CN106420058B - It is a kind of to drive preposition single-hole laparoscopic surgery system - Google Patents
It is a kind of to drive preposition single-hole laparoscopic surgery system Download PDFInfo
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- CN106420058B CN106420058B CN201610795893.2A CN201610795893A CN106420058B CN 106420058 B CN106420058 B CN 106420058B CN 201610795893 A CN201610795893 A CN 201610795893A CN 106420058 B CN106420058 B CN 106420058B
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- 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
Preposition single-hole laparoscopic surgery system, including flexible operation tool, imaging tool, catheter body and driving body are driven the present invention relates to a kind of；Flexibility operation kit includes the first flexible arm body, operation actuator and the first driving gear unit；Imaging tool includes the second flexible arm body, imaging illumination mould group and the second driving gear unit；Catheter body includes conduit and multi-cavity tube body；Driving body include with the associated skeleton of catheter body, and be fastenedly connected on skeleton and respectively with the first and second driving associated multiple driving mould groups of gear unit；Driving mould group passes through the first driving gear unit being associated and realizes the whole feeding freedom degree of the first flexible arm body, rotates integrally freedom degree and curve freedom degree；Driving mould group passes through the second driving gear unit being associated and realizes the whole feeding freedom degree of the second flexible arm body and curve freedom degree.The present invention can make multiple flexible operation tools and imaging tool enter human body by same multi-cavity tube body and put operation to good use.
Description
Technical field
The present invention relates to a kind of medical instruments, and in particular to a kind of to drive preposition single-hole laparoscopic surgery system.
Background technique
In modern medical service field, manual porous laparoscopic minimally invasive surgery has been widely used in clinic.Such Minimally Invasive Surgery
It successfully reduces the postoperative pain of patient, complication probability, rehabilitation duration and improves scar after the operation.In recent years, for convenience of doctor
Preferably postoperative output, the porous laparoscopic minimally invasive surgery of robot assisted are widely used for raw operation and realization,
In by Intuitive Surgical company of the U.S. (intuition surgery company of the U.S.) release Leonardo da Vinci's surgical robot system, can
It assists doctor to complete porous laparoscopic minimally invasive surgery, achieves commercial immense success.
In order to further decrease operation wound area and rehabilitation duration, researcher proposes single-port laparoscopic minimally-invasive surgery.
Need multiple body surface notch compared to porous laparoscopic minimally invasive surgery, in single-port laparoscopic minimally-invasive surgery all operation tools by
One body surface notch (usually navel) enters abdominal cavity, further reduces the wound to patient.However, such single entrance
No matter equal to the design of surgical instrument or the operation of operation Shi doctor configuration is, and more stringent requirements are proposed.Based on conventional rigid hand
Due to there is complicated trick cooperating demand in the manual single-hole laparoscopic surgery of art tool, the flexibility ratio of operation tool in addition
It is limited, working range is smaller etc., and difficulties, manual single-hole laparoscopic surgery are not yet applied to clinic.
Porous laparoscopic surgery robot is performed the operation due to it and executes the hinged in series structure that arm distal end is mainly more rod pieces,
By its curving at each articulation joint of Steel rope drive, and wirerope must keep lasting tensioning state with miniature pulley,
So that porous laparoscopic surgery robot can not be transformed into micromation, movenent performance and in terms of work well
Single-hole laparoscopic surgery robot.Therefore, the research and development for single-hole laparoscopic surgery robot are expected to push single-hole laparoscopic micro-
The further development of invasive procedures has highly important science and social effect.
Summary of the invention
In view of the above-mentioned problems, the single-hole laparoscopic surgery system preposition the object of the present invention is to provide a set of driving, and needle
The characteristics of to tool entrained by the surgery systems, proposes a kind of feasible facility layout scheme.
To achieve the above object, the invention adopts the following technical scheme: a kind of drive preposition single-hole laparoscopic surgery system
System, which is characterized in that the system includes flexible operation tool, imaging tool, catheter body and driving body；Wherein, the flexible hand
Art tool includes the first flexible arm body, is associated with the operation actuator of the first flexible arm body distal end, and with described first
The associated first driving gear unit in flexible arm body proximal end；The imaging tool includes the second flexible arm body, is associated with described the
The imaging illumination mould group of two flexible arm body distal ends, and it is single with the associated second driving transmission in the second flexible arm body proximal end
Member；The catheter body includes the conduit for guiding the first flexible arm body, and for guiding the second flexible arm body
Multi-cavity tube body；The driving body include with the associated skeleton of the catheter body, and be fastenedly connected on the skeleton and point
The associated multiple driving mould groups of gear unit are not driven with the first driving gear unit and second；The driving mould group passes through
The the first driving gear unit being associated is realized the whole feeding freedom degree of the first flexible arm body, is rotated integrally certainly
By spending and curving freedom degree；Similar, the driving mould group passes through the second driving gear unit being associated and realizes institute
It states the whole feeding freedom degree of the second flexible arm body and curves freedom degree.
In a preferred embodiment, the flexible operation tool further includes being located at described first to drive gear unit remote
The first driving input interface at end；Similar, the imaging tool further includes being located at second driving gear unit distal end
Second driving input interface.
In a preferred embodiment, the multi-cavity tube body includes that closed flexible operation tool passes through cavity, and institute
Stating catheter body further includes the distal plate and proximal plate to link into an integrated entity, and fixes connect with the multi-cavity tube body and distal plate respectively
The connecting interface connect；The distal end of catheter is fixed in the connecting interface, and is connected with the flexible operation tool by cavity
Logical, proximal end is fixed in the proximal plate and the duct entry with multiple diverging distributions, and the first flexible arm body distal end passes through
The duct entry insertion of the conduit flexible operation tool passes through cavity and extends.
In a preferred embodiment, the multi-cavity tube body further includes that open imaging tool passes through cavity, and institute
Stating catheter body further includes being placed on the external outer tube of the multi-lumen tube；In the distal plate, proximal plate and connecting interface, open
Imaging tool installation gap equipped with the opening to be matched with the imaging tool by cavity, the second flexible arm body is by lacking
Mouth direction is installed to the imaging tool and passes through among cavity and imaging tool installation gap, the end of the imaging illumination mould group
The distal end face paste of face and the multi-cavity tube body is closed to form closed cylindrical body, and the outer tube is directly placed on the multi-lumen tube
In vitro, and with the connecting interface it is fixedly connected.
In a preferred embodiment, it is described flexibility operation tool by cavity quantity be two or more, it is described at
It is more than one as tool passes through cavity quantity, and the multi-cavity tube body further includes more than one closed multi-functional cavity.
In a preferred embodiment, the skeleton distal end of the driving body is fastened with the proximal plate in the catheter body connects
It connects, and the driving mould group includes multiple linear mould groups and multiple electric set modules, the linear mould group is fixed with the skeleton
It connects, the sliding block in each linear mould group is fixedly connected with the electric set modules；Each electric set modules are close
End is provided with and the first driving input interface/second driving associated driving interface of input interface；The linear mould group is logical
Electricity set modules described in slider-actuated and the whole front and back feeding of flexible operation tool/imaging tool are crossed, and then realize that first is flexible
The whole feeding freedom degree of arm body/second flexible arm body；The electricity set modules are led to by the driving interface passing movement
It crosses the first driving gear unit/second driving gear unit and movement is converted into the first flexible arm body/second flexibility
The movement that arm body is curved to any direction and the driving to the operation actuator；The electricity set modules also drive the flexibility
Operation tool rotates integrally, and then realizes the integral-rotation freedom degree of the first flexible arm body.
In a preferred embodiment, wherein with being opened on the flexible associated electric set modules of operation tool
Equipped with flexible arm body through hole, the flexible arm body in the flexibility operation tool passes through the flexible arm body through hole and enters institute
It states in conduit.
In a preferred embodiment, the conduit is two sections of tangent circular arcs of plane, and makes to be located at the proximal plate
The axis of upper duct entry and flexible operation tool is parallel by cavity axis in the multi-cavity tube body, at the same with the flexible hand
Linear mould group is parallel with the axis of duct entry in the proximal plate in the associated driving mould group of art tool, and with it is described at
As mould group linear in the associated driving mould group of tool is parallel by the axis of cavity with the imaging tool.
In a preferred embodiment, the flexible operation number of tools is three, and the imaging tool quantity is one
It is a, and the imaging illumination mould group includes two cameras and multiple illuminating devices for realizing stereoscopic vision.
In a preferred embodiment, the first flexible arm body and the second flexible arm body include at least one structure section and
The flexible cover being placed on outside the structure section, each structure section includes fixed disk, space disc and structural bone；Multiple intervals
Disk is spaced apart in the structure section, and the fixed disk is fixed in described structural bone one end, the other end sequentially pass through it is each it is described between
It is fastenedly connected after disk in the first driving gear unit or the second driving gear unit.
In a preferred embodiment, the structural bone is rod-shaped or tubular structure, and quantity is three or more；Work as institute
When stating structure joint number more than two, connected between each structure section using concatenated mode, i.e., it is single far from the first driving transmission
The structural bone of the structure section of member or the second driving gear unit is single from being driven close to the first driving gear unit or the second driving
It is passed through in the fixed disk and space disc of the structure section of member；If driving gear unit close to the first driving gear unit or second
The structural bone of structure section use tubular structure, then far from it is described first driving gear unit or second driving gear unit structure section it
Structural bone is passed through from close in the structural bone of the first driving gear unit or the structure section of the second driving gear unit.
In a preferred embodiment, the flexible operation tool further includes for being associated with the first flexible arm body and first
Drive the first rigid arm body of gear unit；Similar, the imaging tool further includes for being associated with the second flexible arm body and the
Second rigid arm body of two driving gear units.
In a preferred embodiment, the first rigid arm body and the second rigid arm body are that direct rod shape is rigidly tied
Structure, the first rigid arm body and the second rigid arm body include multiple being spaced apart space disc therein and to be placed on it external rigid
Property strip of paper used for sealing.
The invention adopts the above technical scheme, which has the following advantages: 1, meeting single hole the invention proposes a set of
Endoscope-assistant surgery puts the surgery systems of process to good use, and three in the system flexibility operation tool and an imaging tool can be by same
Multi-cavity tube body enters human body and puts operation to good use, and multi-cavity tube body can also be provided with multiple multi-functional cavities.2, of the invention to lead
Tube body uses the conduit with particular space curved configuration, and conduit can be by the flexibility in the flexible operation tool, imaging tool
Arm body is led into same multi-cavity tube body, not only ensure that size limitation of multiple tools by single operative incision when, but also full
The spatial arrangement demand of sufficient respective drive mould group in vitro.It, can according to different driving mould packet size sizes and motion feature
Catheter shape is adjusted, to realize compact extrapersonal space arrangement.3, the invention proposes catheter body, imaging tool, flexible operations
Tool, skeleton, imaging tool driving mould group and operation tool drive the detachable design scheme of modularization of mould group, and propose
Process is put in feasible operation installation to good use.4, the driving input of imaging tool and flexible operation tool is arranged in it in the present invention
In front of respective drive gear unit, imaging tool and flexible operation tool can be inserted by operating robot proximal end and match phase
Mould group should be driven, realizes quickly installation.Such arrangement ensure that simplicity when installation, while ensure that surgery systems
Dimensional compactness.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of flexible operation tool of the invention；
Fig. 2 is the structural schematic diagram of flexible arm body of the present invention；
Fig. 3 (a) and (b) are the structural schematic diagrams of imaging tool of the present invention；
Fig. 4 (a)~(e) is the structural schematic diagram of catheter body of the present invention；
Fig. 5 is the structural schematic diagram of driving body of the present invention；
Fig. 6 is the structural schematic diagram of flexible operation tool drives mould group of the invention；
Fig. 7 is the structural schematic diagram of imaging tool driving mould group of the present invention；
Fig. 8 (a)~(g) is that flow chart is put in installation of the invention to good use.
Specific embodiment
Presently preferred embodiments of the present invention is described in detail below with reference to attached drawing, it is of the invention to be clearer to understand
Objects, features and advantages.It should be understood that embodiment shown in the drawings does not limit the scope of the present invention, and only it is
Illustrate the connotation of technical solution of the present invention.
As shown in Fig. 1, Fig. 3~Fig. 5, single-hole laparoscopic surgery system provided by the invention include flexible operation tool 10,
Imaging tool 30, catheter body 40 and driving body 50.
Wherein, flexible operation tool 10 includes 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 can be electro-mechanical surgical actuator, such as surgical clamp, scissors, haemostatic clamp, and can also perform the operation actuator, such as electricity for energy type
Cutter, electriocoagulator etc..Flexible arm body 102 is to possess multiple more structure section flexible structures for curving freedom degree, in the present embodiment, soft
Property arm body 102 have that there are two structure sections, it can be achieved that four curve freedom degree.Flexible arm body 102 is connected proximally by rigid arm body 103
To flexibility operation tool drives gear unit 104, wherein rigid arm body 103 is direct rod shape rigid structure, and length can be according to function
It 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 drive
Dynamic gear unit 104.Flexibility operation tool drives gear unit 104 can will be located at flexible operation tool drives gear unit
The driving input interface 105 of 104 distal ends it is received move be converted to a freedom degree of flexible arm body more than 102 curve movement,
The received movement of middle 105 institutes of driving input interface can be rotary motion or linear motion, be in the present embodiment rotation fortune
It is 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 (the part strip of paper used for sealing 209 that 102 front end of flexible arm body has been hidden in figure), the first structure section 201 include the first structure section
Space disc 204, the first structure section fixed disk 205 and the first structure section structure bone 203；Second structure section 202 includes the second structure septa intersegmental disk
207, the second structure section fixed disk 208 and the second structure section structure bone 206；The insertion that flexible arm body 102 can be improved in strip of paper used for sealing 209 is submissive
Property.Wherein, multiple first structure septa intersegmental disks 204 and the second structure septa intersegmental disk 207, which are respectively separated, is distributed in the first structure section 201 and
In two structure sections 202, effect is to prevent the first structure section structure bone 203 and the second unstability when being pushed away of structure section structure bone 206.First structure
The first structure section fixed disk 205 is fixed in 203 one end of section structure bone, 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；It is similar, 206 one end of the second structure section structure bone
It is fixed on the second structure section fixed disk 208, the other end sequentially passes 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.Pass through collaboration
The first curving to any direction of structure section 201 can be realized by pushing and pulling the first structure section structure bone 203；It is similar, pass through collaboration push-and-pull the
Two structure section structure bones 206 can realize the second curving to any direction of structure section 202.
In a preferred embodiment, equally comprising the space disc that is spaced apart and rigidity is placed in rigid arm body 103
Strip of paper used for sealing 209 outside arm body 103, with flexible arm body 103 the difference is that the strip of paper used for sealing 209 outside rigid arm body 103 is 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 structure bone can be rod-shaped or tubular structure, and quantity is three or more.When structure joint number more than two, adopted between each structure section
It is connected with concatenated mode, i.e., the structural bone 203 (206) of the structure section far from flexible operation tool drives gear unit 104 is from connecing
In the fixed disk 208 (205) and space disc 207 (204) of the structure section of nearly flexible operation tool drives gear unit 104 across.If
Structural bone 203 (206) close to the structure section of flexible operation tool drives gear unit 104 uses tubular structure, far from flexible hand
The structural bone 203 (206) of the structure section of art tool drives gear unit 104 can also be from close flexible operation tool drives gear unit
It is passed 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 mould group 301, flexible arm body 302, rigid arm body
303, imaging tool driving gear unit 304 and driving input interface 305.Wherein, imaging illumination mould group 301 is fastenedly connected in soft
Property 102 distal end of arm body, be integrated with two for realizing the camera 306 and multiple illuminating devices 307 of stereoscopic vision.Flexible arm
Body 302 is connected to imaging tool driving gear unit 304 proximally by rigid arm body 303, and imaging tool drives gear unit 304
The received movement of 305 institutes of driving input interface for being located at imaging tool driving 304 distal end of gear unit can be converted into flexibility
A freedom degree of arm body more than 302 curves movement, wherein the received movement of 305 institutes of driving input interface can be linear motion or rotation
Movement, is in the present embodiment rotary motion.It should be noted that flexible arm body 302, rigid arm body 303 in imaging tool
It is similar with the flexible arm body 102 in flexible operation tool, 103 structure of rigid arm body respectively, the difference is that its section morphology and length
Degree.
As shown in Fig. 4 (a)~(e), catheter body 40 includes multi-cavity tube body 401, outer tube 402, connecting interface 412, conduit
409, distal plate 403 and proximal plate 407.In the present embodiment, multi-cavity tube body 401 includes that three closed flexible operation tools are logical
Cross 404, open imaging tools of cavity by cavity 405 and four closed multi-functional cavities 406 (only as example,
It is not limited to this).Outer tube 402 can be placed on outside multi-cavity tube body 401, close open imaging tool by cavity 405.Connection
Interface 412 is fastenedly connected in distal plate 403, can be detachably connected respectively with multi-cavity tube body 401 and outer tube 402.
Distal plate 403 is connect with proximal plate 407 by more support construction bars 408, and 409 distal end of conduit is fixed in connecting interface 412,
And be connected to flexible operation tool by cavity 404,409 proximal end of conduit is then fixed in proximal plate 403 and has multiple divergings
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 guide to space different directions, interfere to avoid each flexible operation tool drives gear unit 104, and optimal simultaneously
Change volume shared by each driving mould group as shown in Figure 5.In the present embodiment, since 30 distal end of imaging tool is with larger diameter
Imaging illumination mould group 301, compare more flexible operation tool 10, can not by diameter be slightly larger than flexible arm body 302 closing
Cavity.Therefore, for catheter body 40 in the state of not installing outer tube 402, imaging tool is open architecture by cavity 405, with
This in distal plate 403, proximal plate 407 and connecting interface 412, offers simultaneously and passes through 405 phase of cavity with imaging tool
The imaging tool installation gap 411 for the opening matched, flexible arm body 302 and rigid arm body 303 can be directly by lacking in imaging tool 30
Mouth direction is installed to imaging tool and passes through among cavity 405 and imaging tool installation gap 411, at this time imaging illumination mould group
301 end face and the distal end face paste of multi-cavity tube body 401 are closed, and closed cylindrical body is formed, and internal diameter is greater than imaging illumination mould group 301
The outer tube 402 of outer diameter can be directly placed on outside multi-cavity tube body 401, and be fixedly connected with connecting interface 412.
As shown in figure 5, driving body 50 is mainly driven by skeleton 501, flexible operation tool drives mould group 502 and imaging tool
Mould group 503 forms.Wherein, 501 distal end of skeleton is fastenedly connected with the proximal plate 407 in catheter body 40.It tightens and is connected in skeleton 501
Connect that there are three flexible operation tool drives mould group 502 and imaging tool driving mould groups 503 (only as example, and unlimited
In this).In the present embodiment, three flexible operation tool drives mould groups 502 and an imaging tool driving mould group 503 are using flat
Arrangement of the row in central axis is to correspond to the spatial position of duct entry 410 and direction in catheter body 40.
As shown in fig. 6, flexible operation tool drives mould group 502 includes linear mould group 601 and flexible operation tool motor group
Module 602.Linear mould group 601 is fastenedly connected with skeleton 501, and sliding block and flexible operation tool motor in linear mould group 601
Group module 602 is fixedly connected.Flexible arm body through hole 604, flexibility operation are offered in flexibility operation tool motor group module 602
602 proximal end of tool motor group module setting (including rotary setting and sliding are arranged, and are in the present embodiment rotary setting) has drive
Mobile interface 603.Flexible operation tool 10 can easily pass through the driving positioned at flexible operation 104 proximal end of tool drives gear unit
On the Matching installation of interface 603 and driving input interface 105 to flexibility operation tool motor group module 602.Flexible operation at this time
Flexible arm body 102 in tool 10 passes through flexible arm body through hole 604 hence into conduit 409.Driving interface 603 receives
The movement that flexibility operation tool motor group module 602 generates, and it is defeated by the driving in flexible operation tool 10 connected to it
Incoming interface 105, the flexible operation of passing movement (including rotary motion and linear motion, be in the present embodiment rotary motion) driving
Tool 10.The movement of input is converted to flexible arm body 102 and curved to any direction by flexibility operation tool drives gear unit 104
Movement (curving freedom degree in the present embodiment for four) and to operation actuator 101 driving；Meanwhile flexible operation tool
Electric set modules 602 can drive flexible operation tool 10 to rotate integrally and and then realize the freedom that flexible arm body 102 itself rotates
Degree；Further, linear mould group 601 can be soft by the slider-actuated being fastenedly connected with flexible operation tool motor group module 602
Property the operation tool electricity set modules 602 and whole front and back feeding of flexible operation tool 10, and then realize the entirety of flexible arm body 102
Feed freedom degree.Therefore, in the present embodiment, it is total that flexible operation tool 10 can be achieved in flexible operation tool drives mould group 502 altogether
Six-freedom degree movement.It should be noted that the arrangement of linear mould group 601 and flexible operation tool motor group module 602 needs
When guaranteeing that the linear mould group 601 drives flexible operation tool 10, flexible arm body 102, which can smoothly enter through duct entry 410, is led
Pipe 409.
As shown in fig. 7, imaging tool driving 503 structure of mould group and function are similar with flexibility operation tool drives mould group 502,
It includes linear mould group 701 and imaging tool electricity set modules 702 that imaging tool, which drives mould group 503,.Imaging tool electricity set modules
702 are matched by being located at the driving interface 703 of its proximal end with the driving input interface 305 in imaging tool 30, together with linear mould
Group 701 can realize that other five freedom degrees of imaging tool 30 in addition to rotating integrally freedom degree, five freedom degrees include flexibility
Four of arm body 302 curve freedom degree and whole feeding freedom degree.Due to not needing rotary freedom, in imaging tool 30 just
Property arm body 303 axis can deviate the axis of imaging tool driving gear unit 304, therefore imaging tool electricity set modules 702
Centre is without through-hole.It is also noted that the arrangement of linear mould group 701 and imaging tool electricity set modules 702 needs to protect
When demonstrate,proving the linear driving of mould group 701 imaging tool 30, flexible arm body 302 and rigid arm body 303 can be installed smoothly in imaging tool
Notch 411 and imaging tool in cavity 405 by moving forward and backward.
It should be noted that the spatial form of conduit 409 can be according to the spatial position of flexible operation tool drives mould group 502
And be directed toward and be adjusted, in the present embodiment, conduit 409 is two sections of tangent circular arcs of plane, and imaging tool drives mould group 503
In linear mould group 701 it is parallel by the axis of cavity 405 with imaging tool, and make positioned at duct entry 410 in proximal plate 407
Axis it is parallel by 404 axis of cavity with operation tool flexible in multi-cavity tube body 401 and form enough offsets to avoid
The whole direction of feed of the movement interference of each driving mould group, flexibility operation tool motor group module 502 need to be with duct entry 410
Axis is parallel.
Fig. 8 (a)~(g) shows that process is put in installation of the invention to good use, comprising the following steps:
1) as shown in Fig. 8 (a), operation consent will not install the catheter body 40 and skeleton 501 of outer tube 402 outside patient
Connection.At this point, the sliding block of linear mould group 601 and linear mould group 701 carries flexible operation tool motor group module 602 and imaging work
Have electric set modules 702 and is in the original state farthest apart from catheter body 40.
2) as shown in Fig. 8 (b), by the installation of imaging tool 30 to imaging tool electricity set modules 702.It will be in imaging tool 30
Flexible arm body 302 and rigid arm body 303 be installed to the imaging that do not install in the catheter body 40 under 402 state of outer tube simultaneously
Tool passes through in cavity 405 and imaging tool installation gap 411, at this time in the end face of imaging illumination mould group 301 and catheter body 40
Multi-cavity tube body 401 distal end face paste close, form closed column structure.
3) as shown in Fig. 8 (c), 301 outer diameter of imaging illumination mould group is less than or equal to 401 diameter of multi-cavity tube body, outer tube 402 by
To multi-lumen tube body 401,402 end of outer tube is quickly connect distal end set with connecting interface 412.At this point, imaging illumination mould group 301 from
Outer tube 402 distally stretches out, and is affixed on 40 distal end of catheter body, the two is in closing column structure jointly.So far, the single hole endoscope-assistant surgery
System installs in vitro.In turn, the single hole endoscope-assistant surgery system mass motion in the driving the present embodiment of skeleton 501 is moved,
The distal end of in running order imaging illumination mould group 301 and catheter body 40 is fixed on to the sheath insertion of single operative incision
In patient.
4) as shown in Fig. 8 (d), in the case where imaging tool driving mould group 503 drives, flexible arm body 302 forward stretch by whole feeding
Imaging tool passes through cavity 405 and turns to suitable position to reach predetermined angle of view out, and concedes flexible hand in multi-cavity tube body 401
Art tool passes through the outlet of cavity 404.
5) as shown in Fig. 8 (e), multiple flexible operation tools 10 are proximally installed to flexibility operation tool drives mould group
On 502.The flexible arm body 102 of flexible 10 distal end of operation tool is successively through the flexible arm in flexible operation tool drives mould group 502
The flexible operation tool that conduit 409 in body through hole 604 and catheter body 40 is inserted into multi-cavity tube body 401 passes through cavity 404.
6) as shown in Fig. 8 (f), under the driving of each flexible operation tool drives mould group 502, each flexible arm body 102 is forward
Whole feeding stretches out flexible operation tool and passes through cavity 404 and curve into posture as shown in drawings, to carry out single-hole laparoscopic
Surgical procedure.
7) as shown in Fig. 8 (g), in the operating condition, the sufferer internal body portion of single hole endoscope-assistant surgery system specifically includes one
A flexible arm body 302 and its 301, the three flexible arm bodies 102 of imaging illumination mould group carried and its mechanical or energy carried
Formula operation actuator 101 and part catheter body 40 and several multi-functional cavities 406 therein.
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 (12)
1. a kind of drive preposition single-hole laparoscopic surgery system, which is characterized in that the system includes flexible operation tool, imaging
Tool, catheter body and driving body；
Wherein, the flexible operation kit includes the first flexible arm body, and the operation for being associated with the first flexible arm body distal end is held
Row device, and gear unit is driven with the first flexible arm body proximal end associated first；
The imaging tool includes the second flexible arm body, is associated with the imaging illumination mould group of the second flexible arm body distal end, with
And gear unit is driven with the second flexible arm body proximal end associated second；
The catheter body includes the conduit for guiding the first flexible arm body, and for guiding the second flexible arm body
Multi-cavity tube body；The multi-cavity tube body includes closed flexible operation tool by cavity, and the catheter body further includes connection
Integral distal plate and proximal plate, and the connecting interface being fixedly connected respectively with the multi-cavity tube body and distal plate；It is described
Distal end of catheter is fixed in the connecting interface, and is connected to the flexible operation tool by cavity, and proximal end is fixed on described
In proximal plate and with the duct entry that multiple divergings are distributed, duct entry of the first flexible arm body distal end through the conduit
The flexible operation tool is inserted into pass through cavity and extend；
The driving body include with the associated skeleton of the catheter body, and be fastenedly connected on the skeleton and respectively with it is described
First driving gear unit and the second driving associated multiple driving mould groups of gear unit；The driving mould group is by being associated
The first driving gear unit realize the whole feeding freedom degree of the first flexible arm body, rotate integrally freedom degree and curved
Turn freedom degree；Similar, the driving mould group passes through the second driving gear unit being associated and realizes that described second is soft
Property arm body whole feeding freedom degree and curve freedom degree.
2. a kind of as described in claim 1 drive preposition single-hole laparoscopic surgery system, which is characterized in that the flexible hand
Art tool further includes the first driving input interface positioned at first driving gear unit distal end；
Similar, the imaging tool further includes the second driving input interface positioned at second driving gear unit distal end.
3. a kind of as described in claim 1 drive preposition single-hole laparoscopic surgery system, which is characterized in that the multi-lumen tube
Body further includes open imaging tool by cavity, and the catheter body further includes being placed on the external outer tube of the multi-lumen tube；
In the distal plate, proximal plate and connecting interface, the opening to match with the imaging tool by cavity is offered
Imaging tool installation gap, the second flexible arm body are installed to the imaging tool by notch direction and pass through cavity and imaging
Among tool installation gap, the distal end face paste of the end face of the imaging illumination mould group and the multi-cavity tube body is closed to form closing
Cylindrical body, it is external that the outer tube is directly placed on the multi-lumen tube, and is fixedly connected with the connecting interface.
4. a kind of as claimed in claim 3 drive preposition single-hole laparoscopic surgery system, which is characterized in that the flexible hand
Art tool is two or more by cavity quantity, and the imaging tool passes through cavity quantity as more than one, and the multi-lumen tube
Body further includes more than one closed multi-functional cavity.
5. a kind of as claimed in claim 3 drive preposition single-hole laparoscopic surgery system, which is characterized in that the driving body
Skeleton distal end be fastenedly connected with the proximal plate in the catheter body, and the driving mould group includes multiple linear mould groups and multiple
Electric set modules, the linear mould group are fixedly connected with the skeleton, the sliding block and an electricity in each linear mould group
Set modules are fixedly connected；
Each electric set modules proximal end is provided with associated with the first driving input interface/second driving input interface
Driving interface；Before the linear mould group is by electricity set modules described in slider-actuated and flexible operation tool/imaging tool entirety
It is back fed, and then realize the whole feeding freedom degree of the first flexible arm body/second flexible arm body；
The electricity set modules drive by the driving interface passing movement, and by the first driving gear unit/second
Movement is converted to movement that the first flexible arm body/second flexible arm body is curved to any direction and to institute by dynamic gear unit
State the driving of operation actuator；
The electricity set modules also drive the flexible operation tool to rotate integrally, and then realize the whole of the first flexible arm body
Body rotary freedom.
A kind of drive preposition single-hole laparoscopic surgery system 6. as claimed in claim 5, which is characterized in that wherein with it is described
Flexible arm body through hole is offered on the flexible associated electric set modules of operation tool, it is soft in the flexibility operation tool
Property arm body pass through the flexible arm body through hole enter in the conduit.
7. a kind of preposition single-hole laparoscopic surgery system is driven as claimed in claim 5, which is characterized in that the conduit is
Two sections of tangent circular arcs of plane, and make to be located at flexible in the axis and the multi-cavity tube body of duct entry in the proximal plate perform the operation
Tool is parallel by cavity axis, at the same in the flexible associated driving mould group of operation tool linearly mould group with it is described
The axis of duct entry is parallel in proximal plate, and with mould group linear in the associated driving mould group of the imaging tool with it is described
Imaging tool is parallel by the axis of cavity.
8. a kind of as described in claim 1 drive preposition single-hole laparoscopic surgery system, which is characterized in that the flexible hand
Art number of tools is three, and the imaging tool quantity is one, and the imaging illumination mould group includes two for realizing vertical
The camera of body vision and multiple illuminating devices.
9. a kind of as described in claim 1 drive preposition single-hole laparoscopic surgery system, which is characterized in that described first is soft
Property arm body and the second flexible arm body include at least one structure section and the flexible cover that is placed on outside the structure section, each structure section
Including fixed disk, space disc and structural bone；Multiple space discs are spaced apart in the structure section, and described structural bone one end is solid
Due to the fixed disk, the other end, which sequentially passes through, to be fastenedly connected after each space disc in the first driving gear unit or the
In two driving gear units.
10. a kind of as claimed in claim 9 drive preposition single-hole laparoscopic surgery system, which is characterized in that the structure
Bone is rod-shaped or tubular structure, and quantity is three or more；When the structure joint number more than two, used between each structure section
Concatenated mode connects, i.e., the structural bone of the structure section far from the first driving gear unit or the second driving gear unit is from connecing
It is passed through in the fixed disk and space disc of the structure section of the nearly first driving gear unit or the second driving gear unit；If close to institute
The structural bone of the structure section of the first driving gear unit or the second driving gear unit is stated using tubular structure, then far from described first
The structural bone of the structure section of gear unit or the second driving gear unit is driven to drive gear unit or second from close to described first
It drives in the structural bone of the structure section of gear unit and passes through.
11. a kind of as described in claim 1 drive preposition single-hole laparoscopic surgery system, which is characterized in that the flexibility
Operation tool further includes the first rigid arm body for being associated with the first flexible arm body and the first driving gear unit；
Similar, the imaging tool further includes the second rigidity for being associated with the second flexible arm body and the second driving gear unit
Arm body.
12. a kind of as claimed in claim 11 drive preposition single-hole laparoscopic surgery system, which is characterized in that described first
Rigid arm body and the second rigid arm body are direct rod shape rigid structure, and the first rigid arm body and the second rigid arm body include multiple
It is spaced apart space disc therein and is placed on its external rigid strip of paper used for sealing.
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 |
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| 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 CN106420058A (en) | 2017-02-22 |
| CN106420058B true CN106420058B (en) | 2019-02-05 |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018041211A1 (en) * | 2016-08-31 | 2018-03-08 | 北京术锐技术有限公司 | Single-port endoscopic surgical system |
| CN108189000B (en) * | 2017-12-28 | 2020-05-12 | 哈尔滨工业大学深圳研究生院 | Rope-driven grabbing robot |
| CN108567489B (en) * | 2018-03-23 | 2022-05-13 | 深圳市精锋医疗科技股份有限公司 | Operation arm, slave operation device and 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 |
| 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 |
| CN112842533B (en) * | 2018-10-09 | 2023-09-05 | 北京术锐机器人股份有限公司 | Flexible surgical tool and vascular intervention surgical robot system |
| CN109363772B (en) * | 2018-11-02 | 2021-02-26 | 北京科迈启元科技有限公司 | Flexible single-hole minimally invasive surgery robot |
| CN109567927B (en) * | 2018-11-22 | 2021-06-29 | 清华大学 | Intracavity operation tool |
| CN111227939B (en) * | 2018-11-29 | 2021-08-31 | 中国科学院沈阳自动化研究所 | Modular single-hole endoscopic surgery driving device |
| 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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| CN101500470A (en) * | 2006-06-13 | 2009-08-05 | 直观外科手术公司 | Minimally invasive surgical system |
| CN103315781A (en) * | 2013-07-10 | 2013-09-25 | 上海交通大学 | Endoscope noninvasive surgery system |
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| JP4503725B2 (en) * | 1999-05-17 | 2010-07-14 | オリンパス株式会社 | Endoscopic treatment device |
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| CN101500470A (en) * | 2006-06-13 | 2009-08-05 | 直观外科手术公司 | Minimally invasive surgical system |
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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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