CN110811704B - Single-layer thin-wall pipe fitting - Google Patents

Single-layer thin-wall pipe fitting Download PDF

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CN110811704B
CN110811704B CN201810923496.8A CN201810923496A CN110811704B CN 110811704 B CN110811704 B CN 110811704B CN 201810923496 A CN201810923496 A CN 201810923496A CN 110811704 B CN110811704 B CN 110811704B
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elastic connecting
strip
connecting body
connecting frame
elongated
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CN110811704A (en
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张帆
张召颖
胡陟
郑民华
孙晶
潘睿俊
马保平
邹洵
张国胜
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Shanghai University of Engineering Science
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable

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  • Engineering & Computer Science (AREA)
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Abstract

本发明涉及一种单层薄壁管件，为镂空结构，包括近端结构、传递部分及远端结构，传递部分为细长条带，沿管件轴线的周向均匀分布，近端结构包括连接架、弹性连接体，连接架与弹性连接体连接，弹性连接体与细长条带连接，细长条带经设置接受近端的近端效应器处的输入运动，并在弹性连接体提供的对称约束力下实现相对连接架的滑移，远端结构与细长条带连接，在细长条带带动下发生挠曲变形。与现有技术相比，本发明的优点在于所有结构分布在单层薄壁件圆周面上，设计紧凑、容易制造、成本低，即可实现近端控制远端的弯曲变形。

Figure 201810923496

The invention relates to a single-layer thin-walled pipe fitting, which is a hollow structure and includes a proximal end structure, a transmission part and a distal end structure. ,Elastic connecting body, the connecting frame is connected with the elastic connecting body, the elastic connecting body is connected with the slender strip, and the slender strip is arranged to receive the input motion at the proximal end effector at the proximal end, and the symmetry provided by the elastic connecting body is provided. The sliding relative to the connecting frame is realized under the restraining force, and the distal end structure is connected with the elongated strip, and is flexed and deformed under the driving of the elongated strip. Compared with the prior art, the present invention has the advantages that all structures are distributed on the circumferential surface of the single-layer thin-walled part, and the design is compact, easy to manufacture, and low in cost, and the bending deformation of the proximal end and the distal end can be controlled.

Figure 201810923496

Description

Single-layer thin-wall pipe fitting
Technical Field
The invention relates to the field of minimally invasive surgery medical instruments, in particular to a single-layer thin-wall pipe fitting.
Background
The minimally invasive surgery refers to the surgery performed by using modern medical instruments such as laparoscopes, thoracoscopes and the like and related equipment. Minimally invasive surgery has the advantages that small trauma, light pain and quick recovery are the dream of every patient needing surgery, and the dream is realized by the minimally invasive surgery.
Most of the existing steerable tubes are provided with holes on the periphery of a tube, and the proximal end is controlled to the distal end in the holes through a rope structure so as to achieve the purpose of bending deformation. This type of structure increases the cross-sectional size of the pipe, and crosstalk easily occurs between ropes, making it difficult to achieve precise control. Other processing technologies are needed to be adopted at the head of the rope, so that the head of the rope is coupled, and the parallel motion among a plurality of ropes can be realized, and further the control on the head of the pipe fitting is realized.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a single-layer thin-wall pipe fitting.
The purpose of the invention can be realized by the following technical scheme:
a single-layer thin-wall pipe fitting can be used in the field of minimally invasive surgery, such as endoscope, intravascular surgery, surgical operation and the like, and realizes accurate operation, the pipe fitting is a hollow structure and comprises a near-end structure, a transmission part and a far-end structure,
the transmission parts are slender strips which are uniformly distributed along the circumferential direction of the axis of the pipe fitting,
the near-end structure comprises a connecting frame and an elastic connecting body, the slender strip is driven to slide by a near-end effector arranged at the near end, the connecting frame is connected with the elastic connecting body, the elastic connecting body is connected with the slender strip, the slender strip is arranged to receive the input motion of the near-end effector at the near end and realize the sliding relative to the connecting frame under the symmetrical constraint force provided by the elastic connecting body,
the distal structure is connected with the elongated strip and is subjected to flexural deformation under the driving of the elongated strip.
A slit is provided between the head portions of the proximal elongate strips, the presence of the slit allowing relative slippage between the strips.
The elongated strip is slidably moved in the axial direction by the proximal end effector.
The elongated strips are connected to each other by the elastic connecting body.
The elastic connecting body is of an approximate annular structure and is arranged along the circumferential direction of the axis of the pipe fitting, the roundness of the thin-wall structure is guaranteed in the process that the strip slides along the axial direction, and the elastic connecting body can extend/contract along the length direction of the elongated strip and swing around the connecting part, so that the elongated strip approximately moves along the axis at the near end and can bend and twist at the transmission part and the far end.
The elastic connecting bodies are connected through connecting frames, and the connecting frames are connected with the fixing devices in a certain mode to ensure that the long and thin strips can slide relatively.
The elastic connecting body is composed of spring bodies which are sequentially connected end to end, the spring bodies are symmetrically distributed on two sides of the connecting frame, one end of each spring body is connected with the connecting frame, the other end of each spring body is connected with the slender strip, and extension and compression along the length direction and swinging around the connecting position of the connecting frame and the strip body can be realized. The spring bodies are symmetrically distributed along two sides of the connecting frame, so that the elongated strip can be ensured to continuously exert symmetrical constraint force, the elongated strip approximately moves along the axis at the near end, can be bent and twisted at the transmission part and the far end, and finally realizes the bending deformation of the far end.
The connecting frames are parallel to the slender strips and are uniformly distributed along the circumferential direction of the axis of the pipe fitting.
The distal structure is a distal effector, for example, a ring-shaped locking tip may be employed.
Compared with the prior art, the near end structure can transmit load to the elongated strips which are uniformly distributed, so that the motion is transmitted to the far end structure part to realize the flexural deformation of the far end structure, the near end is used for controlling the far end, and the roundness of the pipe fitting structure is still kept under a certain load condition. The medical equipment has a simple structure, only needs a single-layer thin-wall pipe structure, does not need a complex assembly structure, and can realize the bending deformation of the near-end control far-end.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
In the figure, 1 is a ring-shaped locking end, 2 is a slender strip, 3 is a connecting frame, 4 is an elastic connecting body, 5 is a near-end effector, 6 is an axis, 7 is a strip seam, 8 is a single-layer thin-wall pipe fitting, 9 is a far-end structure, and 10 is a near-end structure.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
Examples
A single-layer thin-wall tube 8 is shown in FIG. 1, and has a hollow structure, including a proximal structure 10, a transmission part, and a distal structure 9. Wherein, the transmission part is slender strip 2, as shown in this embodiment, a plurality of slender strips 2 that set up evenly distributed along the circumference of axis 6, near-end structure 10 includes link 3, elastic connection body 4, and slender strip 2 slides along the axis direction through the drive of the near-end effector 5 that sets up at the near-end, and link 3 is connected with elastic connection body 4, and elastic connection body 4 is connected with slender strip 2, and distal end structure 9 is flexible deformation region, is connected 2 with slender strip. The proximal structure 10 thus achieves a load transfer to the elongated strips 2 that is evenly distributed, so that the transfer of motion to the distal structure 9 partially achieves a flexural deformation of the distal structure 9.
Specifically, the elastic connecting bodies 4 are symmetrically distributed on both sides of the connecting frame 3, and each group of elastic connecting bodies 4 comprises a plurality of spring bodies which are distributed at intervals along the length direction of the connecting frame 3. One end of each spring body is connected with the connecting frame 3, the other end is connected with the slender strip 2, and the extension and the compression along the length direction and the swinging around the connecting part of the connecting frame and the strip body can be realized. The spring bodies are symmetrically distributed along two sides of the connecting frame, so that the elongated strip can be ensured to continuously exert symmetrical constraint force, the elongated strip approximately moves along the axis at the near end, can be bent and twisted at the transmission part and the far end, and finally realizes the bending deformation of the far end.
A slot is provided between the heads of the proximal elongate strips 2, the presence of which enables relative slippage between the strips. The elongate strips 2 are connected to each other by elastic connections 4. The elastic connecting body 4 is of an approximate annular structure and is arranged along the circumferential direction of the axis 6, so that the roundness of the thin-wall structure is ensured in the process that the strip slides along the axial direction. And the elastic connecting bodies 4 are connected through the connecting frames 3, and the connecting frames 3 are connected with the fixing device in a certain mode so as to ensure that the slender strips can slide relatively. The connecting frames 3 are parallel to the elongated strips 2 and are evenly distributed along the circumference of the pipe axis. The distal structure 10 is a distal effector, such as a ring-shaped locking tip 1 in this embodiment, for constraining the elongate strip 2.
The invention can be used in the field of minimally invasive surgery, such as endoscope, endovascular surgery, surgical operation and the like, and realizes accurate operation. The proximal structure can transfer load to the elongated strips which are evenly distributed, so that the motion is transferred to the distal structure part to realize the deflection deformation of the distal structure, and the roundness of the pipe fitting structure is still maintained under a certain load condition by using the proximal control distal end. The medical equipment has a simple structure, only needs a single-layer thin-wall pipe structure, does not need a complex assembly structure, and can realize the bending deformation of the near-end control far-end.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.

Claims (3)

1.一种单层薄壁管件，其特征在于，该管件为镂空结构，包括近端结构、传递部分及远端结构，1. A single-layer thin-walled pipe fitting, characterized in that, the pipe fitting is a hollow structure, comprising a proximal structure, a transmission portion and a distal structure, 所述传递部分为细长条带，沿管件轴线的周向均匀分布，The transmission part is a slender strip, evenly distributed along the circumference of the pipe axis, 所述近端结构包括连接架、弹性连接体，所述连接架与所述弹性连接体连接，所述弹性连接体与所述细长条带连接，所述细长条带经设置接受近端的近端效应器处的输入运动，并在弹性连接体提供的对称约束力下实现相对连接架的滑移，The proximal structure includes a connecting frame and an elastic connecting body, the connecting frame is connected with the elastic connecting body, the elastic connecting body is connected with the elongated strip, and the elongated strip is configured to receive the proximal end The input motion at the proximal effector of the 所述远端结构与所述细长条带连接，在所述细长条带带动下发生挠曲变形；the distal end structure is connected with the elongated strip, and is flexed and deformed by the elongated strip; 在近端的细长条带的头部之间设置有条缝，条缝的存在可以使条带之间发生相对滑移；A slit is arranged between the heads of the elongated strips at the proximal end, and the existence of the slits can cause relative slippage between the strips; 所述弹性连接体呈近似环状结构，沿管件轴线的周向设置，弹性连接体能沿细长条带长度方向上伸长/缩短并绕连接处摆动，使细长条带在近端近似沿轴线移动，在传递部分和远端可以弯曲和扭曲；The elastic connecting body has an approximate annular structure and is arranged along the circumferential direction of the axis of the pipe. The elastic connecting body can extend/shorten along the length direction of the elongated strip and swing around the connection, so that the elongated strip is approximately along the length of the elongated strip at the proximal end. Axis movement, bending and twisting in the delivery section and distal end; 所述弹性连接体由首尾依次连接的弹簧体构成，各弹簧体在连接架两侧对称分布，每条弹簧体的一端与连接架相连，另一端与细长条带相连，在细长条带沿着轴向滑移的过程中以保证薄壁结构的圆度；The elastic connecting body is composed of spring bodies that are connected end to end in sequence. Each spring body is symmetrically distributed on both sides of the connecting frame. One end of each spring body is connected to the connecting frame, and the other end is connected to the slender strip. In the process of sliding along the axial direction to ensure the roundness of the thin-walled structure; 所述细长条带经近端效应器带动沿轴线方向滑移；各细长条带之间经所述弹性连接体与连接架相连，连接架与外部固定连接；所述连接架与所述细长条带平行，沿管件轴线的周向均匀分布。The elongated strips are driven by the proximal effector to slide along the axis direction; the elongated strips are connected to the connecting frame through the elastic connecting body, and the connecting frame is fixedly connected to the outside; the connecting frame and the The elongated strips are parallel and evenly distributed along the circumference of the pipe axis. 2.根据权利要求1所述的一种单层薄壁管件，其特征在于，所述远端结构为远端效应器。2 . The single-layer thin-walled pipe according to claim 1 , wherein the distal structure is a distal effector. 3 . 3.根据权利要求2所述的一种单层薄壁管件，其特征在于，所述远端效应器为环形锁固端。3 . The single-layer thin-walled pipe fitting according to claim 2 , wherein the distal effector is an annular locking end. 4 .
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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6749560B1 (en) * 1999-10-26 2004-06-15 Circon Corporation Endoscope shaft with slotted tube
CN101938933A (en) * 2008-02-05 2011-01-05 弗兰克·德瓦勒 steerable tube
CN104771226A (en) * 2014-01-13 2015-07-15 上海工程技术大学 Interventional device for mini-invasive surgical treatment of cerebral hemorrhage
CN106943114A (en) * 2017-04-27 2017-07-14 泗洪县正心医疗技术有限公司 A kind of expandable endoscope in end
CN107666873A (en) * 2014-12-05 2018-02-06 微创手术医疗器械公司 The method of instrument can be manipulated for manufacturing and this manipulates instrument

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6749560B1 (en) * 1999-10-26 2004-06-15 Circon Corporation Endoscope shaft with slotted tube
CN101938933A (en) * 2008-02-05 2011-01-05 弗兰克·德瓦勒 steerable tube
CN104771226A (en) * 2014-01-13 2015-07-15 上海工程技术大学 Interventional device for mini-invasive surgical treatment of cerebral hemorrhage
CN107666873A (en) * 2014-12-05 2018-02-06 微创手术医疗器械公司 The method of instrument can be manipulated for manufacturing and this manipulates instrument
CN106943114A (en) * 2017-04-27 2017-07-14 泗洪县正心医疗技术有限公司 A kind of expandable endoscope in end

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