CN110338741B - Visual flexible operation arm - Google Patents
Visual flexible operation arm Download PDFInfo
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- CN110338741B CN110338741B CN201910461863.1A CN201910461863A CN110338741B CN 110338741 B CN110338741 B CN 110338741B CN 201910461863 A CN201910461863 A CN 201910461863A CN 110338741 B CN110338741 B CN 110338741B
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Images
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/012—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/012—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor
- A61B1/0125—Endoscope within endoscope
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/012—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor
- A61B1/015—Control of fluid supply or evacuation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/00296—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means mounted on an endoscope
Abstract
The invention relates to the field of medical instruments, in particular to a visual flexible surgical arm which comprises a multi-cavity cap, a multi-cavity hose, a deformation framework, spring pipes, driving tendons, a driving mechanism and an outer pipe assembly, wherein the multi-cavity hose with a plurality of hose cavities is arranged in the deformation framework, the multi-cavity cap is arranged at the front end of the deformation framework, the multi-cavity cap is internally provided with a plurality of cap cavities, the cap cavities correspond to the hose cavities one by one, the outer side of the deformation framework is fixedly provided with the spring pipes, the driving tendons respectively penetrate into the corresponding spring pipes, the front ends of the driving tendons are fixed on the deformation framework, the driving mechanism is internally provided with a pressing block and a rotating shaft, the rear ends of the spring pipes extend into the driving mechanism and are fixed through the corresponding pressing blocks, the driving tendons extend out of the corresponding spring pipes and wind around the corresponding rotating shafts, and the deformation framework, the spring pipes and the driving. The invention has flexible deformation capability, can be implanted into a human body along with a biopsy cavity of the soft endoscope, and can guide a camera, auxiliary instruments and the like and convey water vapor.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a visual flexible surgical arm.
Background
Natural orifice diseases such as digestive tract diseases, urinary tract diseases, respiratory diseases and the like seriously harm the health of people, for example, the morbidity and the mortality of the diseases such as gastric cancer, cholangiocarcinoma, lung cancer, bladder cancer and the like tend to rise year by year, and the intervention treatment of soft endoscopes such as gastroscopes, bronchoscopes, urinary tract soft scopes and the like becomes the most main treatment mode of the natural orifice diseases due to the advantages of small wound, quick recovery and the like.
Because the operation space of the natural cavity is narrow and closed, and the operation process is delicate and complex, the surgical instrument needs very high dexterity to follow the anatomical structure of the cavity to point to a target point, but the surgical instrument used for the soft endoscope in the prior art lacks independent degree of freedom, the motion of the instrument is realized only by the bending of the endoscope, when the operation is carried out in some narrow spaces, a great amount of time is wasted to adjust the position and the direction of the instrument due to the insufficient dexterity of the instrument, and the operation efficiency and the operation safety are reduced. In some complicated operations such as Endoscopic Retrograde Cholangiopancreatography (ERCP), since various surgical instruments are involved and multiple instruments are required to cooperate, multiple medical staff are required to cooperate, which also greatly increases the medical cost and the uncontrollable effect of the operation. In addition, the visual feedback of the existing instrument is only limited to a camera integrated at the front end of the soft endoscope, the instrument does not have visual sensing, the visual field is lost after the instrument enters a narrow cavity, and an operation scene cannot be accurately acquired. The technical obstacles directly influence the development of the soft endoscopic surgery and the popularization and application in clinic.
Disclosure of Invention
The invention aims to provide a visual flexible surgical arm which has flexible deformation capability and can be implanted into a human body along with a biopsy cavity of a flexible endoscope, the cavity inside the arm body can be provided with a camera to observe surgical operation in real time, surgical instruments under the endoscope can be guided to be implanted into a complicated and narrow anatomical environment, and the water and air supply function is realized.
The purpose of the invention is realized by the following technical scheme:
a visual flexible surgical arm comprises a multi-cavity cap, a multi-cavity hose, a deformation framework, spring pipes, driving tendons, a driving mechanism and an outer pipe assembly, wherein the multi-cavity hose is arranged in the deformation framework, a plurality of hose cavities are arranged in the multi-cavity hose, the front end of the deformation framework is arranged on the multi-cavity cap, the cap cavities are arranged in the multi-cavity cap and correspond to the hose cavities one to one, a plurality of spring pipes are fixedly arranged on the outer side of the deformation framework, the driving tendons penetrate into the corresponding spring pipes respectively, the front ends of the driving tendons are fixed at the front end of the deformation framework, a pressing block and a rotating shaft are arranged in the driving mechanism, the rear ends of the spring pipes extend into the driving mechanism and are pressed and fixed through the corresponding pressing blocks, the driving tendons extend out of the corresponding spring pipes and wind the corresponding rotating shafts, and the deformation framework, the spring pipes and the driving tendons are arranged in the.
The multi-cavity cap is internally provided with a first cap cavity for a camera to pass through, the multi-cavity hose is internally provided with a first hose cavity, a cable part of the camera is arranged in the first hose cavity, the multi-cavity hose is internally provided with a plurality of second hose cavities, the multi-cavity cap is internally provided with a plurality of second cap cavities, and the second hose cavities and the second cap cavities are in one-to-one correspondence.
The front end of the multi-cavity cap is in a smooth conical shape or a flat shape.
The deformation skeleton is the hollow out construction that elastic material made, just the fretwork groove on the deformation skeleton is dovetail groove, bar groove, helicla flute or olive shape groove.
The outer side of the deformation framework is provided with a fixing piece, and each spring tube is fixed on the deformation framework through the fixing piece.
The mounting includes a plurality of fixed knots that connect gradually along deformation skeleton axial, the both sides of fixed knot are equipped with the stiff end of fixed spring pipe to two adjacent fixed knots are 90 staggers.
The fixing piece comprises two weaving belts which are continuously and reciprocally woven in a crossed manner.
The outer tube assembly comprises an outer tube and an insertion tube, the front end of the outer tube is fixedly connected with the multi-cavity cap, the deformation framework, a fixing piece and a spring tube are arranged on the deformation framework and are arranged in the outer tube, the rear end of the outer tube is connected with a driving mechanism through the insertion tube, the rear ends of the driving tendon and the spring tube penetrate through the insertion tube and then extend into the driving mechanism, a guide tube is arranged on the outer side of the insertion tube, and the guide tube is connected with the soft endoscope.
The driving mechanism comprises a shell, a rotating shaft and a shifting wheel, the rotating shaft is arranged in the shell, the shifting wheel is arranged outside the shell, the end part of a wheel shaft of the shifting wheel extends into the shell and is fixedly connected with the corresponding rotating shaft, the shifting wheel is driven to rotate through the shifting wheel driving mechanism, a rotatable shifting wheel seat is arranged on the shifting wheel driving mechanism, and the shifting wheel is inserted into the corresponding shifting wheel seat.
The dial wheel driving mechanism is movably arranged on one supporting arm, and a rotating motor for driving the dial wheel seat to rotate is arranged in the dial wheel driving mechanism.
The invention has the advantages and positive effects that:
1. the invention comprises a deformation framework, a driving tendon and other structures, the whole arm body has flexible deformation capability, can be implanted into a human body along with a biopsy cavity of a soft endoscope, and can realize selective pointing operation.
2. The multi-cavity hose is arranged in the deformable framework, the multi-cavity cap is arranged at the front end of the deformable framework and can guide a camera, an auxiliary instrument and the like and convey water vapor, and the camera is arranged in the cavity inside the arm body to observe operation in real time, so that the implantation task of the surgical instrument in a narrow cavity can be completed under a visible condition.
3. The multi-cavity hose is fixedly connected with the inner surface of the deformation framework, has good bending resistance, can realize synchronous bending deformation with the deformation framework, is made of elastic materials and has a hollow structure, and the hollow groove on the deformation framework can be processed into a proper shape according to requirements by precision processing methods such as laser cutting, electric processing, 3D printing and the like, such as a dovetail groove, a strip groove, a spiral groove, an olive groove and the like, so that the deformation framework has continuous deformation capability.
4. The spring tube is fixed on the outer side of the deformation framework through the fixing piece, and the corresponding fixing piece structure or weaving mode can be selected according to different deformation framework structures.
5. The invention realizes the movement of the driving tendon by utilizing the structures of the rotating shaft, the shifting wheel and the like, further realizes the bending of the whole arm body to finish the selective pointing operation, has simple and convenient operation, and the driving mechanism is movably arranged on the supporting arm, thereby facilitating the advance and retreat of the arm body in the biopsy cavity of the soft endoscope.
6. The flexible arm body is provided with a flexible arm body, a flexible arm body and an insertion tube, wherein the flexible arm body is arranged in the insertion tube, and the flexible arm body is arranged in the insertion tube.
Drawings
Figure 1 is a schematic view of the structure of the invention,
figure 2 is a schematic view of the camera head and ancillary equipment of figure 1 passing through a multi-lumen hose,
FIG. 3 is a schematic view of the multi-lumen cap, multi-lumen hose, deformed skeleton and outer tube of FIG. 1,
figure 4 is a schematic view of the multi-cavity cap of figure 3,
figure 5 is a schematic view of a multi-chamber cap of another construction,
figure 6 is a schematic view of the multi-lumen hose of figure 3,
figure 7 is a schematic diagram of a structure of the deformed skeleton shown in figure 3,
figure 8 is a front view of the deformed skeleton of figure 7,
figure 9 is another structural schematic diagram of the deformed skeleton of figure 3,
figure 10 is a front view of the deformed skeleton of figure 9,
figure 11 is a schematic view of another alternative construction of the deformed skeleton of figure 3,
figure 12 is a front view of the deformed skeleton of figure 11,
figure 13 is a schematic view of another alternative configuration of the deformed skeleton of figure 3,
figure 14 is a front view of the deformed skeleton of figure 13,
FIG. 15 is a schematic view of the deformable frame, fasteners, spring tubes and actuator tendons of FIG. 1,
figure 16 is a schematic view of a single fixed joint of figure 15,
figure 17 is a view from direction a of figure 15,
figure 18 is a schematic structural view of another fixing piece arranged on a deformed framework,
figure 19 is a front view of the shape-changing frame and fastener of figure 18,
figure 20 is a schematic view of the outer tube of figure 1,
figure 21 is a schematic view of the guide tube of figure 1,
figure 22 is a schematic view of the guide tube of figure 21 in use,
figure 23 is a schematic view of the drive mechanism of figure 22,
figure 24 is a schematic view of the internal structure of the drive mechanism of figure 23,
figure 25 is a perspective view of the internal structure of the drive mechanism of figure 24,
figure 26 is a schematic view of the thumb wheel drive mechanism of figure 22,
figure 27 is a schematic view of the internal structure of the thumb wheel drive of figure 26,
figure 28 is a first schematic view of the working state of the present invention,
fig. 29 is a second schematic diagram of the working state of the present invention.
The endoscope comprises a multi-cavity cap 1, a first cap cavity channel 101, a second cap cavity channel 102, a camera 2, an auxiliary instrument 3, a multi-cavity hose 4, a first hose cavity channel 401, a second hose cavity channel 402, a deformation framework 5, a dovetail-shaped groove 501, a strip-shaped groove 502, a spiral groove 503, an olive-shaped groove 504, a fixing piece 6, a fixing joint 601, a fixing end 602, a braid 603, a spring tube 7, an outer tube 8, a driving tendon 9, a guide tube 10, an insertion tube 11, a driving mechanism 12, a first pressing block 121, a first rotating shaft 122, a housing 123, a second pressing block 124, a second rotating shaft 125, a first shifting wheel 126, a second shifting wheel 127, a soft endoscope 13, a shifting wheel driving mechanism 14, a shifting wheel seat 141, a rotating motor 142, a fixed disc 143, a supporting arm 15 and an instrument cavity channel 16.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 29, the present invention includes a multi-cavity cap 1, a multi-cavity hose 4, a deformation frame 5, spring tubes 7, driving tendons 9, a driving mechanism 12 and an outer tube assembly, as shown in fig. 1 to 3, the multi-cavity hose 4 is disposed in the deformation frame 5, a plurality of through hose channels are disposed in the multi-cavity hose 4, the multi-cavity cap 1 is disposed at a front end of the deformation frame 5, a plurality of through cap channels are disposed in the multi-cavity cap 1, the cap channels in the multi-cavity cap 1 correspond to the hose channels in the multi-cavity hose 4 one by one, the hose channels and the corresponding cap channels are used for allowing a camera 2, an auxiliary device 3, etc. to pass through and for conveying water, air, etc., as shown in fig. 15 to 19, a plurality of spring tubes 7 are fixedly disposed outside the deformation frame 5, a plurality of driving tendons 9 penetrate into the corresponding spring tubes 7, and front ends of the driving tendons 9 are fixed at a front end of the deformation frame 5, as shown in fig. 23 to 25, a pressing block and a rotating shaft are arranged in the driving mechanism 12, the rear end of the spring tube 7 extends into the driving mechanism 12 and is pressed and fixed by the corresponding pressing block, the driving tendon 9 extends out of the corresponding spring tube 7 and winds around the corresponding rotating shaft, and when the rotating shaft rotates, the bending motion of the whole arm body is realized by the driving tendon 9, as shown in fig. 1, the deformation frame 5, the spring tube 7 and the driving tendon 9 are all arranged in the outer tube assembly.
As shown in fig. 2 to 6, the hose channel of the multi-lumen hose 4 includes a first hose channel 401 and a second hose channel 402 located outside the first hose channel 401, the cap channel of the multi-lumen cap 1 includes a first cap channel 101 and a second cap channel 102 located outside the first cap channel 101, the camera 2 passes through the first hose channel 401 and then extends into the first cap channel 101, or the cable portion of the camera 2 may also be integrated and fixed in the first hose channel 402, each of the second hose channels 402 and each of the second cap channels 102 are used for passing the auxiliary device 3 and delivering water, air, etc., and the auxiliary device 3 may be a surgical device used in a soft endoscope 13 operation, such as a guide wire, a biopsy forceps, a duodenal papillary incision knife, a balloon, a stent, a laser fiber, etc. The multi-cavity hose 4 is made of fluorine polymers or other medical grade plastics, the multi-cavity hose 4 is fixedly connected with the inner surface of the deformation framework 5, has good bending resistance, and can be synchronously bent and deformed with the deformation framework 5.
The material of the multi-cavity cap 1 is fluorine polymer or other medical grade plastics, and the shape of the multi-cavity cap 1 can be selected according to actual needs. As shown in fig. 4, the front end of the multi-cavity cap 1 may be smooth and tapered to facilitate the intervention in a narrow cavity space without damaging the tissue, and as shown in fig. 5, the front end of the multi-cavity cap 1 may also be flat to facilitate the intervention operation.
As shown in fig. 7 to 8, one structure of the deformation frame 5 is that a plurality of rows of dovetail grooves 501 are formed on the surface, the cutting amount in the middle of each dovetail groove 501 is larger than the cutting amount at both ends, and even if the drive tendons 9 are arranged slightly in a deviated manner, the deformation frame 5 always keeps a middle bending state because the middle part of each dovetail groove 501 has a large variation and the two ends have a small variation when being bent.
As shown in fig. 9 to 10, another structure of the deformation framework 5 is that a plurality of groups of strip-shaped grooves 502 are processed on the surface, the number of each group of strip-shaped grooves 502 is two and is set along the circumferential direction of the deformation framework 5, and two adjacent groups of strip-shaped grooves 502 are staggered by 90 degrees, that is, when viewed along the axial direction of the deformation framework 5, the central connecting line of the two strip-shaped grooves 502 of each group and the central connecting line of the two strip-shaped grooves 502 of the adjacent group are in cross orthogonality, which enables the deformation framework 5 to realize bending motion in four directions after a load is applied.
As shown in fig. 11 to 12, another structure of the deformed skeleton 5 is that a spiral groove 503 is axially processed around the surface, and the deformed skeleton 5 of this structure has good axial compression capability.
As shown in fig. 13 to 14, another structure of the deformation frame 5 is that a plurality of rows of olive-shaped grooves 504 are formed on the surface, two ends of each olive-shaped groove 504 are symmetrical and approximately triangular, and the deformation frame 5 with such a structure can realize a larger bending angle under a limited load capacity.
As shown in fig. 15 to 19, a fixing member 6 is arranged on the outer side of the deformation framework 5, each spring tube 7 is fixed on the deformation framework 5 through the fixing member 6, the fixing member 6 and the spring tube 7 are made of medical-grade elastic metal materials, such as 316 stainless steel, nickel-titanium alloy and the like, the fixing member 6 can adopt a proper structure according to actual needs, and the driving tendon 9 comprises an elastically deformable wire, a rod, a tube, a rope and the like.
As shown in fig. 15 to 17, the fixing member 6 includes a plurality of fixing segments 601 sequentially connected along the axial direction of the deformation frame 5, as shown in fig. 16, fixing ends 602 for fixing the spring tubes 7 are disposed at two sides of the fixing segments 601, and two adjacent fixing segments 601 are staggered by 90 °, that is, the connecting line of the fixing ends 602 of two adjacent fixing segments 601 is cross-orthogonal when viewed along the axial direction of the deformation frame 5, so that four spring tubes 7 are uniformly distributed and fixed along the circumferential direction of the deformation frame 5 as shown in fig. 15 and 17.
As shown in fig. 18 to 19, another structure of the fixing member 6 is a cross-woven structure, that is, two woven belts 603 are continuously woven in a reciprocating and cross-woven manner to fix the spring tube 7 on the deformation frame 5, specifically, the first woven belt 603 is wrapped around the outer side of one spring tube 7, then passes through a gap between another adjacent 90-degree spring tube 7 and the deformation frame 5, then passes around the outer side of the spring tube 7 at the 180-degree position, finally passes through a gap between the spring tube 7 at the 270-degree position and the deformation frame 5 to return to the outer side of the original spring tube, the second woven belt 603 is wrapped around the outer side of the spring tube 7 at the 90-degree position, then passes through a gap between the spring tube 7 at the 180-degree position and the deformation frame 5, then passes around the outer side of the 270-degree spring tube 7, and finally passes through a gap between the spring tube 7 at the 0-degree position and the deformation frame 5 to return to the outer, the above steps are repeated, and each braided strap 603 is obliquely wound from the top end to the bottom end of the deformation framework 5 until the deformation framework 5 is completely wrapped.
As shown in fig. 1, the deformation frame 5, the spring tube 7 and the driving tendon 9 are all disposed in an outer tube assembly, the outer tube assembly includes an outer tube 8 and an insertion tube 11, the front end of the outer tube 8 is fixedly connected to the multi-cavity cap 1, and as shown in fig. 20, the inner portion of the outer tube 8 is through and hollow for the deformation frame 5 to pass through, as shown in fig. 3, the multi-cavity hose 4 is disposed in the deformation frame 5, the fixing member 6 and the spring tube 7 disposed on the deformation frame 5 are disposed in the outer tube 8, the outer tube 8 plays a role of protection, as shown in fig. 28, the rear end of the outer tube 8 is connected to the driving mechanism 12 through the insertion tube 11, and the driving tendon 9 and the rear end of the spring tube 7 both pass through the insertion tube 11 and then extend into the driving mechanism. The outer tube 8 and the insertion tube 11 are made of medical-grade high-molecular materials such as fluorine polymers or silicone rubber materials, the outer tube 8 can elastically deform along with the deformation framework 5, and the surface of the outer tube can be provided with a coating to reduce friction.
As shown in fig. 1 and fig. 21 to 22, a guide tube 10 is disposed outside the insertion tube 11, the guide tube 10 is a flexible tube and has good flexibility, and the two ends of the guide tube 10 are both provided with docking interfaces, as shown in fig. 22, in this embodiment, the docking interface at one end of the guide tube 10 is used for connecting with the soft endoscope 13, the docking interface at the other end is used for connecting with the support arm 15 carrying the driving mechanism 12, and the guide tube 10 establishes a channel for the insertion tube 11, so that the displacement of the driving mechanism 12 is directly converted into the displacement of the insertion tube 11, and meanwhile, the insertion device is also conveniently inserted into the soft endoscope 13. The guiding tube 10 is made of fluorine polymer or medical-grade high molecular material such as silicon rubber material.
As shown in fig. 23 to 25, the driving mechanism 12 includes a housing 123, a first rotating shaft 122, a second rotating shaft 125, a first dial wheel 126 and a second dial wheel 127, the first rotating shaft 122 and the second rotating shaft 125 are rotatably disposed in the housing 123, the first dial wheel 126 and the second dial wheel 127 are disposed outside the housing 123, an end of a wheel shaft of the first dial wheel 126 extends into the housing 123 and is fixedly connected to the first rotating shaft 122, an end of a wheel shaft of the second dial wheel 127 extends into the housing 123 and is fixedly connected to the second rotating shaft 125, the driving mechanism 12 is disposed on a supporting arm 15 of the medical robot, a dial wheel driving mechanism 14 for driving the first dial wheel 126 and the second dial wheel 127 to rotate is disposed on the supporting arm 15, as shown in fig. 26 to 27 and fig. 29, the dial wheel driving mechanism 14 includes a box body, two dial wheel seats 141 are disposed on the box body, the first dial wheel 126 and the second dial wheel 127 are respectively and correspondingly embedded in different dial wheel seats 141, two rotating motors 142 are arranged in the box body of the dial driving mechanism 14 and respectively drive different dial wheel seats 141 to rotate, so that the first dial wheel 126 and the second dial wheel 127 rotate and drive the first rotating shaft 122 and the second rotating shaft 125 to rotate, and the rotating motors 142 are fixed on the inner wall of the box body of the dial driving mechanism 14 through fixed disks 143.
As shown in fig. 24 to 25, a first pressing block 121 and a second pressing block 124 are disposed in the housing 123, a first rotating shaft 122 is disposed between the first pressing block 121 and the second pressing block 124, a second rotating shaft 125 is disposed on the other side of the second pressing block 124, a part of the spring tube 7 is pressed and fixed by the first pressing block 121, a driving tendon 9 extending from the part of the spring tube 7 is wound on the first rotating shaft 122, another part of the spring tube 7 is pressed and fixed by the second pressing block 124 after passing through two sides of the first pressing block 121, and the driving tendon 9 extending from the part of the spring tube 7 is wound on the second rotating shaft 125.
The dial driving mechanism 14 is movably arranged on the supporting arm 15, and further drives the driving mechanism 12 to move linearly so as to advance and retreat in the biopsy cavity of the flexible endoscope 13. In this embodiment, the box body of the dial driving mechanism 14 is movably disposed on the supporting arm 15 through the sliding block assembly, a moving motor with a gear on an output shaft is disposed in the box body, a rack which is matched with the gear and parallel to the sliding rail is disposed on the supporting arm 15, and the moving motor is started to drive the box body to move through the transmission of torque of the gear and the rack.
The working principle of the invention is as follows:
as shown in fig. 1 and fig. 28 to 29, the present invention includes a multi-cavity cap 1, a multi-cavity hose 4, a deformation framework 5, driving tendons 9, a driving mechanism 12, and the like, wherein the deformation framework 5 is driven by the driving tendons 9 to realize deformation, a plurality of spring tubes 7 are fixedly disposed outside the deformation framework 5, each driving tendon 9 penetrates into a corresponding spring tube 7, the front end of each driving tendon 9 is fixed on the deformation framework 5, a rotating shaft is disposed in the driving mechanism 12, the driving tendon 9 extends into the driving mechanism 12 and winds around the corresponding rotating shaft, and the rotating shaft rotates to realize movement of the corresponding driving tendon 9, so as to realize bending movement of the arm body. A multi-cavity hose 4 is arranged in the deformation framework 5, a first hose cavity 401 with the largest inner diameter in the multi-cavity hose 4 is used for a camera 2 to pass through to realize operation of visual instruments, or a cable part of the camera 2 can be integrally and fixedly arranged in the first hose cavity 401, a plurality of second hose cavities 402 are also arranged in the multi-cavity hose 4, in this embodiment, one second hose cavity 402 is used for auxiliary instruments 3 to pass through, and the other second hose cavities 402 are used for conveying water, gas and the like, the auxiliary instruments 3 can be surgical instruments such as a guide wire, a biopsy forceps, a duodenal papilla incision knife, a balloon, a bracket, laser fibers and the like in a soft endoscope 13 operation, as shown in fig. 28, an instrument cavity 16 is arranged in the driving mechanism 12 for inserting the auxiliary instruments, the multi-cavity cap 1 is arranged at the front end of the deformation framework 5, and spring tubes 7 and driving tendons 9 and the like on the outer tube of the deformation framework 5 are arranged in 8 of the assembly, as shown in fig. 28, the rear end of the outer tube 8 is connected to a driving mechanism 12 through an insertion tube 11, and the driving tendon 9 and the spring tube 7 pass through the insertion tube 11 and then enter the driving mechanism 12, as shown in fig. 29, a flexible guide tube 10 is sleeved outside the insertion tube 11, in this embodiment, one end of the guide tube 10 is connected to a flexible endoscope 13, and the other end of the guide tube is connected to a supporting arm 15 carrying the driving mechanism 12, the whole flexible arm body of the present invention enters the flexible endoscope 13 along the guide tube 10 and passes through the front end of the flexible endoscope 13, the driving mechanism 12 is driven to rotate by a dial wheel driving mechanism 14 on the supporting arm 15, and the dial wheel driving mechanism 14 is movably arranged on the supporting arm 15, so as to drive the driving mechanism 12 to linearly move to advance and retreat in the biopsy cavity of the flexible endoscope 13.
Claims (7)
1. A visually flexible surgical arm, comprising: the flexible pipe type multi-cavity driving device comprises a multi-cavity cap (1), a multi-cavity hose (4), a deformation framework (5), spring pipes (7), driving tendons (9), a driving mechanism (12) and an outer pipe assembly, wherein the multi-cavity hose (4) is arranged in the deformation framework (5), a plurality of hose cavities are arranged in the multi-cavity hose (4), the multi-cavity cap (1) is arranged at the front end of the deformation framework (5), the plurality of cap cavities are arranged in the multi-cavity cap (1), the cap cavities correspond to the hose cavities one by one, a plurality of spring pipes (7) are fixedly arranged on the outer side of the deformation framework (5), the driving tendons (9) respectively penetrate into the corresponding spring pipes (7), the front ends of the driving tendons (9) are fixed at the front end of the deformation framework (5), pressing blocks and rotating shafts are arranged in the driving mechanism (12), the rear ends of the spring pipes (7) extend into the driving mechanism (12) and are pressed and fixed through the corresponding pressing blocks, the driving tendons (9) extend out from the corresponding spring pipes (7), the deformation framework (5), the spring tube (7) and the driving tendon (9) are all arranged in the outer tube assembly;
fixing pieces (6) are arranged on the outer sides of the deformation frameworks (5), and the spring tubes (7) are fixed on the deformation frameworks (5) through the fixing pieces (6);
the deformation framework (5) is of a hollow structure made of elastic materials, and the hollow groove on the deformation framework (5) is a dovetail groove (501) with a more removed middle tip and less removed two ends;
the outer tube assembly comprises an outer tube (8) and an insertion tube (11), the front end of the outer tube (8) is fixedly connected with the multi-cavity cap (1), a deformation framework (5) and a fixing piece (6) and a spring tube (7) which are arranged on the deformation framework (5) are arranged in the outer tube (8), the rear end of the outer tube (8) is connected with a driving mechanism (12) through the insertion tube (11), the rear ends of a driving tendon (9) and the spring tube (7) are both penetrated through the insertion tube (11) and then extend into the driving mechanism (12), a guide tube (10) is arranged on the outer side of the insertion tube (11), and the guide tube (10) is connected with a soft endoscope (13).
2. A visually flexible surgical arm according to claim 1, wherein: the multi-cavity cap is characterized in that a first cap cavity (101) for a camera (2) to penetrate is arranged in the multi-cavity cap (1), a first hose cavity (401) is arranged in the multi-cavity hose (4), a cable part of the camera (2) is arranged in the first hose cavity (401), a plurality of second hose cavities (402) are arranged in the multi-cavity hose (4), a plurality of second cap cavities (102) are arranged in the multi-cavity cap (1), and the second hose cavities (402) and the second cap cavities (102) are in one-to-one correspondence.
3. The visually flexible surgical arm of claim 1 or 2, wherein: the front end of the multi-cavity cap (1) is in a smooth conical shape or a flat shape.
4. A visually flexible surgical arm according to claim 1, wherein: fixing piece (6) include a plurality of fixed knot (601) that connect gradually along deformation skeleton (5) axial, the both sides of fixed knot (601) are equipped with stiff end (602) of fixed spring pipe (7) to two adjacent fixed knots (601) are 90 staggers.
5. A visually flexible surgical arm according to claim 1, wherein: the fixing piece (6) comprises two weaving belts (603) which are continuously and reciprocally woven in a crossed manner.
6. A visually flexible surgical arm according to claim 1, wherein: the driving mechanism (12) comprises a shell (123), a rotating shaft and a shifting wheel, the rotating shaft is arranged in the shell (123), the shifting wheel is arranged outside the shell (123), the end part of a wheel shaft of the shifting wheel extends into the shell (123) and is fixedly connected with the corresponding rotating shaft, the shifting wheel is driven to rotate through a shifting wheel driving mechanism (14), a rotatable shifting wheel seat (141) is arranged on the shifting wheel driving mechanism (14), and the shifting wheel is inserted into the corresponding shifting wheel seat (141).
7. A visually flexible surgical arm according to claim 6, wherein: the poking wheel driving mechanism (14) is movably arranged on one supporting arm (15), and a rotating motor (142) for driving the poking wheel seat (141) to rotate is arranged in the poking wheel driving mechanism (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910461863.1A CN110338741B (en) | 2019-05-30 | 2019-05-30 | Visual flexible operation arm |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910461863.1A CN110338741B (en) | 2019-05-30 | 2019-05-30 | Visual flexible operation arm |
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| CN110338741B true CN110338741B (en) | 2020-09-22 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111580230A (en) * | 2020-03-02 | 2020-08-25 | 华中科技大学 | Flexible optical fiber, preparation method and drivable laser scalpel based on optical fiber |
| CN114098590A (en) * | 2020-09-01 | 2022-03-01 | 宁波新跃医疗科技股份有限公司 | Tube for self-irrigation drainage type ureteroscope and self-irrigation drainage type ureteroscope |
| CN114098593A (en) * | 2020-09-01 | 2022-03-01 | 宁波新跃医疗科技股份有限公司 | Sheath-free ureteroscope and manufacturing method thereof |
| CN112353496A (en) * | 2020-11-30 | 2021-02-12 | 中国科学院沈阳自动化研究所 | Soft endoscope operation and control robot |
| CN112472016B (en) * | 2020-12-09 | 2021-07-20 | 江苏济远医疗科技有限公司 | Disposable uterine endoscope |
| CN113729803A (en) * | 2021-10-18 | 2021-12-03 | 天津大学 | Flexible surgical instrument and method for manufacturing metal cutting tube |
| CN115944396B (en) * | 2023-03-10 | 2023-05-23 | 北京云力境安科技有限公司 | Soft type endoscopic surgery execution device |
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| BRPI0822419A8 (en) * | 2008-03-10 | 2019-01-22 | Fortimedix B V | process for producing the acting part of an instrument for endoscopic or similar applications and instrument for endoscopic or similar applications |
| US8932207B2 (en) * | 2008-07-10 | 2015-01-13 | Covidien Lp | Integrated multi-functional endoscopic tool |
| CN205923965U (en) * | 2016-06-22 | 2017-02-08 | 深圳市先赞科技有限公司 | Be used for endoscope traction fixation mechanism |
| CN106880405B (en) * | 2017-03-30 | 2019-11-22 | 微创（上海）医疗机器人有限公司 | Operating robot flexible instrument, surgical instrument and endoscope |
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Effective date of registration: 20231214 Address after: Room 345, No. D09, Shenyang International Software Park, No. 863-9, shangshengou village, Hunnan District, Shenyang City, Liaoning Province Patentee after: Shenyang shuchi Medical Technology Co.,Ltd. Address before: No.114, Nanta street, Shenhe District, Shenyang City, Liaoning Province, 110016 Patentee before: SHENYANG INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES |