CN106420058A - Single port laparoscopic surgery system with front-loaded drive - Google Patents
Single port laparoscopic surgery system with front-loaded drive Download PDFInfo
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- CN106420058A CN106420058A CN201610795893.2A CN201610795893A CN106420058A CN 106420058 A CN106420058 A CN 106420058A CN 201610795893 A CN201610795893 A CN 201610795893A CN 106420058 A CN106420058 A CN 106420058A
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- 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
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Abstract
The invention relates to a single port laparoscopic surgery system with a front-loaded drive. The system comprises a flexible operation tool, an imaging tool, a catheter body and a drive body, wherein the flexible operation tool comprises a first flexible arm body, an operation execution device and a first drive transmission unit; the imaging tool comprises a second flexible arm body, an imaging illumination module and a second drive transmission unit; the catheter body comprises a catheter and a multi-chamber pipe body; the drive body comprises a skeleton correlated with the catheter body as well as multiple drive modules which are firmly connected to the skeleton and correlated to the first and second drive transmission units respectively; an overall feeding freedom degree, an overall rotation freedom degree and a turning freedom degree of the first flexible arm body are achieved by the drive modules through the correlated first drive transmission unit; and an overall feeding freedom degree and a turning freedom degree of the second flexible arm body are achieved by the drive modules through the correlated second drive transmission unit. According to the invention, multiple flexible operation tools and imaging tools can be inserted into a human body via the same multi-chamber pipe body for an operation.
Description
Technical field
The present invention relates to a kind of medicine equipment is and in particular to a kind of preposition single-hole laparoscopic surgery system of driving.
Background technology
In modern medical service field, manual porous laparoscope Minimally Invasive Surgery has been widely used in clinic.Such Minimally Invasive Surgery
Successfully reduce the postoperative pain of patient, complication probability, rehabilitation duration and improve scar after the operation.In recent years, for convenience of doctor
Raw operation and realization preferably postoperative output, the porous laparoscope Minimally Invasive Surgery of robot assisted is widely used, its
In Leonardo da Vinci's surgical robot system of being released by Intuitive Surgical company of the U.S. (intuition surgery company of the U.S.), can
Auxiliary doctor completes porous laparoscope Minimally Invasive Surgery, achieves coml immense success.
In order to reduce operation wound area and rehabilitation duration further, researcher proposes single-port laparoscopic minimally-invasive surgery.
Compared to porous laparoscope Minimally Invasive Surgery need multiple body surface otch, in single-port laparoscopic minimally-invasive surgery all operation tools by
One body surface otch (typically navel) enters abdominal cavity, further reduces the wound to patient.However, such single entrance
No matter configuration all puts forward higher requirement to the design of operating theater instruments or the operation of operation Shi doctor.Based on conventional rigid hand
Due to there is complicated trick cooperating demand, the flexibility ratio of operation tool in addition in the manual single-hole laparoscopic surgery of art instrument
The difficulty such as limited, working range is less, manual single-hole laparoscopic surgery is not yet applied to clinic.
Porous laparoscopic surgery robot, because its operation execution arm far-end is mainly the hinged in series structure of many rod members,
By its curving at each articulation joint of Steel rope drive, and steel wire rope must keep lasting tensioning state with miniature pulley,
Porous laparoscopic surgery robot cannot be transformed into respond well at aspects such as miniaturization, exercise performance and securities
Single-hole laparoscopic surgery robot.Therefore, the research and development for single-hole laparoscopic surgery robot are expected to promote single-hole laparoscopic micro-
The development further of invasive procedures, has highly important science and social effect.
Content of the invention
For the problems referred to above, it is an object of the invention to provide a set of drive preposition single-hole laparoscopic surgery system, and pin
Feature to instrument entrained by this surgery systems is it is proposed that a kind of feasible facility layout scheme.
For achieving the above object, the present invention employs the following technical solutions：A kind of preposition single-hole laparoscopic surgery system of driving
System is it is characterised in that this system includes flexible operation tool, imaging tool, catheter body and driving body；Wherein, described flexible hand
Art instrument includes the first flexible arm body, is associated with the operation actuator of described first flexible arm body far-end, and with described first
First driving gear unit of flexible arm body near-end association；Described imaging tool includes the second flexible arm body, is associated with described
The imaging illumination module of two flexible arm body far-ends, and the second driving transmission associating with described second flexible arm body near-end is single
Unit；Described catheter body includes the conduit for guiding described first flexible arm body, and is used for guiding described second flexible arm body
Multi-cavity body；Described driving body includes the skeleton associating with described catheter body, and is fastenedly connected on described skeleton and divides
The multiple driving modules not associated with the described first driving gear unit and the second driving gear unit；Described driving module passes through
The described first driving gear unit of associated realizes the entirety feeding free degree of described first flexible arm body, integral-rotation certainly
By spending and curve the free degree；Similar, described driving module realizes institute by the described second driving gear unit of associated
State the entirety feeding free degree of the second flexible arm body and curve the free degree.
In a preferred embodiment, described flexibility operation tool also includes driving gear unit remote positioned at described first
The first driving input interface at end；Similar, described imaging tool is also included positioned at the described second driving gear unit far-end
Second driving input interface.
In a preferred embodiment, the flexible operation tool that described multi-cavity body includes closing passes through cavity, and institute
State distal plate and the proximal plate that catheter body also includes linking into an integrated entity, and fix even with described multi-cavity body and distal plate respectively
The connecting interface connecing；Described distal end of catheter is fixed in described connecting interface, and with described flexibility operation tool by cavity even
Logical, near-end is fixed in described proximal plate and has multiple duct entries dissipating distribution, described first flexible arm body far-end warp
The duct entry insertion described flexibility operation tool of described conduit passes through cavity and extends.
In a preferred embodiment, the imaging tool that described multi-cavity body also includes opening passes through cavity, and institute
State catheter body also to include being placed on the external outer tube of described multi-lumen tube；In described distal plate, proximal plate and connecting interface, open
It is provided with the imaging tool installation gap of the opening matching with described imaging tool by cavity, described second flexible arm body is by lacking
Mouth direction is installed to described imaging tool and passes through among cavity and imaging tool installation gap, the end of described imaging illumination module
Face is fitted to form the cylinder of closing with the far-end end face of described multi-cavity body, and described outer tube is directly placed on described multi-lumen tube
In vitro, and with described connecting interface it is fixedly connected.
In a preferred embodiment, described flexibility operation tool is two or more by cavity quantity, described one-tenth
It is more than one as instrument passes through cavity quantity, and described multi-cavity body also includes the multi-functional cavity of more than one closing.
In a preferred embodiment, the skeleton far-end of described driving body and the proximal plate fastening in described catheter body connect
Connect, and described driving module includes multiple linear modules and multiple group of motors module, described linear module and described skeleton are fixed
Connect, the slide block in each described linear module is fixedly connected with group of motors module described in；Each described group of motors module is near
End is provided with the driving interface associating with the described first driving input interface/the second driving input interface；Described linear module leads to
Feed before and after crossing group of motors module described in slider-actuated and flexible operation tool/imaging tool entirety, and then it is flexible to realize first
The entirety feeding free degree of arm body/the second flexible arm body；Described group of motors module transmits motion by described driving interface, and leads to
Crossing described first driving gear unit/the second drives gear unit that motion is converted to described first flexible arm body/the second flexibility
Motion and the driving to described operation actuator that arm body curves to any direction；Described group of motors module also drives described flexibility
Operation tool integral-rotation, and then realize the integral-rotation free degree of described first flexible arm body.
In a preferred embodiment, wherein open with the described flexibility described group of motors module that associates of operation tool
It is provided with flexible arm body and passes through hole, the flexible arm body in described flexibility operation tool enters into institute through described flexible arm body by hole
State in conduit.
In a preferred embodiment, described conduit is two sections of tangent circular arcs of plane, and makes positioned at described proximal plate
The axis of upper duct entry passes through cavity diameter parallel with operation tool flexible in described multi-cavity body, simultaneously with described flexible hand
The diameter parallel of linear module and duct entry in described proximal plate in the described driving module of art instrument association, and with described become
As module linear in the described driving module of instrument association and the diameter parallel by cavity for the described imaging tool.
In a preferred embodiment, described flexible operation number of tools is three, and described imaging tool quantity is one
Individual, and described imaging illumination module includes two for realizing the camera of stereoscopic vision and multiple illuminating device.
In a preferred embodiment, described first flexible arm body and the second flexible arm body include at least one structure section and
It is placed on the flexible cover outside described structure section, each described structure section includes fixed disk, space disc and structural bone；Multiple described intervals
Disk is spaced apart, and in described structure section, described fixed disk is fixed in described structural bone one end, the other end sequentially pass through each described between
It is fastenedly connected after disk and drive gear unit or second to drive in gear unit in described first.
In a preferred embodiment, described structural bone is shaft-like or tubular structure, and quantity is more than three；Work as institute
When stating structure joint number more than two, connected by the way of series connection between each described structure section, drive transmission single away from described first
The structural bone of the structure section of unit or the second driving gear unit is from single close to the described first driving gear unit or the first driving transmission
Pass through on the fixed disk of structure section of unit and space disc；If driving gear unit or second to drive gear unit close to described first
The structural bone of structure section adopts tubular structure, then away from described first drive gear unit or second driving gear unit structure section it
Structural bone passes through in the structural bone close to the described first driving gear unit or the structure section of the second driving gear unit.
In a preferred embodiment, described flexibility operation tool is also included for associating the first flexible arm body and first
Drive the first rigid arm body of gear unit；Similar, described imaging tool is also included for associating the second flexible arm body and
Second rigid arm body of two driving gear units.
In a preferred embodiment, described first rigid arm body and the second rigid arm body are that direct rod shape is rigidly tied
Structure, described first rigid arm body and the second rigid arm body include multiple space discs therein spaced apart and are placed on the firm of its outside
Property strip of paper used for sealing.
Due to taking above technical scheme, it has advantages below to the present invention：1st, the present invention proposes and a set of meets single hole
Endoscope-assistant surgery puts the surgery systems of flow process to good use, and three in this system flexibility operation tool and imaging tool can be passed through same
Multi-cavity body enters human body and puts operation to good use, and multi-cavity body may also provide multiple multi-functional cavities.2nd, the leading of the present invention
, using the conduit with particular space curved configuration, conduit can be by the flexibility in described flexibility operation tool, imaging tool for body
Arm body leads in same multi-cavity body, both ensure that multiple instruments passed through size limitation during single operative incision, again full
Sufficient respective drive module spatial arrangement demand in vitro.According to different driving module sizes and motion feature, can
Adjustment catheter shape, to realize compact extrapersonal space arrangement.3rd, the present invention proposes catheter body, imaging tool, flexible operation
Instrument, skeleton, imaging tool drive module and operation tool to drive the detachable design of modularization of module, and propose
Feasible operation is installed and is put flow process to good use.4th, in the present invention, the driving input of imaging tool and flexible operation tool is all arranged in it
In front of respective drive gear unit, imaging tool and flexible operation tool all can be inserted by operating robot near-end and mate phase
Module should be driven, realize quickly installing.This kind of arrangement ensure that simplicity during installation, ensure that surgery systems simultaneously
Dimensional compactness.
Brief description
Fig. 1 is the structural representation of present invention flexibility operation tool；
Fig. 2 is the structural representation of flexible arm body of the present invention；
Fig. 3 (a) and (b) are the structural representations of imaging tool of the present invention；
Fig. 4 (a)～(e) is the structural representation of catheter body of the present invention；
Fig. 5 is the structural representation of driving body of the present invention；
Fig. 6 is the structural representation of the present invention flexible operation tool drives module；
Fig. 7 is the structural representation that imaging tool of the present invention drives module；
Fig. 8 (a)～(g) is that flow chart is put in the installation of the present invention to good use.
Specific embodiment
Below with reference to accompanying drawing, presently preferred embodiments of the present invention is described in detail, to become apparent from understanding the present invention's
Objects, features and advantages.It should be understood that embodiment shown in the drawings does not limit the scope of the present invention, and it is simply
The connotation of explanation technical solution of the present invention.
As shown in Fig. 1, Fig. 3～Fig. 5, the present invention provide single-hole laparoscopic surgery system include flexible operation tool 10,
Imaging tool 30, catheter body 40 and driving body 50.
Wherein, flexible operation tool 10 includes perform the operation actuator 101, flexible arm body 102, rigid arm body 103, flexible operation
Tool drives gear unit 104 and driving input interface 105.Operation actuator 101 is fastenedly connected remote in flexible arm body 102
End, it can be electro-mechanical surgical actuator, such as operating forceps, scissors, haemostatic clamp etc., can be also energy type operation actuator, such as electricity
Cutting knife, coagulation are first-class.Flexible arm body 102 is to have multiple many structures section flexible structures curving the free degree, in the present embodiment, soft
Property arm body 102 there are two structure sections, can achieve four curve the free degree.Flexible arm body 102 connects proximally by rigid arm body 103
To flexible operation tool drives gear unit 104, wherein rigid arm body 103 is direct rod shape rigid structure, and its length can be according to work(
Can demand adjustment.It should be noted that under specific circumstances, flexible arm body 102 can be also directly connected to flexible operation tool and drives
Dynamic gear unit 104.Flexible operation tool drives gear unit 104 can will be located at flexible operation tool drives gear unit
104 far-ends drive what the motion that received of input interface 105 was converted to more than 102 free degree of flexible arm body to curve motion, its
The middle described motion driving input interface 105 to be received can be rotary motion or linear motion, in the present embodiment for rotation fortune
Dynamic.
As shown in Fig. 2 flexible arm body 102 includes the first structure section 201, the second structure section 202 and is placed on outside flexible arm body 102
Flexible cover 209 (in figure has hidden the part strip of paper used for sealing 209 of flexible arm body 102 front end), the first structure section 201 includes the first structure section
Space disc 204, the first structure section fixed disk 205 and the first structure section structural bone 203；Second structure section 202 includes the second structure septa intersegmental disk
207th, the second structure section fixed disk 208 and the second structure section structural bone 206；The insertion that strip of paper used for sealing 209 can improve flexible arm body 102 is submissive
Property.Wherein, multiple first structure septa intersegmental disks 204 and the second structure septa intersegmental disk 207 are respectively separated and are distributed in the first structure section 201 and
In two structure sections 202, effect is to prevent the first structure section structural bone 203 and second structure section structural bone 206 unstability when being pushed away.First structure
The first structure section fixed disk 205 is fixed in section structural bone 203 one end, and the other end sequentially passes through the first structure septa intersegmental disk 204 and rigidity
Arm body 103, is finally fixed in flexible operation tool drives gear unit 104；Similar, the second structure section structural bone 206 one end
Be fixed on the second structure section fixed disk 208, the other end sequentially pass through the second structure septa intersegmental disk 207, the first structure section fixed disk 205,
One structure septa intersegmental disk 204 and rigid arm body 103, are finally fixed in flexible operation tool drives gear unit 104.By collaborative
Push-and-pull the first structure section structural bone 203 can achieve the first structure section 201 curving to any direction；Similar, by collaborative push-and-pull the
Two structure section structural bone 206 can achieve the second structure section 202 curving to any direction.
In a preferred embodiment, equally comprise space disc spaced apart in rigid arm body 103 and be placed on rigidity
Strip of paper used for sealing 209 outside arm body 103, with flexible arm body 103 except that, the strip of paper used for sealing 209 outside rigid arm body 103 be rigidity
's.
In a preferred embodiment, the structure joint number that flexible arm body 102 includes can be one or more than two, respectively
Structure section structural bone can be shaft-like or tubular structure, and quantity is more than three.When structure joint number more than two, adopt between each structure section
Connected with the mode of series connection, that is, away from flexible operation tool drives gear unit 104 structure section structural bone 203 (206) from connecing
On the fixed disk 208 (205) of structure section of closely flexible operation tool drives gear unit 104 and space disc 207 (204) through.If
Structural bone 203 (206) close to the structure section of flexible operation tool drives gear unit 104 adopts tubular structure, away from flexible hand
The structural bone 203 (206) of the structure section of art tool drives gear unit 104 also can be from close to flexible operation tool drives gear unit
Pass through in the structural bone 206 (203) of 104 structure section.
As shown in Fig. 3 (a) and (b), imaging tool 30 includes imaging illumination module 301, flexible arm body 302, rigid arm body
303rd, imaging tool drives gear unit 304 and drives input interface 305.Wherein, imaging illumination module 301 is fastenedly connected in soft
Property arm body 102 far-end, it is integrated with two for realizing camera 306 and multiple illuminating devices 307 of stereoscopic vision.Flexible arm
Body 302 is connected to imaging tool proximally by rigid arm body 303 and drives gear unit 304, and imaging tool drives gear unit 304
The motion that input interface 305 is received that drives of gear unit 304 far-end can will be driven to be converted to flexibility positioned at imaging tool
More than 302 free degree of arm body curve motion, wherein drive the motion that input interface 305 is received for linear motion or can rotate
Motion, in the present embodiment for rotary motion.It should be noted that flexible arm body 302 in imaging tool, rigid arm body 303
Similar with the flexible arm body 102 in flexible operation tool, rigid arm body 103 structure respectively, except for the difference that its section morphology and length
Degree.
As shown in Fig. 4 (a)～(e), catheter body 40 includes multi-cavity body 401, outer tube 402, connecting interface 412, conduit
409th, distal plate 403 and proximal plate 407.In the present embodiment, multi-cavity body 401 include three closings flexible operation tools logical
The imaging tool crossing 404, opening of cavity pass through the multi-functional cavity 406 of cavity 405 and four closings (only as example,
It is not limited to this).Outer tube 402 can be placed on outside multi-cavity body 401, so that the imaging tool of opening is closed by cavity 405.Connect
Interface 412 is fastenedly connected in distal plate 403, and it can be detachably connected with multi-cavity body 401 and outer tube 402 respectively.
Distal plate 403 is connected by many supporting construction bars 408 with proximal plate 407, and conduit 409 far-end is fixed in connecting interface 412,
And connected by cavity 404 with flexible operation tool, conduit 409 near-end is then fixed in proximal plate 403 and has multiple dissipating
The duct entry 410 of distribution.Conduit 409 can be by each flexible arm body 102 together with corresponding flexible operation tool drives gear unit
104 to the guiding of space different directions, to avoid each flexible operation tool drives gear unit 104 to interfere and simultaneously optimum
Change volume shared by each driving module as shown in Figure 5.In the present embodiment, because imaging tool 30 far-end is to have larger diameter
Imaging illumination module 301, compare more flexible operation tool 10, its cannot by diameter be slightly larger than flexible arm body 302 closing
Cavity.Therefore, in the state of not installing outer tube 402, imaging tool is open architecture by cavity 405 to catheter body 40, with
This in distal plate 403, proximal plate 407 and connecting interface 412, offers and passes through cavity 405 phase with imaging tool simultaneously
The imaging tool installation gap 411 of the opening joined, in imaging tool 30, flexible arm body 302 and rigid arm body 303 can be directly by lacking
Mouth direction is installed to imaging tool and passes through among cavity 405 and imaging tool installation gap 411, now imaging illumination module
301 end face is fitted with the far-end end face of multi-cavity body 401, forms the cylinder of closing, and internal diameter is more than imaging illumination module 301
The outer tube 402 of external diameter can directly be placed on outside multi-cavity body 401, and is fixedly connected with connecting interface 412.
As shown in figure 5, driving body 50 is main being driven by skeleton 501, flexible operation tool drives module 502 and imaging tool
Module 503 forms.Wherein, skeleton 501 far-end and the proximal plate 407 in catheter body 40 are fastenedly connected.Tighten connected in skeleton 501
It is connected to three flexible operation tool drives modules 502 and an imaging tool drives module 503 (only as example, not limit
In this).In the present embodiment, three flexible operation tool drives modules 502 and an imaging tool drive module 503 using flat
Row arranging to correspond to the locus of duct entry 410 and sensing in catheter body 40 in central axis.
As shown in fig. 6, flexible operation tool drives module 502 includes linear module 601 and flexible operation tool motor group
Module 602.Linear module 601 is fastenedly connected with skeleton 501, and the slide block in linear module 601 and flexible operation tool motor
Group module 602 is fixedly connected.Offer flexible arm body in flexible operation tool motor group module 602 and pass through hole 604, flexible operation
Tool motor group module 602 near-end setting (including rotary setting and setting of sliding, in the present embodiment for rotary setting) has drive
Mobile interface 603.Flexible operation tool 10 can be easily by the driving positioned at flexible operation tool drives gear unit 104 near-end
Interface 603 is performed the operation in tool motor group module 602 to flexible with the Matching installation driving input interface 105.Now flexible operation
Flexible arm body 102 in instrument 10 passes through flexible arm body to pass through hole 604 hence into in conduit 409.Driving interface 603 receives
The motion that flexible operation tool motor group module 602 produces, and defeated by the driving in connected flexibility operation tool 10
Incoming interface 105, transmission motion (including rotary motion and linear motion, in the present embodiment for rotary motion) drives flexible operation
Instrument 10.The motion of input is converted to flexible arm body 102 and curves to any direction by flexible operation tool drives gear unit 104
Motion (curving the free degree for four in the present embodiment) and to operation actuator 101 driving；Meanwhile, flexible operation tool
Group of motors module 602 can drive flexible operation tool 10 integral-rotation and and then realize the freedom that flexible arm body 102 itself rotates
Degree；Further, linear module 601 can be by soft with the slider-actuated that flexible operation tool motor group module 602 is fastenedly connected
Property operation tool group of motors module 602 and flexible operation tool 10 entirety before and after feed, and then realize the entirety of flexible arm body 102
The feeding free degree.Therefore, in the present embodiment, flexible operation tool drives module 502 can achieve flexibility operation tool 10 altogether altogether
Six-freedom degree moves.It should be noted that the arrangement of linear module 601 and flexible operation tool motor group module 602 needs
When ensureing that this linear module 601 drives flexible operation tool 10, flexible arm body 102 smoothly can enter through duct entry 410 and lead
Pipe 409.
As shown in fig. 7, imaging tool drives module 503 structure and function similar with flexible operation tool drives module 502,
Imaging tool drives module 503 to include linear module 701 and imaging tool group of motors module 702.Imaging tool group of motors module
702 are mated with the driving input interface 305 in imaging tool 30 by the driving interface 703 positioned at its near-end, together with linear mould
Group 701 can achieve other five frees degree that imaging tool 30 is freely outside one's consideration except integral-rotation, and this five frees degree include flexibility
Four of arm body 302 curve the free degree and the overall feeding free degree.Due to not needing rotary freedom, in imaging tool 30 just
Property arm body 303 axis can deviate imaging tool drive gear unit 304 axis, therefore imaging tool group of motors module 702
Centre no through hole.It is also noted that the arrangement of linear module 701 and imaging tool group of motors module 702 needs to protect
When demonstrate,proving this linear module 701 driving imaging tool 30, flexible arm body 302 can smoothly be installed in imaging tool with rigid arm body 303
Breach 411 and imaging tool are passed through to move forward and backward in cavity 405.
It should be noted that the spatial form of conduit 409 can be according to the locus of flexible operation tool drives module 502
And sensing is adjusted, in the present embodiment, conduit 409 is two sections of tangent circular arcs of plane, and imaging tool drives module 503
In linear module 701 and imaging tool pass through the diameter parallel of cavity 405, and make duct entry 410 on proximally-located plate 407
Axis and multi-cavity body 401 in flexible operation tool by cavity 404 diameter parallel and form enough side-play amounts and avoid
Each movement interference driving module, the overall direction of feed of flexible operation tool motor group module 502 need to be with duct entry 410
Diameter parallel.
Fig. 8 (a)～(g) shows that flow process is put in the installation of the present invention to good use, comprises the following steps：
1) as shown in Fig. 8 (a), operation consent, in sufferer, catheter body 40 and the skeleton 501 of outer tube 402 will be installed in vitro
Connect.Now, the slide block of linear module 601 and linear module 701 carries flexible operation tool motor group module 602 and imaging work
Tool group of motors module 702 is in apart from the farthest original state of catheter body 40.
2) as shown in Fig. 8 (b), imaging tool 30 is attached to imaging tool group of motors module 702.By in imaging tool 30
Flexible arm body 302 and rigid arm body 303 be mounted simultaneously to the imaging in the catheter body 40 under outer tube 402 state is not installed
Instrument passes through in cavity 405 and imaging tool installation gap 411, now in the end face of imaging illumination module 301 and catheter body 40
Multi-cavity body 401 far-end end face laminating, formed closing column structure.
3) as shown in Fig. 8 (c), imaging illumination module 301 external diameter is less than or equal to multi-cavity body 401 diameter, outer tube 402 by
Far-end set is quickly connected to multi-lumen tube body 401, outer tube 402 end with connecting interface 412.Now, imaging illumination module 301 from
Outer tube 402 far-end stretches out, and is affixed on catheter body 40 far-end, and the two is common to be in closing column structure.So far, this single hole endoscope-assistant surgery
System installs in vitro.And then, removable skeleton 501 drives the single hole endoscope-assistant surgery system mass motion in the present embodiment,
The sheath through being fixed on single operative incision for the far-end of in running order imaging illumination module 301 and catheter body 40 is inserted
In sufferer body.
4) as shown in Fig. 8 (d), under imaging tool drives module 503 to drive, stretch forward by overall feeding for flexible arm body 302
Go out imaging tool to pass through cavity 405 and turn and reach predetermined angle of view to correct position, and concede flexible hand in multi-cavity body 401
Art instrument passes through the outlet of cavity 404.
5) as shown in Fig. 8 (e), multiple flexibility operation tools 10 are proximally attached to flexible operation tool drives module
On 502.The flexible arm body 102 of flexible operation tool 10 far-end is successively through the flexible arm on flexible operation tool drives module 502
The flexible operation tool that the conduit 409 that body passes through in hole 604 and catheter body 40 inserts in multi-cavity body 401 passes through cavity 404.
6) as shown in Fig. 8 (f), under the driving of each flexible operation tool drives module 502, each flexible arm body 102 is forward
Overall feeding is stretched out flexible operation tool and is passed through cavity 404 and curve into attitude as shown in drawings, to carry out single-hole laparoscopic
Operation technique.
7) as shown in Fig. 8 (g), in working order under, the sufferer internal body portion of single hole endoscope-assistant surgery system specifically includes one
Individual flexible arm body 302 and its 301, the three flexible arm bodies 102 of imaging illumination module carrying and its mechanical or energy carrying
Formula operation actuator 101 and part catheter body 40 and several multi-functional cavity 406 therein.
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 (13)
1. a kind of preposition single-hole laparoscopic surgery system of driving is it is characterised in that this system includes flexible operation tool, imaging
Instrument, catheter body and driving body；
Wherein, described flexible operation kit includes the first flexible arm body, and the operation being associated with described first flexible arm body far-end is held
Row device, and the first driving gear unit associating with described first flexible arm body near-end；
Described imaging tool includes the second flexible arm body, is associated with the imaging illumination module of described second flexible arm body far-end, with
And the second driving gear unit associating with described second flexible arm body near-end；
Described catheter body includes the conduit for guiding described first flexible arm body, and is used for guiding described second flexible arm body
Multi-cavity body；
Described driving body includes the skeleton associating with described catheter body, and be fastenedly connected on described skeleton and respectively with described
First drives gear unit and second to drive multiple driving modules of gear unit association；Described driving module passes through associated
Described first driving gear unit realize the entirety feeding free degree of described first flexible arm body, the integral-rotation free degree and curved
Turn the free degree；Similar, it is soft that described driving module realizes described second by the described second driving gear unit of associated
Property arm body the entirety feeding free degree and curve the free degree.
2. as claimed in claim 1 a kind of single-hole laparoscopic surgery system based on flexible arm body it is characterised in that described soft
Property operation tool also include positioned at described first driving gear unit far-end first driving input interface；
Similar, described imaging tool also includes the second driving input interface positioned at the described second driving gear unit far-end.
3. a kind of as claimed in claim 2 drive preposition single-hole laparoscopic surgery system it is characterised in that described multi-lumen tube
Body includes the flexible operation tool closed by cavity, and described catheter body also includes the distal plate and the near-end that link into an integrated entity
Plate, and the connecting interface being fixedly connected with described multi-cavity body and distal plate respectively；
Described distal end of catheter is fixed in described connecting interface, and is connected by cavity with described flexibility operation tool, and near-end is solid
In described proximal plate and have multiple duct entries dissipating distribution, described first flexible arm body far-end is through described conduit
Duct entry insertion described flexibility operation tool passes through cavity and extends.
4. a kind of as claimed in claim 3 drive preposition single-hole laparoscopic surgery system it is characterised in that described multi-lumen tube
The imaging tool that body also includes opening passes through cavity, and described catheter body also includes being placed on the external outer tube of described multi-lumen tube；
In described distal plate, proximal plate and connecting interface, offer the opening matching with described imaging tool by cavity
Imaging tool installation gap, described second flexible arm body is installed to described imaging tool by breach direction and passes through cavity and imaging
Among instrument installation gap, the end face of described imaging illumination module is fitted with the far-end end face of described multi-cavity body to form closing
Cylinder, it is external that described outer tube is directly placed on described multi-lumen tube, and is fixedly connected with described connecting interface.
5. a kind of as claimed in claim 4 drive preposition single-hole laparoscopic surgery system it is characterised in that described flexible hand
Art instrument is two or more by cavity quantity, and it is more than one that described imaging tool passes through cavity quantity, and described multi-lumen tube
Body also includes the multi-functional cavity of more than one closing.
6. a kind of as claimed in claim 4 drive preposition single-hole laparoscopic surgery system it is characterised in that described driving body
Skeleton far-end be fastenedly connected with the proximal plate in described catheter body, and described driving module includes multiple linear modules and multiple
Group of motors module, described linear module is fixedly connected with described skeleton, electricity described in the slide block and in each described linear module
Set modules are fixedly connected；
Each described group of motors module near-end is provided with and drives input interface to associate with the described first driving input interface/the second
Driving interface；Before described linear module passes through group of motors module described in slider-actuated and flexible operation tool/imaging tool entirety
Back fed, and then realize the entirety feeding free degree of the first flexible arm body/the second flexible arm body；
Described group of motors module transmits motion by described driving interface, and drives gear unit/the second to drive by described first
Dynamic gear unit is converted to the motion that described first flexible arm body/the second flexible arm body curves to any direction and to institute by moving
State the driving of operation actuator；
Described group of motors module also drives described flexibility operation tool integral-rotation, and then realizes the whole of described first flexible arm body
Body rotary freedom.
7. as claimed in claim 6 a kind of drive preposition single-hole laparoscopic surgery system it is characterised in that wherein with described
Flexible arm body is offered on the described group of motors module of flexible operation tool association and passes through hole, soft in described flexibility operation tool
Property arm body is entered in described conduit through described flexible arm body by hole.
8. a kind of as claimed in claim 6 drive preposition single-hole laparoscopic surgery system it is characterised in that described conduit is
Two sections of tangent circular arcs of plane, and make the axis of duct entry and operation flexible in described multi-cavity body in described proximal plate
Instrument passes through cavity diameter parallel, simultaneously with the described flexibility described driving module that associate of operation tool linearly module with described
In the diameter parallel of duct entry in proximal plate, and the described driving module associating with described imaging tool linear module with described
The diameter parallel by cavity for the imaging tool.
9. a kind of as claimed in claim 1 drive preposition single-hole laparoscopic surgery system it is characterised in that described flexible hand
Art number of tools is three, and described imaging tool quantity is one, and described imaging illumination module includes two and is used for realizing standing
The camera of body vision and multiple illuminating device.
10. a kind of as claimed in claim 1 drive preposition single-hole laparoscopic surgery system it is characterised in that described first
Flexible arm body and the second flexible arm body include at least one structure section and the flexible cover being placed on outside described structure section, each described structure
Section includes fixed disk, space disc and structural bone；Multiple described space discs spaced apart in described structure section, described structural bone one end
Be fixed on described fixed disk, the other end be fastenedly connected after sequentially passing through each described space disc in described first drive gear unit or
Second drives in gear unit.
11. a kind of as claimed in claim 10 drive preposition single-hole laparoscopic surgery system it is characterised in that described structure
Bone is shaft-like or tubular structure, and quantity is more than three；When described structure joint number more than two, adopt between each described structure section
The mode of series connection connects, that is, away from the described first driving gear unit or the structure section of the second driving gear unit structural bone from connecing
Pass through on the fixed disk of structure section of closely described first driving gear unit or the first driving gear unit and space disc；If close to institute
The structural bone stating the structure section of the first driving gear unit or the second driving gear unit adopts tubular structure, then away from described first
The structural bone of structure section driving gear unit or the second driving gear unit is from close to the described first driving gear unit or second
Pass through in the structural bone of structure section driving gear unit.
12. a kind of as claimed in claim 1 drive preposition single-hole laparoscopic surgery system it is characterised in that described flexibility
Operation tool also includes the first rigid arm body for associating the first flexible arm body and the first driving gear unit；
Similar, described imaging tool also includes the second rigidity for associating the second flexible arm body and the second driving gear unit
Arm body.
13. a kind of as claimed in claim 12 drive preposition single-hole laparoscopic surgery system it is characterised in that described first
Rigid arm body and the second rigid arm body are direct rod shape rigid structure, and described first rigid arm body and the second rigid arm body include multiple
Space disc therein spaced apart and the rigid strip of paper used for sealing being placed on its outside.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610795893.2A CN106420058B (en) | 2016-08-31 | 2016-08-31 | It is a kind of to drive preposition single-hole laparoscopic surgery system |
| PCT/CN2017/099872 WO2018041211A1 (en) | 2016-08-31 | 2017-08-31 | Single-port endoscopic surgical system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610795893.2A CN106420058B (en) | 2016-08-31 | 2016-08-31 | It is a kind of to drive preposition single-hole laparoscopic surgery system |
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| CN106420058A true CN106420058A (en) | 2017-02-22 |
| CN106420058B CN106420058B (en) | 2019-02-05 |
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| CN201610795893.2A Active CN106420058B (en) | 2016-08-31 | 2016-08-31 | It is a kind of to drive preposition single-hole laparoscopic surgery system |
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| WO2018041211A1 (en) * | 2016-08-31 | 2018-03-08 | 北京术锐技术有限公司 | Single-port endoscopic surgical system |
| CN108189000A (en) * | 2017-12-28 | 2018-06-22 | 哈尔滨工业大学深圳研究生院 | A kind of rope driving crawl robot |
| CN108567489A (en) * | 2018-03-23 | 2018-09-25 | 深圳市精锋医疗科技有限公司 | Operation arm, slave operation device and surgical robot |
| CN109009449A (en) * | 2018-06-22 | 2018-12-18 | 深圳市精锋医疗科技有限公司 | Motion arm and from operation equipment |
| CN109363772A (en) * | 2018-11-02 | 2019-02-22 | 北京邮电大学 | A kind of flexibility single hole micro-wound operation robot |
| CN109431606A (en) * | 2018-10-09 | 2019-03-08 | 北京术锐技术有限公司 | A kind of blood vessel intervention operation robot combined system and its application method |
| CN109567927A (en) * | 2018-11-22 | 2019-04-05 | 清华大学 | A kind of transluminal operation tool |
| CN111227939A (en) * | 2018-11-29 | 2020-06-05 | 中国科学院沈阳自动化研究所 | Modular single-hole endoscopic surgery driving device |
| CN109091240B (en) * | 2018-06-22 | 2020-08-25 | 深圳市精锋医疗科技有限公司 | Single incision surgical robot |
| CN113729955A (en) * | 2021-10-18 | 2021-12-03 | 天津大学 | Drivable flexible device |
| CN114010320A (en) * | 2021-09-15 | 2022-02-08 | 苏州中科华影健康科技有限公司 | Flexible surgical instrument control device and endoscopic surgical robot system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2018041211A1 (en) * | 2016-08-31 | 2018-03-08 | 北京术锐技术有限公司 | Single-port endoscopic surgical system |
| CN108189000A (en) * | 2017-12-28 | 2018-06-22 | 哈尔滨工业大学深圳研究生院 | A kind of rope driving crawl robot |
| CN108567489A (en) * | 2018-03-23 | 2018-09-25 | 深圳市精锋医疗科技有限公司 | Operation arm, slave operation device and surgical robot |
| CN109091240B (en) * | 2018-06-22 | 2020-08-25 | 深圳市精锋医疗科技有限公司 | Single incision surgical robot |
| CN109009449B (en) * | 2018-06-22 | 2020-08-11 | 深圳市精锋医疗科技有限公司 | Operation arm and slave operation device |
| CN109009449A (en) * | 2018-06-22 | 2018-12-18 | 深圳市精锋医疗科技有限公司 | Motion arm and from operation equipment |
| CN109431606A (en) * | 2018-10-09 | 2019-03-08 | 北京术锐技术有限公司 | A kind of blood vessel intervention operation robot combined system and its application method |
| CN109363772A (en) * | 2018-11-02 | 2019-02-22 | 北京邮电大学 | A kind of flexibility single hole micro-wound operation robot |
| CN109567927A (en) * | 2018-11-22 | 2019-04-05 | 清华大学 | A kind of transluminal operation tool |
| CN111227939A (en) * | 2018-11-29 | 2020-06-05 | 中国科学院沈阳自动化研究所 | Modular single-hole endoscopic surgery driving device |
| CN114010320A (en) * | 2021-09-15 | 2022-02-08 | 苏州中科华影健康科技有限公司 | Flexible surgical instrument control device and endoscopic surgical robot system |
| CN114010320B (en) * | 2021-09-15 | 2022-09-23 | 苏州中科华影健康科技有限公司 | Flexible surgical instrument control device and endoscopic surgical robot system |
| CN113729955A (en) * | 2021-10-18 | 2021-12-03 | 天津大学 | Drivable flexible device |
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Address after: Room d101a-63, B-2 / F, Dongsheng Science Park, 66 xixiaokou Road, Haidian District, Beijing, 100192 Patentee after: Beijing Shurui Robot Co.,Ltd. Address before: Room d101a-63, B-2 / F, Dongsheng Science Park, 66 xixiaokou Road, Haidian District, Beijing, 100192 Patentee before: BEIJING SURGERII TECHNOLOGY Co.,Ltd. |
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