CN109009262A - Operation auxiliary fixing device and snakelike surgical instrument for snakelike surgical instrument - Google Patents
Operation auxiliary fixing device and snakelike surgical instrument for snakelike surgical instrument Download PDFInfo
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- CN109009262A CN109009262A CN201810939941.XA CN201810939941A CN109009262A CN 109009262 A CN109009262 A CN 109009262A CN 201810939941 A CN201810939941 A CN 201810939941A CN 109009262 A CN109009262 A CN 109009262A
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- bracelet
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- connecting plate
- fixing device
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- 210000000707 wrist Anatomy 0.000 claims abstract description 37
- 239000012636 effector Substances 0.000 claims description 27
- 239000007787 solid Substances 0.000 claims description 6
- 238000009987 spinning Methods 0.000 claims description 3
- 238000001356 surgical procedure Methods 0.000 abstract description 13
- 238000010586 diagram Methods 0.000 description 12
- 238000009434 installation Methods 0.000 description 5
- 239000004697 Polyetherimide Substances 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 239000004417 polycarbonate Substances 0.000 description 3
- 229920001601 polyetherimide Polymers 0.000 description 3
- 239000004677 Nylon Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000004323 axial length Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 229920001778 nylon Polymers 0.000 description 2
- 229920000515 polycarbonate Polymers 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 229920005989 resin Polymers 0.000 description 2
- 239000011347 resin Substances 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 208000028571 Occupational disease Diseases 0.000 description 1
- 239000004952 Polyamide Substances 0.000 description 1
- 229920002873 Polyethylenimine Polymers 0.000 description 1
- 229920000265 Polyparaphenylene Polymers 0.000 description 1
- 229920000491 Polyphenylsulfone Polymers 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005520 electrodynamics Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000001746 injection moulding Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 239000012994 photoredox catalyst Substances 0.000 description 1
- 229920002647 polyamide Polymers 0.000 description 1
- -1 polyphenylene Polymers 0.000 description 1
- 229920012287 polyphenylene sulfone Polymers 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 125000001174 sulfone group Chemical group 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000001225 therapeutic effect Effects 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
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00305—Constructional details of the flexible means
-
- 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
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
- A61B2017/00464—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable for use with different 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)
- Surgical Instruments (AREA)
Abstract
The present invention relates to a kind of operation auxiliary fixing device and snakelike surgical instruments with the device, wherein operation auxiliary fixing device includes: connecting plate, wherein the distal end of the connecting plate has instrument interface, and by the instrument interface, the connecting plate is detachably connected with the snakelike surgical instrument；Arm fixation ring is connect by the arm interface of a movable proximal end for being set to the connecting plate with the connecting plate.Above-mentioned operation auxiliary fixing device, can mount to surgical instrument, in surgical procedure, fix with the wrist of doctor, operates hand-held apparatus for doctor and provides support, to reduce the damage to doctor's wrist.
Description
Technical field
The present invention relates to the field of medical instrument technology, assist more particularly to a kind of operation for snakelike surgical instrument solid
Determine device, further relates to a kind of snakelike surgical instrument with this auxiliary fixing device.
Background technique
In surgical procedure, surgical instrument is needed to be replaced frequently, doctor typically directly holds surgical instrument and operates, performs the operation
Instrument is separated with doctor.But the prolonged surgical procedure of doctor brings the portions such as very big burden, especially wrist to doctor
Position, or even be easy that doctor is made to suffer from occupational disease, influence career.
During minimally invasive surgery, in order to realize that wound is small, reach more preferably therapeutic effect, it is right in surgical procedure to reduce
In the damage of its hetero-organization, the surgical instrument with snakelike joint and the endoscope with snakelike joint are mostly used, to realize
For the evacuation of other organs in surgical procedure.
The snakelike surgical instrument of traditional hand-held, since drive part is generally arranged at handheld terminal, which increase hand-held
The weight at end brings challenge to the prolonged surgical procedure of doctor.
Summary of the invention
Based on this, it is necessary to aiming at the problem that surgical instrument in surgical procedure set forth above damages doctor's wrist, mention
For a kind of operation auxiliary fixing device.Also propose a kind of snakelike surgical instrument with this auxiliary fixing device.
A kind of operation auxiliary fixing device for snakelike surgical instrument, comprising:
Connecting plate, wherein the distal end of the connecting plate have instrument interface, by the instrument interface, the connecting plate with
The snakelike surgical instrument is detachably connected；
Arm fixation ring, by the arm interface of a movable proximal end for being set to the connecting plate, with the connection
Plate connection.
Above-mentioned operation auxiliary fixing device, can mount to surgical instrument, solid with the wrist of doctor in surgical procedure
It is fixed, hand-held apparatus is operated for doctor, support is provided, to reduce the damage to doctor's wrist.
The connecting plate includes main part in one of the embodiments, and the distal end of the main part, which is equipped with, to be extended
Portion, the instrument interface are set to the extension.
The extension includes the opposite side for being set to the two sides of the distal end of the connecting plate in one of the embodiments,
Plate, the instrument interface include a pair the first major arc slot being arranged on the pair of side plate.
The arm fixation ring includes the connection structure of an adjustable in length in one of the embodiments, to adjust
The internal diameter of the arm fixation ring.
The arm interface is configured as adjustable in the position of the connecting plate in one of the embodiments, in turn
Relative position of the adjustable arm fixation ring on the direction of the proximal end of connecting plate to distal end, with handgrip.
The connecting plate includes apparatus for adjusting position in one of the embodiments, is existed for adjusting the arm interface
Position on the connecting plate；
The downside of the arm interface is equipped with interconnecting piece, and the interconnecting piece is coupled with the apparatus for adjusting position.
The position regulator includes the groove and multiple groups positioned at the connecting plate proximal end in one of the embodiments,
Second major arc slot, the second major arc slot are arranged at intervals on the two sides of the groove along the length direction of the interconnecting piece；
The interconnecting piece includes ontology, and the two sides of the ontology are respectively equipped with fixed pin shaft, and the ontology can be described
It is moved along the connecting plate proximal end to the direction of distal end in groove, the fixed pin shaft and any group of the second major arc slot energy can
Dismantling connection.
The position regulator includes guide rail slide block device in one of the embodiments, and the guide rail is along connecting plate
Proximal end to distal end direction setting, sliding block is movably disposed on the guide rail, the interconnecting piece of the arm interface and institute
Sliding block is stated to be detachably connected or be fixedly connected.
The arm fixation ring is rotationally connected with the connecting plate by the arm interface in one of the embodiments,
On.
The arm interface side is equipped with interconnecting piece in one of the embodiments, and the interconnecting piece is at least one turn
Dynamic freedom degree, so that the arm fixation ring is rotated relative to the connecting plate.
The interconnecting piece includes Hooke's hinge structure in one of the embodiments, the Hooke's hinge have the first inside casing and
First outline border, first outline border carries out the second rotational motion relative to the connecting plate around second axis, in described first
Frame carries out third rotational motion relative to first outline border around third axis；
The arm interface further includes rotation connection axis, and the arm fixation ring is set to described the by rotation connection axis
One inside casing.
First inside casing has through-hole in one of the embodiments, and the arm fixation ring is connected by the rotation
Spindle is installed in rotation in the through-hole.
The arm interface further includes rotation connection block, attachment screw, the arm fixation in one of the embodiments,
Ring is fixed on rotation connection block by attachment screw, the rotation connection block and the rotation connection axis connection.
The arm fixation ring is single piece type in one of the embodiments, wherein the both ends of the arm fixation ring can
Separation links together, and part is connect with the operation interface between the both ends of the arm fixation ring.
The proximal end of the connecting plate is additionally provided with a support frame in one of the embodiments, the arm interface with it is described
Support frame rotation connection.
The arm interface includes Bracelet structure in one of the embodiments, the Bracelet structure include bracelet outline border,
Bracelet inside casing, the bracelet outline border are located inside the support frame and are rotatablely connected with support frame, and the bracelet inside casing is located at institute
It states inside bracelet outline border and is rotatablely connected with bracelet outline border, the inside of the bracelet inside casing is arranged in the arm fixation ring.
The bracelet outline border is rotated around four axistyle relative to the support frame in one of the embodiments, described
Bracelet inside casing is rotated around the 5th axis relative to the bracelet outline border；5th axis is perpendicular to the four axistyle.
The bracelet outline border is equipped with third major arc slot in one of the embodiments, and the bracelet inside casing is equipped with pin shaft,
The pin shaft is removably rotatablely connected with the third major arc slot.
The bracelet inside casing is semicircular configuration in one of the embodiments, and the arm fixation ring is two-piece type, often
One end of piece arm fixation ring is fixed on the inside of bracelet inside casing, and the free end of two panels arm fixation ring is separable to be connected to one
It rises and constitutes annular together with the bracelet inside casing.
The connection type of the free end of two panels arm fixation ring is bonding, clasp joint or engaging in one of the embodiments,.
Also propose a kind of snakelike surgical instrument, comprising:
Handheld terminal,
Foregoing operation auxiliary fixing device,
The handheld terminal is detachably connected by the instrument interface and the fixed device.
In one of the embodiments, further include: the handheld terminal turns around first axle relative to the fixed device
It is dynamic；The arm interface of the fixed device is rotated around second axially with respect to the connecting plate；
The first axle is parallel to each other with second axis.
In one of the embodiments, further include:
The handheld terminal, including handgrip, wrist part structure and control structure, the handgrip have proximal end mounting base
With distal end mounting base, the control structure is connected to the proximal end mounting base of handgrip by wrist part structure；
The instrument interface includes a pair of first major arc slot, and the two sides of the distal end mounting base are equipped with and the pair of first
A pair of of pin shaft of major arc slot cooperation.
The wrist part structure carries out rotational motion, the arm around the first instrument axis in one of the embodiments,
Interface can carry out rotational motion around second axis；The second axis is parallel with first axle instrument axis.
The wrist part structure carries out rotational motion, the arm around the second instrument axis in one of the embodiments,
Interface can carry out spinning motion around the 6th axis；6th axis is parallel with the second instrument axis.
In one of the embodiments, further include: instrument, the instrument are detachably connected or fix with the handheld terminal
Connection.
In one of the embodiments, further include:
Connection structure；
The instrument, including end effector；
The connection structure is configured as that the end effector is driven to move with the hand-held end motion.
The proximal end of the connecting plate is additionally provided with a support frame in one of the embodiments, the arm interface with it is described
Support frame rotation connection, the arm interface includes Bracelet structure, and the Bracelet structure includes bracelet outline border, bracelet inside casing, institute
It states bracelet outline border to be located inside the support frame and be rotatablely connected with support frame, the bracelet inside casing is located in the bracelet outline border
It portion and is rotatablely connected with bracelet outline border, the inside of the bracelet inside casing is arranged in the arm fixation ring；The bracelet outline border encloses
It is rotated around four axistyle relative to the support frame, the bracelet inside casing turns around the 5th axis relative to the bracelet outline border
It is dynamic；The bracelet outline border is rotated around four axistyle relative to the support frame, and the bracelet inside casing is opposite around the 5th axis
It is rotated in the bracelet outline border；5th axis is perpendicular to the four axistyle.
In one of the embodiments, the wrist part structure around the first instrument axis carry out rotational motion, described first
Axis instrument axis is parallel with four axistyle.
The wrist part structure carries out rotational motion around the second instrument axis in one of the embodiments,；Second instrument
Axis is parallel with the 5th axis.
Detailed description of the invention
Fig. 1 shows the schematic diagram that the present invention has the snakelike surgical instrument of auxiliary fixing device；
Schematic diagram is used Fig. 2 shows snakelike surgical instrument of the present invention with auxiliary fixing device；
Fig. 3 shows the structural schematic diagram of auxiliary fixing device of the present invention；
Fig. 4 shows the instrument interface of auxiliary fixing device of the present invention and the schematic diagram of distal end mounting base connection type；
The instrument interface that Fig. 5 shows auxiliary fixing device of the present invention connect with distal end mounting base after schematic diagram；
Fig. 6 shows the structural schematic diagram of the proximal end of auxiliary fixing device of the present invention；
Fig. 7 shows the arm fixation ring of auxiliary fixing device of the present invention and the scheme of installation of arm interface；
Fig. 8 shows the explosive view of mounting structure shown in Fig. 7；
Fig. 9 shows the structural schematic diagram of the Hooke's hinge in arm interface；
Figure 10 respectively illustrates the structural schematic diagram of arm fixation ring of the invention；
Figure 11 shows the scheme of installation of auxiliary fixing device of the present invention；
Figure 12 shows the schematic diagram that auxiliary fixing device of the present invention is connected to snakelike surgical instrument；
Figure 13 shows the freedom degree schematic diagram that the present invention has the snakelike surgical instrument of auxiliary fixing device；
Figure 14 shows the schematic diagram of arm interface in another embodiment；
Figure 15 and 16 respectively illustrates the explosion of arm interface and scheme of installation in another embodiment；
Figure 17 shows the scheme of installation of arm interface in another embodiment；
Figure 18 is the schematic diagram that arm passes through arm fixation ring in embodiment shown in Figure 17.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.Many details are explained in the following description in order to fully understand this hair
It is bright.But the invention can be embodied in many other ways as described herein, those skilled in the art can be not
Similar improvement is done in the case where violating intension of the present invention, therefore the present invention is not limited by the specific embodiments disclosed below.
It is an object of the present invention to proposing a kind of operation auxiliary fixing device, snakelike surgical instrument can mount to,
It in surgical procedure, is fixed with the wrist of doctor, operates hand-held apparatus for doctor and support is provided, to reduce to doctor's wrist
Damage.
The operation auxiliary fixing device that the application is proposed below in conjunction with the drawings and specific embodiments and snakelike surgical instrument
It is described in further detail.In this application, in order to make it easy to understand, having used " proximal end " and " distal end ", " upper end " and " lower end "
Equal terms, these terms refer to from using doctor's angle of the medical instrument to carry out read fortune for the opposite of mutual element or movement
Orientation, relative position, direction." proximal end " and " distal end ", " upper end " and " lower end " not be it is restrictive, still " proximal end ", " under
End " is often referred to one end that the Medical Devices depend on proximal operator in course of normal operation, and " distal end ", " upper end " typically refer to far
One end from operator.
Embodiment one
As shown in Figure 1 and Figure 2, the snakelike surgical instrument with auxiliary fixing device of the invention includes handheld terminal 1, auxiliary
Fixed device 3.Auxiliary fixing device 3 and handheld terminal 1 are removably installed.In use, snakelike surgical instrument can be solid by assisting
Determine device 3 and the wrist of doctor is fixed, and auxiliary fixing device can be fitted closely with the wrist of doctor, is grasped for doctor
Make hand-held apparatus and support is provided, and does not influence the operation of doctor.It is preferred that snakelike surgical instrument further includes instrument 2, the instrument 2
It is detachably connected or is fixedly connected with the handheld terminal 1.
As shown in Fig. 2, the handheld terminal 1 includes handgrip 11, control structure 12 and wrist part structure 14.The manipulation knot
Structure 12 is connect by the wrist part structure 14 with the proximal end of the handgrip 11, it is preferable that the proximal end with the handgrip 11
Distal end connection.The instrument 2 is connect with the distal end of the handgrip 11.Auxiliary fixing device 3 include connecting plate 31,
Arm fixation ring 34.The distal end of the connecting plate 31 is equipped with an instrument interface 32, for the connecting plate 31 and handgrip 11
It is detachably connected.The arm fixation ring 34 passes through the arm interface 33 of a movable proximal end for being set to the connecting plate 31
It is detachably connected with the distal end of the connecting plate 31.
Further as shown in Figure 3, Figure 4, connecting plate 31 is detachably connected by instrument interface 32 with handgrip 11, and
Connecting plate 31 is configured as being adapted with the bottom shape of the handgrip 11 of the handheld terminal 1 of snakelike surgical instrument.Specifically, institute
Stating handgrip 11 includes main component 111, the proximal end mounting base 112 positioned at 111 proximal end of main component and the peace of the distal end positioned at distal end
Seat 113 is filled, wherein the main component 111 is C-shaped.The distal end of the proximal end mounting base of the handgrip 11 and the wrist part structure
14 connections.The L-shaped design of the connecting plate 31, including main part 311, and the extension positioned at 311 distal end of main part
Portion 312.In the present embodiment, the main part 311 of connecting plate is a plate-like structure, and the width of plate is not less than handgrip
11 width, the length of plate are then greater than the axial length of the main component 111 of handgrip 11.In the present embodiment, main component 111
Axial length refer in distal end mounting base 113 to the direction of proximal end mounting base 112, the length of main component 111.Implement in others
In example, main part 311 or other shapes, as long as can be adapted with handgrip 11.
Further, the cross section of the extension 312 accommodates the distal end mounting base of the handgrip 11 in U-typed
113, specifically, the extension 312 includes a pair of side plates 313 that plate distal end two sides are arranged in, wherein the pair of side
The distance between plate 313 is more than or equal to the width of the distal end mounting base 113.Preferably, the side plate 313 and connecting plate 31
Angle between main part 311 is obtuse angle, for being adapted to the arcuate shape of handgrip 11.The instrument interface 32 is arranged in institute
The distal end of side plate 313 is stated, for realizing being detachably connected between connecting plate 31 and the distal end of handgrip 11.
Preferably, connecting plate 31 can be used the modes such as 3D printing, injection molding and be integrally formed.Further, the material of connecting plate 31
It can be high molecular material, to mitigate the weight of auxiliary fixing device, it is preferred that the high molecular material can be polycarbonate
(Polycarbonate, PC), nylon (polyamide, nylon), polyphenylene sulphone resin (Polyphenylene sulfone
Resins, PPSU), one of polyetherimide (Polyetherimide, PEI) or a variety of.
Preferably, connecting plate 31 can be first use, or can be to repeatedly use.
Preferably, instrument interface 32 includes the first major arc of a pair slot 321 that 313 distal end of a pair of side plates is arranged in.Each side
313 distal end of plate is respectively equipped with a first major arc slot 321.Accordingly, it is arranged in the distal end mounting base 113 of handgrip 11
Two sides be respectively equipped with a pin shaft 114.The pin shaft 114 can be connected in the first major arc slot 321, and dress is auxiliarily fixed in realization
The Fast Installation set.As shown in figure 5, the axis of the first major arc slot is first axle 51, the handheld terminal 1 of snakelike surgical instrument can be around
First axle 51 rotates.
The movable proximal end that connecting plate 31 is set of the arm interface 33.Arm fixation ring 34 can pass through arm interface
33 are connected to the proximal end of connecting plate 31.When auxiliary fixing device 3 is mounted on snakelike surgical instrument handheld terminal 1, arm fixation ring
34 can be fixed on the arm of doctor, wherein between the proximal end mounting base 112 of the handgrip 11 of arm interface 33 and handheld terminal 1
It is advisable every the palm part that can accommodate doctor without influencing doctor's operation instrument.Preferably, the arm interface 33 is arranged
It is adjustable for the position on the connecting plate 31, and then the opposite position of adjustable arm fixation ring 34 and handgrip 11
It sets, to adapt to the operation of different doctors.Specifically, the arm interface 33 is configured as the side along the proximal end of connecting plate to distal end
It is adjustable in the position of the connecting plate 31 to A.
Specifically, as shown in figs 6-8,31 proximal end of connecting plate is provided with position regulator, for adjusting the arm
Position of the interface 33 on the connecting plate.Correspondingly, the downside of the arm interface 33 be additionally provided with interconnecting piece for it is described
Position regulator coupling.
Further, as shown in fig. 6, in a specific structure, the position regulator includes that a connecting plate is close
The groove 314 and the second major arc of multiple groups slot 35 at end.The interconnecting piece includes ontology 361, and 361 two sides of ontology are equipped with solid
Rationed marketing axis 362, the ontology 361 can move on the direction in the groove 314 along the connecting plate proximal end to distal end.Example
Such as, the groove 314 is rectangular recess, and length is set greater than the length of the interconnecting piece ontology 361 of arm interface 33,
The width of width and the ontology 361 of the interconnecting piece matches, wherein the direction where length be 31 proximal end of connecting plate extremely
The direction of distal end.Along the length direction of the interconnecting piece, it is arranged at intervals with second described in multiple groups in the two sides of the groove 314
Major arc slot 35.The interconnecting piece is provided with fixed pin shaft 362 on perpendicular to direction of the connecting plate proximal end to distal end, described
Fixed pin shaft 362 is detachably mounted in the second major arc slot 35.Therefore, in the present embodiment, fixed pin shaft 362 selectively with
One group of second major arc slot 35 therein cooperation, so that arm interface 33 is allow to be contained in the different location of position regulator,
And then realize the link position for adjusting the arm interface 33 and the connecting plate 31, to adjust arm interface 33 and surgical device
Distance between the handheld terminal 1 of tool.The interval of the second major arc of multiple groups slot 35 can be equal or unequal.Preferably,
The quantity of two major arc slots 35 is three groups.
In addition, the position regulator can also be adjusted in another achievable embodiment for stepless changing
Arm interface 33 between the handheld terminal 1 of surgical instrument at a distance from.Specifically, the position regulator includes guide rail slide block dress
It sets, wherein guide rail is arranged along the direction of the proximal end of connecting plate 31 to distal end, and sliding block is movably disposed on the guide rail.Phase
It answers, the interconnecting piece of the arm interface 33 is detachably connected or is fixedly connected with the sliding block.By the adjustment of slide position,
At a distance from realizing adjusting arm interface 33 between the handheld terminal 1 of surgical instrument.Further, the position regulator further includes
Have locking structure, with after slide position is adjusted by slider locks.
In other examples, arm fixation ring 34 can also be rotationally connected with connecting plate 31 by arm interface 33
On.The interconnecting piece has at least one rotational freedom, rotates the arm fixation ring 34 relative to the connecting plate 31,
To adapt to rotate the demand of wrist when doctor's operation.
As shown in figs 6-8, in a preferred embodiment, the interconnecting piece is Hooke's hinge structure 331, the Hooke's hinge
There are two rotational freedoms for the tool of structure 331.Further, the arm interface 33 further includes rotation connection axis 332.Arm fixation ring
34 are connect by being rotatablely connected axis 332 with Hooke's hinge structure 331.Further, rotation connection axis 332 can be relative to the Hooke's hinge
Structure 331 is rotated around the 6th axis (i.e. the axis of connecting shaft 332), to drive arm fixation ring 34 can be relative to the company
31 rotation of fishplate bar forms third rotation freedom degree.
Further, as shown in figure 9, Hooke's hinge structure 331 includes the first inside casing 3312 and the first outline border 3313, wherein
First outline border 3313 is connect with connecting plate 31 by fixed pin shaft 362, and can surround the second axis 52 of fixed pin shaft 362
Carry out the second rotational motion.It is preferred that first outline border 3313 is rotatably connected with position regulator by fixed pin shaft 362
It connects, so in the posture of adjustment Hooke's hinge structure 331 at the same time it can also adjusting Hooke's hinge structure 331 in the position of connecting plate 31.
The specific structure of the position regulator is similar to the above embodiments, such as the fixed pin shaft 362 can surround the second axis
Line 52 and the second major arc slot 35 are rotatablely connected, and carry out the second rotational motion around second axis 52, alternatively, the fixation
Pin shaft 362 can be rotatablely connected with the sliding block, and carry out the second rotational motion around second axis 52.First inside casing
3312 and first outline border 3313 be rotatablely connected, and can around third axis 53 carry out third rotational motion.Preferably, described second
Axis 52 is vertical with third axis 53, to realize the decoupling of the second rotational motion and third rotational motion.Preferably, first axle
51 is parallel with second axis 52, in favor of operator's surgical procedure.Further, first inside casing 3312 is provided centrally with through-hole
3314, rotation connection axis 332 is rotatably mounted in the through-hole 3314 of the first inside casing 3312.Preferably, the arm interface
33 further include axle elastic spring 336, and the first inside casing 3312 is respectively provided with groove, axis with the corresponding position on rotation connection axis 332
It may be provided at the first inside casing 3312 with elastic spring 336 and be rotatablely connected in the groove of axis 332.The axle-steel silk gear as a result,
Circle 336 can limit the movement of rotation connection axis 332 in the axial direction, and allow to be rotatablely connected axis 332 rotatable around its axis.
Preferably, the arm interface 33 further includes rotation connection block 333, attachment screw 335.The arm fixation ring 34
It is fixed on rotation connection block 333 by attachment screw 335.It is further preferred that being arranged between attachment screw 335 and arm fixation ring 34
Attachment spacers 334.It is preferred that axle elastic spring 336 is arranged in about 333 two sides of rotation connection block.Be rotatablely connected block 333 with
Corresponding position on rotation connection axis 332 is respectively provided with groove, and axle elastic spring 336 may be provided at rotation connection block 333 and turn
In the dynamic corresponding groove of connecting shaft 332.In this way, axle elastic spring can limit the same of the axial movement of rotation connection axis 332
When, allow rotation connection axis 332 to rotate around its own axis.It is opposite with rotation connection axis 332 by rotation connection block 333
Rotation, arm fixation ring 34 are able to achieve rotational motion relative to Hooke's hinge 331.In addition, rotation connection axis 332 is around its own axis
Rotation, arm fixation ring 34 are also able to achieve rotational motion relative to Hooke's hinge 331.
As shown in Figure 10, the connection structure of arm fixation ring 34 including adjustable in length, can according to doctor's arm size into
Row adjusts the arm fixation ring 34 for forming different inner diameters, at low cost and easy to operate.For example, arm fixation ring 34 is using circle burr
Hair (LOOP-HOOK) structure, hinge snap-in structure etc..Arm fixation ring 34 can be two-piece type or single piece type.In the present embodiment,
The arm fixation ring 34 is single piece type, i.e., the both ends of the described arm fixation ring 34 are separable to link together (for example, viscous
Knot, clasp joint or engaging), both ends can be operable to adjustment length, and between the both ends of the arm fixation ring 34 part with
The operation interface 33 connects.For example, arm fixation ring 34 is single piece type velcro.As shown in fig. 6, the arm fixation ring 34
One end be circle hair, the other end is seta, and the two can be with clasp joint together.
In addition, arm fixation ring 34 can be the connection structure for being partially provided with adjustable in length.For example, two leaf length are not
Adjustable arcuate structure, centre use length-adjustable bandage as connection structure, can equally reach and adjust arm fixation ring
The purpose of 34 internal diameters.
In use, as depicted in figs. 11-12, by arm fixation ring 34, rotation connection block 333, rotation connection axis 332, Hooke
Hinged structure 331 is sequentially connected, and realizes that arm fixation ring 34 is connect with arm interface 33.
Connecting plate 31 is connect with the handheld terminal 1 of surgical instrument by instrument interface 32, surgical instrument can be relative to connection
Plate 31 is rotated around first axle 51.
It is preferred that the fixation position of arm interface 33 with connecting plate 31 is adjusted, to adapt to cure by position regulator
The size and operating habit of green hand's arm improve the comfort level of doctor's operation.
In surgical procedure, the quick dismounting and change of surgical instrument and auxiliary fixing device can be realized by instrument interface 32.
In the embodiment shown in fig. 12, instrument 2 includes serpentine configuration 21, end effector 22, the snakelike surgical device
Tool further includes connection structure 23, and the handheld terminal 1 drives the end effector 22 to move by the connection structure 23.At this
In embodiment, the connection structure 23 is configured as that the serpentine configuration 21 is driven to move and move with the control structure 12,
And then so that end effector 22 move and is moved with the control structure 12, it is preferable that the direction of motion of the serpentine configuration 21 and
The direction of motion of the control structure 12 of the handheld terminal 1 is identical.Figure 13 also shows the freedom of motion of snakelike surgical instrument.Tool
Body, there are two freedom degrees for the tool of wrist part structure 14, and the first freedom degree R1 ', the second freedom degree R2 ' can surround the first device
Tool axis L1 does the first pendulum motion (being pitching in the present embodiment), can do the second swing around the second instrument axis L2
Movement (being the yaw motion of left and right in the present embodiment).The serpentine configuration 21 tool, can be around the there are two freedom degree R5, R6
Five instrument axis L5 do the 5th rotational motion (being pitching in the present embodiment), can do the 6th around the 6th instrument axis L6
Rotational motion (being the yaw motion of left and right in embodiment).Further, the control structure 12 drive the wrist part structure 14 around
First instrument axis L1 pitching shape, and serpentine configuration 21 is driven to put accordingly around the 5th instrument axis L5 ground in the same direction pitching
It is dynamic, thus the pitching for driving end effector 22 in the same direction, it is preferable that the first instrument axis L1 and the 5th instrument axis L5 is flat
Row, further, the first instrument axis L1 is parallel with the second axis 52 of the arm interface 33；The control structure 12
It drives the wrist part structure 14 to deflect around the second instrument axis L2 to swing, and drives serpentine configuration 21 around corresponding 6th instrument axis
L6 deflects swing in the same direction, so that the deflection for driving end effector 22 in the same direction is swung, it is preferable that the second instrument axis L2 and the 6th
Instrument axis L6 is parallel, and further, the second instrument axis L2 is parallel with the 6th axis L6 of the arm interface.By
This, there are two freedom degree R5 ', R6 ' for the end effector tool.
In the present embodiment, the end effector 22 is not particularly limited, can by doctor according to operation need into
Row selection, such as can have valve end effector for scissors, nipper, clamp, tweezers and other multiplexings, it can also add for resistance
The electrodynamic types end effector such as hot device, motor drove element, certain end effector 22 can also need to be selected as according to doctor
The single tools valve end effector such as other forms, such as hook.
Since the type of end effector is different, the snakelike surgical instrument can have different freedom degrees.For example, institute
Stating end effector 22 includes an at least tool valve, as shown in figure 12.At this point, end effector 22 increases one degree of freedom.?
In one preferred embodiment, as shown in figure 12, the end effector 22 is pliers.Therefore, end effector 22 also has
Three degree of freedom, i.e. folding freedom degree R7, to complete holding action.Referring to Figure 12, correspondingly, handheld terminal 1 further includes being located at
Folding control device 13 on control structure 12, the folding control device 13 can be rotated relative to control structure 12, form the
Three Degree Of Freedom R3, to control the open and close movement of end effector 22, and the motion configuration of the folding control device 13 of handheld terminal
Be configured as it is identical as the folding configuration of end effector 22, i.e., folding control device 13 open, end effector 22 execution beat
Operation is opened, folding control device 13 is closed, and end effector 22 executes shutoff operation, completes holding action.
In another preferred embodiment, the control structure 12 of handheld terminal 1 also has four-degree-of-freedom R4, can be relative to
Wrist part structure 14 is around own axes L4 rotation；Correspondingly, end effector 22 can be relative to the serpentine configuration 21 around itself
Axis rotation, and then there is eight degrees of freedom R8, the corresponding end effector is provided with rotation freedom degree R8 '.The company
Binding structure 23 is configured as that the end effector 22 is driven to transfer rotation certainly with the control structure 12, it is preferable that the end
Hold the sense of rotation of actuator 22 identical as the sense of rotation of control structure 12 of the handheld terminal 1.
It is further preferred that the handheld terminal 1 of snakelike surgical instrument be it is reusable, instrument 2 is designed as disposably
Or be designed as can limited times use, the quick dismounting and change that handheld terminal 1 and instrument 2 pass through quick-release connector realization instrument.
Quick-release connector is the component that quick change function can be achieved, and can be realized in conjunction with connection structure 23 by the pitching of handheld terminal
Movement and/or yaw motion and/or open and close movement and/or spinning motion pass to instrument 2, to maintain the normal of surgical instrument
Function.
The operation auxiliary fixing device of the present embodiment, when operation, are connected to the handheld terminal 1 of snakelike surgical instrument, surgical procedure
In, arm fixation ring 34 and the wrist of doctor are fixed, and are operated hand-held apparatus for doctor and are provided support, to reduce to doctor
The damage of wrist.
Embodiment two
Difference with embodiment one is that in the present embodiment, arm interface 33 includes Bracelet structure 4 shown in Figure 14.
Further as shown in figure 15, the proximal end of the connecting plate 31 also passes through connecting shaft 40 and is provided with a support frame 41, and the arm connects
Mouth 33 is rotatably connected with the support frame 41.It is preferred that the axis of the connecting shaft 40 is perpendicular to the connecting plate 31.Into one
Step, Bracelet structure 4 include bracelet outline border 42, bracelet inside casing 43, and the bracelet outline border 42 is located inside the support frame 41, described
Bracelet inside casing 43 is located at the inside of the bracelet outline border 42.Arm fixation ring 34 is set to the inside of bracelet inside casing 43.It is preferred that institute
Support frame 41, bracelet outline border 42, bracelet inside casing 43 is stated to be ring structure and be arranged concentrically.
As shown in figures 15-16, support frame 41 is semi-circular, and through-hole (not labeled) is arranged in middle part and both ends, wherein propping up
By the setting of connecting shaft 40 in 31 proximal end of connecting plate in the middle part of support frame 41, so that support frame 41 can rotate or consolidate relative to connecting plate 31
Fixed setting, in the present embodiment, support frame 41 is fixedly installed relative to connecting plate 31.
Bracelet outline border 42 is annular, and bracelet outline border 42 is arranged in 41 inside of support frame, and bracelet outline border 42 is diametrically
Location hole is arranged in direction, and the through-hole of the position and 41 both ends of support frame of location hole is correspondingly arranged, can be by hand by locating shaft 44
Ring outline border 42 and support frame 41 are rotatablely connected.The axis of locating shaft 44 is defined as four axistyle 54, and bracelet outline border 42 can be around
Four axistyle 54 rotates, and so that arm interface 33 is had pitch freedom, can make pitching movement.It is preferred that four axistyle 54 is parallel to
First instrument axis L1 to adapt to the first pendulum motion of wrist part structure 14, and guarantees bracelet outline border 42 and wrist part structure 14
Pitching movement is preferably synchronous.
Bracelet inside casing 43 is semi-circular, and in 42 inside of bracelet outline border, both ends are respectively arranged with pin shaft 45 for setting.Accordingly
, third major arc slot 421 is disposed radially on bracelet outline border 42, bracelet inside casing 43 can pass through pin shaft 45 and bracelet outline border 42
Realize the rotation connection of quick distachable.The centreline definition of third major arc slot 421 is the 5th axis 55, and the 5th axis 55 passes through
The center O of arm interface 33, preferably the 5th axis 55 are vertical with four axistyle 54.Bracelet inside casing 43 can be revolved around the 5th axis 55
Turn, makes arm interface 33 that there is deflection freedom degree, yaw motion can be made, to adapt to the second pendulum motion of wrist part structure 14.
Ibid, arm fixation ring 34 includes the connection structure of adjustable length, such as can be using circle burr hair (LOOP-
HOOK) structure, hinge snap-in structure etc..Arm fixation ring 34 can be two-piece type or single piece type.In the present embodiment, the arm
Fixed ring 34 is two-piece type, and one end of every arm fixation ring 34 is fixed on the inside of bracelet inside casing 43, two panels arm fixation ring
34 free end is separable to link together (for example, bonding, clasp joint or engaging), and constitutes together with the bracelet inside casing 43
Annular.For example, arm fixation ring 34 is two-piece type velcro.As shown in figure 15, one end of every arm fixation ring 34 can pass through
Pin shaft 45 is fixed on the inside of bracelet inside casing 43, and another free end of a piece of arm fixation ring 34 is circle hair, and another arm is solid
Another free end for determining ring 34 is that seta, as a result, arm fixation ring 34 and bracelet inside casing 43 cooperate, and forms the ring that can fix arm
Shape.Since the length of arm fixation ring 34 is adjustable, to adapt to the operating habit of different operation doctors.The arm fixation
Ring 34 can also be other forms, and the present invention is not particularly limited this, as long as the arm fixation ring 34 can adjust hand
It is constant 34 length of arm fixation ring to be able to maintain under the conditions of certain effect power while arm 34 length of fixed ring.
In use, the arm 9 of operation doctor protrudes into bracelet inside casing 43, arm fixation ring 34 can bonding portion according to operation
The arm size of doctor is adjusted, and is firstly fixed on arm fixation ring 34 and bracelet inside casing 43 on the arm of operation doctor, is such as schemed
Shown in 17, the length of arm fixation ring 34 is adjusted, adapts it to the arm size of operation doctor.It operates doctor and hand is passed through into bracelet
Two pin shafts of outline border 42, bracelet inside casing 43 can be caught in the major arc slot of bracelet outline border 42, realize the connection of arm interface, such as Figure 18
It is shown.
Other components of the present embodiment are identical with embodiment one, repeat no more.
The operation auxiliary fixing device of the present embodiment, when operation, are connected to the handheld terminal 1 of snakelike surgical instrument, surgical procedure
In, arm fixation ring 34 and the wrist of doctor are fixed, and are operated hand-held apparatus for doctor and are provided support, to reduce to doctor
The damage of wrist.
Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield all should be considered as described in this specification.
Only several embodiments of the present invention are expressed for above embodiments, and the description thereof is more specific and detailed, but can not
Therefore it is construed as limiting the scope of the patent.It should be pointed out that for those of ordinary skill in the art,
Under the premise of not departing from present inventive concept, various modifications and improvements can be made, and these are all within the scope of protection of the present invention.
Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (30)
1. a kind of operation auxiliary fixing device for snakelike surgical instrument characterized by comprising
Connecting plate, wherein the distal end of the connecting plate have instrument interface, by the instrument interface, the connecting plate with it is described
Snakelike surgical instrument is detachably connected；
Arm fixation ring is connected by the arm interface of a movable proximal end for being set to the connecting plate with the connecting plate
It connects.
2. operation auxiliary fixing device according to claim 1, which is characterized in that the connecting plate includes main part,
The distal end of the main part is equipped with extension, and the instrument interface is set to the extension.
3. operation auxiliary fixing device according to claim 2, which is characterized in that the extension is described including being set to
A pair of side plates of the two sides of the distal end of connecting plate, the instrument interface include that a pair first for being arranged on the pair of side plate is excellent
Arc slot.
4. operation auxiliary fixing device according to claim 2, which is characterized in that the arm fixation ring includes a length
Adjustable connection structure, to adjust the internal diameter of the arm fixation ring.
5. operation auxiliary fixing device according to claim 1, which is characterized in that the arm interface is configured as in institute
The position for stating connecting plate is adjustable, and then adjustable arm fixation ring is on the direction of the proximal end of connecting plate to distal end, and holds
Hold the relative position of structure.
6. operation auxiliary fixing device according to claim 5, which is characterized in that the connecting plate includes that position adjusts dress
It sets, for adjusting position of the arm interface on the connecting plate；
The downside of the arm interface is equipped with interconnecting piece, and the interconnecting piece is coupled with the apparatus for adjusting position.
7. operation auxiliary fixing device according to claim 6, which is characterized in that the position regulator includes being located at
The groove and multiple groups the second major arc slot of the connecting plate proximal end, the second major arc slot along the interconnecting piece length direction,
It is arranged at intervals on the two sides of the groove；
The interconnecting piece includes ontology, and the two sides of the ontology are respectively equipped with fixed pin shaft, and the ontology can be in the groove
Middle to move along the connecting plate proximal end to the direction of distal end, the fixed pin shaft and any group of the second major arc slot can be detachable
Connection.
8. operation auxiliary fixing device according to claim 6, which is characterized in that the position regulator includes guide rail
Slide block device, the guide rail are arranged along the direction of the proximal end of connecting plate to distal end, and sliding block is movably disposed on the guide rail,
The interconnecting piece of the arm interface is detachably connected or is fixedly connected with the sliding block.
9. operation auxiliary fixing device according to claim 1, which is characterized in that the arm fixation ring passes through the hand
Arm interface is rotationally connected on the connecting plate.
10. operation auxiliary fixing device according to claim 9, which is characterized in that the arm interface side is equipped with connection
Portion, the interconnecting piece has at least one rotational freedom, so that the arm fixation ring is rotated relative to the connecting plate.
11. operation auxiliary fixing device according to claim 10, which is characterized in that the interconnecting piece includes that Hooke is hinged
Structure, the Hooke's hinge have the first inside casing and the first outline border, and first outline border is around second axis relative to the connecting plate
The second rotational motion is carried out, first inside casing carries out third rotational motion relative to first outline border around third axis；
The arm interface further includes rotation connection axis, and the arm fixation ring is set in described first by being rotatablely connected axis
Frame.
12. operation auxiliary fixing device according to claim 11, which is characterized in that first inside casing has through-hole,
The arm fixation ring is installed in rotation in the through-hole by the rotation connection axis.
13. operation auxiliary fixing device according to claim 11 or 12, which is characterized in that the arm interface further includes
It is rotatablely connected block, attachment screw, the arm fixation ring is fixed on rotation connection block by attachment screw, the rotation connection
Block and the rotation connection axis connection.
14. operation auxiliary fixing device according to claim 11, which is characterized in that the arm fixation ring is a piece of
Formula links together wherein the both ends of the arm fixation ring are separable, between the both ends of the arm fixation ring part with
The operation interface connection.
15. operation auxiliary fixing device according to claim 9, which is characterized in that the proximal end of the connecting plate is additionally provided with
One support frame, the arm interface and the support frame are rotatablely connected.
16. operation auxiliary fixing device according to claim 15, which is characterized in that the arm interface includes bracelet knot
Structure, the Bracelet structure include bracelet outline border, bracelet inside casing, and the bracelet outline border is located inside the support frame and and support frame
Rotation connection, the bracelet inside casing are located inside the bracelet outline border and are rotatablely connected with bracelet outline border, the arm fixation ring
The inside of the bracelet inside casing is set.
17. operation auxiliary fixing device according to claim 16, which is characterized in that the bracelet outline border surrounds the 4th axis
Line is rotated relative to the support frame, and the bracelet inside casing is rotated around the 5th axis relative to the bracelet outline border；Described
Five axis are perpendicular to the four axistyle.
18. operation auxiliary fixing device according to claim 16, which is characterized in that it is excellent that the bracelet outline border is equipped with third
Arc slot, the bracelet inside casing are equipped with pin shaft, and the pin shaft is removably rotatablely connected with the third major arc slot.
19. operation auxiliary fixing device according to claim 16, which is characterized in that the bracelet inside casing is semi-circular knot
Structure, the arm fixation ring are two-piece type, and one end of every arm fixation ring is fixed on the inside of bracelet inside casing, and two panels arm is solid
The free end for determining ring separable link together and constitutes annular together with the bracelet inside casing.
20. operation auxiliary fixing device according to claim 19, which is characterized in that the free end of two panels arm fixation ring
Connection type be bonding, clasp joint or engaging.
21. a kind of snakelike surgical instrument characterized by comprising
Handheld terminal,
Operation auxiliary fixing device as described in claim 1,
The handheld terminal is detachably connected by the instrument interface and the fixed device.
22. snakelike surgical instrument according to claim 21, which is characterized in that further include:
The handheld terminal is rotated around first axle relative to the fixed device；
The arm interface of the fixed device is rotated around second axially with respect to the connecting plate；
The first axle is parallel to each other with second axis.
23. snakelike surgical instrument according to claim 21, which is characterized in that further include:
The handheld terminal, including handgrip, wrist part structure and control structure, the handgrip is with proximal end mounting base and far
Mounting base is held, the control structure is connected to the proximal end mounting base of handgrip by wrist part structure；
The instrument interface includes a pair of first major arc slot, and the two sides of the distal end mounting base are equipped with and the pair of first major arc
A pair of of pin shaft of slot cooperation.
24. snakelike surgical instrument according to claim 21, which is characterized in that the wrist part structure surrounds the first apparatus axis
Line carries out rotational motion, and the arm interface can carry out rotational motion around second axis；The second axis and first axle device
Tool axis is parallel.
25. snakelike surgical instrument according to claim 24, which is characterized in that the wrist part structure surrounds the second apparatus axis
Line carries out rotational motion, and the arm interface can carry out spinning motion around the 6th axis；6th axis and the second instrument
Axis is parallel.
26. snakelike surgical instrument according to claim 21, which is characterized in that further include:
Instrument, the instrument are detachably connected or are fixedly connected with the handheld terminal.
27. snakelike surgical instrument according to claim 26, which is characterized in that further include:
Connection structure；
The instrument, including end effector；
The connection structure is configured as that the end effector is driven to move with the hand-held end motion.
28. snakelike surgical instrument according to claim 21, which is characterized in that the proximal end of the connecting plate is additionally provided with one
Support frame, the arm interface and the support frame are rotatablely connected, and the arm interface includes Bracelet structure, the Bracelet structure packet
Bracelet outline border, bracelet inside casing are included, the bracelet outline border is located inside the support frame and is rotatablely connected with support frame, the bracelet
Inside casing is located inside the bracelet outline border and is rotatablely connected with bracelet outline border, and the arm fixation ring is arranged in the bracelet inside casing
Inside；The bracelet outline border is rotated around four axistyle relative to the support frame, and the bracelet inside casing surrounds the 5th axis
It is rotated relative to the bracelet outline border；The bracelet outline border is rotated around four axistyle relative to the support frame, the bracelet
Inside casing is rotated around the 5th axis relative to the bracelet outline border；5th axis is perpendicular to the four axistyle.
29. snakelike surgical instrument according to claim 28, which is characterized in that the wrist part structure surrounds the first apparatus axis
Line carries out rotational motion, and the first axle instrument axis is parallel with four axistyle.
30. snakelike surgical instrument according to claim 29, which is characterized in that the wrist part structure surrounds the second apparatus axis
Line carries out rotational motion；Second instrument axis is parallel with the 5th axis.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810939941.XA CN109009262B (en) | 2018-08-17 | 2018-08-17 | A supplementary fixing device of operation and snakelike surgical instruments for snakelike surgical instruments |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810939941.XA CN109009262B (en) | 2018-08-17 | 2018-08-17 | A supplementary fixing device of operation and snakelike surgical instruments for snakelike surgical instruments |
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| CN109009262A true CN109009262A (en) | 2018-12-18 |
| CN109009262B CN109009262B (en) | 2021-06-08 |
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| US20200179651A1 (en) * | 2017-06-29 | 2020-06-11 | Deam Holding B.V. | Medical device with flexible tip |
| CN111658025A (en) * | 2020-06-12 | 2020-09-15 | 武汉联影智融医疗科技有限公司 | Attachment device and remote access instrument |
| WO2021249550A1 (en) * | 2020-06-12 | 2021-12-16 | 武汉联影智融医疗科技有限公司 | Wrist attachment assembly, control handle, serial movement mechanism, and minimally invasive surgical instrument |
| WO2024036872A1 (en) * | 2022-08-19 | 2024-02-22 | 武汉联影智融医疗科技有限公司 | Handheld instrument |
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| CN107072684A (en) * | 2015-04-15 | 2017-08-18 | 弗莱克斯德克斯公司 | Attachment arrangement for remote access facilities |
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| CN101711703A (en) * | 2008-10-08 | 2010-05-26 | 王爱娣 | Bionic surgical Instrument |
| CN107072684A (en) * | 2015-04-15 | 2017-08-18 | 弗莱克斯德克斯公司 | Attachment arrangement for remote access facilities |
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| US20200179651A1 (en) * | 2017-06-29 | 2020-06-11 | Deam Holding B.V. | Medical device with flexible tip |
| US11679237B2 (en) * | 2017-06-29 | 2023-06-20 | Deam Holding B.V. | Medical device with flexible tip |
| CN111658025A (en) * | 2020-06-12 | 2020-09-15 | 武汉联影智融医疗科技有限公司 | Attachment device and remote access instrument |
| WO2021249550A1 (en) * | 2020-06-12 | 2021-12-16 | 武汉联影智融医疗科技有限公司 | Wrist attachment assembly, control handle, serial movement mechanism, and minimally invasive surgical instrument |
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|---|---|
| CN109009262B (en) | 2021-06-08 |
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