CN108992103A - A kind of Minimally Invasive Surgery appliance control apparatus - Google Patents
A kind of Minimally Invasive Surgery appliance control apparatus Download PDFInfo
- Publication number
- CN108992103A CN108992103A CN201810860198.9A CN201810860198A CN108992103A CN 108992103 A CN108992103 A CN 108992103A CN 201810860198 A CN201810860198 A CN 201810860198A CN 108992103 A CN108992103 A CN 108992103A
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- Prior art keywords
- minimally invasive
- invasive surgery
- spherical
- rotation
- lever
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- 238000002324 minimally invasive surgery Methods 0.000 title claims abstract description 25
- 210000003813 thumb Anatomy 0.000 claims abstract description 25
- 210000003811 finger Anatomy 0.000 claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 13
- 238000004088 simulation Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 4
- 238000003756 stirring Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 241000905957 Channa melasoma Species 0.000 description 1
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000002192 cholecystectomy Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000002674 endoscopic surgery Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 210000000115 thoracic cavity Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to the field of medical instrument technology more particularly to a kind of Minimally Invasive Surgery appliance control apparatus.With symmetrical left-handed operation device and right hand operating device, including manual-operating mechanism and electrical signal collection output device, manual-operating mechanism is connected with each other by spherical joint bar and electrical signal collection output device；The manual-operating mechanism includes that can carry out pitching, beat palm lever, be connected to the back of the hand support frame, the finger manipulation handle that can be moved up and down under the survey of palm lever and the rotation thumb wheel that can drive rotation that can support the back of the hand above palm lever；The electrical signal collection output device is by the battery pack of offer internal element electric energy, each functions of modules of control and acquires the control circuit board of electric signal and capable of converting electrical energy into and turns the motor group of mechanical energy and forms, and the motor group is placed on motor driven seat.Usefulness of the present invention is: can control a variety of Minimally Invasive Surgery instruments, can be easily accomplished highly difficult, the even impossible Minimally Invasive Surgery operation of traditional instruments, improve doctor's operation precision, shorten operating time, reduce patient's operation risk.
Description
Technical field:
The present invention relates to the field of medical instrument technology more particularly to a kind of Minimally Invasive Surgery appliance control apparatus.
Background technique:
1987, global first case Laparoscopic Cholecystectomy successfully completed, and had opened the new page of minimal invasive techniques development.
A large amount of advanced surgical instruments have been emerged therewith, have pushed the development process of minimal invasive techniques and have slowly been moved to maturity.And tradition
Operation compare, wound is small, pain is light, restores fast minimal invasive operation is widely used in clinic, and minimally invasive surgery technology has become
For the new direction for representing medical development.
Traditional minimally invasive endoscopic surgery instrument is elongated rod structure, passes through tissue of patient wall (such as abdominal cavity, thoracic cavity
Deng) on small notch by surgical instrument (for example, needle holder, elastic separating plier, scalpel, scissors etc.) be sent into vivo, doctor passes through behaviour
Make the surgical instrument of the handle control stock distal end of stock proximal end.Since traditional operation instrument only has single-degree-of-freedom, in addition lever
Effect, doctor's complexity difficult to realize accurately operate.The highly difficult operation in field, doctor generally requires nervously to stand more than ten small
When, inevitable body is stiff, and mental and physical efforts are wan and sallow.Therefore, clinically it is badly in need of a kind of surgical assistant system, controls with helping doctor's easy and flexible
Endoscope operation instruments processed precisely complete complicated surgical action.
Summary of the invention:
The technical problem to be solved by the present invention is to, the present apparatus provide one kind can control a variety of Minimally Invasive Surgery instruments, can be with
It is easily accomplished the Minimally Invasive Surgery instrument control dress that highly difficult, operation precision is high, shortens operating time, reduces patient's operation risk
It sets.
In order to solve the above-mentioned technical problem, the present invention is achieved by the following technical solutions: kind Minimally Invasive Surgery instrument control
Device processed has symmetrical left-handed operation device and right hand operating device, including manual-operating mechanism and electrical signal collection
Output device, manual-operating mechanism are connected with each other by spherical joint bar and electrical signal collection output device；The manual operation
Mechanism include can carry out pitching, beat palm lever, be connected to palm lever above can support the back of the hand the back of the hand support frame,
The finger manipulation handle that can be moved up and down under the survey of palm lever and the rotation thumb wheel that rotation can be driven；The electrical signal collection
Output device by offer internal element electric energy battery pack, each functions of modules of control and the control circuit board and energy that acquire electric signal
The motor group composition for turning mechanical energy is enough converted electrical energy into, the motor group is placed on motor driven seat.
Preferably, being circumscribed with spherical set spherical shape set on the spherical joint bar to preferably realize pitching, beat
On be stamped spherical upper shield, spherical shape set and spherical upper shield are fixed in palm lever, and rocking bar current potential is fixed in spherical joint bar
Device, rocker regulation resistance, which is equipped with, can carry out the rocking bar point axis of pitching, beat, rocker regulation resistance can follow the pitching of rocking bar point axis,
Beat, the spherical joint bar are equipped with salient point, and salient point is constrained in the upper slot of spherical set, accidentally touch palm in order to prevent
Lever makes its operating mistake, and the spherical set edge is equipped with locking strap, and locking strap both ends are connected to the first briquetting and second respectively
Between briquetting, first briquetting is fixed on palm lever, and the second briquetting is connected to and can lock two briquettings and reach locking
The locking driving lever of state.
Preferably, providing electric signal in order to facilitate the operation of finger manipulation handle, L shape side being housed by the finger manipulation handle
Bar, L shape side lever are connected to straight line pole, on the outside of straight line pole equipped with can launch point signal linear potentiometer, equipped with can on straight line pole
The slidably trough of belt clamping block that finger manipulation handle is locked.
Preferably, conveniently stirring rotation thumb wheel in order to generate rotation electric signal, the rotation thumb wheel, which is equipped with, to be dialled
Wheel, thumb wheel are connected with rotation potentiometer, and the thumb wheel and rotation potentiometer are by rotation axis connection.
Preferably, in order to make operator possess better operating handle, keep more convenient operation quick, the rami dorsalis manus
Support is equipped with the texture lines curved arc of simulation manpower the back of the hand when holding with a firm grip, above the back of the hand support frame end equipped with outside rotation thumb wheel
The fixation device that shape matches, rotation thumb wheel fill on the securing means.
Preferably, the damage of electrical signal collection output device in order to prevent, the electrical signal collection output device exterior
There is electric motor protecting shell.
Compared with prior art, usefulness of the present invention is: can control a variety of Minimally Invasive Surgery instruments, can be easily accomplished
Highly difficult, the even impossible Minimally Invasive Surgery operation of traditional instruments, improves doctor's operation precision, shortens operating time, reduce
Patient's operation risk.
Fig. 1 is Minimally Invasive Surgery appliance control apparatus overall structure diagram；
Fig. 2 is the manual operation device structural schematic diagram of Minimally Invasive Surgery appliance control apparatus；
Fig. 3 is the manual operation device schematic diagram of internal structure of Minimally Invasive Surgery appliance control apparatus；
Fig. 4 and Fig. 5 is the structural schematic diagram of electrical signal collection output device；
Fig. 6 and Fig. 7 is the structural schematic diagram of spherical joint bar；
Fig. 8 is rocker actuator schematic diagram；
Fig. 9 is the structural schematic diagram of automatic thumb wheel；
Figure 10 is L shape side bar arrangement schematic diagram.
In figure: 1- manual-operating mechanism；2- electrical signal collection output device；3- spherical joint bar；4- palm lever；5-
The back of the hand support frame；6- finger manipulation handle；7- battery pack；8- control circuit board；9- motor group；10- motor driven seat；11- is spherical
Set；12- spherical shape upper shield；13- rocker regulation resistance；14- rocking bar current potential axis；15- salient point；16- slot；17- locking strap；18- first is pressed
Block；The second briquetting of 19-；20- locks driving lever；21-L shape side lever；22- straight line pole；23- linear potentiometer；24- clamping block；25- is dialled
Wheel；26- rotation potentiometer；The 27- axis of rotation；28- rotation thumb wheel；29- lines curved arc；30- fixes device；Outside 31- electric motor protecting
Shell.
Specific embodiment:
With reference to the accompanying drawing and specific embodiment the present invention will be described in detail:
As shown in Figures 1 to 8, a kind of Minimally Invasive Surgery appliance control apparatus, with symmetrical left-handed operation device and
Right hand operating device, including manual-operating mechanism 1 and electrical signal collection output device 2, manual-operating mechanism 1 pass through spherical joint
Bar 3 and electrical signal collection output device 2 are connected with each other；The manual-operating mechanism 1 includes that can carry out pitching, the operation of beat palm
Handle 4 is connected to the back of the hand support frame 5 of sustainable the back of the hand above palm lever 4, can transport up and down under the survey of palm lever 4
Dynamic finger manipulation handle 6 and the rotation thumb wheel 28 that rotation can be driven；The electrical signal collection output device 2 is by offer internal element
The battery pack 7 of electric energy controls each functions of modules and acquires the control circuit board 8 of electric signal and can convert electrical energy into favourable turn tool
The motor group 9 of energy forms, and the motor group 9 is placed on motor driven seat 10.Spherical set is circumscribed on the spherical joint bar 3
11, spherical shape, which covers, is stamped spherical upper shield 12 on 11, spherical shape set 11 and spherical upper shield 12 are fixed in palm lever 4, spherical joint
Rocker regulation resistance 13 is fixed in bar 3, rocker regulation resistance 13 is equipped with the rocking bar current potential axis 14 that can carry out pitching, beat, rocking bar electricity
Position device 13 can follow 14 pitching of rocking bar current potential axis, beat, and the spherical joint bar 3 is equipped with salient point 15, and salient point 15 is constrained in ball
Shape covers in upper slot 16, and 11 edges of the spherical set are equipped with locking strap 17, and 17 both ends of locking strap are connected to 18 He of the first briquetting respectively
Between second briquetting 19, first briquetting 18 is fixed on palm lever 4, and the second briquetting 19, which is connected to, can lock two pressures
Block and the locking driving lever 20 for reaching lock state, the second briquetting 19 have corresponding curved surface structure with locking driving lever 20, from
When by state, the two height point gearing, when stirring locking driving lever 20 to locking bit, the two high point and high point gearing, two briquettings
It inwardly compresses, locking strap 17 compresses spherical set 11, increases the damping between spherical set 11 and spherical joint bar 3, reaches locking shape
State.
As shown in figure 9, conveniently stirring rotation thumb wheel in order to generate rotation electric signal, being set on the rotation thumb wheel 28
There is thumb wheel 25, thumb wheel 25 is connected with rotation potentiometer 26, and the thumb wheel 25 and rotation potentiometer 26 are connected by the axis of rotation 27.
When stirring rotation thumb wheel 28, the axis of rotation 27 follows rotation, and the D type face on 27 head of the axis of rotation drives the D on rotation potentiometer 26 again
Type hole rotation, therefore generate the electric signal of rotation.In order to make operator possess better operating handle, keep more convenient operation fast
Victory, the back of the hand support frame 5 are equipped with the texture lines curved arc 29 of simulation manpower the back of the hand when holding with a firm grip, on 5 end of the back of the hand support frame
Equipped with the fixation device 30 to match with 28 shape of rotation thumb wheel, rotation thumb wheel 28 is mounted on fixed device 30 for side.
As shown in Figure 10, in order to facilitate the operation of finger manipulation handle, electric signal is provided, L shape is housed by the finger manipulation handle 5
Side lever 21, L shape side lever 21 are connected to straight line pole 22, the linear potentiometer 23 that can emit electric signal are housed on the outside of straight line pole 22, directly
Equipped with can be by slidably trough of belt clamping block 24 that finger manipulation handle 5 is locked in line bar 22.When finger manipulation handle 6 makees expansion action
When, L-type side lever 21 drives straight line pole 22 to move upwards, and drives linear potentiometer 23, therefore generates the electric signal opened；Closure
Electric signal similarly.
The damage of electrical signal collection output device in order to prevent, the electrical signal collection output device 2 are protected equipped with motor outside
Shell 31 is protected, the Minimally Invasive Surgery appliance control apparatus, by connecting to plug, control device is having output terminal to slotting place,
Instrument is having input terminal to slotting place, and motor drives output terminal when rotating, output terminal drives input terminal rotation, makes instrument
Movement.The Minimally Invasive Surgery appliance control apparatus charging uses, and battery can meet holding for 12h by verifying, battery capacity
Continuous power supply, equipment has charge prompting when low battery (remaining capacity 20%).
Minimally Invasive Surgery appliance control apparatus one-hand operation of the invention, when operation can right-hand man respectively hold one, right-hand man
Button, screen of device etc. can operating unit mirror symmetries.
It is emphasized that: the above is only presently preferred embodiments of the present invention, not make in any form to the present invention
Limitation, any simple modification, equivalent change and modification to the above embodiments according to the technical essence of the invention,
All of which are still within the scope of the technical scheme of the invention.
Claims (6)
1. a kind of Minimally Invasive Surgery appliance control apparatus has symmetrical left-handed operation device and right hand operating device, special
Sign is: including manual-operating mechanism (1) and electrical signal collection output device (2), manual-operating mechanism (1) passes through spherical joint
Bar (3) and electrical signal collection output device (2) are connected with each other；The manual-operating mechanism (1) includes that can carry out pitching, beat hand
Palm lever (4) is connected to the back of the hand support frame (5) of sustainable the back of the hand above palm lever (4), in palm lever (4)
Survey the lower finger manipulation handle (6) that can be moved up and down and the rotation thumb wheel (28) that rotation can be driven；The electrical signal collection output
Device (2) by offer internal element electric energy battery pack (7), each functions of modules of control and the control circuit board for acquiring electric signal
(8) and motor group (9) composition for turning mechanical energy can be converted electrical energy into, the motor group (9) is placed in motor driven seat (10)
On.
2. a kind of Minimally Invasive Surgery appliance control apparatus according to claim 1, it is characterised in that: the spherical joint bar (3)
On be circumscribed with spherical set (11), is stamped spherical upper shield (12) on spherical shape set (11), spherical shape set (11) and spherical upper shield (12) are fixed
It in the palm lever (4), is fixed with rocker regulation resistance (13) in spherical joint bar (3), rocker regulation resistance (13) is equipped with can be into
Row pitching, beat rocking bar current potential axis (14), rocker regulation resistance (13) can follow rocking bar current potential axis (14) pitching, beat, described
Spherical joint bar (3) is equipped with salient point (15), and salient point (15) is constrained in spherical set upper slot (16), described spherical set (11) side
Along locking strap (17) are equipped with, locking strap (17) both ends are connected to respectively between the first briquetting (18) and the second briquetting (19), and described the
One briquetting (18) is fixed on palm lever (4), and the second briquetting (19), which is connected to, can lock two briquettings and reach locking shape
The locking driving lever (20) of state.
3. a kind of Minimally Invasive Surgery appliance control apparatus according to claim 1, it is characterised in that: the finger manipulation handle (5)
Side is equipped with L shape side lever (21), and L shape side lever (21) is connected to straight line pole (22), and electric signal can be emitted by being equipped on the outside of straight line pole (22)
Linear potentiometer (23), equipped with the slidably trough of belt clamping block (24) that can lock finger manipulation handle (5) on straight line pole (22).
4. a kind of Minimally Invasive Surgery appliance control apparatus according to claim 1, it is characterised in that: on the rotation thumb wheel (28)
Equipped with thumb wheel (25), thumb wheel (25) is connected with rotation potentiometer (26), and the thumb wheel (25) and rotation potentiometer (26) are to pass through
The axis of rotation (27) connection.
5. a kind of Minimally Invasive Surgery appliance control apparatus according to claim 1, it is characterised in that: the back of the hand support frame (5)
It is equipped with the texture lines curved arc (29) of the back of the hand when simulation manpower is held with a firm grip, be equipped with above the back of the hand support frame (5) end and is transferred certainly
The fixation device (30) that wheel (28) shape matches, rotation thumb wheel (28) are mounted on fixed device (30).
6. a kind of Minimally Invasive Surgery appliance control apparatus according to claim 1, it is characterised in that: the electrical signal collection output
Device (2) is equipped with electric motor protecting shell (31) outside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810860198.9A CN108992103A (en) | 2018-08-01 | 2018-08-01 | A kind of Minimally Invasive Surgery appliance control apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810860198.9A CN108992103A (en) | 2018-08-01 | 2018-08-01 | A kind of Minimally Invasive Surgery appliance control apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108992103A true CN108992103A (en) | 2018-12-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810860198.9A Pending CN108992103A (en) | 2018-08-01 | 2018-08-01 | A kind of Minimally Invasive Surgery appliance control apparatus |
Country Status (1)
| Country | Link |
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| CN (1) | CN108992103A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110236677A (en) * | 2019-04-30 | 2019-09-17 | 汕头大学 | A kind of parallelogram sturcutre Minimally Invasive Surgery mechanical arm |
| CN110974319A (en) * | 2019-12-24 | 2020-04-10 | 锐志微创医疗科技（常州）有限公司 | Minimally invasive surgery instrument structure based on bionic principle and control method |
| CN114222535A (en) * | 2019-06-30 | 2022-03-22 | 人类拓展有限公司 | Sterile barrier and sensor set for medical devices |
| CN116403464A (en) * | 2022-04-28 | 2023-07-07 | 株式会社寿屋 | Hand model |
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| US6234961B1 (en) * | 1998-04-15 | 2001-05-22 | Pineridge Holding Pty. Ltd. | Ball and socket interconnection and retractor assembly employing the same |
| CN105592801A (en) * | 2013-09-01 | 2016-05-18 | 人类延伸有限公司 | Control unit for medical device |
| CN209529197U (en) * | 2018-08-01 | 2019-10-25 | 锐志微创医疗科技（常州）有限公司 | Minimally Invasive Surgery appliance control apparatus |
-
2018
- 2018-08-01 CN CN201810860198.9A patent/CN108992103A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6234961B1 (en) * | 1998-04-15 | 2001-05-22 | Pineridge Holding Pty. Ltd. | Ball and socket interconnection and retractor assembly employing the same |
| CN105592801A (en) * | 2013-09-01 | 2016-05-18 | 人类延伸有限公司 | Control unit for medical device |
| CN209529197U (en) * | 2018-08-01 | 2019-10-25 | 锐志微创医疗科技（常州）有限公司 | Minimally Invasive Surgery appliance control apparatus |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110236677A (en) * | 2019-04-30 | 2019-09-17 | 汕头大学 | A kind of parallelogram sturcutre Minimally Invasive Surgery mechanical arm |
| CN110236677B (en) * | 2019-04-30 | 2024-04-30 | 汕头大学 | Parallelogram structure minimally invasive surgery mechanical arm |
| CN114222535A (en) * | 2019-06-30 | 2022-03-22 | 人类拓展有限公司 | Sterile barrier and sensor set for medical devices |
| EP3989847A4 (en) * | 2019-06-30 | 2024-04-03 | Human Xtensions Ltd. | Sterile barriers and sensor sets for a medical device |
| CN110974319A (en) * | 2019-12-24 | 2020-04-10 | 锐志微创医疗科技（常州）有限公司 | Minimally invasive surgery instrument structure based on bionic principle and control method |
| CN110974319B (en) * | 2019-12-24 | 2022-03-11 | 锐志微创医疗科技（常州）有限公司 | Minimally invasive surgery instrument structure based on bionic principle and control method |
| CN116403464A (en) * | 2022-04-28 | 2023-07-07 | 株式会社寿屋 | Hand model |
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Application publication date: 20181214 |