directions of the driving handle seat, and the vertical movement is slided
Block is slidably connected in the vertical guide stem, and the horizontal guide and the driving handle seat are fastenedly connected and are parallel to the drive
The axis direction of fixed handle seat, the horizontal movement sliding block are slidably connected in the horizontal guide, the horizontal movement sliding block
Positioned at the front of the vertical guide stem, the slide block moving vertically is connect with the horizontal movement sliding block by the connecting rod；?
Spring is arranged in the vertical guide stem, one end of the spring is fastenedly connected with the driving handle seat, the other end with it is described
Slide block moving vertically is fastenedly connected；One end of the horizontal movement sliding block and the control line is fastenedly connected.
6. a kind of flexible operation tool of structural bone arranged crosswise as claimed in claim 4, it is characterised in that: in the channel
Control line guiding channel is provided between fixed plate, the control line is passed through from the control line guiding channel.
7. a kind of flexible operation tool of structural bone arranged crosswise as claimed in claim 2, it is characterised in that: further include driving
Handle cover and flexible operation tool outer casing；The driving handle lid is fastenedly connected with the driving handle seat；The middle part connection
Body and near structure body are respectively positioned in the flexible operation tool outer casing, outside the channel fixed plate and the flexible operation tool
Shell is fastenedly connected；The rear end of the flexible operation tool outer casing is provided with the sliding slot to rotate for the driving handle.
8. a kind of flexible operation tool of structural bone arranged crosswise as claimed in claim 7, it is characterised in that: the sliding slot 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；The far structure body includes the first distal end
Structure section and the second distal end structure section, the first distal end structure section include the first distal end space disc, the first distal end fixed disk and the first structure
Section structure bone；The second distal end structure section includes the second distal end space disc, the second distal end fixed disk and the second structure section structure bone；Institute
Stating near structure body includes proximal end structure section, and the proximal end structure section includes proximal end space disc, proximal end fixed disk, the first structure section structure bone
With the second structure section structure bone；The first structure section structure bone on the proximal end structure section be located on the first distal end structure section
First structure section structure bone one-to-one correspondence is fastenedly connected or is same root structural bone；The second structure nodule on the proximal end structure section
Structure bone is fastenedly connected with the second structure section structure bone one-to-one correspondence being located on the second distal end structure section or is same root structural bone；It is described
Middle connection body includes two channel fixed plates, is fastenedly connected with structural bone guiding channel between two channel fixed plates
Intersect guiding channel with structural bone；One end of the first structure section structure bone is fastenedly connected with the proximal end fixed disk, the other end
Connect after sequentially passing through the proximal end space disc, structural bone guiding channel, the first distal end space disc with the fastening of the first distal end fixed disk
It connects；One end of the second structure section structure bone is fastenedly connected with the proximal end fixed disk, and the other end sequentially passes through between the proximal end
It fastens and connects with the second distal end fixed disk after disk, structural bone intersect guiding channel, the first distal end structure section, the second distal end space disc
It connects；The structural bone intersects guiding channel and the structural bone guiding channel be respectively used to keep the second structure section structure bone and
The first structure section structure bone is by shape invariance when push and draw force；
The structural bone intersects guiding channel and is in the horizontal direction in left and right arranged in a crossed manner or goes to upper and lower in vertical direction
It is arranged in a crossed manner, make be located at the second structure section structure bone on the left of the proximal end structure section be located on the right side of the second distal end structure section the
Two structure section structure bones connection and the second structure section structure bone on the right side of the proximal end structure section be located at second distal end structure
The second structure section structure bone connection in section left side, or the second structure section structure bone on the upside of the proximal end structure section be located at it is described
The second structure section structure bone connection on the downside of second distal end structure section and the second structure section structure bone on the downside of the proximal end structure section
It is connect with the second structure section structure bone being located on the upside of the second distal end structure section；
When it is in the horizontal direction arranged crosswise that the structural bone, which intersects guiding channel, if the near structure body is in level side
It curves upwards, the second distal end structure section is curved to identical direction in the horizontal direction, and the first distal end structure section is in level
It is curved in the opposite direction on direction；If the near structure body curves in vertical direction, the second distal end structure section is hanging down
Histogram curves in the opposite direction upwards, and the first distal end structure section curves in the opposite direction in vertical direction；
When it is in vertical direction arranged crosswise that the structural bone, which intersects guiding channel, if the near structure body is in level side
It curves upwards, the second distal end structure section curves in the opposite direction in the horizontal direction, and the first distal end structure section is in level
It is curved in the opposite direction on direction；If the near structure body curves in vertical direction, the second distal end structure section is hanging down
Histogram is curved to identical direction upwards, and the first distal end structure section curves in the opposite direction in vertical direction.
10. a kind of flexible operation tool of structural bone arranged crosswise as claimed in claim 9, it is characterised in that: further include driving
Fixed handle, the driving handle include driving handle seat, universal joint and linear slide module；The driving handle seat is from described close
It passes through in end structure body and is connect by the universal joint with the channel fixed plate；The driving handle seat passes through linear slide
Module is connect with the proximal 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 |
| 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 |
| 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 |
| PCT/CN2017/099851 WO2018041201A1 (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 |
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| Publication Number | Publication Date |
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| CN106361387A CN106361387A (en) | 2017-02-01 |
| CN106361387B true CN106361387B (en) | 2019-09-13 |
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| 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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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11266388B2 (en) | 2016-08-31 | 2022-03-08 | Beijing Surgerii Technology Co., Ltd. | Flexible surgical instrument with structural bones in a crossed arrangement |
| CN108524000B (en) * | 2017-03-06 | 2022-08-09 | 新加坡国立大学 | Surgical operation arm and surgical operation system |
| CN109498154A (en) * | 2018-12-28 | 2019-03-22 | 北京术锐技术有限公司 | A kind of tangent bend type flexibility operation tool system |
| CN112842534B (en) * | 2018-12-28 | 2024-03-29 | 北京术锐机器人股份有限公司 | Surgical tool system |
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| CN103707322A (en) * | 2013-12-31 | 2014-04-09 | 汪雯 | Flexible continuous-body mechanical structure capable of being bent and telescopic |
| CN104887313A (en) * | 2015-04-07 | 2015-09-09 | 哈尔滨工业大学 | Flexible arm for multi-degree-of-freedom flexible robot for single-hole abdominal minimally invasive surgery |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130090763A1 (en) * | 2008-01-25 | 2013-04-11 | The Trustees Of Columibia University In The City Of The City Of New York | Systems and methods for force sensing in a robot |
| US20150230697A1 (en) * | 2012-09-19 | 2015-08-20 | Nanyang Technological University | Flexible master - slave robotic endoscopy system |
| JP6752717B2 (en) * | 2014-04-02 | 2020-09-09 | インテュイティブ サージカル オペレーションズ， インコーポレイテッド | Working element guide with twisted passages |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103707322A (en) * | 2013-12-31 | 2014-04-09 | 汪雯 | Flexible continuous-body mechanical structure capable of being bent and telescopic |
| CN104887313A (en) * | 2015-04-07 | 2015-09-09 | 哈尔滨工业大学 | Flexible arm for multi-degree-of-freedom flexible robot for single-hole abdominal minimally invasive surgery |
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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. |