CN107928790B - Snake-shaped surgical instrument - Google Patents
Snake-shaped surgical instrument Download PDFInfo
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- CN107928790B CN107928790B CN201711252548.5A CN201711252548A CN107928790B CN 107928790 B CN107928790 B CN 107928790B CN 201711252548 A CN201711252548 A CN 201711252548A CN 107928790 B CN107928790 B CN 107928790B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments 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
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments 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
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0057—Constructional details of force transmission elements, e.g. control wires
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments 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
- A61B1/005—Flexible endoscopes
- A61B1/008—Articulations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00238—Type of minimally invasive operation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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Abstract
The present invention relates to a serpentine surgical instrument comprising: a handheld structure; a steering structure comprising a serpentine joint having at least one degree of freedom of oscillation mounted to the hand-held structure; the tail end instrument is connected with the handheld structure through a connecting structure and comprises a tool supporting seat and a snake-shaped structure connected with the tool supporting seat, and the snake-shaped structure has the swinging freedom degree in the same direction as the snake-shaped joint; and the transmission device comprises a flexible transmission structure which is connected with the snake-shaped joint and the snake-shaped structure. The snake-shaped surgical instrument adopts a mechanical transmission structure, the motion of the handheld end can be directly transmitted to the tail end instrument, the complex force feedback control is avoided, and the control is simple.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a snake-shaped surgical instrument.
Background
In a minimally invasive surgery process, particularly a laparoscopic surgery or an endoscopic surgery, as the wound is small, in order to achieve a better treatment effect and reduce the damage to other tissues in the surgery process, surgical instruments with snake joints are mostly adopted to avoid other organs in the surgery process.
The serpentine joint of the surgical instrument can mimic the motion of a human hand, rotating along three orthogonal axes. For example, chinese patent application CN106963494A provides a serpentine joint for a surgical robot, a surgical instrument and an endoscope, which has a rotational degree of freedom in the serpentine joint through the cooperation of a joint and a flexible structure.
Rotational motion of the serpentine joint of the surgical instrument is typically provided using roll-tilt-swing mechanism control of the input end. Chinese patent application CN107072684A provides an attachment device for a remote access tool comprising a collar configured to be fixed to a user's forearm and a coupling joint configured to connect the collar to a frame such that the collar can move relative to the frame with between 1 and 4 degrees of freedom. However, this design is complicated, the axes of the coupling joints all need to pass through the central region of the user's wrist, and since the ferrule is secured to the user's forearm, unwanted movements of the forearm during the procedure may be transmitted to the end effector of the remote access tool, affecting the movement of the remote access tool.
Furthermore, existing surgical instruments transmit rotational motion electromechanically, which often requires complex force feedback mechanisms.
Disclosure of Invention
In view of the above, there is a need to provide a serpentine surgical instrument with simple control, which addresses the problem of control complexity of serpentine surgical instruments.
A serpentine surgical instrument comprising:
a handheld structure;
a steering structure comprising a serpentine joint having at least one degree of freedom of oscillation mounted to the hand-held structure;
a connecting structure;
the tail end instrument is connected with the handheld structure through a connecting structure and comprises an end effector, a tool supporting seat and a snake-shaped structure connected with the tool supporting seat, and the snake-shaped structure has the same swinging freedom degree with the swinging direction of the snake-shaped joint;
a transmission comprising a flexible transmission structure connecting the serpentine joint and a serpentine structure, and configured to oscillate the serpentine structure and the serpentine joint in the same direction.
The snake-shaped surgical instrument adopts a mechanical transmission structure, the motion of the handheld end can be directly transmitted to the tail end instrument, the complex force feedback control is avoided, and the control is simple.
In one embodiment, the handheld structure comprises an arc-shaped body, a proximal end of the arc-shaped body is provided with a proximal end support seat, and the distal end of the proximal end support seat is connected with the control structure; the far end of the arc-shaped body is provided with a far end supporting seat, and the far end of the far end supporting seat is connected with the connecting structure. In one embodiment, the transmission device further comprises a transmission wheel structure mounted on the handheld structure, and the flexible transmission structure is changed in direction through the transmission wheel structure.
In one embodiment, the snake-shaped joint comprises a first snake-shaped bone base, a second snake-shaped bone base and a snake-shaped bone series structure, wherein two ends of the snake-shaped bone series structure are respectively connected with the first snake-shaped bone base and the second snake-shaped bone base, the snake-shaped bone series structure is composed of a plurality of snake bones which are sequentially connected in series, adjacent snake bones are rotatably connected to enable the snake-shaped joint to have at least one swinging freedom degree, the second snake-shaped bone base is installed on the handheld structure, and the flexible transmission structure is connected with the first snake-shaped bone base.
In one embodiment, one end of the flexible transmission structure is fixed with the first snake bone base, and the position where the flexible transmission structure is fixed with the first snake bone base is opposite to the position where the other end of the flexible transmission structure and the snake joint are fixed.
In one embodiment, the manipulation structure further comprises a grip structure coupled to the first snake bone base for controlling movement of the end effector.
In one embodiment, an end effector control member is arranged on the holding structure; the transmission also includes a first flexible structure through which the end effector control controls movement of the end effector.
In one embodiment, the end effector of the end instrument comprises at least one tool flap, the tool flap is rotatably connected with the tool supporting seat, the end effector control member is provided with at least one opening and closing flap, one end of the opening and closing flap is rotatably connected with the holding structure, and the opening and closing flap controls the tool flap to move through the first flexible structure.
In one embodiment, the end effector of the end instrument comprises two tool flaps rotating relatively, the tool flaps are respectively connected with the tool supporting seat in a rotating mode, the end effector control element is provided with at least one opening and closing flap, one end of the opening and closing flap is connected with the holding structure in a rotating mode, and the opening and closing flap controls the relative rotation between the tool flaps through the first flexible structure.
In one embodiment, the end effector control member comprises a left opening/closing flap and a right opening/closing flap, one of the two opening/closing flaps is fixedly connected with the holding structure, the other one of the two opening/closing flaps is rotatably connected with the holding structure, one of the two tool flaps is rotatably connected with the tool supporting seat, the other one of the two tool flaps is fixedly connected with the tool supporting seat, and the opening/closing flaps control the relative rotation between the tool flaps through the first flexible structure.
In one embodiment, the transmission device further comprises an elastic structure, and the elastic structure is arranged on the holding structure or the tool supporting seat, so that the two tool petals are kept in a normally open state.
In one embodiment, the manipulation structure further comprises a manipulation end connection coupled to the grip structure, and the end-effector further comprises an end-effector connection coupled to the end-effector, the manipulation end connection receiving movement of the grip structure and transmitting the movement to the end-effector connection via the first flexible structure, and the end-effector connection controlling movement of the end-effector.
In one embodiment, the manipulation structure further comprises a manipulation end connection element connected to an end effector control element, the end-effector further comprises an end effector connection element connected to an end effector, and the transmission further comprises a second flexible structure having one end connected to the end effector connection element and the other end connected to the manipulation end connection element, the manipulation end connection element receiving and transmitting motion of the end effector control element to the end effector connection element via the second flexible structure and controlling motion of the end effector by the end effector connection element.
In one embodiment, the manipulation structure further comprises a manipulation end connection coupled to an end effector control, and the end instrument further comprises an end effector connection coupled to an end effector; the end effector connector comprises a first rotating shaft, a second rotating shaft and a first connecting rod, the first connecting rod proximal end is rotatably connected with the first flexible structure distal end through the first rotating shaft, the first connecting rod distal end is rotatably connected with the proximal end of the tool flap through the second rotating shaft, and the first rotating shaft is configured to move along the axial direction of the connecting structure; the control end connecting piece comprises a fourth rotating shaft, a fifth rotating shaft and a third connecting rod, the near end of the third connecting rod is rotatably connected with the near end of the first flexible structure through the fourth rotating shaft, the far end of the third connecting rod is rotatably connected with the far end of the opening and closing flap through the fifth rotating shaft, and the fourth rotating shaft is configured to move along the axial direction of the connecting structure.
In one embodiment, the first flexible structure is a flexible shaft structure, and the transmission device further includes a compression spring disposed between the manipulating end connector and the holding structure body, between the opening/closing flap and the holding structure, in the manipulating end connector, between the end effector and the tool support base, or in the end effector.
In one embodiment, the end effector includes left and right tool petals, the first flexible structure includes an elongate flexible body, and the transmission further includes a compression spring disposed between the left and right tool petals.
In one embodiment, one end of the first flexible structure is connected with the end effector connector, and the other end of the first flexible structure passes through the holding structure and is connected to the manipulation end connector; or one end of the first flexible structure is connected with the end effector connecting piece, and the other end of the first flexible structure is connected to the control end connecting piece after reversing through a driving wheel structure arranged on the handheld structure.
In one embodiment, a finger sleeve structure is arranged on the opening and closing flap.
In one embodiment, the gripping structure is rotatably connected to the first serpentine base such that the gripping structure has rotational freedom about the gripping structure axis, the tool support base has rotational freedom about the tool support base axis relative to the serpentine structure, and the gripping structure transmits rotational motion to the tool support base via the second flexible structure to rotate the tool support base.
Drawings
FIG. 1 is a generally schematic view of a hand-held snake instrument of the present invention;
FIG. 2 is a schematic view of a manipulation configuration of the hand-held snake instrument of the present invention;
FIG. 3 is a schematic view of a serpentine hinge structure of the hand-held serpentine device of the present invention;
FIG. 4 is a schematic view of the effect of the movement of the handheld end of the present invention;
fig. 5 to 7 are schematic views illustrating the overall movement effect of the handheld end of the present invention;
FIG. 8 is a schematic view of the overall construction of the tip instrument of the present invention;
FIG. 9 is a schematic representation of the effect of the movement of the tip instrument of the present invention;
FIG. 10 is a schematic view of the transmission configuration of the present invention;
FIG. 11 is a schematic view of a flexible drive connection according to the present invention;
FIG. 12 is a schematic view of a degree of freedom distribution according to an embodiment of the present invention;
FIGS. 13 and 14 are operational illustrations of the opening and closing motions of the end instrument of the present invention;
FIG. 15 is a schematic drive diagram of an open and close configuration of a distal instrument of the present invention;
FIG. 16 is a schematic view of the structure of finger sleeves on the opening and closing flap of the present invention;
FIG. 17 is a schematic view of a connection configuration of an end effector attachment;
fig. 18 is a schematic view showing a connection structure of a manipulation end connection member;
FIG. 19 is a schematic structural view of another embodiment of a tool flap of the tip instrument of the present invention;
FIG. 20 is a schematic diagram of the rotational freedom of the manipulation structure of the present invention;
FIG. 21 is a full degree of freedom schematic view of a serpentine device of the present invention;
in fig. 1-21: a handling structure 1; a grip structure 10; a grip structure body 101; a left opening and closing flap 11; a right opening-closing flap 12; a first snake bone base 13; a snake bone 14; a second snake bone base 15; a serpentine joint 16; a finger cuff structure 17; a handheld structure 2; a proximal end support base 21; a distal support seat 22; a connecting structure 3; a distal instrument 4; a serpentine structure 40; a third snake bone base 401; a fourth snake bone base 402; a tool supporting base 41; a left tool lobe 42; a right tool lobe 43; a first link 44; a second link 45; a first rotating shaft 46; a second rotating shaft 47; a third rotating shaft 48; a first axial restraining groove 49; a transmission device 5; a flexible transmission structure 51; flexible bodies 51a, 51b, 51c, 51 d; a first flexible structure 52; a drive wheel structure 53; a third link 71; a fourth link 72; a fourth rotating shaft 73; a fifth rotating shaft 74; and a sixth rotation shaft 75.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
The serpentine surgical instrument of the present invention is described in further detail below with reference to the figures and the embodiments. In this application, for ease of understanding, terms such as "proximal" and "distal", "upper" and "lower" are used, which terms refer to the relative orientation, position, direction of elements or actions with respect to one another as viewed from the perspective of a clinician using the medical device. "proximal" and "distal", "upper" and "lower" are not limiting, but "proximal", "lower" generally refer to the end of the medical device that is closer to the operator during normal operation, and "distal", "upper" generally refer to the end that is further from the operator.
Example one
As shown in FIG. 1, the snake surgical instrument comprises a manipulation structure 1, a hand-held structure 2, a connection structure 3, a tip instrument 4, and a transmission 5. The manipulation structure 1 is mounted at one end of the handheld structure 2. The connecting structure 3 is connected at one end to the handling structure 2 and at the other end to the end-piece 4, and the transmission 5 is configured to swing the end-piece 4 in the same direction under the drive of the handling structure 1, i.e. the handling structure 1 controls the movement of the end-piece 4 via the transmission 5. The free end of the steering structure 1 extends in the same direction as the free end of the end instrument 4. Wherein, the handheld structure 2 and the connecting structure 3 both have a cavity structure inside. The transmission 5 may be arranged in the above-mentioned cavity structure. However, the transmission 5 can also be positioned externally on the hand-held structure 2 and the connecting structure 3.
As shown in fig. 2 and 3, the manipulation structure 1 further includes a holding structure 10 and a serpentine joint 16 having at least one degree of freedom of oscillation. In a preferred embodiment, the serpentine joint 16 includes a first serpentine base 13 at a distal end; a second snake bone base 15 at the proximal end; the first snake bone series structure is characterized in that two ends of the first snake bone series structure are respectively connected with the first snake bone base and the second snake bone base, and the first snake bone series structure is composed of a plurality of snake bones 14 which are sequentially connected in series. Wherein, one end of the holding structure 10 is rotatably connected with the first snake bone base 13; the snake bones 14 can mutually form a rotary connection; the second snake bone base 15 is connected to the hand held structure 2. Preferably, the number of the snake bones 14 may be 4. The present invention does not require any particular structure for the snake bone 14, so long as the snake joint 16 is constructed with at least one degree of freedom of oscillation.
The structure of the hand-held structure 2 is not particularly limited. In an alternative construction, as shown in figure 5, the handset 2 comprises an arcuate body. The near end of the arc body is provided with a near end supporting seat 21, and the far end is provided with a far end supporting seat 22. Wherein, the specific curve shape of the arc-shaped body is not particularly limited and can be designed according to human engineering. The far end of the near end supporting seat 21 is fixedly connected with the second snake bone base 15. The far end of the far end support seat 22 is fixedly connected with the connecting structure 3.
Referring to fig. 4, shown in connection with fig. 5-7. As shown in fig. 5 and 6, the manipulation structure 1 can rotate left and right relative to the handheld structure 2 to form a degree of freedom R1'; fig. 7 shows that the control structure 1 can swing up and down relative to the handheld structure 2, forming a degree of freedom R2'.
As shown in fig. 8 and 9, the end instrument 4 includes a serpentine 40, a tool support base 41, and an end effector. One end of the serpentine structure 40 is concentrically and fixedly connected with the connecting structure 3, and the other end is fixedly connected with the tool supporting seat 41. The tool support base 41 is used to support the end effector. The present invention is not particularly limited with respect to the specific configuration of the serpentine structure 40, and it is sufficient to enable a swinging operation in two directions (preferably two perpendicular directions) (i.e., with two degrees of freedom R1 and R2). For example, the serpentine structure 40 may be configured similar to the serpentine joint 16 described above, i.e., the serpentine structure 40 includes a third serpentine base 401 at the distal end; a fourth snake bone base 402 at the proximal end; and the two ends of the second snake bone series structure are respectively connected with the third snake bone base 401 and the fourth snake bone base 402, and the second snake bone series structure consists of a plurality of snake bones 14 which are sequentially connected in series. Also, the present invention is not particularly limited with respect to the kind of the end effector, and the end effector may be scissors, electric hooks, clamps, for example.
As shown in fig. 10, the transmission device 5 includes a flexible transmission structure 51 and a transmission wheel structure 53. Wherein, the number of the flexible transmission structures 51 can be multiple, one end of the flexible transmission structure 51 is fixedly connected with the first snake bone base 13, and the other end is fixedly connected with the snake-shaped structure 40 after the extending direction is changed by at least one group of transmission wheel structures 53 arranged on the handheld structure 2, so as to control the movement of the snake-shaped structure 40.
To ensure that the steering mechanism 1 and the distal instrument 4 have the same direction of movement in the same sense, the position of the fixed point of one end of the flexible transmission structure 51 at the first snake base 13 is arranged opposite to the fixed point of the other end of the flexible transmission structure 51 at the third snake base 401 of the snake 40. The reverse configuration here means that it is configured as follows: for example, when the flexible transmission structure 51 is fixed to the first snake bone base 13 at an upper position, the other end is fixed to the third snake bone base 401 at a lower position; when the flexible transmission structure 51 is fixed to the first snake bone base 13 at the left side, the other end is fixed to the third snake bone base 401 at the right side.
In a preferred embodiment, as shown in fig. 11, flexible transmission structure 51 comprises four flexible bodies 51a, 51b, 51c, 51d, and thus serpentine 40 comprises four fixed points, wherein the upper and lower fixed points are used for controlling serpentine 40 to swing up and down, and the left and right fixed points are used for controlling serpentine 40 to rotate left and right. Accordingly, the first snake bone base 13 also has four fixing points. The fixing points of the first snake bone base 13 are connected with the four flexible bodies 51a, 51b, 51c and 51d respectively from top to bottom and from left to right. The serpentine joint 41 comprises four fixing points, which are connected to the other ends of the flexible bodies 51c, 51d, 51a and 51b from top to bottom and from left to right. Fig. 11 shows the connection position of both ends of 51b in broken lines by taking 51b as an example.
The connection through the above-described structures is as shown in fig. 12. The snake-shaped structure 40 can realize the operation with two degrees of freedom, and simultaneously, the snake-shaped structure 40 moves towards the same direction with the control structure 1 under the control of the control structure 1, namely, the movement configuration of the snake-shaped structure and the control structure is the same, and the movement direction has consistency, so that the movement of the forearm of an operator is prevented from being transmitted to the terminal instrument to influence the movement precision of the instrument. The operator can move the steering mechanism 1 by manipulating the grip mechanism 10 or the serpentine joint 16. It will be appreciated by those skilled in the art that the number of attachment points for the serpentine structure 40/serpentine joint 16 is not limited to 4, and may be 6, 8, etc. The increased number of fixation points allows for more precise control of the serpentine structure 40/serpentine joint 16.
Preferably, the serpentine 40 of the manipulation structure 1 and the distal instrument 4 may be scaled in size, so that the manipulation structure 1 and the distal instrument 4 may be scaled in motion, further adjusting the precision and safety of the manipulation according to the hand needs.
Example two
The type of end effector is not limited. When the end effector is an instrument with relative rotation, such as scissors, electric hooks, clamps, the end instrument 4 of the hand-held snake device needs to have two degrees of freedom of rotation, and also has a degree of freedom of opening and closing.
As shown in fig. 8, 13 and 14, the tip instrument 4 has two tool petals, a left tool petal 42 and a right tool petal 43. The left tool flap 42 and the right tool flap 43 are both rotatably connected to the tool support base 41. For example, the tool support base 41 has a radial axial hole structure, one end of the left opening/closing flap 42 is rotatably connected to the tool support base 41 through the radial axial hole structure, and the other end is a free end. One end of the right opening and closing flap 43 is rotatably connected with the tool supporting seat 41 through a radial shaft hole structure, and the other end is a free end. In this way, the left tool flap 42 and the right tool flap 43 can respectively rotate around their respective rotating shafts (or the same rotating shaft) relatively, so as to realize the opening and closing actions of the end effector and realize the operation modes such as grabbing. Accordingly, the manipulation structure 1 further comprises an end-effector control member for controlling the movement of the end-effector.
In a preferred embodiment, as shown in fig. 2 and 15, the end effector control member comprises a left opening and closing flap 11 and a right opening and closing flap 12, wherein the left opening and closing flap 11 and the right opening and closing flap 12 are located on the holding structure 10 for controlling the movement of the end effector of the surgical instrument. Specifically, one end of the left opening/closing flap 11 is rotatably connected to the main body of the grip structure 10, and the other free end is away from the main body of the grip structure 10. One end of the right opening-closing flap 12 is rotatably connected with the main body 10 of the holding structure, and the other free end is far away from the main body of the holding structure 10.
Preferably, the left opening and closing flap 11 and the right opening and closing flap 12 are symmetrically arranged on two sides of the main body of the holding structure 10.
Preferably, the manipulation structure 1 further comprises an opening and closing flap locking device, which can achieve the opening and closing flap locking function. The opening and closing flap locking means may be a limiting mechanism mounted on the holding structure 10, such as a locking member having a snap function, to lock the opening and closing flaps. The locking fastener can only lock the opening and closing flap at a fixed opening position, such as the maximum opening and closing position of the opening and closing flap. The locking fastener can also be a locking piece capable of adjusting the position, and when the opening and closing flap is opened to a required degree, the position of the locking piece is adjusted to keep the opening and closing flap at the opened position.
Preferably, as shown in fig. 16, finger stall structures 17 may be structurally disposed on the left opening/closing flap 11 and the right opening/closing flap 12, so as to ensure that fingers of a person can be put in, and more effectively control the opening/closing movement of the opening/closing flap structures.
In another preferred embodiment, the end effector control includes only a left side opening and closing flap 11 for controlling the end effector movement of the surgical instrument. Similarly, one end of the left opening-closing flap 11 is rotatably connected with the main body of the holding structure 10, and the other free end is far away from the main body of the holding structure 10.
As shown in fig. 8 and 10, the transmission 5 further includes a first flexible structure 52. The opening and closing flap structure controls the opening and closing movement of the tool flap through the first flexible structure 52.
In a preferred embodiment, the end-effector linkage 4 further comprises an end-effector linkage, and the manipulation structure 1 further comprises a manipulation end linkage to which the movement of the end-effector control member of the manipulation structure 1 is transmitted, and which is transmitted to the end-effector linkage via the first flexible structure 52, and which is driven by the end-effector linkage to move the tool flap.
Specifically, the first flexible structure 52 has a distal end connected to the end effector connection and a proximal end connected to the manipulation end connection. Wherein, one end of the end effector connector is connected with the first flexible structure 52, and the other end is connected with the end effector, so as to convert the axial movement of the first flexible structure 52 into the rotation/opening/closing movement of the end effector.
In a preferred embodiment, and as shown with reference to FIG. 17, the end effector linkage includes a first link 44 and a second link 45, wherein a proximal end of the first link 44 and a proximal end of the second link 45 are connected by a first pivot 46, a distal end of the first link 44 is connected to a proximal end of the left tool flap 42 by a second pivot 47, a distal end of the second link 45 is connected to a proximal end of the right tool flap 43 by a third pivot 48, and the first pivot 46 is connected to a first flexible structure 52. Under the driving of the first flexible structure 52, the first rotating shaft 46 moves axially in the first axial limiting groove 49 formed in the tool supporting seat 41, so that the left tool flap 42 and the right tool flap 43 perform opening and closing movements. On the other hand, similar to the end effector connections, the manipulation end connections are connected at one end to the first flexible structure 52 and at the other end to the end effector controls (i.e., the left and right side petals 11, 12) to translate movement of the end effector controls into axial movement of the first flexible structure 52.
In a preferred embodiment, referring to fig. 18, the manipulating end connecting member includes a third connecting rod 71 and a fourth connecting rod 72, wherein the proximal end of the third connecting rod 71 is connected to the proximal end of the fourth connecting rod 72 through a fourth rotating shaft 73, the left opening and closing flap 11 is connected to the third connecting rod 71 through a fifth rotating shaft 74, the right opening and closing flap 12 is connected to the fourth connecting rod 72 through a sixth rotating shaft 75, and the fourth rotating shaft 73 is connected to the first flexible structure 52 and is limited by a second axial limiting groove (not numbered) formed in the holding structure 10. When the left opening and closing flap 11 and the right opening and closing flap 12 are driven, the fourth rotating shaft 71 axially moves relative to the holding structure 10, and further drives the first flexible structure 52 to axially move. The first flexible structure 52 supports the hand-held structure 2 and the connecting structure 3 when the extending direction needs to be changed through the driving wheel structure 53. In this way, the first flexible structure 52 keeps the same operation of the movement of the opening and closing flap and the movement of the tool flap during the movement, i.e. the opening and closing flap is opened and the tool flap is also opened; the opening and closing flaps are closed, and the tool flaps are also closed.
Further, the transmission device 5 further comprises an elastic structure, wherein the elastic structure is arranged on the holding structure 10, the tool supporting seat 41 or between the tool flaps, so that the two tool flaps are kept in a normally open state. This is further described below with reference to examples.
In a preferred embodiment, when the first flexible structure 52 is a flexible shaft structure, correspondingly, the distal end of the flexible shaft structure is connected to the end effector connector, and the proximal end of the flexible shaft structure is connected to the manipulation end connector, so as to realize the opening and closing movement of the end effector. The elastic structure is arranged between the control end connecting piece and the holding structure body, between the left and right opening and closing flaps and the holding structure or in the control end connecting piece, so that the control piece of the end effector is in a normally open state; and/or, the resilient structure may be disposed between the end effector and the tool support base 41, or disposed within the end effector, such that the end effector is in a normally open state (i.e., the manipulation end connection is in a normally open state).
In a preferred embodiment, compression springs are arranged between the left opening and closing flap 11 and the right opening and closing flap 12 and the body of the holding structure 10, so that the free ends of the left opening and closing flap 11 and the right opening and closing flap 12 are kept away from the body of the holding structure 10. When the tool flaps are required to be closed, the left opening and closing flap 11 and the right opening and closing flap 12 are provided with acting force overcoming the resistance force of the pressure spring, the left opening and closing flap 11 and the right opening and closing flap 12 rotate to approach the holding structure body 101, the first flexible structure 52 is driven to move towards the near end, and then the left tool flap 42 and the right tool flap 43 are driven to approach each other. After the external force is removed, under the action of the pressure spring, the left opening and closing flap 11 and the right opening and closing flap 12 rotate to be away from the body of the holding structure 10, so as to drive the first flexible structure 52 to move towards the far end, and further drive the left tool flap 42 and the right tool flap 43 to be away from each other.
In another preferred embodiment, a compression spring is disposed between the end effector connector and the tool supporting base 41, when the working flaps are required to be closed, the left opening/closing flap 11 and the right opening/closing flap 12 are applied with a force overcoming the resistance of the compression spring, the left opening/closing flap 11 and the right opening/closing flap 12 rotate and move toward the holding structure body 101, the first flexible structure 52 is driven to move toward the proximal end, and the left tool flap 42 and the right tool flap 43 are driven to move toward each other. After the external force is removed, under the action of the pressure spring, the left tool flap 42 and the right tool flap 43 rotate and are away from each other, so as to drive the first flexible structure 52 to move towards the far end, and further drive the free ends of the left opening and closing flap 11 and the right opening and closing flap 12 to rotate and to be away from the holding structure body 101.
In another embodiment, the first flexible structure 52 comprises a flexible elongated body, such as a nickel titanium wire, a steel wire. Correspondingly, the pressure spring is arranged between the left tool flap 42 and the right tool flap 43, when the working flaps are required to be closed, the left opening and closing flap 11 and the right opening and closing flap 12 are driven to rotate by the action force of the resistance force of the pressure spring on the left opening and closing flap 11 and the right opening and closing flap 12, and are moved close to the body of the holding structure 10, so that the first flexible structure 52 is driven to move towards the proximal end, and the left tool flap 42 and the right tool flap 43 are driven to move close to each other. After the external force is removed, under the action of the pressure spring, the left tool flap 42 and the right tool flap 43 rotate and are away from each other, so as to drive the first flexible structure 52 to move towards the far end, and further drive the free ends of the left opening and closing flap 11 and the right opening and closing flap 12 to rotate and to be away from the holding structure body 101. Furthermore, it is also possible to provide elastic means between/in the connection of the handling end and the body of the gripping structure 10.
In another embodiment, as shown in fig. 19, the end effector includes a left side tool flap 42 and the right side tool flap 43, but one of the tool flaps 42 is a fixed structure, that is, only one of the left side tool flap 42 and the right side tool flap 43 can rotate around the axial hole structure of the tool supporting seat 41, and one of the two tool flaps is fixed and the other tool flap rotates, thereby forming an opening and closing structure. Correspondingly, the end effector connector has only one link that is rotatably connected to the rotatable tool flap, and the remainder is similar to the end effector connector of the previous embodiment. The opening and closing flap structure in the control structure 1 can also be correspondingly set to be a normally closed state without movement, and only one opening and closing flap is operated to control the movement of the end effector of the surgical instrument; it is also possible to arrange that both the opening and closing flaps are operable, but only one of the opening and closing flaps can drive the first flexible structure 52 to transmit the manipulation power; it can also be set that both the two opening and closing flaps can operate, and both the two opening and closing flaps can drive the first flexible structure 52 to connect and transmit the operation power.
Preferably, the first flexible structure 52 is also configured such that its distal end is connected to an end effector attachment member and its proximal end is connected to a manipulation end attachment member directly through the distal end of the handle structure 10 of the manipulation structure 1, without having to pass through the handle structure 2, in a manner that avoids reversing the first flexible structure 52.
The snake surgical instrument of the first and second embodiments further comprises a motion locking mechanism for locking the two-directional swinging motion of the snake structure 40, which can be the flexible transmission structure 51, the two-directional swinging motion of the manipulation structure 1 or the two-directional swinging motion of the distal instrument 4.
EXAMPLE III
In the embodiment shown in fig. 20-21, the rotational connection between the holding structure 10 and the first snake foot 13 of the manipulating structure 1 can also be realized, so that the holding structure 10 has a rotational degree of freedom R3' rotating (spinning) around the axis of the holding structure 10. Accordingly, the tool support 41 can rotate relative to the serpentine 40, and the tool support 41 has a rotational degree of freedom R3 with respect to the serpentine 40 about the axis of the tool support 41.
The transmission 5 further comprises a second flexible structure (not shown) connected at one end to the grip structure 10 and at one end to a tool support 41 in the terminal instrument 4. The grip structure 10 rotates the second flexible structure, and further rotates the tool supporting base 41 and the end effector of the end instrument 4, thereby forming a rotational degree of freedom R3'. Thus, the end instrument 4 realizes the rotation of the end effector under the condition that the whole structure does not rotate, and brings convenient operation effect for operation.
The second flexible structure is made of flexible materials capable of transmitting force, the degree of freedom of the operating device 1 is increased, the controlled tail end instrument 4 can be transmitted automatically, inconvenience in rotating the whole surgical instrument is avoided, and operation stability is enhanced. Preferably, the second flexible structure may be a nickel titanium wire or the like.
In a preferred embodiment, the first flexible structure 52 is made of a flexible material capable of transmitting torque, and the holding structure rotates the first flexible structure 52, and thus the tool supporting base 41 and the end effector in the end instrument 4, so as to form a rotational degree of freedom R3'. Therefore, the autorotation freedom degree of the tail end instrument can be realized without arranging a second flexible structure.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (17)
1. A serpentine surgical instrument, comprising:
a handheld structure;
the control structure comprises a snake-shaped joint which is arranged on the handheld structure and has at least one swing freedom degree, and a holding structure which is rotationally connected with the snake-shaped joint, wherein the holding structure comprises a holding structure body and an end effector control piece arranged on the holding structure body;
a connecting structure;
an end instrument connected with the hand-held structure through a connecting structure, and comprising an end effector, a tool supporting seat and a serpentine structure connected with the tool supporting seat, wherein the serpentine structure has the same swinging freedom degree with the swinging direction of the serpentine joint, the tool supporting seat has the rotation automation degree rotating around the axis of the tool supporting seat relative to the serpentine structure, the end effector of the end instrument comprises at least one tool flap, and the tool flap is rotationally connected with the tool supporting seat;
an actuator comprising a flexible actuator structure connecting the serpentine joint and the serpentine structure, the flexible actuator structure configured to oscillate the serpentine structure and the serpentine joint in the same direction, the actuator further comprising a first flexible structure connected to the end effector control;
the end effector control piece comprises at least one opening and closing flap with one end rotatably connected with the holding structure, and the opening and closing flap controls the tool flap to rotate through the first flexible structure;
and the first flexible structure is made of a flexible material capable of transmitting torque, and the holding structure drives the tool supporting seat to rotate relative to the serpentine structure by driving the first flexible structure to rotate.
2. The serpentine surgical instrument of claim 1, wherein the handle structure comprises an arcuate body having a proximal support base disposed at a proximal end thereof, a distal end of the proximal support base being coupled to the manipulation structure; the far end of the arc-shaped body is provided with a far end supporting seat, and the far end of the far end supporting seat is connected with the connecting structure.
3. The serpentine surgical instrument of claim 2, wherein the drive further comprises a drive wheel structure mounted on the handle structure, the flexible drive structure being steered via the drive wheel structure.
4. The serpentine surgical instrument of claim 1, wherein the serpentine joint comprises a first serpentine base at a distal end, a second serpentine base at a proximal end, and a first serpentine series structure having two ends connected to the first serpentine base and the second serpentine base, the first serpentine series structure comprising a plurality of sequentially connected serpentine bones, the rotational connection between adjacent serpentine bones providing at least one degree of freedom for the serpentine joint to swing, the second serpentine base being mounted to the hand-held structure, and the flexible transmission structure being connected to the first serpentine base.
5. The serpentine surgical instrument of claim 4, wherein one end of the flexible transmission is fixed to a first serpentine base and the position at which the flexible transmission is fixed to the first serpentine base is in an opposite configuration to the position at which the other end of the flexible transmission and the serpentine joint are fixed.
6. The serpentine surgical instrument of claim 4, wherein the grip structure is connected to the first snake base, the grip structure being configured to control movement of the serpentine structure.
7. The serpentine surgical instrument of claim 1, wherein the end effector of the end instrument includes two tool petals that are rotatably coupled to the tool support base, respectively, the opening and closing petals controlling relative rotation between the tool petals via the first flexible structure.
8. The serpentine surgical instrument of claim 1, wherein the end effector includes left and right tool petals, one of which is fixedly coupled to the tool support base and the other of which is rotatably coupled to the tool support base, the opening and closing petals controlling relative rotation between the tool petals via the first flexible structure.
9. The serpentine surgical instrument of claim 7, wherein the actuator further comprises a resilient structure disposed on the gripping structure, on the tool support base, or between the tool petals to maintain the tool petals in a normally open position.
10. The serpentine surgical instrument of claim 1, wherein the manipulation structure further comprises a manipulation end link coupled to the end effector control, wherein the end instrument further comprises an end effector link coupled to an end effector, wherein the manipulation end link receives and transmits motion of the end effector control to the end effector link via the first flexible structure, and wherein the end effector link drives motion of the end effector.
11. The serpentine surgical instrument of claim 1, wherein the manipulation structure further comprises a manipulation end link coupled to an end effector control, the end instrument further comprising an end effector link coupled to an end effector; the end effector connector comprises a first rotating shaft, a second rotating shaft and a first connecting rod, the first connecting rod proximal end is rotatably connected with the first flexible structure distal end through the first rotating shaft, the first connecting rod distal end is rotatably connected with the proximal end of the tool flap through the second rotating shaft, and the first rotating shaft is configured to move along the axial direction of the connecting structure; the control end connecting piece comprises a fourth rotating shaft, a fifth rotating shaft and a third connecting rod, the near end of the third connecting rod is rotatably connected with the near end of the first flexible structure through the fourth rotating shaft, the far end of the third connecting rod is rotatably connected with the far end of the opening and closing flap through the fifth rotating shaft, and the fourth rotating shaft is configured to move along the axial direction of the connecting structure.
12. The serpentine surgical instrument of claim 10, wherein the first flexible structure is a flexible shaft structure, and wherein the actuator further comprises a compression spring disposed between the manipulation end connector and the gripping structure body, between the opening/closing flap and the gripping structure, within the manipulation end connector, between the end effector and the tool support base, or within the end effector.
13. The serpentine surgical instrument of claim 10, wherein the end effector comprises left and right tool petals, and wherein the first flexible structure comprises a flexible elongate body, and wherein the transmission further comprises a compression spring disposed between the left and right tool petals.
14. The serpentine surgical instrument of claim 10, wherein one end of the first flexible structure is connected to the end effector connection and the other end is connected to the manipulation end connection through the gripping structure; or one end of the first flexible structure is connected with the end effector connecting piece, and the other end of the first flexible structure is connected to the control end connecting piece after reversing through a driving wheel structure arranged on the handheld structure.
15. The serpentine surgical instrument of claim 1, wherein a finger cuff structure is provided on the opening and closing flap.
16. The serpentine surgical instrument of claim 4, wherein the number of serpentine bones is 4.
17. The serpentine surgical instrument of claim 5, wherein the flexible drive structure includes four flexible bodies, the serpentine structure includes four attachment points connected to the four flexible bodies, and the first serpentine base also has four attachment points connected to the four flexible bodies.
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| CN201711252548.5A CN107928790B (en) | 2017-12-01 | 2017-12-01 | Snake-shaped surgical instrument |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108030518B (en) | 2017-12-01 | 2021-04-23 | 上海微创医疗机器人（集团）股份有限公司 | Surgical instrument |
| CN108670320B (en) * | 2018-04-26 | 2021-01-26 | 微创（上海）医疗机器人有限公司 | Snake-shaped surgical instrument |
| CN108888301B (en) * | 2018-05-29 | 2021-04-23 | 上海微创医疗机器人（集团）股份有限公司 | Snake-shaped surgical instrument |
| CN109009329B (en) * | 2018-06-11 | 2021-01-26 | 微创（上海）医疗机器人有限公司 | Snake-shaped surgical instrument |
| CN109009261B (en) * | 2018-08-13 | 2021-04-20 | 上海微创医疗机器人（集团）股份有限公司 | Snake-shaped surgical instrument |
| CN109009264A (en) * | 2018-08-24 | 2018-12-18 | 微创（上海）医疗机器人有限公司 | Snakelike surgical instrument |
| CN109556104A (en) * | 2018-12-21 | 2019-04-02 | 核动力运行研究所 | Strip foreign matter shearing device and its application method between a kind of steam generator |
| CN109998611B (en) * | 2019-04-02 | 2024-02-27 | 北京大学口腔医学院 | Hollow vector support multifunctional protection device for minimally invasive surgery |
| CN111888012B (en) * | 2020-08-26 | 2021-11-05 | 上海微创医疗机器人（集团）股份有限公司 | Surgical instrument platform |
| CN111991089B (en) * | 2020-09-10 | 2022-02-11 | 苏州大学 | Minimally invasive surgery robot and tail end integrated clamp holder thereof |
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Address after: Room 101, area B, building 1, No. 1601, Zhangdong Road, Pudong New Area pilot Free Trade Zone, Shanghai 200135 Patentee after: Shanghai minimally invasive medical robot (Group) Co.,Ltd. Address before: Room 101, area B, building 1, No. 1601, Zhangdong Road, Pudong New Area pilot Free Trade Zone, Shanghai 200135 Patentee before: Microport (Shanghai) Medbot Co.,Ltd. |
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