CN111568541B - Flexible minimally invasive surgical instrument based on natural cavity - Google Patents
Flexible minimally invasive surgical instrument based on natural cavity Download PDFInfo
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- CN111568541B CN111568541B CN202010435581.7A CN202010435581A CN111568541B CN 111568541 B CN111568541 B CN 111568541B CN 202010435581 A CN202010435581 A CN 202010435581A CN 111568541 B CN111568541 B CN 111568541B
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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
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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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
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Abstract
The invention discloses a flexible minimally invasive surgical instrument based on a natural orifice, which comprises a flexible guide pipe, wherein the left end of the flexible guide pipe is rotatably connected with an installation head through a connecting block, wire holes are fixedly arranged at the upper end and the lower end of the connecting block, a transmission rope penetrates through the wire holes, an opening and closing clamp is rotatably connected to the left side of the installation head, a spring is fixedly connected to the outer side of the opening and closing clamp, a limit block is slidably connected to the center inside the installation head, the flexible minimally invasive surgical instrument based on the natural orifice enables surgical instrument to move in multiple degrees of freedom in an output space, has flexible action and large operating force, is more suitable for minimally invasive surgery with complex action, can control the tail end of the instrument by swinging and rotating a wrist and pressing a pull rod by a thumb without large-range movement, the fatigue of the doctor is relieved.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a flexible minimally invasive surgical instrument based on a natural cavity.
Background
The minimally invasive surgery, which is an operation with tiny wounds as the name implies, refers to an operation performed by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment, and has the advantages of small wounds, light pain and quick recovery, and doctors perform operation tasks by means of slender minimally invasive surgical instruments in the process of minimally invasive surgery.
In the operation implementation, because the motion of the tail end of the surgical instrument has a special mapping relation with the motion of the handheld part of the surgical instrument, a doctor needs to hold the surgical instrument to move in a large range, the flexibility of the tail end of the surgical instrument for executing the operation is reduced, meanwhile, the doctor is easy to fatigue and limited by the size limitation of the surgical instrument in the natural cavity, the tail end of the conventional surgical instrument has a small number of degrees of freedom and a small working space, and the complicated operation is difficult to complete.
In order to solve the problems, the inventor provides a flexible minimally invasive surgical instrument based on a natural cavity, so that the surgical instrument can move in multiple degrees of freedom in an output space, the operation is flexible, the operating force is large, the minimally invasive surgical instrument is more suitable for minimally invasive surgery with complex actions, the tail end of the surgical instrument can be controlled by swinging and rotating a wrist and pressing a pull rod by a thumb, large-scale movement is not needed, labor is saved, and the fatigue of a doctor is relieved.
Disclosure of Invention
The present invention is directed to solving the above-mentioned problems of the background art and to providing a flexible minimally invasive surgical instrument based on natural orifice.
A flexible minimally invasive surgical instrument based on a natural cavity comprises a flexible guide pipe, a connecting block, an installing head, a wire hole, a transmission rope, an opening and closing clamp, a spring, a limiting block, a traction rope, a fixing head, a roller, a manipulating block, a sliding block, a pull rod and a handle.
Wherein:
the left end of the flexible guide pipe is rotatably connected with an installation head through a connection block, wire holes are fixedly formed in the upper end and the lower end of the connection block, a transmission rope penetrates through the wire holes, opening and closing pliers are rotatably connected to the left side of the installation head, springs are fixedly connected to the outer sides of the opening and closing pliers, a limiting block is slidably connected to the center of the interior of the installation head, a traction rope is fixedly connected to the right end of the limiting block, a fixing head is fixedly connected to the right end of the flexible guide pipe, a roller is fixedly arranged in the fixing head, an operation block is rotatably connected to the right side of the fixing head, a sliding block is slidably connected to the interior of the operation block, a pull rod is rotatably connected to the lower side of the sliding block in the operation block, and a handle is fixedly mounted at the bottom end of the operation block;
preferably, the connecting blocks are rhombic, the widths of the upper end and the lower end are gradually reduced, the left end and the right end of each adjacent connecting block are rotatably connected, and the connecting blocks are hollow inside, so that the connecting blocks can rotate up and down, and meanwhile, the traction ropes can penetrate through the connecting blocks;
preferably, the number of the transmission ropes is two, one end of each transmission rope is fixedly connected with the upper side and the lower side of the right end of the mounting head, the other end of each transmission rope penetrates through the wire holes and the flexible guide tubes and is fixedly connected with the upper side and the lower side of the left end of the operation block after being wound by the rollers, and therefore the transmission ropes on the upper side and the lower side can be stretched and contracted by rotating the operation block, and the mounting head is driven to swing;
preferably, the opening and closing pliers are composed of two clamping plates, the two clamping plates are rotatably connected to the upper side and the lower side in the installation head respectively and are symmetrical to each other, the limiting block is located between the two clamping plates of the opening and closing pliers, the width of the limiting block is matched with the distance between the rotating connection positions of the two clamping plates, a traction rope is fixedly connected to the right end of the limiting block, and the other end of the traction rope is fixedly connected with the sliding block, so that when the traction rope drives the limiting block to move rightwards, the right sides of the two clamping plates of the opening and closing pliers can be pushed away towards the two sides, and further, the tension springs on the left sides of the clamping plates are close to each other, so that the opening and closing of the opening and closing pliers are realized;
preferably, a space is reserved between the fixed head and the control block, and the fixed head and the control block are rotationally connected through triangular rotating plates at the front end and the rear end of the fixed head and the control block, so that when the control block is rotated up and down, the transmission rope at one side can move rightwards, and the transmission rope at the other side can move leftwards;
preferably, waist hole has been seted up at the top of pull rod, both ends fixed mounting has the stand around the slider, the spacing sliding connection of stand is in the inside in waist hole, consequently, can drive the slider and remove about through rotating the pull rod.
The invention has the beneficial effects that:
1. this flexible minimal access surgery ware based on natural chamber says, through the connecting block of rotating between flexible pipe and the installation head and the transmission rope of upper and lower both sides fixed connection between installation head and the manipulation piece, utilize wrist to rotate from top to bottom and can drive the installation head and carry out the luffing motion, the rotation of deuterogamy wrist makes the installation head towards different directions, and utilize the stopper of sliding connection between the pincers that open and shut, and the haulage rope of fixed connection between stopper and the slider, can make the stopper remove about removing through pressing the pull rod, and then realize opening and shutting of pincers, make and to carry out the multi freedom motion in output space, the flexible operation, the operating force is big, more be suitable for carrying out the minimal access surgery of action complicacy.
2. This flexible minimal access surgery ware based on nature chamber way is connected through the rotation at fixed head and manipulation piece front and back both ends, cooperates the clearance between fixed head and the manipulation piece to and the design of manipulating block bottom end fixed mounting's handle and pull rod, through the swing and the rotation of wrist, and the thumb just can realize the terminal control to the apparatus to pressing of pull rod, need not carry out motion on a large scale, and is more laborsaving, has slowed down doctor's fatigue.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a cross-sectional view of the left side structure of the flexible conduit of the present invention;
FIG. 3 is a cross-sectional view of the left structure of the flexible catheter when the open-close forceps of the present invention are closed;
FIG. 4 is a cross-sectional view of the right side structure of the flexible catheter of the present invention;
FIG. 5 is a cross-sectional view of the right structure of the flexible conduit with the steering block of the present invention rotated.
In the figure: 1. a flexible conduit; 2. connecting blocks; 3. a mounting head; 4. a wire hole; 5. a drive rope; 6. opening and closing the pliers; 7. a spring; 8. a limiting block; 9. a hauling rope; 10. a fixed head; 11. a roller; 12. an operation block; 13. a slider; 14. a pull rod; 15. a handle.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The embodiment of the flexible minimally invasive surgical instrument based on the natural cavity channel comprises the following steps:
referring to fig. 1 to 5, a flexible minimally invasive surgical instrument based on natural orifice comprises a flexible conduit 1, a connecting block 2, a mounting head 3, a thread hole 4, a transmission rope 5, an opening and closing clamp 6, a spring 7, a limiting block 8, a traction rope 9, a fixing head 10, a roller 11, a control block 12, a sliding block 13, a pull rod 14 and a handle 15.
Wherein:
the left end of the flexible conduit 1 is rotatably connected with an installation head 3 through a connecting block 2, the connecting block 2 is in a diamond shape, the widths of the upper end and the lower end are gradually reduced, the left end and the right end of the adjacent connecting block 2 are rotatably connected, the inside of the connecting block 2 is in a hollow design, so that the connecting block 2 can rotate up and down, meanwhile, a traction rope 9 can penetrate through the inside of the connecting block 2, wire holes 4 are fixedly arranged at the upper end and the lower end of the connecting block 2, a transmission rope 5 penetrates through the wire holes 4, an opening and closing clamp 6 is rotatably connected to the left side of the installation head 3, a spring 7 is fixedly connected to the outer side of the opening and closing clamp 6, a limiting block 8 is slidably connected to the center inside of the installation head 3, the opening and closing clamp 6 is composed of two clamping plates, the limiting block 8 is rotatably connected to the upper side and the lower side of the inside of the installation head 3 respectively, and is symmetrical to each other, the limiting block 8 is positioned between the two clamping plates, and the width of the limiting block 8 is matched with the rotating connection position of the two clamping plates, the right end of the limiting block 8 is fixedly connected with a traction rope 9, the other end of the traction rope 9 is fixedly connected with a sliding block 13, therefore, when the traction rope 9 drives the limiting block 8 to move rightwards, the right sides of the two clamping plates of the opening and closing pliers 6 can be pushed away towards two sides, and then the left side extension springs 7 of the clamping plates approach each other, so as to realize the closing of the opening and closing pliers 6, the right end of the limiting block 8 is fixedly connected with the traction rope 9, the two transmission ropes 5 are totally arranged, one end of each transmission rope is fixedly connected with the upper side and the lower side of the right end of the mounting head 3, the other end of each transmission rope passes through the wire hole 4 and the flexible conduit 1, and is fixedly connected with the upper side and the lower side of the left end of the control block 12 after being wound by the idler wheel 11, so that the transmission ropes 5 on the upper side and the lower side can be stretched and contracted by rotating the control block 12, so as to drive the mounting head 3 to swing, the right end of the flexible conduit 1 is fixedly connected with a fixing head 10, and the idler wheel 11 is fixedly installed inside the fixing head 10, the right side of the fixed head 10 is rotatably connected with an operation block 12, a connecting block 2 which is rotatably connected between the flexible conduit 1 and the mounting head 3 and transmission ropes 5 which are fixedly connected with the upper side and the lower side between the mounting head 3 and the operation block 12 are used, the mounting head 3 can be driven to swing up and down by utilizing the vertical rotation of the wrist, the mounting head 3 faces to different directions by matching with the rotation of the wrist, and the opening and closing of the opening and closing forceps 6 can be realized by utilizing a limiting block 8 which is slidably connected between the opening and closing forceps 6 and a traction rope 9 which is fixedly connected between the limiting block 8 and a sliding block 13, and the limiting block 8 can move left and right by pressing a pull rod 14, so that the opening and closing of the opening and closing forceps 6 are realized, the multi-degree-of freedom movement can be carried out in an output space, the movement is flexible, the operating force is large, and the micro-wound operation with complex movement can be more suitable for being carried out;
a space is reserved between the fixed head 10 and the operation block 12, the fixed head 10 and the operation block 12 are rotationally connected through triangular rotating plates at the front end and the rear end of the operation block 12, therefore, when the operation block 12 is rotated up and down, the driving rope 5 at one side can move rightwards, the driving rope 5 at the other side moves leftwards, the inside of the operation block 12 is slidably connected with a sliding block 13, the lower side of the sliding block 13 inside the operation block 12 is rotationally connected with a pull rod 14, the top of the pull rod 14 is provided with a waist hole, the front end and the rear end of the sliding block 13 are fixedly provided with upright posts, the upright posts are in limited sliding connection inside the waist holes, therefore, the sliding block 13 can be driven to move leftwards and rightwards through rotating the pull rod 14, the bottom end of the operation block 12 is fixedly provided with a handle 15, the fixed head 10 and the front end and rear end of the operation block 12 are rotationally connected, the clearance between the fixed head 10 and the operation block 12 is matched, and the design of the handle 15 and the pull rod 14 which are fixedly arranged at the bottom end of the operation block 12, the tail end of the instrument can be controlled by swinging and rotating the wrist and pressing the pull rod 14 by the thumb, large-range movement is not needed, labor is saved, and the fatigue of a doctor is relieved.
The working principle and the process of the invention are as follows:
when the flexible surgical forceps are used, the mounting head 3 is driven to extend into a patient body through the flexible conduit 1, so that the opening and closing forceps 6 reach a specified surgical position, then the manipulation block 12 is held by a hand through a handle 15 at the bottom end of the manipulation block 12, the connecting block 2 and the mounting head 3 on the left side of the flexible conduit 1 are manipulated, the fixed head 10 is connected with the front side and the rear side of the manipulation block 12 in a rotating manner, and a space is reserved between the fixed head 10 and the manipulation block 12, the manipulation block 12 can rotate up and down on the right side of the fixed head 10 through wrist control, in the process of moving the manipulation block 12 up and down, the transmission rope 5 on one side can move left, the transmission rope 5 on the other side moves right, the mounting head 3 on the left end of the transmission rope 5 is further pulled, the mounting head 3 on the left end of the transmission rope 5 is driven to rotate the connecting block 2, and the mounting head 3 is driven by the connecting block 2 to swing in the opposite direction to the manipulation block 12, the wrist is matched to drive the operation block 12 and the fixing head 10 to rotate, so that the mounting head 3 can face different directions after swinging, and further can operate parts in different directions, meanwhile, after the opening and closing forceps 6 on the left side of the mounting head 3 reach an operation area, the pull rod 14 is pressed by a thumb, the slide block 13 can be driven to move towards the right side by matching with the transmission connection of the top of the pull rod 14 and the slide block 13, the traction rope 9 is stretched, the traction rope 9 drives the limit block 8 in the mounting head 3 to move towards the right, when the limit block 8 moves towards the right side of the rotating connection position of the opening and closing forceps 6, the left sides of the opening and closing forceps 6 can be drawn towards the middle, so that the opening and closing forceps 6 are closed, after the pull rod 14 is released, the limit block 8 can be popped up towards the left, and after the opening and closing forceps 6 move towards the left side of the rotating connection position again, the left side of the opening and closing forceps 6 can be unfolded towards the two sides again under the action of the spring 7, causing the opening and closing pliers 6 to reopen.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. A flexible minimally invasive surgical instrument based on a natural cavity comprises a flexible catheter (1), and is characterized in that: the left end of the flexible guide pipe (1) is rotatably connected with an installing head (3) through a connecting block (2), the upper end and the lower end of the connecting block (2) are fixedly provided with wire holes (4), a transmission rope (5) penetrates through the wire holes (4), the left side of the installing head (3) is rotatably connected with opening and closing pliers (6), the outer side of the opening and closing pliers (6) is fixedly connected with a spring (7), the center inside the installing head (3) is slidably connected with a limiting block (8), the right end of the limiting block (8) is fixedly connected with a traction rope (9), the right end of the flexible guide pipe (1) is fixedly connected with a fixing head (10), a roller (11) is fixedly arranged inside the fixing head (10), the right side of the fixing head (10) is rotatably connected with an operating block (12), and the inside of the operating block (12) is slidably connected with a sliding block (13), the lower side of a sliding block (13) in the operating block (12) is rotatably connected with a pull rod (14), and the bottom end of the operating block (12) is fixedly provided with a grip (15);
the connecting blocks (2) are rhombic, the widths of the upper end and the lower end of each connecting block are gradually reduced, the left end and the right end of each adjacent connecting block (2) are rotatably connected, and the inner parts of the connecting blocks (2) are designed to be hollow;
the two transmission ropes (5) are provided, one end of each transmission rope is fixedly connected with the upper side and the lower side of the right end of the mounting head (3), the other end of each transmission rope penetrates through the wire hole (4) and the flexible guide pipe (1), and the transmission ropes are wound by the rollers (11) and then are fixedly connected with the upper side and the lower side of the left end of the operation block (12);
stopper (8) are located between two splint of opening and shutting pincers (6), just the width of stopper (8) and two splint rotate interval looks adaptation between the junction, the right-hand member fixedly connected with haulage rope (9) of stopper (8), the other end and slider (13) fixed connection of haulage rope (9).
2. The flexible minimally invasive surgical instrument based on the natural orifice of claim 1, characterized in that: the opening and closing pliers (6) are composed of two clamping plates, are respectively and rotatably connected to the upper side and the lower side of the interior of the mounting head (3), and are mutually symmetrical.
3. The flexible minimally invasive surgical instrument based on the natural orifice of claim 1, characterized in that: a space is reserved between the fixed head (10) and the control block (12), and the fixed head (10) is rotatably connected with the triangular rotating plates at the front end and the rear end of the control block (12).
4. The flexible minimally invasive surgical instrument based on the natural orifice of claim 1, characterized in that: waist holes are formed in the tops of the pull rods (14), stand columns are fixedly mounted at the front end and the rear end of the sliding block (13), and the stand columns are connected inside the waist holes in a limiting sliding mode.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010435581.7A CN111568541B (en) | 2020-05-21 | 2020-05-21 | Flexible minimally invasive surgical instrument based on natural cavity |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010435581.7A CN111568541B (en) | 2020-05-21 | 2020-05-21 | Flexible minimally invasive surgical instrument based on natural cavity |
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| CN111568541B true CN111568541B (en) | 2022-07-01 |
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| CN113729803A (en) * | 2021-10-18 | 2021-12-03 | 天津大学 | Flexible surgical instrument and method for manufacturing metal cutting tube |
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| KR102257231B1 (en) * | 2016-08-31 | 2021-06-01 | 베이징 서제리 테크놀로지 씨오., 엘티디. | Flexible surgical tool system |
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