CN107280718B - Folding and unfolding rigidity-variable instrument arm for natural orifice surgery - Google Patents
Folding and unfolding rigidity-variable instrument arm for natural orifice surgery Download PDFInfo
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- CN107280718B CN107280718B CN201710628109.3A CN201710628109A CN107280718B CN 107280718 B CN107280718 B CN 107280718B CN 201710628109 A CN201710628109 A CN 201710628109A CN 107280718 B CN107280718 B CN 107280718B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/0021—Catheters; Hollow probes characterised by the form of the tubing
- A61M25/0023—Catheters; Hollow probes characterised by the form of the tubing by the form of the lumen, e.g. cross-section, variable diameter
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/0043—Catheters; Hollow probes characterised by structural features
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M29/00—Dilators with or without means for introducing media, e.g. remedies
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00831—Material properties
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/0021—Catheters; Hollow probes characterised by the form of the tubing
- A61M25/0023—Catheters; Hollow probes characterised by the form of the tubing by the form of the lumen, e.g. cross-section, variable diameter
- A61M2025/0024—Expandable catheters or sheaths
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Abstract
The invention discloses a folding and unfolding rigidity-variable instrument arm for natural orifice surgery, which is a surgery supporting tool with variable dimension and variable rigidity and comprises a braided tube structure and a sealing film, wherein the sealing film is coated on the inner side, the outer side and the end part of the braided tube structure to form an annular closed inner cavity, and the braided tube structure is coated in the annular closed inner cavity. The diameter of the mechanical arm can be increased through the air bag or the driving wire, and the gas in the sealing film is extracted, so that the braided tube is in a rigid state and a large-diameter state, a larger passage is provided for a subsequent surgical tool, the tissue is prevented from being stabbed by the subsequent tool, and the support is provided to ensure the precision. And the gas in the sealing film can be recovered to a soft state again by the aid of the elasticity of the braided tube structure, and the braided tube structure is recovered to a small-diameter state, so that the mechanical arm can extend into and leave a human body cavity more easily, stabbing is avoided, and human body discomfort is reduced.
Description
Technical Field
The invention relates to the field of natural orifice surgery, in particular to a folding and unfolding rigidity-changing mechanical arm for natural orifice surgery.
Background
With the development of science and technology, surgical modes have undergone open surgeries, minimally invasive surgeries, and single-hole surgeries, and are transitioning to non-invasive surgeries such as Natural Orifice Transluminal Endoscopic Surgeries (NOTES) through the natural orifice of the human body. NOTES refers to an operation mode in which a surgical tool enters the inside of the human body through a human body orifice, including the mouth, vagina, anus, etc., and reaches a lesion to perform a surgical operation. Compared with other operation modes, NOTES has small interference on internal environment, has the advantages of light pain, short hospitalization time, no scar on skin and the like, and has good development prospect. Since the advent of NOTES in 1998, great progress has been made and clinical application has gone. NOTES has become a new research hotspot as a revolution in the field of surgery again after laparoscopic surgery has been developed.
In order to adapt to the structural characteristics of human body, elongated flexible surgical tools are often used in the operation. In the operation, firstly, the surgical instrument reaches the focus through the body cavity, a doctor performs operation outside the body by using the main operation end, the main operation end controls the tail end of a tool inside the body in a wire driving mode and the like to complete actions of cutting, suturing, knotting and the like, and the surgical tool is removed from the body after the operation.
In the whole operation process, two problems are easy to occur to the surgical instrument: 1) the complex body lumen requires good flexibility of the instrument, while the slender tool requires sufficient stiffness to ensure accuracy, and contradictory requirements for instrument stiffness arise. 2) The complex tool transmission system and the like make the size of the instrument difficult to reduce, the space of the cavity and the canal of the human body is very limited, and the tool is difficult to enter the human body due to the geometrical contradiction, so that the discomfort and even the stabbing injury are easy to cause.
At present, a composite tube with good radial rigidity and lower bending rigidity is often adopted in natural orifice surgery to support the whole surgical tool system. The lower bending stiffness allows the tool to pass through the body lumen. It does not have variable properties and does not address the contradiction in stiffness and geometry. A variable stiffness arm model has been proposed. The robot controls rigidity by using negative pressure, and provides a dragon scale structure and a layer jamming structure respectively through shape locking and friction of the surface layer of the mechanical arm. The two structures have controllable rigidity, and the instrument can present flexible protection tissues when entering a human body and present rigid guarantee precision when performing surgical operation, thereby solving the contradiction on the rigidity requirement. But the extra structure makes the instrument wall thickness great and take up more space to the bending curvature is less, and it is thick to be difficult to pass through complicated environment instrument, and does not have variable dimension, still pushes in the human body in the passive form easily causes the stab wound.
In view of the foregoing, there is a need for an instrument arm with variable stiffness and variable dimensions, which helps surgical tools to solve the contradiction between the requirements for stiffness of the instrument and overcomes the difficulty of entering the body cavity.
Disclosure of Invention
Technical problem to be solved
The invention provides a folding and unfolding rigidity-changing mechanical arm for natural cavity surgery, aiming at overcoming the defects of the existing surgical tool and solving the problems.
(II) technical scheme
A folded and unfolded variable stiffness instrument arm for natural orifice surgery, comprising: a braided tube structure having a hollow channel; the sealing films are attached to the inner side and the outer side of the braided tube structure and the end heads to form a closed inner cavity, and the braided tube structure is wrapped in the closed inner cavity.
In some exemplary embodiments of the present invention, the closed inner cavity is connected to an air exhaust device, when the air exhaust device exhausts air in the closed inner cavity, air pressure in the closed inner cavity is reduced, the sealing membrane is pressed against the braided tube structure, and therefore the rigidity of the mechanical arm is improved.
In some exemplary embodiments of the present invention, a gas valve is further connected between the closed inner cavity and the gas pumping device for adjusting the gas pumping amount.
In some exemplary embodiments of the invention, the braided tube structure is capable of radial expansion under an external load, changing the diameter of the arm of the instrument.
In some exemplary embodiments of the invention, the hollow channel houses a balloon for applying radial force to the instrument arm to increase the instrument arm diameter.
In some exemplary embodiments of the invention, the front end of the instrument arm is provided with an end cap, the end cap is connected with a plurality of driving wires, and the driving wires and the end cap are used for applying axial force to the instrument arm and adjusting the diameter and the bending degree of the braided tube.
In some exemplary embodiments of the invention, the plurality of drive wires are connected at their leading ends to the end cap and extend axially rearward outside the enclosed interior cavity.
In some exemplary embodiments of the invention, the braided tube structure automatically returns to the small diameter state by elasticity after the external load is removed.
A method for using the folding and unfolding variable-rigidity instrument arm for natural orifice surgery comprises the following steps: s1: extending the instrument arm into the natural orifice; s2: increasing the diameter of the mechanical arm, extracting gas in the closed inner cavity, and enabling the braided tube to be in a rigid state and a large-diameter state; s3: a surgical tool is introduced into the mechanical arm to perform surgical operation; s4: after the operation, the gas is re-introduced into the closed inner cavity, the instrument arm is restored to the soft state and the small-diameter state, and the instrument arm is withdrawn from the natural cavity.
In some exemplary embodiments of the invention, the increasing of the arm diameter in step S2 is performed by placing a balloon in the hollow tube, applying a radial force to the arm to increase the arm diameter; alternatively, the diameter of the instrument arm is increased by stretching the drive wire, applying an axial force to the instrument arm by the drive wire and the end cap.
(III) advantageous effects
Compared with the prior art, the folding and unfolding rigidity-changing mechanical arm for natural orifice surgery provided by the invention has the following beneficial effects:
1. the folding and unfolding rigidity-variable instrument arm has good flexibility, can realize large-curvature bending, and has stronger capability of adapting to complex human body cavity environment.
2. The folding and unfolding rigidity-variable instrument arm is supported by the air bag or the driving wire after entering a human body, presents a large-diameter state, supports human body tissues and provides a larger cavity channel.
3. The folding and unfolding rigidity-variable instrument arm can be changed into a rigid state by negative pressure after the folding and unfolding rigidity-variable instrument arm is in a large diameter state, can protect the body cavity from being stabbed and scratched by surgical instruments, provides support for the surgical instruments, improves the stability and improves the surgical precision.
4. The folding and unfolding rigidity-variable instrument arm provided by the invention has the advantages that negative pressure is eliminated after the operation, and the mechanical arm can be in a small-diameter and flexible state and is convenient to withdraw.
5. The folding and unfolding variable-rigidity instrument arm is small in diameter and flexible in the processes of entering and withdrawing a human body, and obvious discomfort can not be caused to the human body in the entering process.
Drawings
FIG. 1 is a schematic cross-sectional view of a folded and unfolded rigidity-varying mechanical arm for natural orifice surgery according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a braided tube structure of a folded and unfolded variable stiffness instrument arm for natural orifice surgery according to an embodiment of the invention;
FIG. 3 is a schematic view of a braided tube structure of a catadioptric stiffness mechanical arm for natural orifice surgery according to an embodiment of the present invention;
FIG. 4 is a schematic view of the folding and unfolding mode of the balloon of the folding and unfolding stiffness-variable instrument arm for natural orifice surgery according to the embodiment of the invention;
FIG. 5 is a schematic view of a large diameter state of a folded and unfolded stiffness-changing instrument arm for natural orifice surgery according to an embodiment of the invention;
FIG. 6 is a schematic view of the folding and unfolding mode of the driving wire of the folding and unfolding stiffness-variable instrument arm for natural orifice surgery according to the embodiment of the invention;
FIG. 7 is a schematic view of the pneumatic control of the folding and unfolding stiffness-variable instrument arm for natural orifice surgery according to an embodiment of the present invention;
FIG. 8 is a rigid structural diagram of a folded and unfolded stiffness-changing instrument arm for natural orifice surgery according to an embodiment of the invention;
FIG. 9 is a schematic view of a tapered braid structure of a catadioptric stiffness manipulator for natural orifice surgery according to an embodiment of the present invention;
FIG. 10 is a schematic view of a polygonal braided structure of a catadioptric stiffness manipulator for natural orifice surgery according to an embodiment of the present invention;
FIG. 11 is a schematic diagram of an elliptical weave structure of a catadioptric stiffness manipulator for natural orifice surgery according to an embodiment of the present invention;
FIG. 12 is a schematic view of a folded and unfolded variable stiffness instrument arm with a particle surface film for natural orifice surgery according to an embodiment of the present invention.
FIG. 13 is a flowchart of a method for using a folded and unfolded variable stiffness instrument arm for natural orifice surgery, in accordance with an embodiment of the present invention;
FIG. 14 is a schematic view of the use of the folded and unfolded variable stiffness instrument arm for natural orifice surgery in the overall machine, according to an embodiment of the invention.
Detailed Description
In order that the objects, technical solutions and advantages of the present invention will become more apparent, the present invention will be further described in detail with reference to the accompanying drawings in conjunction with the following specific embodiments.
The embodiment of the invention provides a folding and unfolding rigidity-variable instrument arm for natural orifice surgery, which mainly comprises a braided tube structure and a sealing film, wherein the variable size of the arm depends on the characteristics of the braided tube structure and is controlled by an air bag or a driving wire, and the rigidity change of the arm is changed by changing the negative pressure value in the sealing film.
Fig. 1 is a cross-sectional structure view of a folded and unfolded variable-stiffness instrument arm for natural orifice surgery according to an embodiment of the present invention, and as shown in fig. 1, the folded and unfolded variable-stiffness instrument arm for natural orifice surgery includes a braided tube structure 1-2 and a sealing film 1-1, the sealing film is a thin film, and the braided tube structure is wrapped inside the sealing film. Braided tube structural style is as shown in fig. 2, and braided tube structural style is formed by many silk threads spiral winding are alternately, and the silk thread includes many equivalent levogyration and dextrorotation helices, and many levogyration helices are arranged in proper order, and many dextrorotation helices are arranged in proper order, and levogyration helix and dextrorotation helix alternately twine and form the braided tube structure. The braided tube structure has good flexibility, the bending form is shown in figure 3, and large-curvature bending can be realized. As shown in figure 1, the sealing film 1-1 is coated on the inner side and the outer side of the braided tube structure 1-2 and the end head, the end head of the braided tube structure 1-2 does not refer to the whole end surface of the braided tube structure, but refers to the end part of the silk thread which forms the braided tube structure. The sealing film 1-1 forms a closed inner cavity which is annular, and the braided tube structure is coated in the closed inner cavity. The braided tube structure is a hollow tubular structure, the middle part of the braided tube structure is a hollow channel, and the sealing membrane is attached to the surface of the braided tube structure, so that the instrument arm of the embodiment of the invention is also a hollow tubular structure, the middle part of the braided tube structure is a hollow channel, and an operation tool can be introduced into the hollow channel, thereby playing a role in protecting tissues by isolating the tool and playing a role in supporting the tool during operation.
In some embodiments of the present invention, the folding and unfolding of the folding and rigidity changing mechanical arm for natural orifice surgery can be controlled by using a balloon, and the control principle is shown in fig. 4. Because the threads of the braided tube structure are only frictionally connected to each other, the braided tube structure can be easily radially stretched under an external load. The removal of the load-bearing knitted structure automatically returns to the original state by the elasticity of the thread material. A balloon can be placed in the hollow channel of the instrument arm, radial force can be applied to the instrument arm so as to increase the diameter of the instrument arm, the balloon 4-2 shown in fig. 4 is used for controlling the radial dimension of the braided tube structure, and then the radial dimension of the instrument arm 4-1 can be changed, as shown in fig. 4, the balloon 4-2 penetrates through the hollow channel of the instrument arm 4-1 to inflate the balloon 4-2, and the instrument arm 4-1 is propped up, so that the diameter is increased, as shown in fig. 5; the balloon 4-2 is removed and the instrument arm 4-1 can return to the small diameter state.
In other embodiments of the present invention, the folding and unfolding of the folding and rigidity changing mechanical arm for natural orifice surgery can also be controlled by using a driving wire, and the control principle is shown in fig. 6. The front end part of the mechanical arm is also provided with an end cover 6-1, the end cover is made of elastic materials and does not influence the radial deformation of the end part, the end cover is in a ring shape, four ring connecting structures which are uniformly distributed in the circumferential direction are arranged on the ring surface of the end cover and are used for connecting the front ends of four driving wires 6-2, and the four driving wires extend backwards in the axial direction outside the sealing film. Four driving wires are axially pulled, and the braided tube structure is drawn to be thick, so that the effect same as that of the air bag is achieved. The structure of the braided tube after the tensile force is removed automatically restores to the initial state by the elasticity of the silk thread material. In this embodiment, the distal end refers to the end where the surgical operation is performed.
The folding and unfolding rigidity-variable instrument arm for the natural orifice surgery of the embodiment of the invention utilizes the air pressure in the sealing film to control the rigidity of the instrument arm, and the schematic diagram is shown in fig. 7. The air guide pipe is communicated with a closed inner cavity of the sealing membrane through the exhaust hole, the other end of the air guide pipe is connected with an air pumping device, the air pumping device is an air pump 7-3 in the embodiment and used for pumping air in the closed inner cavity, and an air valve 7-2 is further connected between the instrument arm and the air pump 7-3 and used for adjusting air pumping quantity. Starting the air pump 7-3, pumping out the air in the inner cavity of the sealing film by the air pump through the air duct and the air valve 7-2, reducing the air pressure in the inner cavity of the sealing film, and pressing the sealing films at two sides to the inner braided tube structure under the action of the external atmospheric pressure. The friction between the sealing film and the braided tube structure has a restraining effect on the deformation of the silk threads of the braided structure, and further the rigidity of the whole structure is improved. The air pump 7-3 has certain air suction capacity, and the air pressure in the inner cavity of the sealing film can be controlled by changing the local pressure loss of the air passage by adjusting the opening size of the air valve 7-2, so that the rigidity of the structure is changed. FIG. 8 is a schematic diagram of the mechanical arm in a rigid state under negative pressure. After the operation, the air pump is closed, the sealing film seals the inner cavity and enters air again, the instrument arm is in a soft state, and meanwhile, due to the elasticity of the braided tube structure material, the instrument arm can be restored to a small-diameter state, and the instrument arm is convenient to withdraw.
The braided tube structure has a variety of braiding patterns including plain braiding, diamond braiding and triaxial braiding.
The braided structure is made of metal materials or non-metal materials.
The sealing membrane structure is made of plastic, silica gel or other soft materials.
The folding and unfolding variable-rigidity mechanical arm can adopt a uniform section design or a variable section design according to special requirements, and adopts a braided structure with other initial shapes, such as a cone shape, as shown in fig. 9. The cross-sectional shape may also be other shapes such as polygonal, elliptical, as shown in fig. 10 and 11. A sealing membrane with granular protrusions on the surface, as shown in fig. 12, may be used to enhance the stiffening effect. The sequence of variable rigidity and variable diameter is reasonably arranged, the coupling of variable rigidity and variable diameter can be realized, and the folding and unfolding method and the variable rigidity method are integrated.
A second embodiment of the present invention provides a method for applying a folded and unfolded variable stiffness instrument arm to a natural orifice surgery, fig. 13 is a flowchart of a method for applying a folded and unfolded variable stiffness instrument arm to a natural orifice surgery according to an embodiment of the present invention, as shown in fig. 13, including the following steps:
step S1: the arm of the instrument is extended into the natural orifice.
The instrument arm is stretched into a human body cavity to reach a focus, the instrument arm presents a small diameter and a soft state in the process of entering a human body, and obvious discomfort can not be caused to the human body in the entering process.
Step S2: the diameter of the mechanical arm is increased, the gas in the closed inner cavity is extracted, and the braided tube is in a rigid state and a large-diameter state.
The instrument arm is supported by the air bag or the driving wire, and the diameter of the instrument arm is increased; the air pump is started to exhaust, the air pressure of the sealed inner cavity of the sealing film is reduced, and the sealing films on two sides are pressed towards the inner braided tube structure under the action of the external atmospheric pressure. The friction between the sealing film and the braided tube structure has a restraining effect on the deformation of the silk threads of the braided structure, and further the rigidity of the whole structure is improved. Withdrawing the balloon or loosening the drive wire, the instrument arm maintaining a large diameter;
step S3: surgical tools are introduced into the mechanical arm to perform surgical operation.
FIG. 14 is a schematic view of the use of the folded and unfolded variable stiffness instrument arm for natural orifice surgery of the present invention in a NOTES robotic machine. 14-1 is a surgical tool, and all surgical tools enter the interior of the human body through the folding and unfolding rigidity changing mechanical arm 14-2 to perform surgical operation. The mechanical arm 9-2 can play a role in isolating a tool to protect tissues when the surgical tool enters a human body, and plays a role in supporting multiple tools during surgical operation. Step S4: after operation, the air is re-introduced into the sealing membrane, the instrument arm is restored to a soft state and a small-diameter state, and the instrument arm is withdrawn from the natural cavity.
After the operation, the air pump is closed, the sealing film seals the inner cavity and enters air again, the instrument arm is in a flexible state, and meanwhile, the instrument arm can be restored to a small-diameter state due to the elasticity of the material of the braided tube structure; withdrawing the instrument arm.
The embodiment shows that the folding and unfolding rigidity-variable instrument arm has good flexibility, can realize large-curvature bending, and has stronger capability of adapting to the environment of complex body cavities; the folded and unfolded stiffness-variable instrument arm is propped up by the air bag or the driving wire after entering the human body, presents a large-diameter state, and props up the human body tissue to provide a larger cavity channel; the folded and unfolded rigidity-variable instrument arm can be changed into a rigid state by using negative pressure after being in a large diameter, so that the body cavity can be protected from being stabbed and scratched by surgical instruments, the support is provided for the surgical instruments, the stability is improved, and the surgical precision is improved; the negative pressure is cancelled after the folding and unfolding variable-rigidity mechanical arm operation, and the mechanical arm can be in a small-diameter and flexible state and is convenient to withdraw; the folding and unfolding rigidity-changing mechanical arm is small in diameter and flexible in the process of entering a human body, and obvious discomfort can not be caused to the human body in the entering process.
It should also be noted that directional terms, such as "upper", "lower", "front", "rear", "left", "right", and the like, used in the embodiments are only directions referring to the drawings, and are not intended to limit the scope of the present disclosure. Throughout the drawings, like elements are represented by like or similar reference numerals. Conventional structures or constructions will be omitted when they may obscure the understanding of the present disclosure.
And the shapes and sizes of the respective components in the drawings do not reflect actual sizes and proportions, but merely illustrate the contents of the embodiments of the present disclosure. Furthermore, in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim.
Unless otherwise indicated, the numerical parameters set forth in the specification and attached claims are approximations that can vary depending upon the desired properties sought to be obtained by the present disclosure. In particular, all numbers expressing quantities of ingredients, reaction conditions, and so forth used in the specification and claims are to be understood as being modified in all instances by the term "about". Generally, the expression is meant to encompass variations of ± 10% in some embodiments, 5% in some embodiments, 1% in some embodiments, 0.5% in some embodiments by the specified amount.
Furthermore, the word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements.
In addition, unless steps are specifically described or must occur in sequence, the order of the steps is not limited to that listed above and may be changed or rearranged as desired by the desired design. The embodiments described above may be mixed and matched with each other or with other embodiments based on design and reliability considerations, i.e., technical features in different embodiments may be freely combined to form further embodiments.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the disclosure, various features of the disclosure are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various disclosed aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that is, the claimed disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, disclosed aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this disclosure.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A folded and unfolded variable stiffness instrument arm for natural orifice surgery, comprising:
a braided tube structure having a hollow channel; and
the sealing films are attached to the inner side, the outer side and the end heads of the braided tube structure to form a closed inner cavity, and the braided tube structure is wrapped in the closed inner cavity;
the sealed inner cavity is connected with an air extractor, when the air extractor extracts air in the sealed inner cavity, air pressure in the sealed inner cavity is reduced, sealing films on the inner side and the outer side are pressed to the braided tube structure, and therefore rigidity of the mechanical arm is improved.
2. The folding and expanding rigidity-changing instrument arm for natural orifice surgery according to claim 1, wherein an air valve is further connected between the closed inner cavity and the air suction device for adjusting the air suction amount.
3. The catadioptric stiffness instrument arm for natural orifice procedures of claim 1, wherein the braided tube structure is capable of radial expansion under external load, changing the diameter of the instrument arm.
4. The apparatus of claim 3, wherein the hollow channel houses a balloon for applying radial force to the apparatus arm to increase the diameter of the apparatus arm.
5. The folding and unfolding rigidity changing instrument arm for the natural orifice surgery according to claim 3, wherein an end cover is arranged at the front end of the instrument arm, a plurality of driving wires are connected to the end cover, and the driving wires and the end cover are used for applying axial force to the instrument arm and adjusting the diameter and the bending degree of the braided tube.
6. The furling and rigidity instrument arm for natural orifice procedures of claim 5 wherein the plurality of drive wires are attached at their front ends to an end cap and extend axially rearward outside the enclosed interior cavity.
7. The catadioptric stiffness instrument arm for natural orifice procedures of claim 3, wherein the braided tube structure automatically returns to a small diameter state by elasticity after external load is removed.
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| CN201710628109.3A CN107280718B (en) | 2017-07-27 | 2017-07-27 | Folding and unfolding rigidity-variable instrument arm for natural orifice surgery |
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| CN201710628109.3A CN107280718B (en) | 2017-07-27 | 2017-07-27 | Folding and unfolding rigidity-variable instrument arm for natural orifice surgery |
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| CN114404023A (en) * | 2019-09-03 | 2022-04-29 | 深圳北芯医疗科技有限公司 | Variable hardness structure, flexible seal wire and cryoablation device |
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