CN109009264A - Snakelike surgical instrument - Google Patents
Snakelike surgical instrument Download PDFInfo
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- CN109009264A CN109009264A CN201810971612.3A CN201810971612A CN109009264A CN 109009264 A CN109009264 A CN 109009264A CN 201810971612 A CN201810971612 A CN 201810971612A CN 109009264 A CN109009264 A CN 109009264A
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- surgical instrument
- handgrip
- wrist
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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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
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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
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
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- Life Sciences & Earth Sciences (AREA)
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- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
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- 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)
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Abstract
The present invention relates to a kind of snakelike surgical instruments, including handheld terminal, handheld terminal includes handgrip, wrist part structure and control structure, and it is detachably connectable to the interchangeable instrument of handgrip, sterile bag, it can be operable to cover to the outer surface of handgrip and be removed from handgrip, sterile bag has the wrist end cap ring for being sequentially connected and being connected to, sterile bag ontology and instrument end cap ring, sterile bag is covered at the outer surface of the handgrip, the wrist end cap ring of sterile bag seals the junction between control structure and wrist part structure, instrument end cap ring seals the junction of interchangeable instrument and handheld terminal.By covering the sterile bag on handgrip, the sealing to wrist part structure and operation structural attachments may be implemented, and the junction of interchangeable instrument and handheld terminal is sealed, so that in surgical procedure, handheld terminal is at germ-free condition, it prevents from avoiding postoperative sterilization, and avoids damaging the internal component in handheld terminal.
Description
Technical field
The present invention relates to the field of medical instrument technology, more particularly to a kind of snakelike surgical instrument.
Background technique
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.But due to the end movement direction of traditional snakelike surgical instrument and operating side
It operates contrary, increases the operation difficulty of doctor, increase operation risk.
The handheld terminal that surgeon operates snakelike surgical instrument is performed the operation, to keep the operating area adjacent with patient
Aseptic condition, reusable snakelike surgical instrument need postoperative Integral cleaning disinfection, but the drive of the surgical instrument of electric drive
Dynamic device, sensing device, electrical connector etc. generally can not be carried out disinfection using conventional method, such as steam, heat, pressure or chemistry
Product etc. may damage internal component.
In addition, need to prepare in surgical procedure it is more the snakelike surgical instrument with identical/different end effector, it is both unrestrained
Expense resource has aggravated the burden of patient again.And traditional replaceable snakelike surgical instrument designs complexity mostly, it is expensive.
Summary of the invention
Based on this, it is necessary to caused by being sterilized after surgery for reusable snakelike surgical instrument set forth above
Problem provides a kind of snakelike surgical instrument.
A kind of snakelike surgical instrument, comprising: handheld terminal, including handgrip, wrist part structure and control structure, the gripping
Structure has proximal end mounting base and distal end mounting base, and the control structure is pacified by the proximal end that wrist part structure is connected to handgrip
Seat is filled, and is detachably connected between the control structure and wrist part structure；
Interchangeable instrument is detachably connectable to the distal end mounting base.
Above-mentioned snakelike surgical instrument, detachable connection between handheld terminal and interchangeable instrument is, it can be achieved that quick-replaceable, design
Simply, convenient sterilizing.
In one of the embodiments, further include sterile bag, can be operable to cover to the outer surface of the handgrip
And removed from the handgrip, the sterile bag have be sequentially connected and be connected to wrist end cap ring, sterile bag ontology and
Instrument end cap ring, the sterile bag are covered at the outer surface of the handgrip, and the wrist end cap ring of the sterile bag will be described
Junction sealing between control structure and wrist part structure, the instrument end cap ring is by the connection of the interchangeable instrument and handheld terminal
Place's sealing.
The wrist part structure is set to the distal face of the proximal end mounting base, the wrist knot in one of the embodiments,
Structure and control structure are detachably connected by interface.
The interface includes the connecting column that the proximal end of the control structure is arranged in one of the embodiments, and is set
The hollow connecting shaft set on the wrist part structure and matched with the connecting column, the connecting column and hollow connecting shaft are removable
Unload connection.
The interface further includes the axial limiting knot to limit connecting column axial movement in one of the embodiments,
Structure, and the circumferential position limiting structure of limitation connecting column circumferential direction rotation.
The circumferential position limiting structure includes being located at the surface of the connecting column and along connecting column in one of the embodiments,
The connector being axially arranged, and set on hollow connection column wall and along the first axially extending locating slot of hollow connecting column,
A positioning groove with the connector for matching to limit the rotation of connecting column circumferential direction；The axial limit structure includes
In the second circumferentially arranged locating slot of the surface of connecting column, and the elastic positioning device of the through-hole wall is set, it is described
Elastic positioning device is mutually snapped connection with second locating slot to limit connecting column axial movement.
The elastic positioning device is the elastic bumps of at least one in one of the embodiments,.
It is connected between the control structure and the connecting column by a bearing in one of the embodiments, to realize behaviour
Control spinning motion of the structure relative to the wrist part structure.
The proximal end of the control structure includes a bearing mounting base, the outer ring of the bearing in one of the embodiments,
It is fixedly connected with the bearing mounting base；The distal end of the connecting column includes first order step, the radial direction of the first order step
It is upper to be fixedly connected with the inner ring of the bearing.
The connecting column further includes the second level step of the distal end of first order step in one of the embodiments, described
Second level step extends through the bearing mounting base, and, second level step is at the distal face close to the bearing mounting base
It is arranged one for accommodating the groove of circlip.
The interchangeable instrument includes sequentially connected serpentine configuration, tool support seat and end in one of the embodiments,
Hold actuator；
Quick-release connector, the interchangeable instrument are detachably connected with handheld terminal by the quick-release connector；
Transmission device；
The wrist part structure has at least one first rotational freedom；
The serpentine configuration has at least one the 5th rotational freedom；
The transmission device is configured as that the serpentine configuration is driven to carry out with the first rotational motion of wrist part structure
Five rotational motions.
The wrist part structure also has one second rotational freedom in one of the embodiments,；
The serpentine configuration also has one the 6th rotational freedom；
The transmission device is additionally configured to that the serpentine configuration is driven to carry out with the second rotational motion of wrist part structure
6th rotational motion.
The quick-release connector includes detachable connector driver in one of the embodiments, and the detachable connector drives
Dynamic device includes the first component being arranged on the handgrip, and the second component being arranged on interchangeable instrument, and described first
Component is detachably connected with second component, and moves synchronously.
The transmission device includes positioned at the first part of handheld terminal and positioned at interchangeable instrument in one of the embodiments,
Second part,
The proximal end of the first part is connect with the serpentine configuration, is distally connect with the first component, and is by matching
The first component is driven to move as serpentine configuration moves；
The proximal end of the second part is connect with the second component, is distally connect with the serpentine configuration, and be configured
To drive the serpentine configuration to move as second component moves.
It in one of the embodiments, further include the driving device being arranged on the handgrip, sensing device and control
Device processed,
The sensing device and the controller communicate to connect, for detecting the movement of the wrist part structure；
The controller controls described driving device driving described first according to the motion information of the transmitting of sensing device
Part movement；
The transmission device is located at the interchangeable instrument and is matched to connect the second component and the serpentine configuration
It is set to and the serpentine configuration is driven to move and move with second component.
The wrist part structure also has one second rotational freedom in one of the embodiments,；
The serpentine configuration also has one the 6th rotational freedom；
The first component is the first Hooke's hinge that the distal end mounting base of the handgrip is arranged in, the Hooke's hinge tool
There are nine-degree of freedom and the tenth freedom degree；
The sensing device detects the first rotational motion and the second rotational motion of the wrist part structure；
The controller controls the driving device driving described the according to the rotational motion information of the transmitting of sensing device
One Hooke's hinge does the 9th rotational motion and/or the tenth rotational motion；
The second component is the connector being arranged on interchangeable instrument, and first Hooke's hinge and connector are removably
Connection,
The transmission device is connect with the serpentine configuration, connector, is configured as that the serpentine configuration is driven to follow
9th rotational motion of one Hooke's hinge and carry out the 5th rotational motion, be additionally configured to drive the serpentine configuration to follow the first tiger
Gram hinge the tenth rotational motion and carry out the 6th rotational motion.
The transmission device includes the first driving wire group and second for being set to interchangeable instrument in one of the embodiments,
Driving wire group；
The driving device includes first motor and the second motor, and the first motor is for driving the first driving wire group to move
It is dynamic, second motor for driving the second driving wire group mobile, make the serpentine configuration follow the first Hooke's hinge movement and
Movement.
The quick-release connector further includes a locking strutcture in one of the embodiments, for limiting the first Hooke's hinge, connecting
Connect rotation and/or axial movement of the device along the circumferential direction of interchangeable instrument.
The end effector includes an at least tool valve, the tool valve and tool branch in one of the embodiments,
Support seat rotation connection, the handheld terminal further include can control structure movement relatively folding control device, the transmission fills
Setting further includes the first flexible transmission structure, and the folding control device controls the tool by first flexible transmission structure
Valve rotation.
The quick-release connector further includes the first connecting shaft in one of the embodiments, and removable with the first connecting shaft
The the first elastic telescopic column connected with unloading, the first connection axial proximal extend through the second component, first bullet
Property telescopic mast extends distally through the first component, and the driving device further includes third motor, and the sensing device is also
Including 3rd sensor, open and close movement of the 3rd sensor to detect the folding control device, the controller root
According to the signal that the 3rd sensor detects, the third motor output is controlled, the third motor passes through the first elastic telescopic
Column, the first connecting shaft drive the first flexible transmission structure.
Be configured as can be around own axes relative to the wrist part structure for the control structure in one of the embodiments,
Rotation, the tool support seat are configured as to rotate relative to the snakelike joint around own axes, and the transmission device is also
Including the second flexible transmission structure, second flexible transmission structure is to be transferred to institute for the spinning motion of the control structure
Tool support seat is stated so that the end effector rotation.
The quick-release connector further includes the second connecting shaft in one of the embodiments, and removable with the second connecting shaft
The the second elastic telescopic column connected with unloading, second connecting shaft extend distally through the second component, second bullet
Property telescopic mast proximally extends through the first component, and the driving device further includes the 4th motor, and the sensing device is also
Including the 4th sensor, spinning motion of the 4th sensor to detect the control structure, the controller is according to institute
The signal of the 4th sensor detection is stated, controls the 4th motor output, the 4th motor passes through the second elastic telescopic column, the
Two connecting shafts drive the second flexible transmission structure.
The wrist end cap ring is tightly attached to the control structure and wrist by elastic restoring force in one of the embodiments,
The outside of junction between portion's structure；The instrument end cap ring is tightly attached to the interchangeable instrument by elastic restoring force and holds
The outside of the junction at end.
The sterile bag ontology is connect with wrist end cap ring gluing in one of the embodiments, the sterile bag ontology
It is connect with instrument end cap ring gluing.
Also propose one snakelike kind of surgical instrument, comprising: handheld terminal, including handgrip, wrist part structure and control structure, institute
Handgrip is stated with proximal end mounting base and distal end mounting base, the control structure is connected to handgrip by wrist part structure
Proximal end mounting base；
Interchangeable instrument is detachably connectable to the distal end mounting base；
Sterile bag has wrist end cap ring, sterile bag ontology and the instrument end cap ring for being sequentially connected and being connected to, described sterile
Bag is covered in the outer surface of the handgrip, and the wrist end cap ring of the sterile bag will be between the control structure and wrist part structure
Junction sealing, the instrument end cap ring by the junction of the interchangeable instrument and handheld terminal seal.
Above-mentioned snakelike surgical instrument may be implemented by covering the sterile bag on handgrip to wrist part structure and operation
The sealing of structural attachments, and the junction of interchangeable instrument and handheld terminal is sealed, so that in surgical procedure, handheld terminal energy
It is enough in germ-free condition, prevents from avoiding postoperative sterilization, and avoid damaging the internal component in handheld terminal.
Detailed description of the invention
Fig. 1 shows the schematic diagram of the snakelike surgical instrument of the present invention；
Fig. 2-4 shows the scheme of installation of sterile bag of the present invention；
Fig. 5 shows the scheme of installation of control structure of the present invention；
Fig. 6 shows the schematic diagram of interface of the present invention；
Fig. 7 shows cross-sectional view of the control device of the present invention in assembled state；
Fig. 8 shows the assembly schematic diagram that control structure of the present invention realizes rotation function；
Fig. 9 shows the details enlarged drawing of assembly in Fig. 8；
Figure 10 shows the schematic diagram and its freedom of motion of the snakelike surgical instrument of the present invention；
Figure 11 shows the disassembly schematic diagram of the snakelike surgical instrument of the present invention；
Figure 12 shows the handheld terminal schematic diagram of the snakelike surgical instrument of the present invention；
Figure 13 and Figure 14 shows the arrangement schematic diagram of sensing device of the invention；
Figure 15 shows the connection schematic diagram of transmission device and end effector of the invention；
Figure 16 shows schematic diagram of driving device of the present invention；
Figure 17 shows the schematic diagrames of quick-release connector of the invention；
Figure 18 shows the schematic diagram of the detachable connector driver of the hand-held end side of the present invention；
Figure 19 shows the schematic diagram of the detachable connector driver of the interchangeable instrument end side of the present invention；
Figure 20-21 shows the detachable connector driver of interchangeable instrument end side and the connection schematic diagram of transmission device；
Figure 22-24 shows the detachable connector driver of hand-held end side and the connection schematic diagram of driving device；
Figure 25-26 shows the arrangement schematic diagram of sensing device in another embodiment；
The scheme of installation of sterile bag when Figure 27 illustrates to be provided with locking strutcture between handheld terminal and interchangeable instrument.
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.
Snakelike surgical instrument proposed by the present invention is described in further detail below in conjunction with the drawings and specific embodiments.?
In the application, in order to make it easy to understand, terms, these terms such as " proximal ends " and " distal end ", " upper end " and " lower end " has been used to refer to
From using doctor's angle of the medical instrument to carry out read fortune for the relative bearing of mutual element or movement, relative position, direction.
" proximal end " and " distal end ", " upper end " and " lower end " not be it is restrictive, still " proximal end ", " lower end " are often referred to the Medical Devices
One end of proximal operator is leaned in course of normal operation, and " distal end ", " upper end " typically refer to one end far from operator.
As shown in Figure 1 and Figure 2, snakelike surgical instrument of the invention includes handheld terminal 1, interchangeable instrument 2, quick-release connector 3, nothing
Bacterium bag 100.The handheld terminal 1 of snakelike surgical instrument be it is reusable, interchangeable instrument 2 is designed as disposable or be designed as can
Limited times uses, and sterile bag 100 is designed as disposably.It is detachably connected between handheld terminal 1 and interchangeable instrument 2, specifically,
The quick dismounting and change of instrument is realized between handheld terminal 1 and interchangeable instrument 2 by quick-release connector 3.Sterile bag 100 can be with loose
Form be set on the outer surface of handheld terminal 1 so that 1 part of handheld terminal remains sterile shape in operative process
State, so that postoperative sterilization be avoided to damage internal component.
Further, as shown in Fig. 2, the handheld terminal 1 includes handgrip 11, control structure 12 and wrist part structure 14.Behaviour
Control structure 12 is detachably connected by interface 200 with wrist part structure 14, consequently facilitating the installation and replacement of sterile bag 100.Into one
Step, the handgrip 11 include proximal end mounting base 111, handgrip ontology 112 and distal end mounting base 113.The wrist knot
Structure 14 is contained in the distal face of the proximal end mounting base 111 of the handgrip 11, and is rotatablely connected with the handgrip 11.
As shown in Fig. 2, sterile bag 100 includes being sequentially connected and being connected to wrist end cap ring 110, sterile bag ontology 120 and device
Tool end cap ring 130.Wrist end cap ring 110, instrument end cap ring 130 have deformation structure and/or are prepared by deformation material, to realize
After-contraction, which is removed, in external force tightens function.The deformation structure can be the elastic constructions such as loose collar.Deformation material is, for example, ammonia
The shape-memory materials such as synthetic fibre elastomeric material or PTT (polytrimethylene terephthalate).Sterile bag 100 be configured to by
Operation is removed to cover to the surface of handgrip 11, and from handgrip 11.
Further, as shown in figure 4, wrist end cap ring 110 is configured as being fitted tightly over 14 proximal face of wrist part structure, and
The diameter of wrist end cap ring 110 in nature tightening state (under no external force) is less than the diameter of interface 200, to guarantee to grasp
After structure 12 is controlled by the installation of interface 200, handgrip 11 is able to achieve sealing state.Instrument end cap ring 130 can be fitted tightly over
The distal face of the distal end mounting base 113 of handgrip 11, and the diameter of the instrument end cap ring 130 in nature tightening state is less than
The outer diameter of the distal end mounting base 113 of handgrip 11, so that instrument end cap ring 130 is fitted tightly over gripping knot with distracted state
The distal face of the distal end mounting base 113 of structure 11, thus instrument end cap ring 130 does not influence the installation and removal of quick-release connector 3.Into one
Step, the instrument end cap ring 130 and/or wrist end cap ring 110 are configured as at least maximum gauge and are greater than the handgrip 11
The diameter of cross section allows the instrument end cap ring 130 and/or wrist end cap ring 110 by each of handgrip 11
Part, to cover the handgrip 11.Here " maximum gauge ", it can be understood as the instrument end cap after removing external force
Ring 130 or wrist end cap ring 110 remain to restore under former shaped maximum external force effect, the instrument end cap ring 130 or wrist
The diameter of end cap ring 110.Here " diameter of cross section " refers to cross section minimum circumscribed circle when cross section is non-circular
Diameter.Sterile bag ontology 120 is made of medical polyethylene raw material, sterile bag ontology 120 and instrument end cap ring 130, wrist end cap
Ring 110 is connected through hot gluing.
It is configured as being greater than 11 cross section of handgrip at least maximum gauge with the instrument end cap ring 130 below
Diameter for be illustrated how sterile bag 100 is inserted in by handgrip 11 by one end of the instrument end cap ring 130.When
When needing using the surgical instrument, firstly, control structure 12 is separated with wrist part structure 14, interchangeable instrument end 2 is divided with handheld terminal 1
From as shown in Figure 2；Then, the instrument end cap ring 130 of sterile bag 100 is covered since 14 side of wrist part structure in handgrip
On 11, until the lantern ring at sterile bag both ends is being inserted in 11 both ends of handgrip respectively, since the lantern ring at 100 both ends of sterile bag has
There is contraction to tighten function, wrist end cap ring 110 can be fitted tightly over the distal end end face of 11 proximal end mounting base 111 of handgrip, device
Tool end cap ring 130 can be fitted tightly over the distal end end face of the distal end mounting base 113 of handgrip 11, and sterile bag ontology 120 covers
In the outside for holding structural body 112, as shown in Figure 3；Finally, interchangeable instrument end 2 is passed through quick-release connector with handheld terminal 1 respectively
3 connections, control structure 12 are connect with the handgrip 11 of handheld terminal 1 by interface 200, and so far, portion of the handle can be realized sterile
Isolation, as shown in Fig. 4, Fig. 1.Sterile bag ontology 120 has suitable diameter, can accommodate the handgrip ontology of handheld terminal without
It will affect the operation of operator.Moreover, sterile bag ontology 120 has enough elasticity, wearability and skid resistance, can prevent in hand
Sterile bag ontology 120 ruptures during art.
When completing operation, interchangeable instrument 2, control structure 12 first can be subjected to postoperative disinfection from the disassembly of handheld terminal 1 respectively,
Then, make sterile bag instrument end since the distal end mounting base of handgrip according to the direction opposite with installation sterile bag 100
Lantern ring 130 drives sterile bag ontology 120 to gradually disengage handheld terminal, is kept completely separate sterile bag 100 with handheld terminal 1.
In the above-described embodiment, sterile bag ontology 120 is not necessarily set as having the function of tightening.As long as i.e. at this point, device
Tool end cap ring 130 and/or wrist end cap ring 110 have deformability, and the diameter of sterile bag ontology 120 is sufficiently large, with
Handgrip ontology 112 can be passed through.Certainly, entire sterile bag 100 can have deformability, can be after external force removes
Restore nature tightening state.
In the present embodiment, control structure 12 is detachably connected with wrist part structure 14 by the realization of interface 200.The wrist
When structure 14 has more than one freedom degree, the control structure 12 can turn relative to handgrip 11 along more than one direction
It is dynamic.Specifically, as shown in figures 5-9, the interface 200 includes the connecting column 210 that 12 proximal end of control structure is arranged in, and setting
Wrist part structure 14 in handheld terminal 1 and the hollow connecting shaft 220 that matches with the connecting column 210.The hollow connecting shaft 220
Through-hole 221 is arranged in center, and the diameter of through-hole 221 matches with the cylinder outer diameter of connecting column 210, with detachable with connecting column 210
Connection.Further, the interface 200 further includes the axial limit structure for limiting connecting column axial movement, and limitation connecting column week
The circumferential position limiting structure rotated to direction.The circumferential direction position limiting structure includes connector 211 and the first locating slot 222.Wherein, even
Fitting 211 is placed in the damaged surface of connecting column 210 and axially disposed, and the first locating slot 222 is placed in the logical of hollow connecting shaft 220
On 221 inner surface of hole and axially disposed, the first locating slot 222 is adapted to the connector 211 of damaged surface to limit the company
Connect the relative rotation of column 210.In addition, the axial limit structure includes the second locating slot 212 and buckles company with the second locating slot 212
The elastic positioning device 230 connect.Second locating slot 212 is placed in the damaged surface of connecting column 210 and along damaged surface circumferential direction
Setting.Correspondingly, elastic positioning device 230 is placed on 221 inner surface of through-hole of hollow connecting shaft 220, the cylinder of connecting column 210
When being mounted in the through-hole 221 of hollow connecting shaft 220, elastic positioning device 230 can be fastened on the second locating slot of connecting column 210
In 212, realize the cylinder of connecting column 210 along axial limit.Preferably, elastic positioning device 230 can be at least a pair of of elasticity
Protrusion, it is further preferred that as shown in fig. 6, the elastic bumps are arranged 3.It is preferred that the locating slot 212 can be 210 weeks along connecting column
To extending to form closed loop.
In the present embodiment, elastic positioning device 230, the second locating slot 212 match to be formed to limit connector 210
The axial limit structure of axial movement；First locating slot 222 matches to be formed to limit connecting column 210 circumferentially with connector 211
The circumferential position limiting structure of the rotation in direction.Axial limit structure and circumferential position limiting structure can use other suitable structure generations
It replaces.
Further, as shown in fig. 7, the proximal end mounting base 111 of the handgrip 11 of handheld terminal 1 is arranged in wrist part structure 14
On, the channel 1112 that passes through for hollow connecting shaft 220 is set in proximal end mounting base 111, and 1112 diameter of channel it is sufficiently large in order to avoid
The motion range of the control structure 12 is limited, so that control structure 12 be allowed freely can to drive wrist knot by interface 200
Structure 14 moves, without being influenced by proximal end mounting base 111.
When control structure 12 is installed, make table in the connector 211 and hollow connecting shaft 220 of the damaged surface of connecting column 210
The locating slot 222 in face is aligned, and limits the displacement of the cylinder of connecting column 210 circumferentially；By 210 cylinder of connecting column along connector 211
It is adapted to the channel 1112 that the track formed passes through in proximal end mounting base 111 with locating slot 222 and is pushed into hollow connecting shaft along axis
220, elastic bumps 230 overcome the elastic force of contained spring radial to spring side along hollow connecting shaft 220 under the pressure of cylinder
To mobile and by spring-compressed；Continue the cylinder of connecting column 210 being pushed into hollow connecting shaft 220, when the cylinder table of connecting column 210
Elastic bumps 230 are in contained spring when the locating slot 212 in face is corresponding with 230 pairs of the elastic bumps of 220 inner surface of hollow connecting shaft
Under resilient force, elastic bumps 230 are fastened in locating slot 212, limit the cylinder of connecting column 210 along axial displacement.Extremely
This, completes the installation of control structure 12.
It is preferred that control structure 12 can also surround own axis relative to wrist part structure 14.It is preferred that in connecting column 210
Axially disposed through hole 217 at the heart.In the present embodiment, pass through a bearing between control structure 12 and the connecting column 210
213 spinning motions connected to realize control structure 12.Specifically, as Figure 7-9, the proximal end of the control structure 12 includes
One bearing mounting base 121, the outer ring of the bearing are fixedly connected with the bearing mounting base.It wraps the distal end of the connecting column 210
First order step 214 is included, the first order step 214 is radially fixedly connected with the inner ring of the bearing 213, it is preferable that axis
It is adjacent with the proximal end face of the bearing mounting base 121 upwards.More specifically, the bearing mounting base 121 is in holder shape, including
Base portion 1211 and the extension 1212 being fixedly connected with base portion 1211.A cavity is equipped with inside the extension 1212, to accommodate
The fixed bearing 213, the cavity diameter of the extension 1212 and the race diameter of the bearing 213 match.Described
Level-one step 214 can be matched with the bearing 121, the distal end end face of first step 214 and the bearing mounting base 121
The proximal contact of base portion 1211.Further, as shown in figure 9, connecting column 210 further includes second level step 215.The second level platform
Rank 215 is located at the distal end of the first order step 214 of connecting column 210, and extends through the bearing mounting base 121, and, the second level
A groove (not labeled) is arranged in step 215 at the distal face close to the bearing mounting base 121, for accommodating circlip 216.Such as
This, is when connecting column 210 is assemblied on the bearing mounting base 121 of control structure 12 by bearing 213, circlip 216 and/or first
The axial and circumferential of the matching relationship of grade step 214 and bearing 121 limitation connecting column 210 move.Control structure 12 can be real as a result,
Existing spinning motion.
The interchangeable instrument 2 includes sequentially connected serpentine configuration 21, tool support seat 22 and end effector 23.
Figure 10 also shows the freedom of motion of snakelike surgical instrument.In the embodiment shown in fig. 10, handheld terminal 1 can drive
Dynamic serpentine configuration 21 synchronously moves, so that the end effector 23 be driven to move.In the present embodiment, the serpentine configuration
It is identical as the direction of motion of control structure 12 of the handheld terminal 1 that 21 direction of motion, which is also further configured,.Specifically, institute
Stating the tool of wrist part structure 14, there are two freedom degrees: the first freedom degree R1, the second freedom degree R2, can do first around first axle L1
Rotational motion (being pitching in the present embodiment), and the second rotational motion can be done (in the present embodiment around second axis L2
For yaw motion).There are two rotational freedoms: five degree of freedom R5, six degree of freedom R6, Ke Yiwei for the tool of serpentine configuration 21
It is done the 5th rotational motion (being pitching in the present embodiment) around the 5th axis L5, and the 6th turn can be done around the 6th axis L6
Dynamic movement (being yaw motion in the present embodiment).Further, the control structure 12 drives the wrist part structure 14 around first axle
Line L1 pitching shape, and drive serpentine configuration 21 accordingly around the 5th ground in the same direction axis L5 pitching, to drive end
The pitching in the same direction of actuator 23, it is preferable that first axle L1 is parallel with the 5th axis L5；The control structure 12 drives described
Wrist part structure 14 is deflected around second axis L2 and is swung, and serpentine configuration 21 is driven to deflect pendulum in the same direction around corresponding 6th axis L6
It is dynamic, so that the deflection for driving end effector 23 in the same direction is swung, it is preferable that second axis L2 is parallel with the 6th axis L6.Institute as a result,
Stating the tool of end effector 23, there are two freedom degree R5 ', R6 '.
In the present embodiment, the end effector 23 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 23 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 23 includes an at least tool valve 231, and the tool valve 231 is rotatablely connected with tool support seat 22, such as Figure 11
It is shown.At this point, end effector 23 increases one degree of freedom.In a preferred embodiment, as shown in Figure 10, the end
Actuator 23 is pliers.Therefore, end effector 23 also has three degree of freedom: folding freedom degree R7, dynamic to complete clamping
Make.Referring to Figure 12, correspondingly, handheld terminal 1 further includes the folding control device 13 on control structure 12, the folding control
Device 13 can be rotated relative to control structure 12, form third freedom degree R3, so that the open and close movement of end effector 23 is controlled,
And the motion configuration of the folding control device 13 of handheld terminal is configured as identical as the folding configuration of end effector 23, that is, opens and closes
Control device 13 is opened, and end effector 23 executes opening operation, and folding control device 13 is closed, and end effector 23 executes pass
Holding action is completed in closed operation.
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, the tool support seat 22 has eight degrees of freedom R8, it can be relative to
The serpentine configuration 21 surrounds own axes L8 rotation.12 rotation of control structure, to drive tool support seat 22 around certainly
Body axis L8 ground in the same direction rotation, and then make end effector 23 that there is the 4th freedom degree R8 '.
As shown in Figure 12, Figure 15, snakelike surgical instrument further includes sensing device, controller, driving device 5, transmission device
6.The sensing device, controller (not shown), driving device 5 be arranged on handheld terminal 1, transmission device 6 setting it is described can
On parallel operation tool 2.The sensing device and the controller communicate to connect, for detecting the wrist part structure 14, folding control
The movement of device 13, and the motor message that will test passes to controller.The movement that the controller is detected according to sensing device
Signal controls 5 output power of driving device.The driving device 5 is motor, controls serpentine configuration 21, work by transmission device 6
Have support base 22 or end effector 23 completes corresponding actions, such as serpentine configuration 21 is driven and does pitching around the 5th axis L5
Swing, serpentine configuration 21 driven around the 6th axis L6 do deflection swing, end effector 23 by driving do open and close movement or
The tool support seat 22 is driven to be done rotation movement around own axes L8.
As shown in Figure 13 and Figure 14, sensing device includes first sensor 41, and the pitching for detecting control structure 12 is put
It is dynamic；Second sensor 42, the beat for detecting control structure 12 are swung；3rd sensor 43, for detecting folding control dress
Set 13 open and close movement；And the 4th sensor 44, for detecting the spinning motion of control structure 12.
In a specific embodiment, as shown in figure 14, the wrist part structure 14 includes inside casing 141 and outline border 142, described
Outline border 142 and the handgrip 11 are rotatablely connected by a first rotating shaft 143, and the inside casing 141 and the outline border 142 are logical
The second shaft 144 rotation connection is crossed, the axis of first rotating shaft 143 is first axle, and the axis of the second shaft 144 is second
Axis, the hollow connecting shaft 220 are connected to the inside casing 141.It is preferred that first rotating shaft 143 and the second shaft 144 are mutually hung down
Directly, the plane that the axis of first rotating shaft 143 and the axis of the second shaft 144 limit is the middle face of the wrist part structure 14.First
Shaft and the second shaft are also possible to other suitable angles, are not limited to perpendicular to one another.
The first sensor 41, second sensor 42 can be shaft code-disc, be separately positioned on the wrist part structure 14
First rotating shaft 143 and the second shaft 144 on, be respectively used to the detection pitching of wrist part structure 14, yaw motion.In another tool
In body embodiment, first sensor 41, second sensor 42 can also be rectilinear transducer.
In a specific embodiment, as shown in figure 13, the folding control device 13 includes at least one folding valve
131, the proximal end of the folding valve 131 and the control structure 12 are rotatablely connected by a shaft, and distal end (i.e. free end) is separate
The control structure 12.The 3rd sensor 43 can be Hall sensor, and setting is in folding valve 131 and control structure 12
On, the distance between folding valve 131 and control structure 12 for detecting folding control device 13, to detect folding valve 131
Rotational motion relative to control structure 12.In another specific embodiment, 3rd sensor 43 can also be shaft code-disc, the
Three sensors 43 are at least one, are arranged in the shaft of folding 131 proximal end of valve of folding control device 13, for detecting folding
The rotational motion of valve 131.
In a specific embodiment, as Figure 7-9, pass through between the control structure 12 and the connecting column 210
Bearing 213 connects the spinning motion to realize control structure 12, further passes through the connecting column 210 and hollow connecting shaft 220
Fixed relation realization be rotatably coupled with the inside casing 141.The control structure 12 is additionally provided with a magnet in proximal end
218, the magnet 218 extends through the perforation 217 of connecting column 210.Correspondingly, the 4th sensor 44 can be hall sensing
Device, the Hall sensor obtain the rotation information of the control structure 12 according to magnet 218.4th sensor 44 can be taken
As under type is installed.For example, fixed bracket is arranged in 141 back side of inside casing of the wrist part structure 14, the 4th sensor 44 is set
It sets at the support bracket fastened center, for detecting control structure 12 around the spinning motion of own axes, as shown in figure 13.At it
In his embodiment, when control structure 12 and wrist part structure 14 are not reached by the realization of bearing 231 rotation connection but directly and turned
When dynamic connection, the mounting means of the 4th sensor 44 can be identical as mode above-mentioned.
When surgical instrument works, the first sensor 41 of sensing device, second sensor 42 detect control structure 12 respectively
Pitching, yaw motion, 3rd sensor 43 detect folding control device 13 open and close movement and the 4th sensor 44 detection
The spinning motion of control structure 12, and the motor message that will test passes to controller.The controller is examined according to sensing device
The signal of survey controls the output of driving device 5.The driving device 5 drives serpentine configuration 21, tool branch by transmission device 6
Support seat 22 and end effector 23 complete corresponding pitching, deflection, rotation and opening and closing movement, it is preferable that the fortune of end effector 23
Dynamic direction is configured identical as the direction of motion of control structure 12, folding control device 13.
As shown in Figure 15,19 to 21, transmission device 6 includes the first driving wire moved for controlling the serpentine configuration 21
Group 61, the second driving wire group 62, for controlling the first flexible transmission structure 63 of the end effector open and close movement and being used for
Control the second flexible transmission structure 64 of 22 rotation of tool support seat.
As shown in figure 12, the setting of driving device 5 is in 1 distal end of handheld terminal.A specific embodiment shown in Figure 16
In, driving device 5 includes first motor 51, the second motor 52, third motor 53, the 4th motor 54, wherein first motor 51,
Second motor 52 cooperates, and driving quick-release connector 3 moves, and is driven by the first driving wire group 61, the second driving wire group 62
Pitching, the deflection of serpentine configuration 21 are swung, and then the pitching of end effector 23, deflection is driven to swing；Third motor 53 passes through
The open and close movement of quick-release connector 3, the first flexible transmission structure 63 driving end effector 23；4th motor 54 passes through quick-release connector
3, the spinning motion of the second flexible transmission structure 64 driving end effector 23.
As shown in figure 17, quick-release connector 3 includes detachable connector driver 32.Detachable connector driver 32 includes setting
The first component on the handgrip 11, and the second component being arranged on interchangeable instrument 2, the first component and second
Component is detachably connected, and the first component can drive second component to move synchronously.The instrument end cap ring 130 will
The first component and second component junction seal.There is no limit be able to achieve the specific structure of the first component and second component
Handgrip 11 is detachably connected with interchangeable instrument 2, is moved synchronously.
As shown in Figure 18 and Figure 19, the first component is the first Hooke's hinge that the distal end mounting base 113 of 1 side of handheld terminal is arranged in
321, second component is the connector 322 that interchangeable 2 side of instrument is arranged in.First Hooke's hinge 321 includes the first outline border 3211 and the
One inside casing 3212, the cage connection of first outline border 3211 and handheld terminal 1, and make the tenth rotational motion around the tenth axis,
In this way, the first Hooke's hinge 321 has the tenth freedom degree；First inside casing 3212 is connect with the first outline border 3211, and around the
Nine axis make the 9th rotational motion, in this way, the first Hooke's hinge 321 has nine-degree of freedom.It is preferred that the tenth axis parallel
Six axis L6, it is further preferred that the also parallel second axis L2 of the tenth axis.It is preferred that the parallel 5th axis L5 of the 9th axis,
It is further preferred that the also parallel first axle L1 of the 9th axis.The connector 322 includes elastic connecting device and connecting plate
3222, the connecting plate 3222 is fixed on the shell 201 of interchangeable instrument 2 by elastic connecting device, so that the connecting plate
3222 can deflect relative to the shell 201 of interchangeable instrument 2.Further, the outer edge of the connecting plate 3222 is not more than in first
The outer edge of frame 3212.Specifically, as shown in figure 19, the elastic connecting device includes four connecting springs 3221, set respectively
Four angular positions in connecting plate 3222 are set, connecting plate 3222 is fixed on the shell of interchangeable instrument 2 by connecting spring 3221
On.In the present embodiment, transmission device 6 is connect with the serpentine configuration 21, connector 322, and is configured as driving described snakelike
Structure 21 follows the 9th rotational motion of the first Hooke's hinge 321 and carries out the 5th rotational motion, is additionally configured to drive the snake
Shape structure 21 follows the tenth rotational motion of the first Hooke's hinge 321 and carries out the 6th rotational motion.
Further, limiting device is set on first inside casing 3212, to limit the first Hooke's hinge 321 and connector 322
Displacement in interchangeable 2 axial direction of instrument.Referring to Figure 18, it is preferred that the limiting device is at least one pin 3213.Pin
3213 include pin ontology and the bulge-structure axially extended to form along pin ontology, and the outer diameter of the bulge-structure is greater than pin
The outer diameter of 3213 ontologies.Correspondingly, the connecting plate 3222 on 3213 corresponding position of pin be arranged cucurbit shaped pin hole 3223.
Referring to Figure 19, the cucurbit shaped pin hole 3223 includes large diameter portion 32231 and path part 32232.The cucurbit shaped pin hole
The aperture of 3223 large diameter portion 32231 is adapted to the outer diameter of the bulge-structure on pin 3213, in order to accommodate the pin
3213.And the aperture of the path part 32232 of cucurbit shaped pin hole 3223 is at least partly adapted to the outer diameter of 3213 ontology of pin.?
When assembled state, the pin 3213 realizes the first Hooke's hinge by the large diameter portion 32231 of the cucurbit shaped pin hole 3223
321 with the connection of connector 322.Then the first Hooke's hinge of relative rotation 321 and connector 322 move the pin 3213
To path part 32232, realizes and keep connecting between the first Hooke's hinge 321 and connector 322, it cannot axially opposing movement.
Further, the quick-release connector 3 further includes locking strutcture 31, to limit the handheld terminal 1, interchangeable instrument 2
Between axial direction and/or axial movement.The present invention is not particularly limited specific structure, can be it is any in the prior art can
Realize the structure of locking and limit function.In embodiment as shown in figure 27, the distal end of the handheld terminal 1 has one inwardly to prolong
The protrusion 25 stretched, the proximal end of the interchangeable instrument 2 have the indent 26 to match with protrusion.The sterile bag 100 can cover
The distal end of the protrusion 25, to be isolated with the interchangeable instrument 2.
Referring to fig. 20 to Figure 22, when work, the swinging signal for the wrist part structure 14 that controller is detected according to sensing device, control
First motor 51 processed, the movement of the second motor 52, and then end effector 23 is driven to rotate with the rotation of wrist part structure 14.Specifically
Ground, 3 and Figure 24, first motor 51 drive the rotation of Hooke's hinge 321, and then band by steel wire 55 in first motor referring to fig. 2
Movement connector 322 rotates synchronously.Similarly, the second motor 52 drives 321 turns of the Hooke's hinge by steel wire 56 in the second motor
Dynamic and then synchronous with movement connector 322 rotation.Proximally toward distal end thereof, the both ends of steel wire 55 are solid respectively in first motor
Due to the upper left corner and the lower right corner of the Hooke's hinge 321, the connection of the first driving wire group 61 and connector 322, serpentine configuration 21
Fixed point corresponds；The both ends of steel wire 56 are individually fixed in the lower left corner and the upper right of the Hooke's hinge 321 in second motor
Angle, the second driving wire group 62 are a little also corresponded with connector 322, being connected and fixed for serpentine configuration 21.By above structure,
First motor 51, the second motor 52 synergistically drive the first driving wire group 61, the movement of the second driving wire group 62, finally drive snakelike
Structure 21 rotates.In an alternative embodiment, the both ends of steel wire 55 are individually fixed in the tiger in the first motor
Gram hinge 321 the tenth axis on, the both ends of steel wire 56 are individually fixed in the 9th axis of the Hooke's hinge 321 in the second motor
On.First driving wire group 61, the second driving wire group 62 are a little also respectively phase with connector 322, being connected and fixed for serpentine configuration 21
It should be arranged.
Further, referring to fig. 20, the first driving wire group 61, the second driving wire group 62 proximal end respectively with quick-release connector
3 connections, drive end effector open and close movement, spinning motion under the driving of quick-release connector 3.
Further, referring to Figure 18 to Figure 19, Figure 23, the quick-release connector 3 further includes the first elastic telescopic column 3214, the
Two elastic telescopic columns 3215, the first connecting shaft 3224 and the second connecting shaft 3225.During first Hooke's hinge inside casing 3212 is provided with
Heart hole, wherein the first elastic telescopic column 3214, the second elastic telescopic column 3215 extend distally through first Hooke's hinge 321
The centre bore of (i.e. the first component)；Correspondingly, the first connecting shaft 3224, the second connecting shaft 3225 proximally extend through the company
Connect the centre bore of device 322 (i.e. second component).It the proximal end of first connecting shaft 3224 can be with the distal end of the first elastic telescopic column 3214
It is detachably connected, the proximal end of the second connecting shaft 3225 can be detachably connected with 3215 distal end of the second elastic telescopic column, to realize
Transmitting/disconnection of driving force.Further, as shown in figure 19, the proximal end end of first connecting shaft 3224, the second connecting shaft 3225
Two positioning grooves 3226 are respectively set on face；Corresponding, as shown in figure 18, the first elastic telescopic column 3214, the second elasticity are stretched
Two positioning protrusion 3216 are respectively set on the distal end end face of contracting column 3215.Positioning groove 3226 and elastic telescopic in connecting shaft
Positioning protrusion 3216 on column is correspondingly arranged on shape, position, to realize the clamping of the two.
Meanwhile as shown in figure 21, the steel wire winding of the first flexible transmission structure 63 is fixed in the first connecting shaft 3224, the
Two flexible transmission structures 64 are fixedly connected with the second connecting shaft 3225, with the first connecting shaft 3224, second connecting shaft 3225
Rotation, first flexible transmission structure 63 realizes winding, unwinding movement, and then rotary motion is become moving axially by realization,
Second flexible transmission structure 64 transfers a torque to the tool support seat 22.
Further, the end effector 23 further includes one first reversing arrangement, and first flexible transmission structure 63 wraps
Steel wire and elastic construction are included, the elastic construction is configured to supply the driving force for making the tool valve 231 maintain a normally open state,
For the proximal wind of the steel wire in first connecting shaft 3224, the distal end of the steel wire connects first reversing arrangement,
First reversing arrangement is mutually converted for the translational motion of the steel wire and the open and close movement of tool valve 231.Third motor
53 can drive the first flexible transmission structure 63, the first Flexible Transmission by the first elastic telescopic column 3214, the first connecting shaft 3224
The translational motion of structure 63 is converted to the open and close movement of end effector 23 by the first reversing arrangement.In addition, the 4th motor 54
The second flexible transmission structure 64 can be driven by the second elastic telescopic column 3215, the second connecting shaft 3225, be held to control end
The spinning motion of row device 23.
When work, 3rd sensor 43, the 4th sensor 44 detect the folding fortune of handheld terminal folding control device 13 respectively
The spinning motion signal of dynamic signal, control structure 12, and signal detected is passed into controller, controller is to detected
Signal is analyzed, and controls the movement of third motor 53, the 4th motor 54 respectively, and then passes through the first flexible transmission structure
63, the second flexible transmission structure 64 moves, to realize end effector folding in the same direction, spinning motion.
In an alternative embodiment, the end effector further includes one second reversing arrangement, third commutation dress
It sets, first flexible transmission structure 63 includes flexible axle.Flexible axle can exert a force at one end compared to steel wire can be realized reciprocal shifting
It is dynamic.At this point, the first connecting shaft 3224 is connected with the second reversing arrangement, the proximal end of the flexible axle of the first flexible transmission structure 63 can be straight
It connects and is fixed on the second reversing arrangement, and distal end is connect to drive the tool valve to realize open and close movement with third reversing arrangement.
Configured in this way, the flat of the flexible axle that the rotary motion of the first connecting shaft 3224 is converted to the first flexible transmission structure 63 may be implemented
Shifting movement, to control the open and close movement of end effector 23.Wherein, second reversing arrangement is that can connect described first
The rotary motion of axis is converted to the device of the translational motion of flexible axle, and the third reversing arrangement can be by the translational motion of the flexible axle
Be converted to the device of the open and close movement of tool valve, such as gear & rack structure, the structure of rectilinear orbit and shaft cooperation, worm gear snail
Rod structure etc..
In other alternate embodiments, the transmission device 6 include positioned at handheld terminal 1 first part and be located at can
The second part of parallel operation tool 2.The proximal end of the first part is connect with the serpentine configuration 21, is distally connected with the first component
It connects, and is matched to drive the first component to move as serpentine configuration 21 moves；The proximal end of the second part with it is described
Second component connection, distally connect with the serpentine configuration 21, and be configured as driving the serpentine configuration 21 with second
Part is moved and is moved.In this way, the snakelike surgical instrument in the present embodiment holds end to realize by the way of full manual actuation
The operation of row device 23.
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 (25)
1. a kind of snakelike surgical instrument characterized by comprising
There is proximal end mounting base and distal end to pacify for handheld terminal, including handgrip, wrist part structure and control structure, the handgrip
Seat is filled, the control structure is connected to the proximal end mounting base of handgrip, and the control structure and wrist by wrist part structure
It is detachably connected between structure；
Interchangeable instrument is detachably connectable to the distal end mounting base.
2. snakelike surgical instrument according to claim 1, which is characterized in that further include
Sterile bag can be operable to cover to the outer surface of the handgrip and remove from the handgrip, the nothing
Bacterium bag, which has, to be sequentially connected and wrist end cap ring, sterile bag ontology and instrument end cap ring, the sterile bag being connected to are covered described
When the outer surface of handgrip, the wrist end cap ring of the sterile bag is by the junction between the control structure and wrist part structure
Sealing, the instrument end cap ring seal the junction of the interchangeable instrument and handheld terminal.
3. snakelike surgical instrument according to claim 1, which is characterized in that the wrist part structure is installed set on the proximal end
The distal face of seat, the wrist part structure and control structure are detachably connected by interface.
4. snakelike surgical instrument according to claim 3, which is characterized in that the interface includes that setting is tied in the manipulation
The connecting column of the proximal end of structure, and the hollow connecting shaft for being arranged on the wrist part structure and matching with the connecting column, it is described
Connecting column is detachably connected with hollow connecting shaft.
5. snakelike surgical instrument according to claim 4, which is characterized in that the interface further includes to limit connecting column
The axial limit structure of axial movement, and the circumferential position limiting structure of limitation connecting column circumferential direction rotation.
6. snakelike surgical instrument according to claim 5, which is characterized in that the circumferential direction position limiting structure includes positioned at described
The surface of connecting column and the connector being axially arranged along connecting column, and set on hollow connection column wall and along the axis of hollow connecting column
To the first locating slot of extension, the first locating slot is used to match with the connector to limit turning for connecting column circumferential direction
It is dynamic；The axial limit structure includes second locating slot circumferentially arranged on the surface of connecting column, and is arranged in the through-hole
The elastic positioning device of inner wall, the elastic positioning device are mutually snapped connection with second locating slot to limit connecting column axial direction
It is mobile.
7. snakelike surgical instrument according to claim 6, which is characterized in that the elastic positioning device is at least one
Elastic bumps.
8. snakelike surgical instrument according to claim 4, which is characterized in that between the control structure and the connecting column
It is connected by a bearing to realize spinning motion of the control structure relative to the wrist part structure.
9. snakelike surgical instrument according to claim 8, which is characterized in that the proximal end of the control structure includes a bearing
Mounting base, the outer ring of the bearing are fixedly connected with the bearing mounting base；The distal end of the connecting column includes first order step,
The first order step is radially fixedly connected with the inner ring of the bearing.
10. snakelike surgical instrument according to claim 9, which is characterized in that the connecting column further includes first order step
Distal end second level step, the second level step extends through the bearing mounting base, and, second level step is close to institute
State the groove that setting one at the distal face of bearing mounting base is used to accommodate circlip.
11. snakelike surgical instrument according to claim 1 or 2, which is characterized in that
The interchangeable instrument includes sequentially connected serpentine configuration, tool support seat and end effector；
Quick-release connector, the interchangeable instrument are detachably connected with handheld terminal by the quick-release connector；
Transmission device；
The wrist part structure has at least one first rotational freedom；
The serpentine configuration has at least one the 5th rotational freedom；
The transmission device is configured as that the serpentine configuration is driven to carry out the 5th turn with the first rotational motion of wrist part structure
Dynamic movement.
12. snakelike surgical instrument according to claim 11, which is characterized in that
The wrist part structure also has one second rotational freedom；
The serpentine configuration also has one the 6th rotational freedom；
The transmission device is additionally configured to that the serpentine configuration is driven to carry out the 6th with the second rotational motion of wrist part structure
Rotational motion.
13. snakelike surgical instrument according to claim 11, which is characterized in that the quick-release connector includes detachable connector
Driver, the detachable connector driver include the first component being arranged on the handgrip, and setting is can parallel operation
Second component on tool, the first component and second component are detachably connected, and move synchronously.
14. snakelike surgical instrument according to claim 13, which is characterized in that the transmission device includes being located at handheld terminal
First part and second part positioned at interchangeable instrument,
The proximal end of the first part is connect with the serpentine configuration, is distally connect with the first component, and is matched for driving
The first component is moved as serpentine configuration moves；
The proximal end of the second part is connect with the second component, is distally connect with the serpentine configuration, and is configured as driving
It moves the serpentine configuration and is moved as second component moves.
15. snakelike surgical instrument according to claim 13, which is characterized in that further include being arranged on the handgrip
Driving device, sensing device and controller,
The sensing device and the controller communicate to connect, for detecting the movement of the wrist part structure；
The controller controls the driving device and drives the first component fortune according to the motion information of the transmitting of sensing device
It is dynamic；
The transmission device is located at the interchangeable instrument and is configured as to connect the second component and the serpentine configuration
The serpentine configuration is driven to move and move with second component.
16. snakelike surgical instrument according to claim 15, which is characterized in that
The wrist part structure also has one second rotational freedom；
The serpentine configuration also has one the 6th rotational freedom；
The first component is the first Hooke's hinge that the distal end mounting base of the handgrip is arranged in, and the Hooke's hinge has the
Nine-degree of freedom and the tenth freedom degree；
The sensing device detects the first rotational motion and the second rotational motion of the wrist part structure；
The controller controls the driving device driving first tiger according to the rotational motion information of the transmitting of sensing device
Gram hinge does the 9th rotational motion and/or the tenth rotational motion；
The second component is the connector being arranged on interchangeable instrument, and first Hooke's hinge removably connects with connector
It connects,
The transmission device is connect with the serpentine configuration, connector, is configured as that the serpentine configuration is driven to follow the first tiger
Gram hinge the 9th rotational motion and carry out the 5th rotational motion, be additionally configured to that the serpentine configuration is driven to follow the first Hooke's hinge
The tenth rotational motion and carry out the 6th rotational motion.
17. snakelike surgical instrument according to claim 16, which is characterized in that
The transmission device includes the first driving wire group and the second driving wire group for being set to interchangeable instrument；
The driving device includes first motor and the second motor, and the first motor is mobile for the first driving wire group of driving,
Second motor makes the serpentine configuration follow the movement of the first Hooke's hinge and transport for driving the second driving wire group mobile
It is dynamic.
18. snakelike surgical instrument according to claim 16, which is characterized in that the quick-release connector further includes a locking knot
Structure, for limit the first Hooke's hinge, connector along the circumferential direction of interchangeable instrument rotation and/or axial movement.
19. snakelike surgical instrument according to claim 15, which is characterized in that the end effector includes an at least work
Have valve, the tool valve and tool support seat are rotatablely connected, the handheld terminal further include can the relatively described control structure move
Folding control device, the transmission device further include the first flexible transmission structure, and the folding control device passes through described first
Flexible transmission structure controls the tool valve rotation.
20. snakelike surgical instrument according to claim 19, which is characterized in that the quick-release connector further includes the first connection
Axis, and the first elastic telescopic column detachably connected with the first connecting shaft, the first connection axial proximal extend through
The second component, the first elastic telescopic column extend distally through the first component, and the driving device further includes
Third motor, the sensing device further include 3rd sensor, and the 3rd sensor is to detect the folding control device
Open and close movement, the signal that the controller is detected according to the 3rd sensor controls third motor output, described the
Three motors drive the first flexible transmission structure by the first elastic telescopic column, the first connecting shaft.
21. snakelike surgical instrument according to claim 15, which is characterized in that the control structure be configured as relative to
The wrist part structure can be rotated around own axes, and the tool support seat is configured as can be relative to the snakelike joint around itself
Axis rotation, the transmission device further includes the second flexible transmission structure, and second flexible transmission structure is to by the behaviour
The spinning motion of control structure is transferred to the tool support seat so that the end effector rotation.
22. snakelike surgical instrument according to claim 19, which is characterized in that the quick-release connector further includes the second connection
Axis, and the second elastic telescopic column detachably connected with the second connecting shaft, second connecting shaft extend distally through
The second component, the second elastic telescopic column proximally extend through the first component, and the driving device further includes
4th motor, the sensing device further include the 4th sensor, the 4th sensor to detect the control structure from
Transhipment is dynamic, the signal that the controller is detected according to the 4th sensor, controls the 4th motor output, the 4th electricity
Machine drives the second flexible transmission structure by the second elastic telescopic column, the second connecting shaft.
23. snakelike surgical instrument according to claim 2, which is characterized in that the wrist end cap ring restores by elasticity
Power is tightly attached to the outside of the junction between the control structure and wrist part structure；The instrument end cap ring relies on elastic restoring force
It is tightly attached to the outside of the junction of the interchangeable instrument and handheld terminal.
24. snakelike surgical instrument according to claim 2, which is characterized in that the sterile bag ontology and wrist end cap ring
Gluing connection, the sterile bag ontology are connect with instrument end cap ring gluing.
25. a kind of snakelike surgical instrument characterized by comprising
There is proximal end mounting base and distal end to pacify for handheld terminal, including handgrip, wrist part structure and control structure, the handgrip
Seat is filled, the control structure is connected to the proximal end mounting base of handgrip by wrist part structure；
Interchangeable instrument is detachably connectable to the distal end mounting base；
Sterile bag has wrist end cap ring, sterile bag ontology and the instrument end cap ring for being sequentially connected and being connected to, the sterile bag set
In the outer surface of the handgrip, the wrist end cap ring of the sterile bag is by the company between the control structure and wrist part structure
Place's sealing is connect, the instrument end cap ring seals the junction of the interchangeable instrument and handheld terminal.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110542656.6A CN113143353B (en) | 2018-08-24 | 2018-08-24 | Snake-shaped surgical instrument |
| CN201810971612.3A CN109009264A (en) | 2018-08-24 | 2018-08-24 | Snakelike surgical instrument |
| PCT/CN2019/099684 WO2020038233A1 (en) | 2018-08-24 | 2019-08-07 | Serpentine surgical instrument and serpentine surgical instrument kit |
| BR112021003342-4A BR112021003342A2 (en) | 2018-08-24 | 2019-08-07 | serpentine surgical instrument and serpentine surgical instrument kit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810971612.3A CN109009264A (en) | 2018-08-24 | 2018-08-24 | Snakelike surgical instrument |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110542656.6A Division CN113143353B (en) | 2018-08-24 | 2018-08-24 | Snake-shaped surgical instrument |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109009264A true CN109009264A (en) | 2018-12-18 |
Family
ID=64627560
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110542656.6A Active CN113143353B (en) | 2018-08-24 | 2018-08-24 | Snake-shaped surgical instrument |
| CN201810971612.3A Pending CN109009264A (en) | 2018-08-24 | 2018-08-24 | Snakelike surgical instrument |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110542656.6A Active CN113143353B (en) | 2018-08-24 | 2018-08-24 | Snake-shaped surgical instrument |
Country Status (3)
| Country | Link |
|---|---|
| CN (2) | CN113143353B (en) |
| BR (1) | BR112021003342A2 (en) |
| WO (1) | WO2020038233A1 (en) |
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| CN113520611A (en) * | 2020-04-13 | 2021-10-22 | 上海微创医疗机器人（集团）股份有限公司 | Sterile isolation mechanism, mirror holding arm and mirror holding robot |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2020038233A1 (en) | 2020-02-27 |
| BR112021003342A2 (en) | 2021-05-11 |
| CN113143353B (en) | 2023-03-17 |
| CN113143353A (en) | 2021-07-23 |
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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 Applicant 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 Applicant before: Microport (Shanghai) Medbot Co.,Ltd. |
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