CN107280779A - A kind of electronic micro-surgical instruments - Google Patents
A kind of electronic micro-surgical instruments Download PDFInfo
- Publication number
- CN107280779A CN107280779A CN201710570747.4A CN201710570747A CN107280779A CN 107280779 A CN107280779 A CN 107280779A CN 201710570747 A CN201710570747 A CN 201710570747A CN 107280779 A CN107280779 A CN 107280779A
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- CN
- China
- Prior art keywords
- branch sleeve
- surgical instruments
- supporting cantilever
- electronic micro
- bottom panel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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- 230000005540 biological transmission Effects 0.000 claims description 18
- 230000033001 locomotion Effects 0.000 claims description 10
- 238000006073 displacement reaction Methods 0.000 description 32
- 238000010586 diagram Methods 0.000 description 6
- 230000003321 amplification Effects 0.000 description 5
- 238000003199 nucleic acid amplification method Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 239000012634 fragment Substances 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 241000145637 Lepturus Species 0.000 description 1
- 241001494479 Pecora Species 0.000 description 1
- 230000005167 amoeboid movement Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- 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
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F9/00—Methods or devices for treatment of the eyes; Devices for putting-in contact lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
- A61F9/007—Methods or devices for eye surgery
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Molecular Biology (AREA)
- Medical Informatics (AREA)
- Ophthalmology & Optometry (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Vascular Medicine (AREA)
- Manipulator (AREA)
Abstract
A kind of electronic micro-surgical instruments, including flexible body, drive component and execution apparatus, flexible body includes branch sleeve, supporting cantilever and bottom panel, supporting cantilever front end is connected with branch sleeve, bottom is connected with bottom panel, the supporting cantilever is outwardly to be bent to form angle theta, the rear end of branch sleeve extends towards bottom panel and has gap between the bottom panel, drive component is connected with branch sleeve, apparatus is performed to be connected with drive component, the bottom of supporting cantilever is provided with raised force block, supporting cantilever is provided with least two, and each supporting cantilever is evenly distributed on around branch sleeve.The present invention can be widely applied for the apparatuses such as syringe, micro- iris scissors, micro- iris forceps, needle forceps, and control is more accurate, and operation more facilitates.
Description
Technical field
The present invention relates to technical field of surgical instruments, specifically one kind can be widely applied to injection needle, needle forceps, hand
The electronic micro-surgical instruments of the utensils such as art tweezers.
Background technology
In minimally invasive micrurgy and therapy field, the actuator such as syringe, micro- iris forceps, micro- iris scissors and needle forceps
Tool, is the more commonly used mobile phone apparatus.During micrurgy, the use of these operating theater instruments needs very accurate, ability
Ensure being smoothed out for operation.At present, controlled typically by operating robot, so may insure certain accuracy.
But, it is difficult to control on action displacement, the effect of displacement equations is not realized on current controlling organization.Therefore, still
The problem of not enough accurate and control has some setbacks in the presence of control.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of electronic micro-surgical instruments, with function of displacement amplification, behaviour
Make more accurately and conveniently to improve the convenience of operation.
In order to solve the above-mentioned technical problem, the present invention takes following technical scheme：
A kind of electronic micro-surgical instruments, including flexible body, drive component and execution apparatus, flexible body include adapter sleeve
Cylinder, supporting cantilever and bottom panel, supporting cantilever front end is connected with branch sleeve, bottom and bottom panel connection, the supporting cantilever to
Outer protrusion is bent to form angle theta, and the rear end of branch sleeve extends towards bottom panel and has gap, driving group between the bottom panel
Part is connected with branch sleeve, is performed apparatus and is connected with drive component.
The bottom of the supporting cantilever is provided with raised force block.
The supporting cantilever is provided with least two, and each supporting cantilever is evenly distributed on around branch sleeve.
The end face of the force block is arcwall face, plane or rectangular surfaces.
The drive component includes motor, transmission component and shell, transmission component and motor connection, and motor is inserted into connection
In sleeve, transmission component is connected with performing apparatus, and drive component is accommodated in the inner by shell with branch sleeve attaching.
The transmission component includes screw rod and nut, and screw rod is connected by the output shaft of bearing and motor, and nut sleeve is mounted in
Attaching is engaged on screw rod and with the screw rod, screw rod drives nut to move and then control to perform the motion of apparatus.
Also attaching has sleeve on the nut.
The transmission component includes roll and the bracing wire being wrapped on the roll, and the bracing wire is connected with performing apparatus.
The present invention realizes the amplification of displacement by flexible body, it is only necessary to apply less distance to flexible body, then can band
The dynamic apparatus that performs makes bigger change in displacement, is easy to the accuracy of operation, the convenience of raising operation, and operation.
Brief description of the drawings
Accompanying drawing 1 is dimensional structure diagram of the present invention；
Accompanying drawing 2 is the decomposing schematic representation of the embodiment of the present invention one；
Accompanying drawing 3 is the diagrammatic cross-section of the embodiment of the present invention one；
Accompanying drawing 4 is the decomposing schematic representation of the embodiment of the present invention two；
Accompanying drawing 5 is the decomposing schematic representation of the embodiment of the present invention three；
Accompanying drawing 6 is the diagrammatic cross-section of the embodiment of the present invention three；
Accompanying drawing 7 is the transmission component of the embodiment of the present invention three and the connection diagram of execution apparatus；
Accompanying drawing 8 is the diagrammatic cross-section of flexible body in the present invention；
Accompanying drawing 9 is the displacement equations principle schematic of flexible body in the present invention；
Dimensional structure diagram when accompanying drawing 10 is flexible body stress of the present invention；
Main structure diagram when accompanying drawing 11 is flexible body stress of the present invention；
Accompanying drawing 12 indicates schematic diagram for the coordinate of the swinging plane after stress of the present invention；
Accompanying drawing 13 is the swing state schematic diagram after stress of the present invention.
Embodiment
For the ease of the understanding of those skilled in the art, further is made to the present invention with specific embodiment below in conjunction with the accompanying drawings
Description.
As shown in Figure 1, present invention is disclosed a kind of electronic micro-surgical instruments, including flexible body 1, drive component and hold
Row apparatus 3, flexible body includes branch sleeve 103, supporting cantilever 102 and bottom panel 101, the front end of supporting cantilever 102 and adapter sleeve
The connection of cylinder 103, bottom and bottom panel 101 are connected, and the supporting cantilever 102 is outwardly to be bent to form angle theta, branch sleeve 103
Rear end extend towards bottom panel 101 and there is gap between the bottom panel 101, drive component is connected with branch sleeve 103, holds
Row apparatus 3 is connected with drive component.Bottom panel and supporting cantilever can be formed in one structure, supporting cantilever, bottom panel and connection
Sleeve is made up of flexible flexible material.The bending place of supporting cantilever bends for arc smooth transition.Branch sleeve and bottom
The size in the gap between panel, can flexibly set according to actual conditions, be not particularly limited.
In addition, the bottom of supporting cantilever 103 is provided with raised force block 1021.The end face of the force block 1021 is arc
Arcwall face is preferably arranged in face, plane or rectangular surfaces, the present invention.External force is applied to the end face of the force block of supporting cantilever
On, so as to exert a force in supporting cantilever.
The supporting cantilever is provided with least two, and each supporting cantilever is evenly distributed on around branch sleeve.Such as exist
In the present embodiment, altogether provided with three supporting cantilevers, three supporting cantilevers are evenly distributed in the surrounding of branch sleeve.
As shown in accompanying drawing 1,8 and 9, the flexible body in the present invention is a lever construction, the effect with displacement equations, energy
Enough relatively thin tail sheeps that will apply to support arm, are amplified during the front end for being reacted to flexible body.
Displacement amplification be specially：Under original state when flexible body is not affected by external force, the connection between bottom panel
Place is defined as fulcrum O, the bending place of supporting cantilever is defined as into initial displacement point B, the center of force block is defined as stress point
A, the front end (i.e. with drive component join domain) of the branch sleeve of flexible body is defined as terminal C.Bottom panel connects with external device
Fixation is connect, a pressure F is applied to the end face of the force block of supporting cantilever by operating robot or other equipment, support is outstanding
Arm by after external pressure towards front end amoeboid movement, because bottom panel is fixed, therefore, the branch sleeve of flexible body and with
The drive component and execution apparatus of flexible body connection are moved forward.Initial displacement point B is from original initial position to reach
Dynamic displacement Hb, displacement HbWith the stress point A on the end face of force block by the displacement H after external pressure FaForm multiple proportion.
The distance for defining stress point A to initial displacement point B is that L2, stress point A and fulcrum O distance are L1.Initial displacement point B displacement
HbWith stress point A displacement HaRelation is：Hb=(L2+L1)/L1*Ha, i.e. multiplication factor is (L2+L1)/L1.Initial displacement point B
Produce after displacement, be then reacted directly into the displacement at terminal C.Three supporting cantilevers, therefore, supporting cantilever are had in the present embodiment
Stress deforms generation displacement, the initial displacement point B of terminal C shift length, substantially equal to supporting cantilever displacement Hb's
Distance.Can be seen that by above-mentioned multiplication factor relation, the stress point of force block applied after an external force, stress point produce one compared with
Small displacement, then supporting cantilever can produce a larger displacement so that execution apparatus also there is larger stroke
Displacement, realizes the amplification of displacement.
In addition, for the concrete structure of drive component, according to different execution apparatuses, have and following two preferably implement
Example.
Embodiment one, as shown in Figures 2 and 3, the drive component include motor 4, transmission component and shell 9, transmission group
Part is connected with motor 4, and motor 4 is inserted into branch sleeve 103, and transmission component is connected with performing apparatus 3, shell 9 and adapter sleeve
Wound packages, which connects, is accommodated in the inner drive component.Transmission component includes screw rod 6 and nut 7, the output that screw rod 6 passes through bearing 5 and motor 4
Axle is connected, and nut 7 is sleeved on screw rod 6 and attaching is engaged with the screw rod 6, and screw rod 6 drives nut 7 to move and then control actuator
The motion of tool 3.It can be microinjector now to perform apparatus, and the microinjector is installed on shell.Driven after motor operation
Screw rod rotary motion so that nut carries out linear reciprocation movement relative to screw rod, and the piston 8 of syringe can be driven to backhaul
It is dynamic, injection needle is completed the action drawn or injected.
Embodiment two, as shown in Figure 4, also attaching has sleeve 15 on nut 7.It can be micro- iris now to perform apparatus
Tweezer or micro- iris scissors.An alignment pin also can be set on shell, for positioning micro- iris forceps or micro- iris scissors.
Then screw rod rotary motion is driven using motor, so that nut makees linear reciprocation movement, micro- iris is driven using sleeve
Tweezer or micro- iris scissors carry out linear reciprocation movement.
Embodiment three, as shown in accompanying drawing 5,6 and 7, the drive component includes motor 4, transmission component and shell 9, transmission
Component and motor connection, motor are inserted into branch sleeve, and drive component is accommodated in the inner by shell with branch sleeve attaching, transmission
Component includes roll 10 and the bracing wire 11 being wrapped on the roll 10, and execution apparatus is microscopic needle carrier 12, the needle forceps
Two handlebar stems are connected by the upper shell fragment 14 for having support shaft 13, two handlebar stems and being located in two handlebar stems, support shaft 13.
Two handlebar stems of bracing wire and microscopic needle carrier are intertwined and connected.Roll rotary motion is driven after motor operation, so as to realize pair
The winding or releasing of bracing wire, drive needle forceps two handlebar stems pressing, shell fragment is squeezed deformation after pressing, during reset by
The reseting elasticity of the shell fragment and rebound automatically.It is achieved thereby that the operation of the needle forceps driven using the operation of motor.Certainly, this
Under structure, it can also be microscissors or microforceps etc. to perform apparatus.
In the present invention, the supporting cantilever on flexible body can set multiple, such as two, three, four or other quantity,
It is not particularly limited, can be flexibly set according to actual use demand.As shown in accompanying drawing 10,11 and 12, it is provided with altogether on flexible body
Three supporting cantilevers, corresponding to have three force blocks, the thrust being applied on three force blocks is respectively F1, F2 and F3, is somebody's turn to do
The size of three thrust be able to can also be differed with identical.When three thrusts are identical, i.e. F1=F2=F3, whole apparatus by
Power is uniform, keeps direction movement straight up.As thrust F1>During F2=F3, discontinuity, apparatus can be towards thrust F1 institutes
Certain translational offsets, as shown in Figure 13, the now execution of apparatus front end occur for the direction of the opposite of the force block of application
Apparatus is swung towards the direction of the opposite of the thrust F1 force blocks applied, and bold portion is the first of the non-stress of apparatus
Beginning position, dotted portion is then apparatus by the swing position after larger thrust F1.Similarly, other thrusts can also be controlled
Size, so as to produce the swing of different directions, will not enumerate herein.Control different power size can control device in XY
Swung in plane in certain scope.Because flexible body is a lever construction, with displacement equations effect.Therefore, whole device
For tool, when each thrust it is different and when occurring a range of swing of X/Y plane, the swing model of flexible body position
Enclose smaller compared with the hunting range of the execution apparatus of apparatus front end.
In the present invention, the amplification of displacement can be carried out using flexible body, by the external pressure being applied on flexible body compared with
Small travel displacement, zooms into a larger travel displacement, drives and performs the action that apparatus carries out a larger travel displacement.Together
Shi Liyong drive components can perform apparatus with various mobile phones extensively and coordinate, and realize the accurate operation of automation.
It should be noted that described above is not the restriction to technical solution of the present invention, the wound of the present invention is not being departed from
On the premise of making design, any obvious replacement is within protection scope of the present invention.
Claims (8)
1. a kind of electronic micro-surgical instruments, it is characterised in that including flexible body, drive component and execution apparatus, flexible body bag
Branch sleeve, supporting cantilever and bottom panel are included, supporting cantilever front end is connected with branch sleeve, bottom and bottom panel are connected, the branch
Support cantilever is outwardly to be bent to form angle theta, between the rear end of branch sleeve extends towards bottom panel and had between the bottom panel
Gap, drive component is connected with branch sleeve, is performed apparatus and is connected with drive component.
2. electronic micro-surgical instruments according to claim 1, it is characterised in that the bottom of the supporting cantilever is provided with convex
The force block risen.
3. electronic micro-surgical instruments according to claim 2, it is characterised in that the supporting cantilever is provided with least two
It is individual, and each supporting cantilever is evenly distributed on around branch sleeve.
4. electronic micro-surgical instruments according to claim 3, it is characterised in that the end face of the force block is arc
Face, plane or rectangular surfaces.
5. the electronic micro-surgical instruments according to any one of claim 1-4, it is characterised in that the drive component bag
Motor, transmission component and shell, transmission component and motor connection are included, motor is inserted into branch sleeve, transmission component is with performing
Apparatus is connected, and drive component is accommodated in the inner by shell with branch sleeve attaching.
6. electronic micro-surgical instruments according to claim 5, it is characterised in that the transmission component includes screw rod and spiral shell
Mother, screw rod is connected by the output shaft of bearing and motor, and nut sleeve engages attaching on screw rod and with the screw rod, and screw rod drives
Nut moves and then controls to perform the motion of apparatus.
7. electronic micro-surgical instruments according to claim 6, it is characterised in that also attaching has sleeve on the nut.
8. electronic micro-surgical instruments according to claim 5, it is characterised in that the transmission component include roll and
The bracing wire on the roll is wrapped in, the bracing wire is connected with performing apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710570747.4A CN107280779A (en) | 2017-07-13 | 2017-07-13 | A kind of electronic micro-surgical instruments |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710570747.4A CN107280779A (en) | 2017-07-13 | 2017-07-13 | A kind of electronic micro-surgical instruments |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107280779A true CN107280779A (en) | 2017-10-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710570747.4A Pending CN107280779A (en) | 2017-07-13 | 2017-07-13 | A kind of electronic micro-surgical instruments |
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| Country | Link |
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| CN (1) | CN107280779A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030110874A1 (en) * | 1997-12-15 | 2003-06-19 | Naoki Muramatsu | Microactuator |
| US20120116361A1 (en) * | 2010-11-09 | 2012-05-10 | Hanlon Matthew A | Axially Reciprocating Microsurgical Instrument with Radially Compressed Actuator Handle |
| CN208371922U (en) * | 2017-07-13 | 2019-01-15 | 深圳科易外科技术有限公司 | A kind of electronic micro-surgical instruments |
-
2017
- 2017-07-13 CN CN201710570747.4A patent/CN107280779A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030110874A1 (en) * | 1997-12-15 | 2003-06-19 | Naoki Muramatsu | Microactuator |
| US20120116361A1 (en) * | 2010-11-09 | 2012-05-10 | Hanlon Matthew A | Axially Reciprocating Microsurgical Instrument with Radially Compressed Actuator Handle |
| CN208371922U (en) * | 2017-07-13 | 2019-01-15 | 深圳科易外科技术有限公司 | A kind of electronic micro-surgical instruments |
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| PB01 | Publication | ||
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| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180521 Address after: 523000 Dongguan, Guangdong Province, Songshan Lake high tech Industrial Development Zone, Hsinchu Road No. 4 new bamboo 17 Building 1 unit 5 floor A area 506 room. Applicant after: KEYI ROBOT TECHNOLOGY (DONGGUAN) Co.,Ltd. Address before: 523000 Dongguan, Guangdong Province, Songshan Lake high tech Industrial Development Zone, Hsinchu Road No. 4 new bamboo 17 Building 1 unit 5 floor A area 506 room. Applicant before: KEYI ROBOT TECHNOLOGY (DONGGUAN) Co.,Ltd. Applicant before: DONGGUAN SONGSHAN LAKE TECHXINSTITUTE Co.,Ltd. |
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| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180914 Address after: 518000 Shenzhen City, Guangdong, Luohu District, Guangyuan street, 1 Shucheng Road, city park 5 floor A area ST526 Applicant after: SHENZHEN KEYI SURGICAL TECHNOLOGY Co.,Ltd. Address before: 523000 Dongguan, Guangdong Province, Songshan Lake high tech Industrial Development Zone, Hsinchu Road No. 4 new bamboo 17 Building 1 unit 5 floor A area 506 room. Applicant before: KEYI ROBOT TECHNOLOGY (DONGGUAN) Co.,Ltd. |
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| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171024 |