CN111803210B - Wrist attachment device and remote access instrument - Google Patents
Wrist attachment device and remote access instrument Download PDFInfo
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- CN111803210B CN111803210B CN202010580158.6A CN202010580158A CN111803210B CN 111803210 B CN111803210 B CN 111803210B CN 202010580158 A CN202010580158 A CN 202010580158A CN 111803210 B CN111803210 B CN 111803210B
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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
- 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
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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Abstract
The invention provides a wrist attachment device and a remote access instrument, which aim to solve the technical problem that the wrist attachment device in the prior art has high invalid redundancy because of infinite rolling; the method comprises the following steps: the fixing part is annular, the inner side of the fixing part is provided with a first surface which is an annular spherical surface, at least one side edge of the first surface is connected with an annular retainer ring, and the spherical center of the first surface is positioned between two side edges of the first surface; the attachment component is annular, the outer side of the attachment component is provided with a second surface which is an annular spherical surface, the center of sphere of the first surface is overlapped with that of the second surface, at least part of the second surface is in contact with the first surface, the width of the second surface is smaller than that of the first surface, so that the attachment component can freely roll relative to the fixed component, and the rolling center of the attachment component is the center of sphere of the first surface; the invention provides a remote access instrument comprising a wrist attachment device as described above.
Description
Technical Field
The present invention relates to the field of wrist attachment devices, and more particularly, to a wrist attachment device and a remote access instrument.
Background
In minimally invasive surgery, a far-end access instrument is a commonly used surgical device, a doctor realizes the precise control of the far end by operating a handle or other operation components at the near end, the far-end access instrument is generally connected with a forearm or a wrist in a wrist attachment mode, most of wrist attachment devices at present have the problem of insufficient degree of freedom due to the fact that the pitching and the deflection cannot be compatible, various remote access instruments with handles of unlimited rotation mechanisms exist on the market at present, in order to match with the remote access instruments, an attachment device capable of being rolled without limitation is required to be arranged at the near end of a human body, and the wrist attachment device can be flexibly adapted to the wrist, in the prior art, the pitching and the deflection angles of some wrist attachment devices are far larger than the normal deflection angle range of the wrist, the ineffectiveness is higher, and in order to realize unlimited rolling, the attachment device has more parts and more complicated structure.
Disclosure of Invention
The invention provides a wrist attachment device, which aims to solve the technical problem that in the prior art, in order to realize infinite rolling, the wrist attachment device has high invalid redundancy.
The scheme for solving the technical problems is as follows: a wrist attachment device comprising:
the fixing component is annular, the inner side of the fixing component is provided with a first surface which is an annular spherical surface, and the spherical center of the first surface is positioned between two side edges of the first surface;
the attachment component is annular, the outer side of the attachment component is provided with a second surface which is an annular spherical surface, the spherical center of the first surface is coincident with the spherical center of the second surface, the second surface is at least partially contacted with the first surface, the width of the second surface is smaller than that of the first surface, so that the attachment component can freely roll relative to the fixed component, and the rolling center of the attachment component is the spherical center of the first surface.
The wrist attachment device provided by the invention realizes the free rolling of the attachment part in the inner space of the fixing part through the matching of the first surface on the inner side of the fixing part and the second surface on the outer side of the attachment part, wherein the width of the attachment part is smaller than that of the fixing part, so that the attachment part can be enabled to pitch and deflect at a certain angle on the inner side of the fixing part, the effective redundancy is increased because the rolling center of the attachment part is overlapped with the spherical center of the first surface, and meanwhile, the invention also provides a remote access instrument with the wrist attachment device.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and can be implemented according to the content of the description, the following detailed description is made with reference to the accompanying drawings and preferred embodiments of the present invention; the detailed description of the present invention is given in detail by the following examples and the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic perspective view of a wrist attachment device according to an embodiment of the present invention;
FIG. 2 is an exploded view of FIG. 1;
FIG. 3 is a schematic longitudinal cross-sectional view of FIG. 1;
FIG. 4 is another embodiment of a barrier of the present invention;
FIG. 5 is a schematic view of the attachment member in a pre-installed position in accordance with one embodiment of the present invention;
FIG. 6 is a schematic view of the attachment member of FIG. 5 in a mounted position;
fig. 7 is a perspective view of a remote access instrument according to a second embodiment of the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention. The invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
Example one
As shown in fig. 1 to 3, the present invention provides a wrist attachment device 10, comprising: a fixing part 1 and an attachment part 2.
Wherein, the fixing component 1 is a ring shape, it can be understood that the ring shape can be a closed ring shape, or a non-closed ring shape, such as a C-shaped ring, a U-shaped ring, and in the present embodiment, a closed ring is preferred.
The inner side of the fixed part 1 is provided with a first surface 1a in the shape of an annular spherical surface, and the center of the first surface 1a is positioned between two side edges of the first surface 1 a;
the blocking member 12 may be a separate component connected to the edge of the opening at both ends of the fixing member 1, or may be a part of the fixing member 1.
The attachment member 2 has a ring shape, which may be a closed ring shape or a non-closed ring shape, such as a C-shaped ring or a U-shaped ring, and is preferably a closed ring in the present embodiment, similarly to the structure of the fixing member 1 described above.
The outer side of the attachment part 2 is provided with a second surface 2a which is a ring-shaped spherical surface, the center of sphere of the first surface 1a is overlapped with that of the second surface 2a, at least part of the second surface 2a is contacted with the first surface 1a, the width of the second surface 2a is smaller than that of the first surface 1a, so that the attachment part 2 can freely roll relative to the fixed part 1, and the roll center of the attachment part 2 is the center of sphere of the first surface 1 a.
Wherein, in order to effectively limit the deflection angle of the attachment part 2, so as to reduce its ineffective redundancy, at least one side edge of the first surface 1a is connected with a blocking member 12, at least part of the blocking member 12 extending towards the annular inner space of the fixing part 1.
In some embodiments, the blocking member 12 can be a plurality of blocking pieces attached to the side edge of the first surface 1a, and in other embodiments, as shown in fig. 4, the blocking member 12 can be a plurality of screws attached to the side edge of the first surface 1a, with the wider end of the screw serving as a blocking member.
In this embodiment, it is preferable that the blocking members 12 are correspondingly connected to both side edges of the first surface 1a, and the blocking members 12 are annular retaining rings connected to the side edges of the first surface 1 a.
It will be appreciated that the annular retainer 12 serves to limit the deflection angle of the attachment member 2, and in the case where the center of the first surface 1a is located between the two side edges of the first surface 1a, since the cross-sectional area through the center of the sphere is the largest in the cross-section of the sphere, when the largest area is located in the space inside the fixed member 1, it is only necessary to connect the annular retainer 12 to at least one side edge of the first surface 1a to effectively limit the deflection angle of the attachment member 2.
As a preferred embodiment of the present invention, two side edges of the first surface 1a are respectively and correspondingly connected with an annular retainer ring 12; the annular retainer ring 12 and the fixing component 1 may be a mounting connection structure, or may be an integrally formed structure, and in this embodiment, the mounting connection structure is preferred.
The width of the second surface 2a is smaller than that of the first surface 1a, so that the attaching part 2 can be ensured to be capable of pitching and deflecting at a certain angle in the fixing part 1.
In all embodiments of the invention, the ability of the attachment part 2 to roll freely relative to the fixed part 1 means that the attachment part 2 is able to achieve an infinite degree of rotation in any state along an axis passing perpendicularly through the attachment part 2 without leaving the space inside the fixed part 1.
In some embodiments, the second surface 2a is an outer surface of the attachment member 2, i.e., the outer surface of the attachment member 2 is an annular spherical surface as a whole.
When the outer surface of the attachment part 2 is a ring-shaped spherical surface as a whole, the sliding fit between the first surface 1a and the second surface 2a enables the pitching and yawing of the attachment part 2 only to be performed between two side edges of the first surface 1a and two corresponding side edges of the second surface 2a, so that in order to ensure that the pitching and yawing angles of the attachment part 2 are sufficient, the width difference between the attachment part 2 and the fixing part 1 is usually large enough, generally not less than 20mm, and in order to ensure the using comfort of a user, the attachment part 2 is also in contact with the wrist to have a certain width, generally not less than 20mm, so that the fixing part 1 is too wide, the whole wrist attachment device is too heavy and not beneficial to the user, therefore, in order to improve the above disadvantages, as a preferred embodiment of the present invention, the attachment part 2 comprises a ring body 21 and a ring-shaped flange 22, the annular flange 22 is connected to the outer surface of the ring body 21, the outer end face of the annular flange 22 abuts against the first surface 1a, and the outer end face of the annular flange 22 forms a second surface 2a matched with the first surface 1 a; more preferably, the annular flange 22 is fixedly and coaxially connected to the middle portion of the ring body 21.
The section of the attachment part 2 with the structure is similar to a T shape, namely the contact area of the attachment part 2 and the fixed part 1 is reduced, so that the rotation angle of the attachment part 2 is increased, and meanwhile, the friction force can be reduced, so that the rotation between the attachment part 2 and the fixed part is more flexible, and in addition, when the attachment part is directly sleeved on a wrist for use under the condition that a wrist ferrule 3 is not used, the T-shaped section also ensures that the contact part of the attachment part 2 and the wrist has a certain width, so that the comfort is increased; in manufacturing, the width of the annular flange 22 is generally about 5mm, so that the width of the first surface 1a of the fixing member 1 can be generally maintained within 30mm when the pitch and yaw angles are satisfied, and the wrist attachment as a whole is not too wide and bulky.
For the fixing component 1 and the accessory component 2, when any one of the fixing component 1 and the accessory component 2 is made of a material with certain elastic deformation performance, such as a plastic piece, the fixing component 1 and the accessory component 2 can be sleeved by the elastic deformation of any one of the components; when the fixing part 1 and the accessory part 2 are both made of rigid materials, two arc-shaped grooves 1b are symmetrically formed in the edge of one side of the first surface 1a, and the width size between the two arc-shaped grooves 1b is larger than the diameter size of the annular flange 22; when mounting, as shown in fig. 5 and 6, the annular flange 22 of the attachment member 2 is placed in alignment with the arc-shaped groove 1b, the attachment member 2 is inserted into the inside of the fixing member 1 through the arc-shaped groove 1b, and the assembly is completed by turning the inner attachment member 2 by 90 degrees after the spherical centers of the first surface 1a of the fixing member 1 and the second surface 2a of the inner member 2 coincide.
As can be seen from the above description of the solution, an angular pitch, yaw and infinite roll between the wrist and the fixed part 1 can be achieved using only the attachment part 2 and the fixed part 1, but according to human engineering, the pitching angle of the human wrist is very small, the deflection angle is very large, the above-described solution, in which the deflection of the wrist corresponds to the deflection angle of the attachment part, is limited by the width of the first and second surfaces 1a and 2a, the deflection angle is generally small, is not in accordance with the human engineering concept, is not enough to meet all requirements of human wrist deflection, thus, as a preferred embodiment of the invention, the wrist attachment means 10 further comprises a wrist collar 3, wherein the wrist collar 3 is configured to be attached to the wrist of the user, rotatably mounted inside the attachment part 2, the axis of rotation of the wrist collar 3 passing through the roll center of the attachment part 2.
The wrist ferrule 3 is rotatably arranged at the inner side of the attachment part 2, namely, the wrist ferrule 3 is connected with the attachment part 2 through a revolute pair, so that the left-right deflection angle of the wrist of a user can be effectively increased; the design increases effective redundancy and is more in line with human engineering.
Preferably, the wrist ferrule 3 is a C-shaped member 3, and more specifically, as a preferred embodiment of the present invention, the following scheme is adopted for the installation of the C-shaped member 3: two projections 31 are formed at both ends of the outer side of the C-shaped member 3, the two projections 31 form a rotation shaft of the wrist collar 3, two mounting holes 2b are formed on the side wall of the attachment part 2 corresponding to the two projections 31, respectively, and the C-shaped member 3 is detachably rotatably connected to the inner side of the attachment part 2 by engagement of the projections 31 with the mounting holes 2 b.
When the user uses the wrist attachment device 10, the wrist is inserted into the space inside the C-shaped member 3, and the upper and lower sides of the wrist are engaged with the two ends of the C-shaped member 3, so that the attachment part 2 and the wrist collar 3 can be accurately adapted to the wrist when the wrist is tilted, or turned, so as to facilitate the work of the user.
Example two
As shown in fig. 7, the present embodiment provides a remote access instrument 200, which includes a frame 20, a distal end effector 30, a transmission band 40, and a wrist attachment device 10 in the above embodiment of a handle 50, wherein a fixing member 1 of the wrist attachment device 10 is fixedly connected to the frame 20, specifically, the frame 20 includes a frame body 201 and an elongated tool shaft 202, the elongated tool shaft 202 is connected to one end of the frame body 201, the distal end effector 30 is connected to one end of the elongated tool shaft 202 away from the frame body 201, a routing channel for accommodating a control wire 60 is formed inside the elongated tool shaft 202 along a length direction thereof, the wrist attachment device 10 is mounted at one end of the frame body 201 away from the elongated tool shaft 202, an axis of the elongated tool shaft 202 passes through a spherical center of a first surface, the handle 50 is mounted between the wrist attachment device 10 and the elongated tool shaft 202, the transmission band 40 is mounted between the handle 50 and the wrist attachment device 10, handle 50 and distal end effector 30 are connected by a control wire 60, and preferably handle 50 is an infinitely rollable handle.
When the user uses the wrist attachment device, the user connects the hand with the wrist ferrule of the wrist attachment device 10, so that the upper and lower sides of the wrist are clamped with the two end parts of the wrist ferrule, and thus, when the wrist is pitched, deflected or overturned, the attachment part and the wrist ferrule can accurately adapt to the wrist, so that the work of the user is facilitated.
The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner; the present invention may be readily implemented by those of ordinary skill in the art as illustrated in the accompanying drawings and described above; however, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the scope of the invention as defined by the appended claims; meanwhile, any changes, modifications, and evolutions of the equivalent changes of the above embodiments according to the actual techniques of the present invention are still within the protection scope of the technical solution of the present invention.
Claims (10)
1. A wrist attachment device, comprising:
the fixing component is annular, the inner side of the fixing component is provided with a first surface which is an annular spherical surface, and the spherical center of the first surface is positioned between two side edges of the first surface;
an attachment member, the attachment member being annular, the outer side of the attachment member having a second surface being an annular spherical surface, the center of sphere of the first surface coinciding with the center of sphere of the second surface and the second surface being at least partially in contact with the first surface, the width of the second surface being smaller than the width of the first surface to enable the attachment member to freely roll relative to the fixation member, the center of roll of the attachment member being the center of sphere of the first surface;
wherein, two arc-shaped grooves are symmetrically formed in the edge of one side of the first surface, and the attaching part is assembled into the fixing part through the arc-shaped grooves.
2. The wrist attachment according to claim 1, wherein a stopper is connected to at least one side edge of the first surface, at least a portion of the stopper extending toward the annular inner space of the fixing member to limit a deflection angle of the attachment member.
3. The wrist attachment according to claim 2, wherein a stop is correspondingly connected to each of both side edges of the first surface, the stop being an annular collar connected to the side edge of the first surface.
4. A wrist attachment device according to any of claims 1-3, characterized in that the attachment part comprises a ring body and an annular flange, the annular flange being coaxially connected to an outer surface of the ring body, an outer end face of the annular flange abutting the first surface, the outer end face of the annular flange forming a second surface cooperating with the first surface.
5. The wrist attachment of claim 4, wherein the annular flange is coaxially connected to a middle portion of the ring.
6. The wrist attachment of claim 5, wherein a width dimension between the two arcuate slots is greater than a diameter dimension of the annular flange.
7. The wrist attachment device of claim 1, further comprising a wrist collar configured to be attachable to a user's wrist, the wrist collar rotatably mounted inside the attachment member, an axis of rotation of the wrist collar passing through a center of roll of the attachment member.
8. The wrist attachment device of claim 7, wherein the wrist collar is a C-shaped member; two protruding blocks are formed at two ends of the outer side of the C-shaped component, the two protruding blocks form a rotating shaft of the wrist ferrule, two mounting holes are formed in the side wall of the attachment part corresponding to the two protruding blocks respectively, and the C-shaped component is detachably connected to the inner side of the attachment part in a rotating mode through the protruding blocks and the mounting holes in a clamping mode.
9. A remote access instrument comprising a frame and a wrist attachment device according to any of claims 1-8, a securing member of the wrist attachment device being fixedly connected to the frame.
10. The remote access instrument of claim 9, further comprising a distal end effector, a transmission band, and a handle, wherein the frame comprises a frame body and an elongated tool shaft, the elongated tool shaft is connected to one end of the frame body, the distal end effector is connected to one end of the elongated tool shaft away from the frame body, a routing channel for accommodating a control wire is formed in the elongated tool shaft along the length direction of the elongated tool shaft, the wrist attachment device is mounted on one end of the frame body away from the elongated tool shaft, the axis of the elongated tool shaft passes through the center of the first surface, the handle is mounted between the wrist attachment device and the elongated tool shaft, the transmission band is mounted between the handle and the wrist attachment device, and the handle and the distal end effector are connected through the control wire.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010580158.6A CN111803210B (en) | 2020-06-23 | 2020-06-23 | Wrist attachment device and remote access instrument |
| PCT/CN2021/099803 WO2021249550A1 (en) | 2020-06-12 | 2021-06-11 | Wrist attachment assembly, control handle, serial movement mechanism, and minimally invasive surgical instrument |
| EP21821155.5A EP4166094A1 (en) | 2020-06-12 | 2021-06-11 | Wrist attachment assembly, control handle, serial movement mechanism, and minimally invasive surgical instrument |
| US18/009,735 US20230293200A1 (en) | 2020-06-12 | 2021-06-11 | Attachment assembly, control handle, series motion mechanism, and minimally invasive surgical instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010580158.6A CN111803210B (en) | 2020-06-23 | 2020-06-23 | Wrist attachment device and remote access instrument |
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| Publication Number | Publication Date |
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| CN111803210A CN111803210A (en) | 2020-10-23 |
| CN111803210B true CN111803210B (en) | 2022-02-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010580158.6A Active CN111803210B (en) | 2020-06-12 | 2020-06-23 | Wrist attachment device and remote access instrument |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021249550A1 (en) * | 2020-06-12 | 2021-12-16 | 武汉联影智融医疗科技有限公司 | Wrist attachment assembly, control handle, serial movement mechanism, and minimally invasive surgical instrument |
| CN117257405B (en) * | 2023-11-23 | 2024-01-30 | 苏州心锐医疗科技有限公司 | Surgical instrument applied to minimally invasive surgery |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107072684A (en) * | 2015-04-15 | 2017-08-18 | 弗莱克斯德克斯公司 | Attachment arrangement for remote access facilities |
| US9869339B2 (en) * | 2008-04-11 | 2018-01-16 | Flexdex, Inc. | End-effector jaw closure transmission systems for remote access tools |
| CN108712886A (en) * | 2015-10-02 | 2018-10-26 | 弗莱克斯德克斯公司 | Handle mechanism without limitation rolling is provided |
| WO2019201774A1 (en) * | 2018-04-20 | 2019-10-24 | Kuka Deutschland Gmbh | Fastening device and robot arm having such a fastening device |
-
2020
- 2020-06-23 CN CN202010580158.6A patent/CN111803210B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9869339B2 (en) * | 2008-04-11 | 2018-01-16 | Flexdex, Inc. | End-effector jaw closure transmission systems for remote access tools |
| CN107072684A (en) * | 2015-04-15 | 2017-08-18 | 弗莱克斯德克斯公司 | Attachment arrangement for remote access facilities |
| CN108712886A (en) * | 2015-10-02 | 2018-10-26 | 弗莱克斯德克斯公司 | Handle mechanism without limitation rolling is provided |
| WO2019201774A1 (en) * | 2018-04-20 | 2019-10-24 | Kuka Deutschland Gmbh | Fastening device and robot arm having such a fastening device |
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