CN110882017B - Bidirectional bending minimally invasive surgical instrument based on special-shaped gear transmission - Google Patents
Bidirectional bending minimally invasive surgical instrument based on special-shaped gear transmission Download PDFInfo
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- CN110882017B CN110882017B CN201911237875.2A CN201911237875A CN110882017B CN 110882017 B CN110882017 B CN 110882017B CN 201911237875 A CN201911237875 A CN 201911237875A CN 110882017 B CN110882017 B CN 110882017B
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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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
Abstract
The present disclosure provides a bidirectional bending minimally invasive surgical instrument based on special-shaped gear transmission, comprising: the instrument tail end joint comprises a first joint component and a second joint component and is used for realizing the yaw and pitch bending freedom degree of the minimally invasive surgical instrument, and one end of the second joint component is connected with the first end of the first joint component through a first connecting plate; the long shaft connecting mechanism comprises a long shaft tail end component and a long shaft front end component; the long shaft tail end component is connected with the other end of the second joint component through a second connecting plate; the long shaft front end component and the long shaft tail end component are coaxially arranged; the instrument drive cartridge is coupled to the long shaft nose assembly. The invention can keep stable space pose by adopting gear engagement, provides strong load force, can realize two-degree-of-freedom and bidirectional bending effect, can meet the requirements of different hospital conditions when applied to the minimally invasive surgery in the field of laparoscopy, and has the potential of expanding to other medical fields.
Description
Technical Field
The disclosure relates to the field of minimally invasive surgical instruments, in particular to a bidirectional bending minimally invasive surgical instrument based on special-shaped gear transmission.
Background
The minimally invasive surgery refers to a type of surgery operation which is carried out by doctors by using modern medical equipment such as laparoscopes, thoracoscopes and the like and matched instruments. Compared with the traditional open surgery, the minimally invasive surgery has the advantages of small wound, less bleeding, small postoperative scar, quick recovery and the like. Therefore, the minimally invasive surgery has been popularized and applied in various fields such as general surgery, cardiac surgery, obstetrics and gynecology.
In the process of robot-assisted minimally invasive surgery, the surgical instrument serving as an actuating mechanism in direct contact with the lesion tissue of a patient needs to have flexible pose adjustment capability and large-range motion characteristics. However, most of minimally invasive surgical instruments used clinically adopt a driving mode that a snake-shaped joint mechanical structure is matched with transmission, and the minimally invasive surgical instruments realize flexible pose adjustment force and large-range motion and also have the problems of wire transmission coupling, poor motion precision, low load capacity, insufficient rigidity and the like.
In view of this, a novel tool mechanism capable of realizing accurate bending of multiple joints and maintaining stable and strong lifting force is designed by applying a novel principle and method, and has important significance for development of minimally invasive surgical instruments.
Disclosure of Invention
Technical problem to be solved
The present disclosure provides a bidirectional bending minimally invasive surgical instrument based on a shaped gear transmission to at least partially solve the technical problems set forth above.
(II) technical scheme
According to one aspect of the present disclosure, there is provided a bidirectional bending minimally invasive surgical instrument based on a shaped gear transmission, comprising:
an instrument end joint comprising:
the first joint assembly is used for realizing the yaw bending freedom degree of the minimally invasive surgical instrument;
the second joint component is used for realizing the pitching bending freedom degree of the minimally invasive surgical instrument; one end of the second joint component is hinged with the first end of the first joint component through a first connecting plate;
connect long axle mechanism, include:
the long shaft tail end component is hinged with the other end of the second joint component of the instrument tail end joint through a second connecting plate;
a long shaft front end assembly coaxially arranged with the long shaft tail end assembly;
an instrument drive cartridge coupled to the long shaft nose assembly.
In some embodiments of the present disclosure, the first joint assembly comprises:
a first joint housing;
the first clamping channel piece is arranged in the first joint shell and is coaxial with the first joint shell;
the two first special-shaped gears are respectively arranged on two opposite sides of the first clamping channel piece;
the first supporting plates are respectively arranged on two sides of the two first special-shaped gears;
the first joint shell, the first supporting plate, the two first special-shaped gears and the first clamping channel piece are sequentially connected.
In some embodiments of the present disclosure, the second joint assembly comprises:
a second joint housing;
the second clamping channel piece is arranged in the second joint shell and is coaxial with the second joint shell;
the second supporting plate is respectively opposite to each surface of the second clamping channel piece and is connected with the second joint shell;
the third connecting plate and the second connecting plate are respectively hinged with the second clamping channel piece;
the two bevel gears are respectively arranged on two adjacent sides of the second clamping channel piece, and the small end faces of the bevel gears are opposite to the second clamping channel piece;
the first gear is coaxially arranged with one bevel gear, and the large end face of the first gear is opposite to the large end face of the bevel gear;
the fourth spur gear is meshed with the first gear, and the first gear and the fourth spur gear are arranged on the same side of the second clamping channel piece and are connected with the second clamping channel piece; the fourth spur gear is connected with the first driving joint component to generate yaw bending freedom degree by the first driving joint component;
the second spur gear and the third spur gear are sequentially meshed with the first spur gear, and the second spur gear and the third spur gear are arranged on the same side of the other bevel gear and are connected with the second channel piece;
the first special-shaped gear is meshed with the fourth spur gear, is arranged on the opposite side of the second spur gear and is connected with the second clamping channel piece;
and the second special-shaped gear is connected with the second clamping channel piece.
In some embodiments of the present disclosure, the elongate shaft tip assembly comprises:
a long shaft housing;
the third clamping channel piece is arranged in the long shaft shell and is coaxially arranged with the long shaft shell;
the first rack and the second rack are respectively arranged on two sides of the third clamping channel piece;
the two fifth spur gears and the two sixth spur gears are respectively arranged on two sides of the third clamping channel piece and are respectively meshed with the first rack and the second rack;
two seventh spur gears and two eighth spur gears respectively provided on both sides of the third jaw, and the two fifth spur gears, the two sixth spur gears, the two seventh spur gears (206), and the two eighth spur gears are sequentially meshed;
the two third supporting plates are respectively opposite to two side surfaces of the third clamping channel piece and are connected with the long shaft shell;
when the first rack and the second rack move axially synchronously, the second joint component generates a pitching bending degree of freedom; when the first rack is fixed and the second rack moves axially, the first joint component generates a yaw bending freedom degree.
In some embodiments of the present disclosure, a long axis front end assembly comprises:
a long shaft housing;
the third clamping channel piece is arranged in the long shaft shell and is coaxially arranged with the long shaft shell;
the first rack and the second rack are respectively arranged on two sides of the third clamping channel piece;
the two first limiting pieces are respectively fixed on two sides of the third clamping channel piece; the first rack and the second rack respectively pass through and obtain the axial movement freedom of the first rack and the axial movement freedom of the second rack 208 along two first limiting parts;
the second limiting parts are fixed on the adjacent sides of the two first limiting parts;
in some embodiments of the present disclosure, an instrument drive cartridge comprises:
two rotating electrical machines;
the two speed reducers are respectively connected with the two rotating motors;
the two first driving bevel gears are respectively fixed on the two speed reducers;
the two gear transmission assemblies are in meshed connection with the two first driving bevel gears; the two gear transmission assemblies convert the rotation of the first driving bevel gear into a first axial movement freedom degree of the first rack and a second axial movement freedom degree of the second rack.
In some embodiments of the present disclosure, the gear assembly comprises:
a ninth spur gear coupled to the long shaft nose assembly; the two ninth spur gears are respectively meshed with the first rack and the second rack;
the second driving bevel gear is connected with the fixed base and is connected with the ninth spur gear; the second driving bevel gear is meshed with the first driving bevel gear;
the first degree of freedom of axial movement of the first rack and the second degree of freedom of axial movement of the second rack are transmitted by controlling the rotation of the two rotating motors through the engagement between the first drive bevel gear, the second drive bevel gear, the ninth spur gear and the first rack and the second rack, respectively.
(III) advantageous effects
According to the technical scheme, the bidirectional bending minimally invasive surgical instrument based on the special-shaped gear transmission has at least one or part of the following beneficial effects:
(1) the robot is used for robot minimally invasive surgery, and can fill the blank that no such products exist in the field of minimally invasive surgery robots.
(2) The minimally invasive surgical instrument adopts a driving mode of multi-gear rack meshing, and solves the problem of wire coupling of wire transmission adopted by the traditional minimally invasive surgical instrument.
(3) The present disclosure has a working channel with a diameter of 3 mm that can be used for passing through surgical tools for different diagnostic functions.
(4) The present disclosure adopts the meshing of gears, can maintain a stable spatial pose, and provides a strong load force.
(5) The minimally invasive surgery oriented to the field of laparoscopy can meet the requirements of different hospital conditions and has the potential of expanding to other medical fields.
Drawings
Fig. 1 is a schematic structural diagram of a bidirectional bending minimally invasive surgical instrument based on a shaped gear transmission according to an embodiment of the disclosure.
FIG. 2 is a schematic view of a bending state of a distal joint of a bidirectionally curved minimally invasive surgical instrument based on a shaped gear transmission according to an embodiment of the disclosure.
FIG. 3 is an exploded view of a first joint assembly structure of a bidirectional bending minimally invasive surgical instrument based on a shaped gear transmission according to an embodiment of the disclosure.
FIG. 4 is an exploded view of a second joint assembly structure of a shaped gear drive-based bidirectionally curved minimally invasive surgical instrument according to an embodiment of the present disclosure.
FIG. 5 is an exploded view of a long shaft end component structure of a bidirectional bending minimally invasive surgical instrument based on a shaped gear transmission according to an embodiment of the disclosure.
FIG. 6 is a schematic diagram of an instrument drive cartridge transmission of a bidirectionally curved minimally invasive surgical instrument based on a shaped gear transmission according to an embodiment of the present disclosure.
FIG. 7 is an exploded view of a long-axis front end assembly structure of a bidirectional bending minimally invasive surgical instrument based on a shaped gear transmission according to an embodiment of the disclosure.
Fig. 8 is an exploded view of a gear assembly configuration according to an embodiment of the present disclosure.
[ description of main reference numerals in the drawings ] of the embodiments of the present disclosure
1-instrument end joint; 2-connecting a long shaft mechanism; 3-an instrument drive cartridge;
1-1-a first joint component; 1-2-a first connection plate; 1-3-a second joint component; 1-4-a second connecting plate; 2-1-major axis end component;
101-a first joint shell; 102-a first pin; 103-a first grommet; 104-a first jaw member; 105-a first support plate; 106-a first shaped gear; 107-a second support plate; 108-a second shaped gear; 109-a second joint shell; 110-a second grommet; 111-a first spur gear; 112-a first pin; 113-a second spur gear; 114-a third spur gear; 115-a third connecting plate; 116-bevel gear; 117-a fourth spur gear; 118-a second jaw member; 119-a third grommet;
201-a third jaw member; 202-a first rack; 203-a fifth spur gear; 204-a sixth spur gear; 205-a third support plate; 206-a seventh spur gear; 207-eighth spur gear; 208-a second rack;
2-2-major axis front end assembly; 3-1-gear drive assembly; 3-2-a first drive bevel gear; 3-3-speed reducer; 3-4-rotating electrical machines;
301-a second drive bevel gear; 302-a second pin; 303-a ninth spur gear; 304-a stationary base;
209-a second pin; 210-a first stop; 211-a second limit;
r1-pitch bending degree of freedom; r2-yaw bending degree of freedom; t1-first rack axial movement freedom; t2-second rack axial movement degree of freedom
Detailed Description
The present disclosure provides a bidirectional bending minimally invasive surgical instrument based on special-shaped gear transmission, comprising: instrument end joint, connection long axle mechanism and instrument drive box, instrument end joint includes: the first joint component is used for realizing the yaw bending freedom degree of the minimally invasive surgical instrument, and the second joint component is used for realizing the pitch bending freedom degree of the minimally invasive surgical instrument; one end of the second joint component is hinged with the first end of the first joint component through a first connecting plate; connect major axis mechanism and include: a long shaft end assembly and a long shaft front end assembly; the long shaft end component is hinged with the other end of the second joint component through a second connecting plate; the long shaft front end component and the long shaft tail end component are coaxially arranged, and the long shaft tail end component and the long shaft front end component are respectively arranged at two ends of the connecting long shaft; an instrument drive cartridge is coupled to the long shaft nose assembly. The laparoscope micro-wound operation device adopts the meshing of the gears, not only can keep stable space pose and provide strong load force, but also can realize two-degree-of-freedom and two-way bending function, is oriented to the micro-wound operation in the laparoscope field, can meet the requirements of different hospital conditions, and has the potential of expanding to other medical fields.
For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
Certain embodiments of the present disclosure will now be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the disclosure are shown. Indeed, various embodiments of the disclosure may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will satisfy applicable legal requirements.
In a first exemplary embodiment of the present disclosure, a shaped gear drive based, bi-directionally curved minimally invasive surgical instrument is provided. As shown in fig. 1 to 8, the minimally invasive surgical instrument with bidirectional bending based on the special-shaped gear transmission of the present disclosure is a minimally invasive surgical instrument with two degrees of freedom and bidirectional bending function, and comprises an instrument end joint 1, a connecting long shaft mechanism 2 and an instrument driving box 3.
The instrument end joint 1 comprises a first joint component 1-1, a connecting plate I1-2, a second joint component 1-3 and a second connecting plate 1-4 which are used for realizing the pitching bending degree of freedom R1 and the yawing bending degree of freedom R2 of the instrument, wherein the first joint component 1-1 comprises a first joint shell 101, a plurality of first pin shafts 102, a plurality of first backing rings 103, a first clamping channel piece 104, a first supporting plate 105 and a first special-shaped gear 106. The first shaped gear 106 is mounted on the first jaw piece 104 via the first support plate 105, the first joint housing 101, the second support plate 107 and the first pin 102.
The second joint assembly 1-3 comprises a second profile gear 108, a second joint housing 109, two first spur gears 111, a second spur gear 113, a third spur gear 114, a third connecting plate 115; two bevel gears 116, a fourth spur gear 117, a second jaw 118, a plurality of third backing rings 119, a plurality of second backing rings 110, a plurality of second support plates 107, and a plurality of first pins 112. The large faces of the bevel gears 116 are fixed to the first spur gear 111 by means of a first pin 112, and the two bevel gears 116 are hinged to the adjacent sides of the second jaw piece 118 by means of the second support plate 107 and the pin 102. The first gear 111 is engaged with the fourth spur gear 117 and is hinged to the second jaw 118 through the third backing ring 119, the second backing ring 110, the first connecting plate 1-2 and the second support plate 107. While the fourth spur gear 117 meshes with the first shaped gear 106 and is articulated by the second support plate 107. Rotation of the fourth spur gear 117 may drive the first joint assembly 1-1 to produce a yaw curvature R2. On the adjacent side of the fourth spur gear 117, the second spur gear 113, the third spur gear 114, and the first spur gear 111 are sequentially engaged, and are hinged to the second jaw member 118 by the first backing ring 103, the third backing ring 119, the third connecting plate 115, and the second connecting plates 1 to 4. On the opposite side of the second spur gear 113, a second shaped gear 108 is fixed to a second jaw 118 via a third backing ring 119, a second support plate 107 and the first pin 102.
The long shaft connecting mechanism 2 comprises a long shaft end component 2-1 and a long shaft front end component 2-2. The long shaft end component 2-1 comprises: a third jaw member 201, a first rack 202, two fifth spur gears 203, two sixth spur gears 204, a third support plate 205, two seventh spur gears 206, two eighth spur gears 207, a second rack 208, a long shaft housing 212, and a plurality of first pin shafts 102. The fifth spur gear 203, the sixth spur gear 204, the seventh spur gear 206, and the eighth spur gear 207 are sequentially engaged and hinged on both sides of the third jaw member 201. The third channel member 201 is disposed inside the long-axis housing 212 and is disposed coaxially with the long-axis housing 212, and two third support plates 205 are respectively opposite to two side surfaces of the third channel member 201 and are connected to the long-axis housing 212. The fifth spur gears 203 on both sides of the third jaw piece 201 are respectively meshed with the first rack 202 and the second rack 208, and the eighth spur gears 207 on both sides of the third jaw piece 201 are respectively meshed with the second spur gears 113 and the second special-shaped gear 108 on both sides of the second joint component 1-3 and are hinged through the second connecting plates 1-4. When the first rack 202 and the second rack 208 move axially in synchronization, the second joint assembly 1-3 generates a pitch bending degree of freedom R1; when the first rack 202 is stationary and the second rack 208 is moved axially, the first joint assembly 1-1 creates a yaw bending degree of freedom R2.
The long shaft front end assembly 2-2 comprises: a third clamping channel member 201, a first rack 202, a second rack 208, two first limiting members 210, a second limiting member 211, and a plurality of second pin shafts 209. The two first limiting members 210 are fixed to two sides of the third clamping channel member 201 through second pins 209, respectively, and the second limiting member 211 is fixed to an adjacent side of the first limiting member 210. The first limiting member 210 and the second limiting member 211 cooperate to form rectangular guide slots distributed on two sides of the third clamping channel member 201. It should be noted that, regarding the guide groove, the two first limiting members 210 are distributed on the left and right sides of the third clamping channel member 201, and the second limiting members 211 are distributed on the upper side of the third clamping channel member 201. This arrangement allows rectangular guide grooves to be formed on both sides of the third jaw member 201, through which the first rack 202 and the second rack 208 can pass. The first rack 202 and the second rack 208 can pass through the rectangular guide slot and move axially along the guide slot, so that the first rack axial movement freedom T1 and the second rack 208 axial movement freedom T2 are obtained.
The instrument driving box 3 comprises two first driving bevel gears 3-2, two speed reducers 3-3, two rotating motors 3-4, two second driving bevel gears 301, two ninth spur gears 303, a fixed base 304 and a plurality of second pins 302. The two first driving bevel gears 3-2 are respectively fixed on two speed reducers 3-3, and the two speed reducers 3-3 are respectively connected with two rotating motors 3-4. The second bevel drive gear 301 and the ninth spur gear 303 are fixed together by a second pin 302, and the second bevel drive gear 301 is engaged with the first bevel drive gear 3-2. Two ninth spur gears 303 mesh with the first and second racks 202 and 208, respectively. The first degree of freedom of axial movement T1 of the first rack 202 and the second degree of freedom of axial movement T2 of the second rack 208 may be achieved by controlling the rotation of the two rotary motors 3-4 through the meshing transmission between the first drive bevel gear 3-2, the second drive bevel gear 301, the ninth spur gear 303 and the first and second racks 202, 208, respectively.
The invention is described in detail below with reference to each of the figures:
fig. 1 is a schematic structural diagram of a bidirectional bending minimally invasive surgical instrument based on a shaped gear transmission according to an embodiment of the disclosure. As shown in fig. 1, the present disclosure may be applied to a minimally invasive surgical robot system, and its structural components may include an instrument end joint 1, a connecting long shaft mechanism 2, and an instrument driving cartridge 3. One end of the long shaft connecting mechanism 2 is hinged with the instrument tail end joint 1, and the other end is fixedly connected with the instrument driving box 3, so that the instrument tail end joint 1 and the instrument driving box 3 are connected into an integral structure.
FIG. 2 is a schematic view of the bending state of the end joint of the minimally invasive surgical instrument of the invention. The instrument tip may include a first joint component 1-1, a first connecting plate 1-2, a second joint component 1-3, a second connecting plate 1-4, and a long shaft tip component 2-1. The first joint component 1-1 and the second joint component 1-3 are hinged together through a first connecting plate 1-2, and the first joint component 1-1 is used for realizing the yaw bending freedom R1 of the instrument; the second joint component 1-3 and the long shaft end component 2-1 are hinged together through a second connecting plate 1-4, and the second joint component 1-3 is used for realizing the yaw bending freedom R2 of the instrument.
FIG. 3 is an exploded view of a distal first joint assembly of the minimally invasive surgical instrument of the invention. The first joint component 1-1 may comprise a first housing 101, a plurality of first pins 102, a plurality of first backing rings 103, a first jaw piece 104, two first support plates 105, and a first profile gear 106. The first shaped gear 106 is fixed to one side of the first jaw piece 104 by the first support plate 105, the first joint housing 101, the second support plate 107, and the first pin 102. Another first support plate 105 is fixed to the other side of the first jaw member 104 by a first grommet 103 and a first pin 102. The first casing 101 and the first support plate 105 are concentrically arranged and fixed together by a first pin 102.
FIG. 4 is an exploded view of the second distal joint assembly of the minimally invasive surgical instrument of the invention. The second joint assembly 1-3 may comprise a second support plate 107, a second shaped gear 108, a second joint housing 109, two first spur gears 111, two second spur gears 113, a third spur gear 114, a third connecting plate 115, a first connecting plate 1-2, two bevel gears 116, a fourth spur gear 117, a second jaw piece 118, a number of third backing rings 119, a number of first pin shafts 102, a number of second backing rings 110, a number of second support plates 107, a number of first pins 112. Two first spur gears 111 are fixed to the large face of bevel gear 116 by first pins 112. Two bevel gears 116 are engaged with each other and hinged to adjacent sides of a second jaw member 118 by means of a second support plate 107 and a first pin 102. The fourth spur gear 117 is engaged with the first spur gear 111 and is hinged to the second jaw member 118 through the second support plate 107, the third backing ring 119, the first pin 102 and the rear two hinge holes of the first connection plate 1-2. On the opposite side of the fourth spur gear 117, the first connecting plate 1-2 is fixed to the second jaw 118 via the third backing ring 119, the second support plate 107, the first pin 102 and the two rear hinge holes of the first connecting plate 1-2. Another bevel gear 116 is hinged on the lower side of the second jaw piece 118, and the first spur gear 111 fixed on the bevel gear 116 is meshed with the third spur gear 114 and the second spur gear 113 in turn and is hinged on the second jaw piece 118 through the third connecting plate 115, the third backing ring 119, the second supporting plate 107 and the first pin 102. The second shaped gear 108 is fixed on the second jaw piece 118 through the third backing ring 119, the second supporting plate 107 and the first pin 102. The second joint housing 109 is concentrically arranged with the second support plate 107 and fixed together by the first pin 102.
FIG. 5 is an exploded view of the distal end assembly of the elongated shaft of the curved minimally invasive surgical instrument of the present invention. The long shaft end assembly 2-1 may include a third jaw member 201, a first rack 202, two fifth spur gears 203, two sixth spur gears 204, a third support plate 205, two seventh spur gears 206, two eighth spur gears 207, a second rack 208, and a plurality of first pins 102. The fifth spur gear 203, the sixth spur gear 204, the seventh spur gear 206, and the eighth spur gear 207 are sequentially engaged and hinged on both sides of the third jaw member 201. The fifth spur gears 203 on either side of the third jaw 201 are respectively engaged with the first rack 202 and the second rack 208, and axial movement of the first rack 202 and the second rack 208 drives the fifth spur gears 203 to rotate, and in turn transmits rotation along the engaged sixth spur gears 204, seventh spur gears 206, and eighth spur gears 207. The two eighth spur gears 207 are respectively engaged and hinged with the second spur gears 113 and the second profile gears 108 on both sides of the second joint assemblies 1 to 3 through the second connecting plates 1 to 4. When the first rack 202 and the second rack 208 move axially in synchronization, the second joint assembly 1-3 generates a pitch bending degree of freedom R1; when the first rack 202 is fixed and the second rack 208 moves axially, the first joint assembly 1-1 generates a yaw bending degree of freedom R2.
FIG. 6 is a schematic view of the instrument drive cartridge drive of the minimally invasive surgical instrument of the present invention. The instrument driving box 3 can comprise two gear transmission assemblies 3-1, two first driving bevel gears 3-2, two speed reducers 3-3 and two rotating motors 3-4; two first driving bevel gears 3-2 are fixed on the speed reducer 3-3 and are meshed with a second driving bevel gear 301 in the gear transmission assembly 3-1. The gear assembly 3-1 may translate the rotation of the first drive bevel gear into a first degree of freedom of axial movement T1 of the first rack 202 and a second degree of freedom of axial movement T2 of the second rack. The two rotating motors 3-4 are connected with a speed reducer 3-3.
FIG. 7 is an exploded view of the long-axis front end assembly of the minimally invasive surgical instrument of the invention. The front end assembly 2-2 of the major axis may include a third channel member 201, a first rack 202, a second rack 208, two first limiting members 210, a second limiting member 211, and a plurality of second pins 209. The two first limiting members 210 are respectively fixed at two sides of the third clamping channel member 201 through second pin shafts 209, and the second limiting member 211 is fixed at the upper side of the first limiting member 210 through the second pin shafts 209. The first limiting member 210, the second limiting member 211 and the third clamping channel member 201 are matched to form rectangular guide grooves at two sides of the third clamping channel member 201, and the sizes of the guide grooves are consistent with those of the first rack 202 and the second rack 208. The first and second racks 202, 208 may complete the first and second degrees of freedom of axial movement T1, T2 along the guide slot.
FIG. 8 is an exploded view of the gear assembly of the minimally invasive surgical instrument of the invention. The gear assembly 3-1 may include two second drive bevel gears 301, two ninth spur gears 303, a stationary base 304, and a plurality of second pins 302. The second drive bevel gear 301 and the ninth spur gear 303 are fixed together by a second pin 302. The second drive bevel gear 301 and the ninth spur gear 303 are hinged to a base 304 to ensure that the second bevel gear 301 does not move laterally. Two ninth spur gears 303 mesh with the first and second racks 202 and 208, respectively. The second drive bevel gear 301 may translate the rotation of the first drive bevel gear 3-2 shown in fig. 6 into a first degree of freedom of axial movement T1 and a second degree of freedom of axial movement T2 of the first and second racks 202, 208.
So far, the embodiments of the present disclosure have been described in detail with reference to the accompanying drawings. It is to be noted that, in the attached drawings or in the description, the implementation modes not shown or described are all the modes known by the ordinary skilled person in the field of technology, and are not described in detail. Further, the above definitions of the various elements and methods are not limited to the various specific structures, shapes or arrangements of parts mentioned in the examples, which may be easily modified or substituted by those of ordinary skill in the art.
From the above description, those skilled in the art should have a clear understanding of the present disclosure of a bidirectionally curved minimally invasive surgical instrument based on a shaped gear drive.
In conclusion, the minimally invasive surgical instrument with the two-degree-of-freedom and the two-way bending function based on the special-shaped gear transmission is used for robot minimally invasive surgery, can fill the blank that the product is not available in the field of minimally invasive surgical robots, can meet the requirements of different hospital conditions, and has the potential of expanding to other medical fields.
It should also be noted that directional terms, such as "upper", "lower", "front", "rear", "left", "right", and the like, used in the embodiments are only directions referring to the drawings, and are not intended to limit the scope of the present disclosure. Throughout the drawings, like elements are represented by like or similar reference numerals. Conventional structures or constructions will be omitted when they may obscure the understanding of the present disclosure.
And the shapes and sizes of the respective components in the drawings do not reflect actual sizes and proportions, but merely illustrate the contents of the embodiments of the present disclosure. Furthermore, in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim.
Furthermore, the word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements.
The use of ordinal numbers such as "first," "second," "third," etc., in the specification and claims to modify a corresponding element does not by itself connote any ordinal number of the element or any ordering of one element from another or the order of manufacture, and the use of the ordinal numbers is only used to distinguish one element having a certain name from another element having a same name.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the disclosure, various features of the disclosure are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various disclosed aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that is, the claimed disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, disclosed aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this disclosure.
The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present disclosure in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.
Claims (6)
1. A bidirectionally curved minimally invasive surgical instrument based on shaped gear transmission, comprising:
instrument end joint (1) comprising:
a first joint assembly (1-1) for enabling a yaw bending degree of freedom (R2) of a minimally invasive surgical instrument; and
a second joint assembly (1-3) for enabling a pitch bending degree of freedom (R1) of the minimally invasive surgical instrument; one end of the second joint component (1-3) is hinged with the first end of the first joint component (1-1) through a first connecting plate (1-2); wherein the second joint component (1-3) comprises:
a second joint housing (109);
a second jaw piece (118) disposed inside the second joint housing (109) and coaxially disposed with the second joint housing (109);
a second support plate (107) which is respectively opposite to each surface of the second clamping channel piece (118) and is connected with the second joint shell (109);
the third connecting plate (115) and the second connecting plates (1-4) are respectively hinged with the second clamping channel piece (118);
two bevel gears (116) respectively arranged at two adjacent sides of the second clamping channel piece (118), wherein the small end surfaces of the bevel gears (116) are opposite to the second clamping channel piece (118);
a first spur gear (111) disposed coaxially with one of the bevel gears (116), the first spur gear (111) being opposed to a large end face of the bevel gear (116);
a fourth spur gear (117) in meshing engagement with said first spur gear (111), said first spur gear (111) and said fourth spur gear (117) being disposed on the same side of said second jaw member (118) and connected to said second jaw member (118); the fourth spur gear (117) is connected with the first joint component (1-1), and the first joint component (1-1) generates a yaw bending freedom degree (R2);
a second spur gear (113) and a third spur gear (114) which are sequentially meshed with the first spur gear (111), wherein the second spur gear (113) and the third spur gear (114) are arranged on the same side of the other bevel gear (116) and are connected with the second clamping channel piece (118);
a first shaped gear (106) in meshing engagement with said fourth spur gear (117), said first shaped gear (106) being disposed on an opposite side of said second spur gear (113) and connected to said second jaw member (118); and
a second shaped gear (108) connected to the second jaw member (118);
a connecting long shaft mechanism (2) comprising:
the long shaft end component (2-1) is hinged and connected with the other end of the second joint component (1-3) of the instrument end joint (1) through a second connecting plate (1-4); and
a long shaft front end assembly (2-2) which is arranged coaxially with the long shaft tail end assembly (2-1); and
and the instrument driving box (3) is connected with the long shaft front end assembly (2-2).
2. The minimally invasive surgical instrument according to claim 1, wherein the first joint assembly (1-1) includes:
a first joint housing (101);
a first jaw piece (104) disposed inside the first joint housing (101) and coaxially disposed with the first joint housing (101);
two first special-shaped gears (106) are respectively arranged on two opposite sides of the first clamping channel piece (104);
the first supporting plates (105) are respectively arranged on two sides of the two first special-shaped gears (106);
the first joint shell (101), the first supporting plate (105), the two first special-shaped gears (106) and the first clamping channel piece (104) are connected in sequence.
3. The minimally invasive surgical instrument according to claim 1, wherein the long shaft tip assembly (2-1) includes:
a long-axis housing (212);
the third clamping channel piece (201) is arranged inside the long shaft shell (212) and is coaxially arranged with the long shaft shell (212);
the first rack (202) and the second rack (208) are respectively arranged on two sides of the third clamping channel piece (201);
two fifth spur gears (203) and two sixth spur gears (204) respectively arranged on two sides of the third jaw piece (201) and respectively meshed with the first rack (202) and the second rack (208);
two seventh spur gears (206) and two eighth spur gears (207) respectively provided on both sides of the third jaw (201), and the two fifth spur gears (203), the two sixth spur gears (204), the two seventh spur gears (206), and the two eighth spur gears (207) are sequentially meshed;
two third support plates (205) which are respectively opposite to two side surfaces of the third clamping channel piece (201) and are connected with the long shaft shell (212);
a second joint assembly (1-3) producing a pitch bending degree of freedom (R1) when the first rack (202) and the second rack (208) are moved axially in synchronism; the first joint assembly (1-1) generates a yaw bending degree of freedom (R2) when the first rack (202) is stationary and the second rack (208) is axially displaced.
4. The minimally invasive surgical instrument according to claim 1, wherein the long shaft nose assembly (2-2) comprises:
a long-axis housing (212);
the third clamping channel piece (201) is arranged inside the long shaft shell (212) and is coaxially arranged with the long shaft shell (212);
the first rack (202) and the second rack (208) are respectively arranged on two sides of the third clamping channel piece (201);
the two first limiting parts (210) are respectively fixed on two sides of the third clamping channel part (201); the first rack (202) and the second rack (208) respectively pass through and obtain a first rack axial movement freedom degree (T1) and a second rack 208 axial movement freedom degree (T2) along two first limit pieces (210);
and the second limiting piece (211) is fixed at the adjacent side of the two first limiting pieces (210).
5. The minimally invasive surgical instrument according to claim 3 or 4, wherein the instrument drive cartridge (3) comprises:
two rotating electrical machines (3-4);
the two speed reducers (3-3) are respectively connected with the two rotating motors (3-4);
two first driving bevel gears (3-2) which are respectively fixed on the two speed reducers (3-3);
the two gear transmission assemblies (3-1) are in meshed connection with the two first driving bevel gears (3-2); two of the gear assemblies (3-1) convert the rotation of the first drive bevel gear into a first degree of freedom of axial movement (T1) of the first rack (202) and a second degree of freedom of axial movement (T2) of the second rack (208).
6. The minimally invasive surgical instrument according to claim 5, wherein the gear transmission assembly (3-1) comprises:
a ninth spur gear (303) connected to the long shaft nose assembly (2-2); -the two ninth spur gears (303) are respectively engaged with the first rack (202) and the second rack (208);
the second driving bevel gear (301) is connected with the fixed base (304), and the second driving bevel gear (301) is connected with the ninth spur gear (303); the second drive bevel gear (301) is meshed with the first drive bevel gear (3-2);
the first degree of freedom (T1) of axial movement of the first rack (202) and the second degree of freedom (T2) of axial movement of the second rack (208) are transmitted by controlling the rotation of the two rotary motors (3-4) through the engagement between the first drive bevel gear (3-2), the second drive bevel gear (301), the ninth spur gear (303) and the first rack (202), the second rack (208), respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911237875.2A CN110882017B (en) | 2019-12-05 | 2019-12-05 | Bidirectional bending minimally invasive surgical instrument based on special-shaped gear transmission |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911237875.2A CN110882017B (en) | 2019-12-05 | 2019-12-05 | Bidirectional bending minimally invasive surgical instrument based on special-shaped gear transmission |
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| CN110882017B true CN110882017B (en) | 2021-04-02 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112206018B (en) * | 2020-09-22 | 2022-04-26 | 武汉联影智融医疗科技有限公司 | Multi-joint assembly, distal end actuating mechanism and surgical instrument |
| CN112315584B (en) * | 2020-11-19 | 2022-07-08 | 锐志微创医疗科技（常州）有限公司 | Operation robot terminal pitching device and operation robot terminal |
| CN112545654B (en) * | 2020-12-04 | 2022-04-19 | 哈尔滨工业大学 | Modularized flexible mechanical arm for minimally invasive surgery robot |
| CN113303912B (en) * | 2021-06-17 | 2022-04-05 | 浙江大学 | Modular snake-shaped arm based on gear and rack transmission |
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| CN1596833A (en) * | 2003-07-09 | 2005-03-23 | 伊西康内外科公司 | Surgical instrument with a lateral-moving articulation control |
| CN101116625A (en) * | 2006-08-02 | 2008-02-06 | 伊西康内外科公司 | Pneumatically powered surgical cutting and fastening instrument |
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