CN107928790A - Snakelike surgical instrument - Google Patents

Snakelike surgical instrument Download PDF

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Publication number
CN107928790A
CN107928790A CN201711252548.5A CN201711252548A CN107928790A CN 107928790 A CN107928790 A CN 107928790A CN 201711252548 A CN201711252548 A CN 201711252548A CN 107928790 A CN107928790 A CN 107928790A
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CN
China
Prior art keywords
structure
end
serpentine
flexible
connected
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Application number
CN201711252548.5A
Other languages
Chinese (zh)
Inventor
高国伟
袁帅
蒋友坤
何超
何裕源
Original Assignee
微创(上海)医疗机器人有限公司
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Priority to CN201711252548.5A priority Critical patent/CN107928790A/en
Publication of CN107928790A publication Critical patent/CN107928790A/en

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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005Flexible endoscopes
    • A61B1/0051Flexible endoscopes with controlled bending of insertion part
    • A61B1/0055Constructional details of insertion parts, e.g. vertebral elements
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005Flexible endoscopes
    • A61B1/0051Flexible endoscopes with controlled bending of insertion part
    • A61B1/0057Constructional details of force transmission elements, e.g. control wires
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005Flexible endoscopes
    • A61B1/008Articulations
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00238Type of minimally invasive operation
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B2034/302Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities

Abstract

The invention relates to a snakelike surgical instrument which comprises a handheld structure, a control structure, a tail end instrument and a transmission device. The control structure comprises a snakelike joint which is installed on the handheld structure and has at least one swinging freedom degree. The tail end instrument is connected with the handheld structure through a connecting structure, and comprises a tool supporting base and a snakelike structure connected with the tool supporting base, the snakelike structure has a swinging freedom degree in the same direction as the snakelikejoint, and the transmission device comprises a flexible transmission structure connected with the snakelike joint and the snakelike structure. By means of the mechanical transmission structure, the movement of a handheld end can be directly transmitted to the tail end instrument, complicated force feedback control is avoided, and control is simple.

Description

蛇形手术器械 Snake surgical instruments

技术领域 FIELD

[0001] 本发明涉及医疗器械技术领域,特别是涉及一种蛇形手术器械。 [0001] The present invention relates to the field of medical devices, particularly to a surgical instrument serpentine.

背景技术 Background technique

[0002] 在微创伤手术过程中,特别是腹腔镜或内窥镜手术,由于创口很小,为达到更佳的治疗效果,减少手术过程中对于其他组织的损害,多采用蛇形关节的手术器械,以实现手术过程中对于其他器官的避让。 [0002] In minimally invasive surgical procedures, especially endoscopic or laparoscopic surgery, since small wound, in order to achieve a better therapeutic effect, reduced damage during surgery for other organizations, the use of serpentine joint surgical instruments to achieve during surgery to avoid other organs.

[0003] 手术器械的蛇形关节可模仿人手的运动,沿三个正交轴线旋转。 Serpentine joint [0003] The surgical instrument mimic human hand movement, along the three orthogonal axes of rotation. 例如,中国专利申请CNl〇e963494A提供了一种手术机器人用蛇形关节、手术器械及内窥镜,通过关节接头和柔性结构配合使蛇形关节具有旋转自由度。 For example, Chinese patent application CNl〇e963494A a surgical robot serpentine joint, surgical instruments and the endoscope, so that with the joint has a rotational degree of freedom serpentine knuckle and a flexible structure.

[0004] 所述手术器械的蛇形关节的旋转运动通常利用输入端的滚动-倾斜-摆动机构控制提供。 [0004] The rotational movement of the surgical instrument serpentine joint typically utilize scrolling input - the inclination - the swing control means provided. 中国专利申请CN107072684A提供了一种用于远程访问工具的附接装置,包括配置成固定至使用者的前臂的套圈和配置成将该套圈连接至框架使得该套圈可以相对于该框架移动1个和4个之间的自由度的联接接头。 Chinese patent application CN107072684A provides attachment apparatus for a remote access tool, comprising a collar arranged to the user's forearm is fixed to the ferrule and arranged such that the collar is connected to the frame can be moved relative to the frame coupling degree of freedom between one and four connectors. 但是这种设计方案复杂,联接接头的轴线均需穿过使用者的手腕的中心区域,且由于套圈固定至使用者的前臂,手术过程中,前臂的不必要的运动可能被传递给远程访问工具的末端执行器,影响远程访问工具的运动。 However, this design complexity, required the joint axis of the coupling through the center region of the user's wrist, and because the collar is fixed to the user's forearm, during surgery, unnecessary movement of the forearm may be transmitted to the remote access end-effector tools, the impact of the movement remote access tools.

[0005] 此外,现有的手术器械通过机电方式传递旋转运动,这通常需要复杂的力反馈机制。 [0005] Furthermore, the conventional surgical instrument electromechanically transmit a rotational motion, which usually requires a complicated mechanism for force feedback.

发明内容 SUMMARY

[0006] 基于此,有必要针对蛇形手术器械控制复杂的问题,提供一种控制简单的蛇形手术器械。 [0006] Based on this, it is necessary for the snake-like surgical instrument control complex problems, providing a simple method of controlling serpentine surgical instruments.

[0007] —种蛇形手术器械,包括: [0007] - species serpentine surgical instrument, comprising:

[0008] 手持结构; [0008] The handheld configuration;

[0009] 操控结构,包括安装至所述手持结构的、具有至少一个摆动自由度的蛇形关节; [0009] The control structure comprises a structure mounted to the hand, having at least one degree of freedom pivot joints serpentine;

[0010] 连接结构; [0010] connection structure;

[0011] 末端器械,通过连接结构与所述手持结构连接,包括末端执行器、工具支撑座及与工具支撑座连接的蛇形结构,所述蛇形结构具有与所述蛇形关节的摆动方向相同的摆动自由度; [0011] The tip of the instrument, connected by the connecting structure and the handheld structure, including the end effector, the tool support base and connected to the serpentine configuration of the tool support base, said serpentine structure having a pivot joint direction of the serpentine the same degree of freedom in the swing;

[0012] 传动装置,包括连接所述蛇形关节和蛇形结构的柔性传动结构,且所述柔性传动结构被配置为使所述蛇形结构和所述蛇形关节以相同的方向摆动。 [0012] drive means connected to said transmission structure comprises a flexible joint and serpentine serpentine structure, and said flexible transmission structure is configured such that said serpentine configuration and the serpentine joint pivot in the same direction.

[0013] 上述蛇形手术器械采用机械传动结构,手持端的运动可直接传递给末端器械,避免了复杂的力反馈控制,控制简单。 [0013] The serpentine structure of the surgical instrument by mechanical transmission, the handheld terminal can be transferred directly to the movement of tip of the instrument, to avoid the complexity of force feedback control, the control is simple.

[0014] 在其中一个实施例中,所述手持结构包括一弧形本体,所述弧形本体的近端设有近端支撑座,所述近端支撑座的远端与所述操控结构连接;所述弧形本体的远端设有远端支撑座,所述远端支撑座的远端与所述连接结构连接。 [0014] In one embodiment, the holding structure comprises a curved body, the proximal end of the proximal end of the arcuate body is provided with the support base, the distal end of the proximal end of the supporting base structure is connected with the control ; arcuate distal end of the distal end of the body is provided with the support base, the distal end of the distal end of the support base is connected to the connecting structure. 在其中一个实施例中,所述传动装M 还包括安装在所述手持结构上的传动轮结构,所述柔性传动结构经传动轮结构实现变向。 In one embodiment, the transmission means further includes M transmission wheel mounting structure on the holding structure, said flexible transmission structure implemented by redirecting transmission wheel structure. [0015]在其中一个实施例中,所述蛇形关节包括第一蛇骨基座、第二蛇骨基座,及两端分别连接第一蛇骨基座、第二蛇骨基座的蛇骨串联结构,所述蛇骨串联结构由若千依次串联的蛇骨组成,相邻蛇骨之间转动连接使蛇形关节具有至少一个摆动自由度,所述第二蛇骨基座安装至所述手持结构,所述柔性传动结构与第一蛇骨基座连接。 [0015] In one embodiment, the serpentine snake bone joint comprising a first base, second base snake bone, and a first snake bone ends are connected to the base, the second snake snake bone base bone series arrangement, if the snake bone by a series arrangement of successively a series of one thousand snake bone composition, so that adjacent rotary connection between the serpentine snake bone joint having at least one degree of freedom pivot, mounted to the base of the second snake bone said holding structure, said flexible transmission structure connected to the base of the first snake bone.

[0016]在其中一个实施例中,所述柔性传动结构的一端与第一蛇骨基座固定,并且,柔性传动结构与第一蛇骨基座相固定的位置,与柔性传动结构的另一端和蛇形关节相固定的位置成相反配置。 [0016] In one embodiment, one end of said flexible transmission snake bone structure and a first fixed base, and the flexible drive snake bone structure and a first fixed position relative to the base, the other end of the flexible drive structure and fixed to the joint position of the serpentine into the opposite configuration.

[0017]在其中一个实施例中,所述操控结构还包括与所述第一蛇骨基座连接的握持结构,所述握持结构用于控制所述末端执行器的运动。 [0017] In one embodiment, the control structure further comprises a gripping structure connected to the first base snake bone, the holding structure for controlling the movement of the end effector.

[0018]在其中一个实施例中,所述握持结构上设有末端执行器控制件;所述传动装置还包括第一柔性结构,所述末端执行器控制件通过所述第一柔性结构控制所述末端执行器运动。 [0018] In one embodiment, the gripping member is provided on the end effector control structure; said transmission means further comprises a first flexible structure, the end of the first control member via a flexible control structure the end effector motion.

[0019] 在其中一个实施例中,所述末端器械的末端执行器包括至少一工具瓣,所述工具瓣与工具支撑座转动连接,所述末端执行器控制件设有至少一个一端与握持结构转动连接的开合瓣,所述开合瓣通过所述第一柔性结构控制所述工具瓣运动。 [0019] In one embodiment, the tip of the instrument end tool comprising at least one flap, said flap and tool holder rotatably connected to the tool support, the end effector control device is provided with at least one end with a gripping rotatably connected to open clamshell configuration, the opening through the first flexible clamshell configuration of the control flap motion of the tool.

[0020] 在其中一个实施例中,所述末端器械的末端执行器包括两个相对转动的工具瓣, 所述工具瓣分别与工具支撑座转动连接,所述末端执行器控制件设有至少一个一端与握持结构转动连接的开合瓣,所述开合瓣通过所述第一柔性结构控制所述工具瓣之间的相对转动。 [0020] In one embodiment, the end tip of the instrument comprises two tool relative rotation flap, said flap means are respectively rotatably connected to the tool holder support, the end effector control device is provided with at least one One end of the grip opening clamshell structure rotatably connected to the first opening relative rotation between the flexible structure of the control valve means through said clamshell.

[0021] 在其中一个实施例中,所述末端执行器控制件包括左侧开合瓣和右侧开合瓣,两个开合瓣中的一个与握持结构固定连接,另一个与握持结构转动连接,所述两个工具瓣中的一个与工具支撑座转动连接而另一个与工具支撑座固定连接,所述开合瓣通过所述第一柔性结构控制所述工具瓣之间的相对转动。 [0021] In one embodiment, the end effector comprises a control member right-hand and left open clamshell clamshell, two clamshell opening in a structure is fixedly connected with the grip, the other gripping rotary connection structure, the two lobes in a tool and the tool is rotatably connected to the support base and the other seat is fixedly connected to the tool support, the opening between the first opposing flexible structure of the control valve means through said clamshell rotation.

[0022] 在其中一个实施例中,所述传动装置还包括弹性结构,所述弹性结构设置在握持结构上或所述工具支撑座上,使所述两个工具瓣保持常开状态。 [0022] In one embodiment, the transmission means further comprises a resilient structure, the resilient structure is provided on the grip of the tool support structure or base, the two normally open valve means.

[0023] 在其中一个实施例中,所述操控结构还包括与握持结构连接的操控端连接件,所述末端器械还包括与末端执行器连接的末端执行器连接件,所述操控端连接件接收握持结构的运动并通过所述第一柔性结构传递至末端执行器连接件,并由所述末端执行器连接件控制所述末端执行器的运动。 [0023] In one embodiment, the control structure further comprises a control member connected to the end connector holding structure, the tip of the instrument further includes an end connector member is connected to the end effector, the control terminal is connected movement of the gripping member receiving structure end and transmitted to the connecting member via the first flexible structure, the end effector is connected by a control member of the end effector motion.

[0024] 在其中一个实施例中,所述操控结构还包括与末端执行器控制件连接的操控端连接件,所述末端器械还包括与末端执行器连接的末端执行器连接件,所述传动装置还包括第二柔性结构,所述第二柔性结构的一端与所述末端执行器连接件连接,另一端与所述操控端连接件连接,所述操控端连接件接收末端执行器控制件的运动并通过所述第二柔性结构传递至末端执行器连接件,并由所述末端执行器连接件控制所述末端执行器的运动。 [0024] In one embodiment, the control structure further comprises a control terminal connected to the connector end of the control member, the tip of the instrument further includes an end connector member is connected to the end effector, the drive a second means further comprises a flexible structure, an end of the second flexible structure is connected to the end member, and the other end connected to the actuation end connector, said end connector receiver control end of the control element and transmitting the motion to the end effector through the second flexible connecting member structure, by coupling the end effector controls the motion of the end effector.

[0025] 在其中一个实施例中,所述操控结构还包括与末端执行器控制件连接的操控端连接件,所述末端器械还包括与末端执行器连接的末端执行器连接件;所述末端执行器连接件包括第一转轴、第二转轴和第一连杆,所述第一连杆近端通过第一转轴与所述第一柔性结构远端转动连接,所述第一连杆远端通过所述第二转轴与所述工具瓣的近端转动连接, 所述第一转轴被配置为沿所述连接结构的轴向移动;所述操控《连接件包括第四转轴、第五转轴和第三连杆,所述第三连杆近端通过第四转轴与所述第一柔性结构近端转动连接, 所述第三连杆远端通过所述第五转轴与所述开合瓣的远端转动连接,所述第四转轴被配置为沿所述连接结构的轴向移动。 [0025] In one embodiment, the control structure further comprises a control terminal connected to the connector end of the control member, the tip of the instrument further includes an end connector member is connected to the end effector; the end the actuator comprises a first shaft connecting member, the second shaft and the first link, the first link is rotatably connected via a first proximal shaft and the distal end of the first flexible structure, the distal end of the first link by connecting the proximal end of said rotatable shaft and said second flap means, said first shaft is configured to move axially along the connection structure; the steering "shaft connecting member includes a fourth, fifth and shaft a third link, said third link rotatably connected to the proximal end of the proximal end of said first flexible structure through a fourth shaft, the fifth shaft and through said opening of said third link distal clamshell a distal end rotatably connected to a fourth shaft is configured to the axial movement of the connecting structure.

[0026]在其中一个实施例中,第一柔性结构为一软轴结构,所述传动装置还包括一压簧, 所述压簧设置于所述操控端连接件和握持结构本体之间,设置于所述左右开合瓣与所述握持结构之间,设置于操控端连接件内,设置于末端执行器和工具支撑座之间,或设置于末端执行器内。 [0026] In one embodiment, the first structure is a flexible structure of a flexible shaft, the transmission means further comprises a compression spring, said spring disposed between the connecting member and the grip end of the body of the control structure, clamshell opening and disposed between the left and right of the gripping structure disposed in the manipulation end connector, is provided between the end effector and tool support base, or disposed within the end effector.

[0027]在其中一个实施例中,所述末端执行器包括左侧工具瓣和右侧工具瓣,所述第一柔性结构包括一柔性细长体,所述传动装置还包括一压簧,所述压簧设置在所述左侧工具瓣和右侧工具瓣之间。 [0027] In one embodiment, the end effector includes a left and right tool flap valve means, said first flexible structure comprises a flexible elongated body, said drive means further comprises a compression spring, the said spring means is disposed between the left and right tool flap valve.

[0028] 在其中一个实施例中,所述第一柔性结构的一端与所述末端执行器连接件连接, 另一端穿过所述握持结构连接至所述操控端连接件;或所述第一柔性结构的一端与所述末端执行器连接件连接,另一端经安装在所述手持结构上的传动轮结构换向后连接至所述操控端连接件。 [0028] In one embodiment, the one end of the end effector a first flexible connecting member connecting structure, the other end through the holding structure is connected to the connecting member manipulation end; a second or one end of the end effector and a connecting member connected to the flexible structure, the other end of the drive wheel by mounting structure on the structure holding the transducer is connected to the rearward end of the connecting member manipulation.

[0029]在其中一个实施例中,所述开合瓣上设有指套结构。 [0029] In one embodiment, the opening is provided with finger clamshell structure.

[0030]在其中一个实施例中,所述握持结构与所述第一蛇骨基座之间转动连接,使所述握持结构具有绕所述握持结构轴线的转动自由度,所述工具支撑座相对于所述蛇形结构具有绕工具支撑座轴线的转动自由度,所述握持结构通过第二所述柔性结构将转动运动传递至所述工具支撑座,以使所述工具支撑座转动。 [0030] In one embodiment, the rotary connection between the holding structure and the first base snake bone, said holding structure having a rotational freedom about the axis of the gripping structure, the the tool holder with respect to the supporting structure having said serpentine rotational degree of freedom about the axis of the tool support housing, said second gripping structure of said flexible structure rotational movement is transmitted to the tool by the support base, so that the tool support Block rotation.

附图说明 BRIEF DESCRIPTION

[0031 ]图1是本发明手持蛇形器械整体示意图; [0031] FIG. 1 is an overall schematic view of the present invention, a handheld device serpentine;

[0032]图2是本发明手持蛇形器械操控结构示意图; [0032] FIG. 2 is a schematic diagram of the present invention is a handheld instrument control serpentine structure;

[0033]图3是本发明手持蛇形器械蛇形铰结构示意图; [0033] FIG. 3 is a schematic diagram of the present invention is a handheld instrument serpentine serpentine hinge structure;

[0034]图4是本发明手持端运动效果示意图; [0034] FIG. 4 is a schematic view of the handheld terminal of the present invention, the athletic performance;

[0035]图5至图7是本发明手持端整体运动效果示意图; [0035] FIG. 5 through FIG. 7 is a schematic view of the handheld terminal of the present invention the global motion effects;

[0036]图8是本发明末端器械整体结构示意图; [0036] FIG. 8 is an end schematic view of the overall structure of the device according to the present invention;

[0037]图9是本发明末端器械运动效果示意图; [0037] FIG. 9 is a schematic diagram of the present invention, the effect of moving the end of the instrument;

[0038]图10是本发明传动结构示意图; [0038] FIG. 10 is a schematic view of the transmission structure of the present invention;

[0039]图11是本发明柔性传动连接结构示意图; [0039] FIG. 11 is a diagram showing a connection structure of the present invention, the flexible drive;

[0040]图12是本发明实施例一自由度分布示意图; [0040] FIG. 12 is an embodiment of the present invention, a schematic diagram of a distribution of degrees of freedom;

[0041]图13和14是本发明末端器械开合运动操作示意图; [0041] FIGS. 13 and 14 are schematic end movement of the operating device of the invention the opening and closing;

[0042]图15是本发明末端器械开合结构传动示意图; [0042] FIG. 15 is a terminal apparatus of the present invention, a schematic construction of the drive to open and close;

[0043]图16是本发明开合瓣上的指套结构示意图. [0043] FIG. 16 is a schematic diagram of the finger structure of the present invention to open clamshell.

[0044]图17是末端执行器连接件的连接结构示意图. [0044] FIG. 17 is a diagram showing the structure of an end effector connected to the connecting member.

[0045]图18是操控端连接件的连接结构示意图., _6] _是本发明末端器械的工具瓣另—实施働结构示意图; [0045] FIG. 18 is a schematic end connector connecting structure manipulation, 6] _ flap tool tip of the instrument of the present invention further - embodiment Dong schematic structure;

[0047]图20是本发明操控结构自转自由度示意图. [0047] FIG. 20 is a schematic control structure of the present invention the degree of freedom of rotation.

[0048] 图21是本发明蛇形器械全自由度示意图; [0048] FIG. 21 is a serpentine full freedom schematic instrument of the present invention;

[0049] 图1-图21中:操控结构1;握持结构10;握持结构本体101;左侧开合瓣11;右侧开合瓣12;第一蛇骨基座13;蛇骨14;第二蛇骨基座15;蛇形关节16;指套结构17;手持结构2;近端支撑座21;远端支撑座22;连接结构3;末端器械4;蛇形结构40;第三蛇骨基座401;第四蛇骨基座402;工具支撑座41;左侧工具瓣42;右侧工具瓣43;第一连杆44;第二连杆45;第一转轴46;第二转轴47;第三转轴48;第一轴向限位槽49;传动装置5;柔性传动结构51;柔性体51&,5113,51〇,51(1;第一柔性结构52;传动轮结构53;第三连杆71;第四连杆72;第四转轴73; 第五转轴74;第六转轴75。 [0049] Figures 1 to 21: 1 control structure; gripping structure 10; gripping structure body 101; clamshell opening 11 left; right clamshell opening 12; 13 of the first base snake bone; snake bone 14 ; snake bone second base 15; serpentine joint 16; 17 finger structure; holding structure 2; proximal support base 21; the distal end of support 22; connecting structure 3; 4 terminal equipment; serpentine structure 40; third snake bone base 401; and a fourth base 402 snake bone; tool supporting base 41; left flap 42 tools; tools right flap 43; a first link 44; a second link 45; 46 a first shaft; a second the shaft 47; a third shaft 48; a first axial stop groove 49; transmission 5; flexible drive structure 51; flexible bodies 51 & amp;, 5113,51〇, 51 (1; 52 a first flexible structure; transmission wheel structure 53 ; third link 71; fourth link 72; the fourth shaft 73; the fifth rotation shaft 74; a sixth rotary shaft 75.

具体实施方式 Detailed ways

[0050] 为使本发明的上述目的、特征和优点能够更加明显易懂,下面结合附图对本发明的具体实施方式做详细的说明。 [0050] For the above-described objects, features and advantages of the present invention can be more fully understood by reading the following description of the drawings in detail specific embodiments of the present invention binds. 在下面的描述中阐述了很多具体细节以便于充分理解本发明。 Numerous specific details are set forth in the following description in order to provide a thorough understanding of the present invention. 但是本发明能够以很多不同于在此描述的其它方式来实施,本领域技术人员可以在不违背本发明内涵的情况下做类似改进,因此本发明不受下面公开的具体实施例的限制。 However, the present invention can be in many other ways than to the embodiments described herein, those skilled in the art can make similar modifications without departing from the intension of the present invention, and thus the present invention is not limited to the specific embodiments disclosed below.

[0051] 以下结合附图和具体实施例对本发明提出的蛇形手术器械作进一步详细说明。 [0051] The following specific examples in conjunction with the accompanying drawings and described in further detail serpentine surgical instrument proposed by the present invention. 在本申请中,为了便于理解,使用了“近端”和“远端”、“上端”和“下端”等术语,这些术语是指从使用该医疗器械的医生角度来看相对于彼此的元件或动作的相对方位、相对位置、方向。 In the present application, in order to facilitate understanding, using "proximal" and "distal", "upper" and "lower" and like terms, these terms refer to the angle of the doctor from the medical device relative to each other using the view element or actions relative orientation, relative position, direction. “近端”和“远端”、“上端”和“下端”并非是限制性的,但是“近端”、“下端”通常指该医疗设备在正常操作过程中靠近操作者的一端,而“远端”、“上端”通常是指远离操作者的一端。 "Proximal" and "distal", "upper" and "lower" are not limiting, but "proximal", "lower" generally refers to the near end of the medical device operator during normal operation, and " distal "," upper "generally refers to the end remote from the operator.

[0052] 实施例一 [0052] Example a

[0053] 如图1所示,蛇形手术器械包括操控结构1、手持结构2、连接结构3、末端器械4以及传动装置5。 , The surgical instrument includes manipulating serpentine structure 1, structure 2 handheld connection structure 3, and a transmission terminal apparatus 4 5 [0053] FIG 1. 操控结构1安装在手持结构2—端。 Control structure 1 is mounted in a handheld configuration 2- terminal. 连接结构3的一端与手持结构2连接,另一端与末端器械4连接,且传动装置5被配置为使末端器械4在操控结构1驱动下以相同方向摆动,即操控结构1通过传动装置5控制末端器械4的运动。 Connection structure at one end with the handheld structure 2 3 is connected, the other end of the terminal equipment 4 is connected, and the transmission device 5 is configured such that the end of the instrument 4 swings in the same direction under the control structure of the drive 1, i.e. control structures 1 through the transmission 5 controls movement of the tip of the instrument 4. 操控结构1的自由端与末端器械4自由端延伸方向相同。 4 the free end of the free end of the control structure of a tip of the instrument extend in the same direction. 其中,手持结构2和连接结构3内部均具有空腔结构。 Wherein the holding structure 2 and connected to the internal structure 3 has a cavity structure. 传动装置5可设置在上述空腔结构中。 Transmission means 5 may be provided in the cavity structure. 然而,传动装置5也可以于外部定位在手持结构2和连接结构3上。 However, the transmission 5 may be positioned to the outside on the handheld connection structure 3 and the structure 2.

[0054] 如图2和图3所示,操控结构1还包括握持结构10及具有至少一个摆动自由度的蛇形关节16。 [0054] As shown in FIG. 2 and FIG. 3, a control structure further comprises a gripping structure 10 and having at least one degree of freedom pivot joints 16 serpentine. 一优选的实施例中,蛇形关节16包括位于远端的第一蛇骨基座13;位于近端的第二蛇骨基座15;两端分别连接第一蛇骨基座、第二蛇骨基座的第一蛇骨串联结构,所述第一蛇骨串联结构由若干依次串联的蛇骨14组成。 A preferred embodiment, the serpentine snake bone joint 16 includes a first base 13 at a distal end; snake bone at the proximal end of the second base 15; snake bone ends respectively connected to a first base, a second snake a first series arrangement snake bone base of the bone, said first series arrangement of several snake bone in series 14 consisting of snake bone. 其中,握持结构1〇的一端与第一蛇骨基座13 转动连接;蛇骨14之间可相互形成转动连接;第二蛇骨基座15与手持结构2连接。 Wherein one end of the gripping structure 1〇 base 13 rotatably connected to the first snake bone; rotatably connected to each other may be formed between the snake bone 14; a second base 15 with the handheld snake bone structure 2 is connected. 优选地,蛇骨14的数量可以是4个。 Preferably, the number of snake bone 14 may be four. 本发明对蛇骨14的具体结构没有特别的要求,只要其组成的蛇形关节16具有至少一个摆动自由度即可。 The present invention is not particularly required for the specific configuration of the snake bone 14, as long as its composition serpentine joint 16 having at least one degree of freedom to wobble.

[0055] 手持结构2的结构没有特别的限制。 The structure of the hand 2 [0055] is not particularly limited. 如图5所示,一个可选的结构中,手持结构2包括一弧形本体。 5, an alternative structure, the holding structure 2 comprising an arcuate body. 弧形本体的近端设有近端支撑座21,远端设有远端支撑座22。 The proximal end of the arcuate body of the support base 21 is provided with a proximal end, a distal end with the distal end of support 22. 其中,弧形本体的具体曲线形状没有特别的限制,可以根据人体工程学来设计。 Wherein, the specific shape of the curve of the arcuate body is not particularly limited, and may be designed ergonomically. 近端支撑座21的远端与第二蛇骨基座15固定连接。 The distal end 21 of proximal support base and the second base 15 is fixedly connected snake bone. 远端支撑座22的远端与连接结构3固定连接。 The distal end of the distal end and connected to the support base 3 is fixed structure 22 is connected.

[0056] 参考图4,结合图5-7所示。 [0056] Referring to FIG 4, in conjunction with FIGS. 5-7. 如图5、图6所示,操控结构1可以相对手持结构2左右转动,形成自由度R1' ;图7显示,操控结构1可以相对手持结构2上下摆动,形成自由度R2'。 As shown in FIG. 5, FIG. 6, a control structure 2 can be relatively rotated about the handheld structure, degree of freedom in forming R1 '; FIG. 7 shows the structure of a control structure 2 can swing up and down relative to the handheld, the degree of freedom is formed R2'.

[0057]如图8和图9所不,末端器械4包括蛇形结构40、工具支撑座41和末端执行器。 [0057] FIGS. 8 and 9 is not, the instrument tip 4 includes a serpentine structure 40, the tool support base 41 and the end effector. 蛇形结构40—端与连接结构3同心固定连接,另一端与所述工具支撑座41固定连接。 Serpentine structure 40 and the connecting terminal 3 is fixedly connected concentrically, and the other end supporting the tool holder 41 is fixedly connected. 工具支撑座41用于支撑末端执行器。 Tool support base 41 for supporting the end effector. 本发明对蛇形结构40的具体构型没有特别的限制,能够实现两个方向(优选两个垂直的方向)的摆动操作即可(即具有两个自由度R1和R2)。 Specific configurations of the present invention is not particularly limited serpentine structure 40 can be realized in two directions (two directions are preferably perpendicular) to the swing operation (i.e., having two degrees of freedom R1 and R2). 例如,蛇形结构40可以采用类似前述的蛇形关节16的结构,即蛇形结构40包括位于远端的第三蛇骨基座401;位于近端的第四蛇骨基座402;两端分别连接第三蛇骨基座401、第四蛇骨基座402的第二蛇骨串联结构,所述第二蛇骨串联结构由若干依次串联的蛇骨14组成。 For example, the serpentine structure 40 can be similar to the joint serpentine structure 16, i.e., the serpentine structure 40 comprises a third snake bone at the distal end of the base 401; snake bone at the proximal end of the fourth base 402; ends 401 are connected to the base of the third snake bone, a second series arrangement of a fourth snake bone snake bone base 402 of the second series arrangement of several snake bone in series 14 consisting of snake bone. 同样,本发明对于末端执行器的种类没有特别的限制,例如末端执行器可以为剪刀、电钩、夹具。 Similarly, the present invention is not particularly limited to the kind of the end effector, the end effector may be, for example, scissors, an electrical hook, clamp.

[0058] 如图10,传动装置5包括柔性传动结构51、传动轮结构53。 [0058] As shown in FIG 10, the transmission 5 includes a flexible transmission mechanism 51, the drive wheel structure 53. 其中柔性传动结构51可为多根,柔性传动结构51—端与第一蛇骨基座13固定连接,另一端经过至少一组安装在手持结构2上的传动轮结构53改变延伸方向后与蛇形结构40固定连接,以控制蛇形结构40的运动。 Wherein the flexible drive structure 51 may be a plurality of flexible transmission structure 51 and the first end 13 is fixedly connected to the base snake bone, and the other end extending in a direction through the transmission wheel 53 to change at least one set structure mounted on the holding structure 2 and Snake shaped structure 40 is fixedly connected to control the movement of structure 40 is serpentine.

[0059] 为保证操控结构1与末端器械4在相同指向情况下具有相同的运动方向,柔性传动结构51—端在第一蛇骨基座13上的固定点的位置与柔性传动结构51的另一端在蛇形结构40具有的第三蛇骨基座401上的固定位置成相反配置。 [0059] To ensure the tip of the instrument and a control structure having the same direction of movement 4 in the same point, the position of the fixed point of the flexible transmission structure 51 on the first end of the base 13 with the flexible snake bone structure of another gear 51 fixed position on the end structure 40 having a third serpentine snake bone into the base 401 opposite configuration. 此处的相反配置指按如下方式配置: 例如,当柔性传动结构51与第一蛇骨基座13固定的位置在上方时,则另一端与第三蛇骨基座401上固定的位置则在下方;当柔性传动结构51与第一蛇骨基座13固定的位置在左侧,则另一端与第三蛇骨基座401固定的位置则在右侧。 Instead Configuration herein configured as follows: For example, when the position of the flexible gear 13 is fixed to the structure of the base 51 and the first snake bone is over, the other end of the base 401 and the third snake bone at a fixed position below; fixed position when the position of the flexible gear 13 is fixed to the first structure 51 and the base snake bone on the left side, the other end of the third base 401 on the right side snake bone.

[0060] 在一个优选的实施例中,如图11所示,柔性传动结构51包括四根柔性体51a,51b, 51c,51d,此时蛇形结构40包括四个固定点,其中上下两个固定点用于控制蛇形结构40上下摆动,左右两个固点定用于控制蛇形结构40左右转动。 [0060] In a preferred embodiment, shown in Figure 11, the flexible transmission mechanism 51 comprises four flexible body 51a, 51b, 51c, 51d, at this time serpentine structure 40 comprises four fixed points, wherein the upper and lower fixing point for controlling the serpentine structure 40 swing up and down, left and right two given fixed points 40 for controlling the rotation of the serpentine structure. 相应的,第一蛇骨基座13也具有四个固定点。 Accordingly, the first base 13 also has four snake bone fixing points. 第一蛇骨基座13的固定点从上至下从左至右的顺序分别与四根柔性体51a,51b, 51c,51d连接。 Snake bone fixing point of the first base 13 is connected from top to bottom and from left to right are four flexible body 51a, 51b, 51c, 51d. 蛇形关节41包括四个固定点,从上至下从左至右的顺序分别与所述柔性体51c,51d,51a,51b的另一端连接。 Serpentine joint 41 comprises four fixed points, from top to bottom of the flexible body 51c, 51d, the other ends 51a, 51b are connected from left to right, respectively. 图11中以51b为例,用虚线示意出了51b两端的连接位置。 51b in FIG. 11 as an example, with dashed lines illustrate the position of the connecting ends 51b.

[0061] 经过上述各结构的连接,如图12所示。 [0061] After the above-described connection structure, as shown in Fig. 蛇形结构40可实现两个自由度的操作,同时使得蛇形结构40,在操控结构1的控制下与操控结构1朝相同的方向运动,即二者的运动构形相同且运动方向具有一致性,避免操作者的前臂的运动被传递给末端器械而影响器械的运动精度。 Serpentine structure 40 can be realized operation two degrees of freedom, such that the serpentine structure 40 at the same time, the control structure of a movement in the same direction, i.e., the same as under the control of a control structure of both movement configuration and direction of movement have a uniform and avoid the forearm of the operator's movement is transmitted to the tip of the instrument to affect the accuracy of instrument movement. 操作者可以通过操纵握持结构或蛇形关节16,使操控结构1运动。 The operator can manipulate the gripping or serpentine structure joint 16, so that steering the structure of a motion. 本领域技术人员应理解蛇形结构40/蛇形关节16的固定点不限于4个,可以为6个,8个等。 Skilled in the art will appreciate that the serpentine structure 40 / serpentine articulation point 16 is fixed is not limited to four, and may be six, eight and the like. 固定点数量的增加,可以实现对蛇形结构40/蛇形关节I6更加精准的控制。 A fixed number of points increases can be achieved on 40 / I6 joint serpentine serpentines more precise control.

[0062] 优选的,操控结构1和末端器械4的蛇形结构40可以存在尺寸上的缩放,从而可使得操控结构1和末端器械4在运动上存在比例,进一步根据手需要调整操控的精确度和安全性。 [0062] Preferably, the control structure of the precision instrument 1 and the end 40 of the fourth serpentine structure may be present on the scale size, so that can be manipulated structure 1 and the tip of the instrument 4 is present in the proportion of the motion, the hand is further adjusted as necessary to control and security.

[0063] 实施例二 [0063] Second Embodiment

[0064] 末端执行器的类型不限。 [0064] Any type of end effector. 当末端执行器为具有相对转动的器械,例如剪刀、电钩、 夹具时,手持蛇形装置的末端器械4除需具备两个转动自由度外,还需具有开合自由度。 When the end effector of instrument relative rotation, e.g. scissors, electric hook, the clamp, the handheld device serpentine 4 except for an end of the instrument is provided with two rotational degrees of freedom, the need to have a degree of freedom of opening and closing.

[0065] 如图8、图13和图14所示,末端器械4具有两个工具瓣结构,即左侧工具瓣42和右侧工具瓣43。 [0065] As shown in FIG. 8, 13 and 14, the tool tip of the instrument 4 having two lobes structure, i.e., the right and left tool 42 tool flap valve 43. 左侧工具瓣似和右侧工具瓣43与工具支撑座41均转动连接。 Right and left tool tools like flap valve 43 and the tool 41 are rotatably connected to the support base. 例如,工具支撑座41 上具有径向轴孔结构,左侧开合瓣42的一端通过径向轴孔结构与工具支撑座41转动连接, 另一端为自由端。 For example, the tool support shaft having a radial bore seat structure 41, the left end 42 of the clamshell housing opening 41 through a radial shaft rotatably connected to the supporting structure and the tool bore, and the other end is a free end. 右侧开合瓣43的一端通过径向轴孔结构与工具支撑座41转动连接,另一端为自由端。 Right opening 43 of the clamshell housing 41 at one end rotatably connected to the support structure through the radial bore of the tool shaft, and the other end is a free end. 如此,左侧工具瓣42和所示右侧工具瓣43能够分别绕各自的转轴(或者同一转轴)实现二者的相对转动,从而实现末端执行器张开与闭合的动作,实现抓取等操作方式。 Thus, the right and left tool tools valve flap 42 shown in FIG. 43 can be respectively about a respective axis (or the same shaft) relative rotation of both, to achieve operation of the end effector opening and closing, and other operations to achieve crawl the way. 相应的,操控结构1还包括一末端执行器控制件,用于控制末端执行器的运动。 Accordingly, the structure 1 further comprises a control end control member, the motion for controlling the end effector.

[0066]在一个优选实施例中,如图2、图15所示,末端执行器控制件包括左侧开合瓣11、右侧开合瓣12,其中左侧开合瓣11、右侧开合瓣12位于握持结构1〇上,用以控制手术器械的末端执行器运动。 [0066] In a preferred embodiment, FIG. 2 and FIG. 15, the end effector control device 11 includes a left clamshell opening, clamshell right opening 12, which left open clamshell 11, right-hand the clamshell structure 12 is located on the gripping 1〇, the surgical instrument for controlling movement of the end effector. 具体而言,左侧开合瓣11 一端与握持结构10的主体转动连接,另一自由端远离握持结构10的主体。 Specifically, the left clamshell open end 11 rotatably connected to the body of the gripping structure 10, the other free end remote from the body 10 of the grip structure. 右侧开合瓣12—端与握持结构主体10转动连接,另一自由端远离握持结构10的主体。 12- right opening end of the grip clamshell structure 10 is rotatably connected to the body, the other free end remote from the body 10 of the grip structure.

[0067] 优选地,左侧开合瓣11、右侧开合瓣12对称布置于握持结构10的主体两侧。 [0067] Preferably, the left opening clamshell 11, the right opening 12 are symmetrically arranged on both sides of the clamshell body holding structure 10.

[0068] 优选地,操控结构1还包括开合瓣锁定装置,可实现开合瓣的锁定功能。 [0068] Preferably, the control structure further comprises an open clamshell locking means may be implemented to open the clamshell lock. 开合瓣锁定装置可以是安装在握持结构10上的限位机构,如具有卡扣功能的锁扣件,以将开合瓣锁定。 The clamshell opening mechanism latch member stopper locking means may be mounted on the grip structure 10, such as with a snap function, to open the clamshell lock. 锁扣件可以只能是将开合瓣锁定在固定的张开位置,如开合瓣的最大开合位置处。 The latch member can only be opened in clamshell locked in a fixed open position, the open position of maximum opening and closing of such clamshell. 锁扣件还可以是能够调节位置的锁定件,当开合瓣张开到需要的程度时,调节锁紧件的位置,使开合瓣保持在该张开的位置。 Latch members may also be able to adjust the position of the locking member, when the opening of the clamshell opening to the extent required, adjust the position of the locking element, held at the opening of the clamshell open position.

[0069] 优选地,如图16所示,左侧开合瓣11和右侧开合瓣12结构上可设置指套结构17,保证人手指可以放入,更有效操控开合瓣结构的开合运动。 Finger structure 17 may be provided on the structure 12 [0069] Preferably, as shown in FIG. 16, the left and right opening 11 open clamshell clamshell guarantor finger can be placed more effectively control opening and closing of open clamshell configuration motion.

[0070] 在另外一个优选实施例中,末端执行器控制件仅包括左侧开合瓣11,用以控制手术器械的末端执行器运动。 [0070] In a further preferred embodiment, the end effector includes a control to open only the left clamshell 11, the surgical instrument for controlling movement of the end effector. 类似,左侧开合瓣11 一端与握持结构10的主体转动连接,另一自由端远离握持结构10的主体。 Similarly, the left clamshell open end 11 rotatably connected to the body of the gripping structure 10, the other free end remote from the body 10 of the grip structure.

[0071] 如图8、图10所示,传动装置5还包括第一柔性结构52。 [0071] FIG. 8, FIG. 10, a first transmission device 5 further comprises a flexible structure 52. 开合瓣结构通过第一柔性结构52控制工具瓣的开合运动。 Open clamshell configuration by the flexible structure of opening and closing the first valve control means 52.

[0072] 在一个优选实施例中,末端器械4还包括一末端执行器连接件,操控结构1还包括操控端连接件操控结构1上的末端执行器控制件的运动传递至所述操控端连接件,并通过所述第一柔性结构52传递至末端执行器连接件,并由所述末端执行器连驱动所述工具瓣运动。 [0072] In a preferred embodiment, the terminal apparatus 4 further includes a connector end, a control structure further comprises a control terminal connected to the control member end effector member on the configuration of a control movement is transmitted to the control terminal is connected member and transmitted through the first flexible structure 52 is connected to the end member by the end effector driving the tool attached flap motion.

[0073] 具体而言,第一柔性结构52的远端与所述末端执行器连接件连接,近端与所述操控端连接件连接。 [0073] Specifically, the first distal end of the flexible structure and the end connector 52 is connected with a proximal end connected to the actuation end connector. 其中,末端执行器连接件一端与所述第一柔性结构52连接,另一端与所述末端执行器连接,将第一柔性结构52的轴向运动转换为末端执行器的转动/开合运动。 Wherein the end connecting member having one end connected to the first flexible structure 52, and the other end connected to the end effector, a first flexible structure 52 is converted to axial movement of the end effector rotation / open-close motion.

[0074] 在一个优选实施例中,参考图17所示,末端执行器连接件包括第一连杆44和第二连杆45,其中第一连杆44的近端和第二连杆45的近端通过第一转轴46连接,第一连杆44的远端与左侧工具瓣42的近端通过第二转轴47连接,第二连杆45远端与右侧工具瓣43的近端通过第三转轴48连接,第一转轴46连接同时与第一柔性结构52连接。 [0074] In a preferred embodiment, with reference to FIG. 17, the end effector 44 includes a first link member is connected and a second link 45, wherein the proximal end of the first link 44 and second link 45 a proximal end connected by a first shaft 46, the proximal end of the distal end of the first link 44 and the left flap 42 is connected to the tool via a second shaft 47, a proximal end 45 and distal end of the second link 43 through the right lobe tool third shaft 48 are connected, while the first rotary shaft 46 is connected to the first flexible structure 52 is connected. 在第一柔性结构52的驱动下,第一转轴46在工具支撑坐41上开设的第一轴向限位槽49内沿轴向移动,进而使左侧工具瓣42和右侧工具瓣43做开合运动。 In a first flexible drive structure 52, first shaft 46 in the tool support 41 on the seat defines a first axial stop is axially movable within the groove 49, thereby enabling the left tool 42 and the flap valve 43 to make the right tools the opening and closing movement. 另一方面,与末端执行器连接件类似,操控端连接件一端与第一柔性结构52连接,另一端与末端执行器控制件(即左侧开合瓣11和右侧开合瓣12)连接,从而将末端执行器控制件的运动转换为第一柔性结构52的轴向运动。 On the other hand, with the end effector similar connecting member, one end of the control member is connected to the first end of the flexible structure 52, and the other end of the control member with the end effector (i.e., the left and right-hand opening 11 clamshell clamshell 12) so that the end of the control member into an axial movement of the first movement of the flexible structure 52.

[0075] 在一个优选实施例中,参考图18所示,操控端连接件包括第三连杆71和第四连杆72,其中第三连杆71的近端和第四连杆72的近端通过第四转轴73连接,左侧开合瓣11与第三连杆71通过第五转轴74连接,右侧开合瓣12与第四连杆72通过第六转轴75连接,第四转轴73与第一柔性结构52连接,并被握持结构10上开设的第二轴向限位槽(未标号)限制。 [0075] In a preferred embodiment, illustrated with reference to FIG. 18, comprises a control terminal connected to the third link member 71 and the fourth link 72, wherein the proximal end of the third link 71 and fourth link 72 near end of the fourth shaft 73 is connected by a left clamshell opening 11 and the third link 71 through a fifth rotating shaft 74 is connected, the right opening 12 and the clamshell fourth link 72 are connected by the sixth shaft 75, the fourth shaft 73 connected to the first flexible structure 52, and defines the structure of the second axial stop 10 gripping groove (not numbered) limit. 当左侧开合瓣11和右侧开合瓣12被驱动时,第四转轴71相对握持结构10发生轴向运动,进而带动第一柔性结构52轴向移动。 When the left opening 11 and the right-hand clamshell clamshell 12 is driven, the axial movement of the fourth shaft 71 opposite the gripping structure 10 occurs, thereby bringing the first flexible structure 52 to move axially. 第一柔性结构52在通过手持结构2和所述连接结构3需要改变延伸方向时,所述传动轮结构53对其起到支撑作用。 A first flexible structure 52 when the structure 2 and the handheld connection structure 3 extending direction needs to be changed, the drive wheel 53 to its supportive structures. 如此,第一柔性结构52在运动过程中使得所述开合瓣的运动和所述工具瓣的运动保持相同的操作,即开合瓣打开,工具瓣也打开;开合瓣闭合,工具瓣也闭合。 Thus, a first flexible structure 52 so that during movement of the tool motion, and the valve opening of the clamshell to maintain the same operation, i.e. open clamshell open, tool valve also open; closed clamshell opening, valve means also closure.

[0076] 进一步,传动装置5还包括弹性结构,其中弹性结构设置在握持结构10上、工具支撑座41上或者工具瓣之间,使两个工具瓣保持常开状态。 [0076] Further, the transmission means further comprises a resilient structure 5, wherein the elastic structure disposed on the grip structure 10, the tool support 41 on the valve holder or a tool, the two tools normally open valve. 下面结合实施例进一步描述。 Further described below in conjunction with FIG.

[0077] 在一个优选实施例中,第一柔性结构52为一软轴结构时,对应地,软轴结构的远端与所述末端执行器连接件连接,近端与所述操控端连接件连接,实现末端执行器的开合运动。 [0077] In a preferred embodiment, the first flexible structure 52 is a flexible shaft structure, corresponding to the distal end of the end effector connected to the flexible shaft coupling structure, a proximal end of the connecting member manipulation connector, to achieve the opening and closing movement of the end effector. 弹性结构设置于所述操控端连接件和握持结构本体之间,设置于所述左右开合瓣与握持结构之间或设置于操控端连接件内,使末端执行器控制件处于常开状态;和/或,弹性结构设置于末端执行器和工具支撑座41之间,或设置于末端执行器内,使末端执行器处于常开状态(即操控端连接件处于常开状态)。 Resilient structure disposed between the steering member and the gripping end connector structural body disposed on the right and left between the grip structure, or clamshell opening provided in the connecting member manipulation end, the end effector control device is in a normally open state ; and / or resilient structure disposed in the end effector and support between the tool holder 41, or disposed within the end effector, the end effector in a normally open state (i.e., control end connector in a normally open state).

[0078] 在一个优选实施例中,在左侧开合瓣11和右侧开合瓣12与握持结构10本体之间设有压簧,使左侧开合瓣11和右侧开合瓣12的自由端保持远离所述握持结构10本体的状态。 [0078] In a preferred embodiment, the left and right-hand opening clamshell clamshell 11 between the grip 12 and the body structure is provided with a compression spring 10, 11 of the left and right-hand opening clamshell clamshell hold the free end 12 of the grip structure 10 away from the body. 当需要工具瓣闭合时,给左侧开合瓣11和右侧开合瓣12克服压簧的抵抗力的作用力,左侧开合瓣11和右侧开合瓣12转动,向握持结构本体101靠拢,驱动第一柔性结构52向近端移动,进而驱使左侧工具瓣42和右侧工具瓣43之间相互靠拢。 When the tool is required closure of the valve, to the left and right opening 11 open clamshell clamshell compression spring 12 against the force of resistance, and the left opening 11 and the right-hand rotation of the clamshell clamshell 12, the gripping structure close body 101, first drive 52 moves proximally flexible structure, and thus driving the valve means closer to each other between the left 42 and right flap 43 tools. 当撤去外力后,在压簧的作用下,左侧开合瓣11和右侧开合瓣12转动,远离所述握持结构10本体,驱动第一柔性结构52向远端移动,进而驱使左侧工具瓣42和右侧工具瓣43之间相互远离。 When the external force is removed, under the action of the compression spring, the right and left opening 11 clamshell clamshell opening 12 is rotated away from the grip body structure 10, drives the first flexible structure 52 moves distally, thereby driving left side flaps away from each other between the tool 42 and the flap 43 right tools.

[0079]在另外一个优选实施例中,压簧设置在末端执行器连接件与工具支撑座41之间, 当需要工作瓣闭合时,给左侧开合瓣11和右侧开合瓣12克服压簧的抵抗力的作用力,左侧开合瓣11和右侧开合瓣12转动,向握持结构本体101靠拢,驱动第一柔性结构52向近端移动,进而驱使左侧工具瓣42和右侧工具瓣43之间相互靠拢。 [0079] In a further preferred embodiment, the spring connecting member is provided with a tool holder is supported between the end effector 41, the closure flap when the need to work, to open the left and right-hand clam shell 11 against the clamshell 12 resistance force of the compression spring, the right and left opening 11 opened clamshell clamshell 12 is rotated to move closer to the grip structure body 101, a first drive 52 moves proximally flexible structure, flap 42 further drives the left tool between the tools and the right flap 43 move towards each other. 当撤去外力后,在压簧的作用下,左侧工具瓣42和右侧工具瓣43转动相互远离,驱动第一柔性结构52向远端移动,进而带动左侧开合瓣11和右侧开合瓣12的自由端转动,远离握持结构本体101。 When the external force is removed, under the action of the compression spring, the right and left tool 42 tool flap valve 43 is rotated away from each other, driving the first flexible structure 52 moves distally so as to drive the left and right-hand opening 11 clamshell the free end 12 of the clamshell is rotated, away from the holding structure body 101.

[0080]在另外一个实施例中,第一柔性结构52包括一柔性细长体,例如镍钛丝、钢丝。 [0080] In a further embodiment, the first flexible structure 52 comprises a flexible elongate member, such as nickel titanium wire, steel wire. 对应地,压簧设置在左侧工具瓣42和右侧工具瓣43之间,当需要工作瓣闭合时,给左侧开合瓣11和右侧开合瓣12克服压簧的抵抗力的作用力左侧开合瓣11和所述右侧开合瓣12转动,向握持结构10本体靠拢,驱动第一柔性结构52向近端移动,进而驱使左侧工具瓣42和右侧工具瓣43之间相互靠拢。 42 between the left and right tool tools flap valve 43, the valve is closed when the need to work, in correspondence to the left opening, and a spring 11 disposed right clamshell clamshell opening 12 to overcome the resistance of the compression spring action left open clamshell opening force 11 and the clamshell 12 is rotated right, closer to the gripping body structure 10, drives the first flexible structure 52 moves proximally, thereby driving right and left tool 42 tool flap valve 43 move closer to each other. 当撤去外力后,在压簧的作用下,左侧工具瓣42和右侧工具瓣43转动相互远离,驱动第一柔性结构52向远端移动,进而带动左侧开合瓣11和右侧开合瓣12的自由端转动,远离握持结构本体101。 When the external force is removed, under the action of the compression spring, the right and left tool 42 tool flap valve 43 is rotated away from each other, driving the first flexible structure 52 moves distally so as to drive the left and right-hand opening 11 clamshell the free end 12 of the clamshell is rotated, away from the holding structure body 101. 此外,还可以同时在所述操控端连接件和握持结构10本体之间/操控端连接件内设置弹性装置。 Further, while the maneuvering end may be connected between the gripping member and the body structure 10 / control means provided within the end of the elastic connecting member.

[0081] 在另外一个实施例中,如图19所示,末端执行器包括左侧工具瓣42和所述右侧工具瓣43,但是其中一个工具瓣42为固定结构,即左侧工具瓣42和右侧工具瓣43之中仅有一个可以绕所述工具支撑座41的轴孔结构转动,二个工具瓣中一个固定而另一个转动,由此形成开合结构。 [0081] In another embodiment, shown in Figure 19, the end effector 42 includes a left and right tool flap valve means 43, valve means 42 but wherein a fixed structure, i.e. the left side of the tool lobes 42 among the tools and right flap 43 may support only a rotary shaft hole 41 of the base structure about said tool, two tool in a fixed and the other flap is rotated, thereby forming a closure structure. 相对应地,所述末端执行器连接件只有一个连杆,该连杆与可转动的工具瓣转动连接,其余与上述实施例中的末端执行器连接件类似。 Correspondingly, the end effector only one connecting member connecting rod and the rotatable means pivotally connected flap, connected to the rest of the embodiment is similar to the end effector member. 操控结构1中的开合瓣结构也可相应的设置为一个常闭不运动,仅一个开合瓣操作,用以控制手术器械的末端执行器运动; 也可设置为两个开合瓣均可操作,但仅一个开合瓣可驱动第一柔性结构52,传递操控动力; 也可设置为两个开合瓣均可操作,两个开合瓣均可驱动第一柔性结构52连接,传递操控动力。 Open clamshell configuration control structure 1 may be provided corresponding to a NC does not move, only a clamshell opening operation, the surgical instrument for controlling movement of the end effector; may be set to two and can be opened clamshell operation, but only a first flexible open clamshell structure 52 may be driven, the power transmission control; may be provided as two clamshell opening can operate, can be driven two clamshell opening 52 connected to a first flexible structure, transfer control power.

[0082] 优选地,所述第一柔性结构52还可以这样设置,即其远端与一末端执行器连接件连接,近端直接穿过操控结构1的握持结构10的远端与一操控端连接件连接,而不必通过手持结构2,这种连接方式避免了第一柔性结构52的换向。 [0082] Preferably, the first flexible structure 52 may also be arranged such that its distal end is connected to a connection end, a proximal end directly through the remote commander 10 of the structure of the holding structure 1 and a control end of the connecting member is connected, rather than by hand structure 2, this connection 52 avoids the flexible structure of the first commutation.

[0083] 实施例一和二中的蛇形手术器械还包括运动锁定机构,使蛇形结构40的两个方向的摆动运动均可实现锁定,锁定方式可以为锁定柔性传动结构51,也可为锁定操控结构1的两个方向的摆动运动或所述末端器械4的两个方向的摆动运动。 [0083] Examples I and II of the surgical instrument embodiment further comprises a serpentine movement of the locking mechanism, so that the serpentine structure 40 in the oscillating motion in both directions can achieve the locking, the lock mode may be a flexible drive locking structure 51, may also be locking control two directions of the pivoting movement of the structure of a tip of the instrument or the pivoting movement of the two directions 4.

[0084] 实施例三 [0084] Example three

[0085] 如图20-21所示的实施例中,操控结构1中的握持结构10和第一蛇骨基座13之间也可实现转动连接,使握持结构10具有绕握持结构10的轴线转动(自转)的转动自由度R3'。 Embodiment illustrated in [0085] FIG. 20-21, the control structure of the gripping structure 10 and a first snake bone between the base 13 may be connected to effect rotation of the gripping structure 10 has a structure around the grip the axis of rotation of the rotational degrees of freedom (rotation) 10 R3 '. 相应的,所述工具支撑座41可以相对于蛇形结构40相对转动,工具支撑座41相对于蛇形结构40具有绕工具支撑座41的轴线转动(自转)的转动自由度R3。 Accordingly, the tool holder 41 relative to the supporting structure 40 serpentine relative rotation, the tool support housing 41 with respect to the rotational freedom of R3 having the serpentine structure 40 about an axis of rotation of the tool support base 41 (rotation) of.

[0086] 传动装置5还包括第二柔性结构(未示出),第二柔性结构一端与握持结构10连接, 一端与末端器械4中的工具支撑座41连接。 [0086] 5 further comprising a second drive flexible structure (not shown), a second end connected to the flexible structure grasping structure 10, one end of the tool tip of the instrument 4 in the support base 41 is connected. 握持结构10带动第二柔性结构转动,进而带动末端器械4中的工具支撑座41以及末端执行器转动,从而形成转动自由度R3'。 Gripping structure 10 rotatably driven by a second flexible structure, thereby bringing the tip of the instrument holder 4 in a tool support and an end effector 41 is rotated, thereby forming a rotational degrees of freedom R3 '. 这样,末端器械4在整体结构不转动的情况下实现末端执行器的自转,为手术操作带来便捷的操作效果。 Thus, the tip of the instrument 4 to achieve rotation of the end effector in the overall structure is not rotating, bring convenience to the surgical procedure operational effects. [0087]第二柔性结构由可传递力的柔性材料制成,增加了操作装置1的自由度,可实现被控末端器械4的自传,避免了旋转整个手术器械时的不便,增强了操作稳定性。 [0087] The second flexible structure made of a flexible force-transmitting material, increases the freedom of operation of apparatus 1 may be achieved Biography charged tip of the instrument 4, to avoid the inconvenience when rotating the entire surgical instrument, to enhance the stable operation sex. 优选地,第二柔性结构可以是镍钛丝等。 Preferably, a second flexible structure may be nickel-titanium wire.

[0088] 在一个优选地实施例中,第一柔性结构52由可传递扭矩的柔性材料制成,握持结构带动第一柔性结构52转动,进而带动末端器械4中的工具支撑座41以及末端执行器转动, 从而形成转动自由度R3'。 [0088] In a preferred embodiment, the structure 52 is formed by a first flexible torque-transmitting flexible material, flexible structure drives the first holding structure 52 is rotated, thereby bringing the tool tip of the instrument 4 in the support base 41 and the end the actuator is rotated, thereby forming a rotational degrees of freedom R3 '. 这样,无需再设置第二柔性结构,即可实现末端器械的自转自由度。 Thus, no need to set a second flexible structure, can achieve a degree of freedom of rotation of the tip of the instrument.

[0089]以上实施例的各技术特征可以进行任意的组合,为使描述简洁,未对上述实施例中的各个技术特征所有可能的组合都进行描述,然而,只要这些技术特征的组合不存在矛盾,都应当认为是本说明书记载的范围。 Technical characteristics [0089] The above embodiments may be any combination, for the brevity, not on the various technical features of the above embodiments, all the possible combinations will be described, however, as long as the combination of these features is no contradiction , they are to be considered in the scope described in this specification.

[0090]以上实施例仅表达了本发明的几种实施方式,其描述较为具体和详细,但并不能因此而理解为对发明专利范围的限制。 [0090] The foregoing embodiments are merely expressed several embodiments of the present invention, and detailed description thereof is more specific, but can not therefore be understood to limit the scope of the invention. 应当指出的是,对于本领域的普通技术人员来说,在不脱离本发明构思的前提下,还可以做出若干变形和改进,这些都属于本发明的保护范围。 It should be noted that those of ordinary skill in the art, without departing from the spirit of the present invention, can make various changes and modifications, which fall within the protection scope of the present invention. 因此,本发明专利的保护范围应以所附权利要求为准。 Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (18)

1. 一种蛇形手术器械,其特征在于,包括: 手持结构; 操控结构,包括安装至所述手持结构的、具有至少一个摆动自由度的蛇形关节; 连接结构; 末端器械,通过连接结构与所述手持结构连接,包括末端执行器、工具支撑座及与工具支撑座连接的蛇形结构,所述蛇形结构具有与所述蛇形关节的摆动方向相同的摆动自由度; 传动装置,包括连接所述蛇形关节和蛇形结构的柔性传动结构,且所述柔性传动结构被配置为使所述蛇形结构和所述蛇形关节以相同的方向摆动。 A serpentine surgical instrument comprising: a handheld configuration; manipulating structure mounted to the hand comprising a structure, having at least one degree of freedom pivot joints serpentine; connecting structure; tip of the instrument, through the connection structure connected with the handheld structure, including the end effector, the tool support base and connected to the serpentine configuration of the tool support base, said serpentine structure having said serpentine swinging direction of the swing joint same degree of freedom; transmission means, transmission structure comprises a flexible joint connecting said serpentine and serpentine structure, and said flexible transmission structure is configured such that said serpentine configuration and the serpentine joint pivot in the same direction.
2. 根据权利要求1所述的蛇形手术器械,其特征在于,所述手持结构包括一弧形本体, 所述弧形本体的近端设有近端支撑座,所述近端支撑座的远端与所述操控结构连接;所述弧形本体的远端设有远端支撑座,所述远端支撑座的远端与所述连接结构连接。 The serpentine surgical instrument according to claim 1, wherein said holding structure comprises a curved body, a proximal end of said body is provided with a proximal arcuate support base, said base supporting a proximal end distal end of the control structure is connected; arcuate distal end of the distal end of the body is provided with the support base, the distal end of the distal end of the support base is connected to the connecting structure.
3. 根据权利要求2所述的蛇形手术器械,其特征在于,所述传动装置还包括安装在所述手持结构上的传动轮结构,所述柔性传动结构经传动轮结构实现变向。 3. serpentine surgical instrument according to claim 2, characterized in that said apparatus further comprises a drive gear wheel mounted on the structure of the holding structure, said flexible transmission structure implemented by redirecting transmission wheel structure.
4. 根据权利要求1所述的蛇形手术器械,其特征在于,所述蛇形关节包括位于远端的第一蛇骨基座、位于近端的第二蛇骨基座,及两端分别连接第一蛇骨基座、第二蛇骨基座的第一蛇骨串联结构,所述第一蛇骨串联结构由若干依次串联的蛇骨组成,相邻蛇骨之间转动连接使蛇形关节具有至少一个摆动自由度,所述第二蛇骨基座安装至所述手持结构,所述柔性传动结构与第一蛇骨基座连接。 The serpentine surgical instrument according to claim 1, wherein said serpentine snake bone joint comprising a first base at the distal end, the proximal base of the second snake bone, and two ends snake bone connected to the first base, a first series arrangement of a second snake bone snake bone base of the first series arrangement of several snake bone series after snake bone composition, so that adjacent rotary connection between the serpentine snake bone having at least one degree of freedom pivot joints, the second base is mounted to the hand-held snake bone structure, said flexible transmission structure connected to the base of the first snake bone.
5. 根据权利要求4所述的蛇形手术器械,其特征在于,所述柔性传动结构的一端与第一蛇骨基座固定,并且,所述柔性传动结构与所述第一蛇骨基座固定的位置,与所述柔性传动结构的另一端和所述蛇形关节固定的位置成相反配置。 5. The surgical instrument according to claim 4, wherein the serpentine, wherein one end of said flexible transmission snake bone structure and a first fixed base, and the flexible drive snake bone structure and the first base a fixed position, the other end of said flexible transmission structure and the fixed position of the joint to the opposite serpentine configuration.
6. 根据权利要求4所述的蛇形手术器械,其特征在于,所述操控结构还包括与所述第一蛇骨基座连接的握持结构,所述握持结构用于控制所述蛇形结构的运动。 6. A surgical instrument according to claim 4, wherein the serpentine, characterized in that said control structure further comprises a gripping structure connected to the first base snake bone, the holding structure for controlling the snake motion-shaped structure.
7. 根据权利要求6所述的蛇形手术器械,其特征在于,所述握持结构包括握持结构本体和设在所述握持结构本体上的末端执行器控制件;所述传动装置还包括第一柔性结构,所述末端执行器控制件通过所述第一柔性结构控制所述末端执行器运动。 7. The surgical instrument according serpentine according to claim 6, wherein said gripping structure includes a gripping end and a body structure member disposed on the control structure of the grip body; said transmission means further It comprises a first flexible structure, the end of the control member through a first flexible structure control movement of the end effector.
8. 根据权利要求7所述的蛇形手术器械,其特征在于,所述末端器械的末端执行器包括至少一工具瓣,所述工具瓣与工具支撑座转动连接,所述末端执行器控制件包括至少一个一端与所述握持结构转动连接的开合瓣,所述开合瓣通过所述第一柔性结构控制所述工具瓣转动。 8. A surgical instrument according to claim serpentine claim 7, wherein the end effector of the instrument end tool comprising at least one flap, said flap and tool holder rotatably connected to the tool support, the end effector control device comprising at least one open end of said gripping clamshell structure rotatably connected to said first through said flexible open clamshell configuration tool controls the rotation of the flap.
9. 根据权利要求8所述的蛇形手术器械,其特征在于,所述末端器械的末端执行器包括两个相对转动的工具瓣,所述工具瓣分别与工具支撑座转动连接,所述开合瓣通过所述第一柔性结构控制所述工具瓣之间的相对转动。 9. The serpentine surgical instrument of claim 8, wherein said end effector tip of the instrument comprises two tool relative rotation flap, said flap means are respectively rotatably connected to the tool support base, said opening the clamshell by relative rotation between the first valve means for controlling the flexible structure.
10. 根据权利要求8所述的蛇形手术器械,其特征在于,所述末端执行器包括左侧工具瓣和右侧工具瓣,两个工具瓣中的一个与所述工具支撑座固定连接,另一个与所述工具支撑座转动连接,所述开合瓣通过所述第一柔性结构控制所述工具瓣之间的相对转动。 10. A surgical instrument according serpentine according to claim 8, wherein the end effector includes a left and right tool tools valve flap, two flaps of a tool and the tool holder is fixedly connected to the support, the other with the tool holder rotatably connected to the support, the relative rotation between the first opening and the flexible structure of the control valve means through said clamshell.
11.根据权利要求9或10所述的蛇形手术器械,其特征在于,所述传动装置还包括弹性结构,所述弹性结构设置在所述握持结构上、所述工具支撑座上或者工具瓣之间,使所述两个工具瓣保持常开状态。 11. The serpentine surgical instrument of claim 9 or claim 10, wherein said transmission means further comprises a resilient structure, the resilient gripping structure disposed on the structure, the tool or the tool support base between the flap, the two flaps normally open tool. 、,山&、了士士 Hill & amp ;, ,, the Shishi
12. 根据权利要求7所述的蛇形手术器械,其特征在于,所述操控纟°_构还包括与巧述^ 端执行器掃j#雜關觸趙#,臟觸獅还舰域祕_连^末端执^ 器连接件,所述操控端连接件接收所述末端执行器控制件的运动并通过/所述第、了柔性结构传递至末端执行器连接件,并由所述末端执行器连接件驱动所述末端执行器的运动。 12. A surgical instrument according to claim serpentine claim 7, wherein said control mechanism further comprises a Si [deg.] _ And ^ Qiao said end effector sweep off contact Zhao J # # heteroaryl, dirty lion further contact ship domain secret _ even ^ ^ end effector member are connected, the steering movement of the end connector receiving end effector through the control member and / second, the transmitting flexible structure connecting member to the end effector, the end effector by a drive member connected to the end effector motion. m m
13. 根据权利要求8所述的蛇形手术器械,其特征在于,所述操^:空结构还包^与^端执行器控制件连接的操控端连接件,所述末端器械还包括与末端执行器连^的末端执=器连接件;所述末端执行器连接件包括第一转轴、第二转轴和第一连杆,所述第一连杆近端通过第一转轴与所述第一柔性结构远端转动连接,所述第一连杆远端通过所述第二转轴与所述工具瓣的近端转动连接,所述第一转轴被配置为沿所述连接结构的轴向移动;所述操控端连接件包括第四转轴、第五转轴和第三连杆,所述第三连杆近端通过第四转轴与所述第一柔性结构近端转动连接,所述第三连杆远端通过所述第五转轴与所述开合瓣的远端转动连接,所述第四转轴被配置为沿所述连接结构的轴向移动。 13. A surgical instrument according serpentine according to claim 8, wherein said operating ^: ^ hollow structure further manipulation end connector connected to the end effector ^ control member, said apparatus further comprising a tip end even the actuator end effector = ^ connector member; the end effector comprises a first connection shaft, the second shaft and the first link, the first link through a first proximal end of said first shaft and the flexible structure of the distal end rotatably connected to a first link rotatably connected to the distal end through the proximal end of the tool shaft and said second flap, the first shaft is configured to axially move along the connection structure; end of the steering shaft connecting member comprises a fourth, a fifth and a third link shaft, the proximal end of the third link is rotatably connected by a fourth shaft and the proximal end of the first flexible structure, said third link a distal end rotatably connected by the distal end of the fifth shaft and the opening of the clamshell, the fourth shaft is configured to move axially along the connecting structure.
14. 根据权利要求12所述的蛇形手术器械,其特征在于,第一柔性结构为一软轴结构, 所述传动装置还包括一压簧,所述压簧设置于所述操控端连接件和握持结构本体之间,设置于所述左右开合瓣与所述握持结构之间,设置于操控端连接件内,设置于末端执行器和工具支撑座之间,或设置于末端执行器内。 14. serpentine surgical instrument according to claim 12, wherein the flexible structure is a first structure of a flexible shaft, the transmission means further comprises a compression spring, said spring disposed in said manipulation end connector between the structural body and the grip, clamshell opening and disposed between the left and right of the gripping structure disposed in the manipulation end connector, is provided between the end effector and tool support base, or disposed on end within the device.
15. 根据权利要求12所述的蛇形手术器械,其特征在于,所述末端执行器包括左侧工具瓣和右侧工具瓣,所述第一柔性结构包括一柔性细长体,所述传动装置还包括一压簧,所述压簧设置在所述左侧工具瓣和右侧工具瓣之间。 15. serpentine surgical instrument according to claim 12, wherein the end effector includes a left and right tool flap valve means, said first flexible structure comprises a flexible elongated body, said drive further comprising a compression spring means, said spring means is disposed between the left and right tool flap valve.
16. 根据权利要求12所述的蛇形手术器械,其特征在于,所述第一柔性结构的一端与所述末端执行器连接件连接,另一端穿过所述握持结构连接至所述操控端连接件;或所述第一柔性结构的一端与所述末端执行器连接件连接,另一端经安装在所述手持结构上的传动轮结构换向后连接至所述操控端连接件。 16. serpentine surgical instrument according to claim 12, wherein said one end of the end effector a first flexible connecting member connecting structure, the other end through the holding structure is connected to the control end connector; or the end of the end effector and a first connecting member connected to the flexible structure, the other end of the drive wheel by mounting structure on the structure holding the transducer is connected to the rearward end of the connecting member manipulation.
17.根据权利要求8所述的蛇形手术器械,其特征在于,所述开合瓣上设有指套结构。 17. The serpentine surgical instrument according to claim 8, wherein said opening is provided with finger clamshell structure.
18.根据权利要求6所述的蛇形手术器械,其特征在于,所述握持结构与所述第一蛇骨基座之间转动连接,使所述握持结构具有绕所述握持结构轴线转动的转动自由度,所述工具支撑座相对于所述蛇形结构具有绕所述工具支撑座轴线转动的转动自由度,所述传动装置还包括第二柔性结构,所述握持结构通过所述第二柔性结构将转动运动传递至所述工具支撑座,从而驱动末端执行器绕所述握持结构轴线转动。 18. A surgical instrument according serpentine according to claim 6, characterized in that the rotary connection between the holding structure and the first base snake bone, the structure having a gripping about the gripping structure an axis of rotation of rotational freedom, the tool holder with respect to the supporting structure having said serpentine supporting the tool holder about an axis of rotation of rotational freedom, the transmission means further includes a second flexible structure, the gripping structure by a second flexible structure rotational movement is transmitted to the tool holder support, thereby driving the end effector about an axis of rotation of the grip structure. ' '
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