CN112155613B - Minimally invasive medical operation equipment - Google Patents
Minimally invasive medical operation equipment Download PDFInfo
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- CN112155613B CN112155613B CN202010963018.7A CN202010963018A CN112155613B CN 112155613 B CN112155613 B CN 112155613B CN 202010963018 A CN202010963018 A CN 202010963018A CN 112155613 B CN112155613 B CN 112155613B
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- invasive medical
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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
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
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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
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
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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
- A61B2017/0042—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/0091—Handpieces of the surgical instrument or device
- A61B2018/00916—Handpieces of the surgical instrument or device with means for switching or controlling the main function of the instrument or device
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/0091—Handpieces of the surgical instrument or device
- A61B2018/00916—Handpieces of the surgical instrument or device with means for switching or controlling the main function of the instrument or device
- A61B2018/0094—Types of switches or controllers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00982—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body combined with or comprising means for visual or photographic inspections inside the body, e.g. endoscopes
Abstract
The invention relates to minimally invasive medical operation equipment which comprises a far-end actuator, a transmission device, a near-end controller and a mapping proportion adjusting device, wherein the near-end controller controls the action of the far-end actuator through the transmission device; the mapping proportion adjusting device arranged on the proximal controller is used for adjusting the mapping proportion between the proximal controller and the distal end executor, so that the mapping proportion of the minimally invasive medical operation equipment can be adjusted, and the minimally invasive medical operation equipment can be adapted to the operation habits and hand sizes of different users.
Description
Technical Field
The invention relates to the technical field of minimally invasive medical operations, in particular to minimally invasive medical operation equipment.
Background
Minimally invasive medical surgery is a minimally invasive surgery as the name suggests. Refers to an operation performed by using modern medical instruments such as laparoscope, thoracoscope, cranioscopy and the like and related equipment. The shell operation has small wound, light pain and quick recovery, which is the dream of each patient needing the operation, and the minimally invasive medical operation realizes the dream; the minimally invasive medical operation equipment is indispensable medical equipment for accurately realizing the minimally invasive medical operation.
A simple minimally invasive medical operation device under an endoscope generally comprises a far-end executor, a transmission device and a near-end controller; currently, a distal end actuator is developed to have more degrees of freedom, including pitching and yawing degrees of freedom, and a corresponding proximal end controller also has pitching and yawing degrees of freedom.
The corresponding relation of the pitching and/or the deflecting of the distal end actuator is controlled by the pitching and/or the deflecting of the proximal end controller through the transmission device to form a mapping, the ratio of the amplitude of the pitching and/or the deflecting of the proximal end to the amplitude of the pitching and/or the deflecting of the distal end actuator is a mapping ratio, and in the prior art, the minimally invasive medical operation equipment which realizes the proximal end controller and the distal end actuator through the tensioning and the loosening of a cable corresponds the hand action of a user and the tightness of the cable through a winding wheel at one end close to the proximal end controller to form the mapping relation. However, the mapping relationship of the minimally invasive medical operation equipment is fixed, when the product is produced, the product has a definite and unchangeable mapping relationship, and due to the difference between the operation habits and the hand sizes of different doctors, the minimally invasive medical operation equipment with the fixed mapping relationship in the prior art cannot well meet the use habits and the hand sizes of all doctors, so that the further popularization of the minimally invasive medical operation is unfriendly.
Disclosure of Invention
In view of the above, there is a need to provide a minimally invasive medical surgical device, so as to solve the technical problem in the prior art that the minimally invasive medical surgical device cannot achieve the mapping ratio adjustment.
The technical scheme adopted by the invention is as follows:
the minimally invasive medical operation equipment is characterized by further comprising a mapping proportion adjusting device, wherein the mapping proportion adjusting device is installed on the proximal end controller and is used for adjusting the mapping proportion of the proximal end controller and the distal end actuator.
Further, the mapping ratio adjusting device comprises a winding assembly and an adjusting assembly;
the winding assembly comprises a winding wheel and two fixed wire wheels, the winding wheel comprises a winding wheel body, the winding wheel body is rotatably arranged on the transmission device, and the two fixed wire wheels are slidably arranged on the winding wheel body;
the adjusting component is arranged on the winding wheel body and used for adjusting the distance between the two fixed wire wheels so as to enable the two fixed wire wheels to be close to or far away from each other.
Further, the distances from the axes of the two fixed wire wheels to the axis of the winding wheel body are equal.
Furthermore, a sliding groove is formed in the winding wheel body, sliding blocks are fixedly mounted on the two fixed wire wheels, and the sliding blocks are slidably mounted in the sliding grooves.
Further, the adjusting part includes elliptical wheel and fixing bolt, the elliptical wheel passes through the coaxial rotatable installation of fixing bolt in the reel body, two the fixed line wheel is slidable respectively install in the both sides of elliptical wheel, two have between the fixed line wheel and make two fixed line wheel between be close to each other's power, so that the fixed line wheel with the lateral wall butt of elliptical wheel.
Furthermore, a tension spring is installed between the two fixed wire wheels, and two ends of the tension spring are respectively and correspondingly connected with the two fixed wire wheels.
Furthermore, magnets are correspondingly arranged on the two fixed wire wheels respectively, and the polarities of the opposite sides of the two magnets are opposite.
Furthermore, the adjusting part includes a screw rod, a translation plate and two connecting rods, the screw rod is rotatably installed in the reel body and arranged in parallel with the reel body, the axis direction of the screw rod is perpendicular to the length direction of the sliding groove, the translation plate is slidably installed in the reel body, the sliding direction of the translation plate is consistent with the axis direction of the screw rod, the screw rod is in threaded connection with the middle of the translation plate, the two connecting rods are respectively hinged at two ends of the translation plate, and one end of the connecting rod, which is far away from the translation plate, is hinged with the sliding block.
Furthermore, the adjusting component comprises a gear, two racks and two connecting rods, the gear is coaxially and rotatably mounted on the reel body, the two racks are correspondingly mounted on two sides of the gear respectively and are in meshed transmission with the gear, the length direction of the racks is consistent with that of the sliding groove, and two ends of the connecting rods are connected to the racks and the sliding blocks respectively.
Further, the adjusting part includes stud and two thread bush, stud rotatable install in the reel body, stud's axis direction with the length direction of spout is parallel, stud's both ends are formed with respectively soon to opposite screw thread, two the thread bush correspond threaded connection respectively in stud's both ends, the outside of thread bush with slider fixed connection.
The mapping proportion adjusting device arranged on the proximal controller is adopted by the minimally invasive medical operation equipment provided by the invention to adjust the mapping proportion between the proximal controller and the distal end executor, so that the mapping proportion of the minimally invasive medical operation equipment can be adjusted, and the minimally invasive medical operation equipment can be adapted to the operation habits and hand sizes of different users.
Drawings
FIG. 1 is a schematic view of a connection structure between a distal end effector and a transmission device of a minimally invasive medical surgical apparatus according to the present invention;
FIG. 2 is a schematic view of a connection structure of a proximal controller and a transmission device of a minimally invasive medical surgical apparatus according to the present invention;
FIG. 3 is a schematic structural diagram of a first embodiment of a mapping ratio adjusting apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a second embodiment of a mapping ratio adjusting apparatus according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a third embodiment of a map scale adjustment apparatus according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a fourth embodiment of a mapping ratio adjusting apparatus according to an embodiment of the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
As shown in fig. 1 to 2, a minimally invasive medical surgery apparatus includes a distal end effector 1, a transmission device 2, a proximal end controller 3 and a mapping ratio adjusting device 4, wherein the proximal end controller 3 controls the action of the distal end effector 1 through the transmission device 2, in some embodiments of the present application, the distal end effector is a surgical executing component such as needle holder, grasper, electrocoagulation pliers, scissors, tweezers, etc. used in a surgical procedure, the transmission device 2 is a device connecting the distal end effector 1 and the proximal end controller 3, and the proximal end controller 3 controls the distal end effector 1 by using a control cable, wherein the transmission device 2 generally includes a fixing rod 21 capable of passing through the control cable and a bendable portion 22 connected to one end of the fixing rod 21 close to the distal end effector 1, in some embodiments, the bendable portion is a universal joint, in other embodiments, the bendable portion is another combination member that can be pitched and deflected, wherein to achieve the pitch and deflection of the bendable portion, in some embodiments, the control cables are four, which are A, B, C, D in the counterclockwise direction in fig. 1, and the other ends of the four control cables A, B, C, D are connected to the proximal controller 3 through the fixing lever 21, in some embodiments of the present application, the proximal controller 3 includes a handle 31, a wrist attachment part 32, and a transmission band 33, the wrist attachment part 32 is a part connected to the user's wrist, wherein one end of the transmission band 33 is connected to the handle 31, and the other end is connected to the control cables, when the handle 31 is pulled at the same time with C, D through the transmission band 33, A, B is relaxed, and the distal end effector 1 is tilted upward; when A, B are pulled simultaneously, C, D relaxes and the distal end effector 1 bends down; when A, D are simultaneously tightened, B, C is relaxed and the distal end effector 1 is biased to the left; when B, C are simultaneously tightened, A, D is relaxed and the distal end effector 1 is deflected to the right; thus 4 cables can control any angular deflection in space within a given azimuth.
The mapping ratio adjustment device 4 is mounted to the proximal controller 3, and in some embodiments of the present application, the mapping ratio adjustment device 4 is mounted to the wrist attachment member 32 for adjusting the mapping ratio of the proximal controller 3 and the distal end effector 1.
Wherein, the mapping ratio adjusting device 4 comprises a winding component 41 and an adjusting component 42.
The winding assembly 41 includes a reel 411 and two stationary reels 412, the reel 411 includes a reel body 413, the reel body 413 is rotatably mounted on the transmission device 2, in some embodiments of the present application, the reel body 413 is rotatably mounted on the wrist attachment part 32, the two stationary reels 412 are slidably mounted on the reel body 413 and respectively disposed on two sides of an axis of the reel body 413, and the two stationary reels 412 are used for fixing an end of the control cable close to the proximal controller 3.
With the four cables A, B, C, D approach described in the above embodiment, the cables A, B, C, D are mounted in a corresponding relationship to the stationary drum at the end near the proximal end controller 3, and, in particular, in some embodiments of the present application, B, D cables are connected to two fixed reels 412 on left reel body 413, A, C cables are connected to two fixed reels on right reel body (not shown), reel 411 also has a connection 414, the connecting portion 414 is connected to the transmission belt 33, the transmission belt 33 moves along with the movement of the handle 31, the winding wheel body 413 moves under the driving of the transmission belt 33, the specific mapping relationship is that when the handle 31 is tilted upwards, the reel bodies 413 on the left side and the right side rotate clockwise, at the moment, C, D is tightened simultaneously, A, B is loosened, and the remote controller 1 tilts upwards; when the handle is bent downwards, the reel bodies 413 on the left side and the right side rotate anticlockwise, A, B are tensioned at the same time, C, D is loosened, and the remote controller is bent downwards; when the handle 31 is biased to the left, at this time, the left reel body 413 rotates clockwise, the right reel body rotates counterclockwise, A, D is simultaneously tightened, B, C is loosened, and the remote controller 1 is biased to the left; when the handle 31 is biased to the right, the left reel body 413 rotates counterclockwise, the right reel body rotates clockwise, B, C is simultaneously tightened, A, D is loosened, and the remote controller 1 is biased to the right.
The adjusting component 42 is mounted on the winding wheel body 413 and is used for adjusting the distance between the two fixed reels 412 so as to enable the two fixed reels 412 to approach or separate from each other.
When the two fixed reels 412 approach each other, the connection distance between the two control cables connected to the reel body 413 becomes smaller, and when the reel body 413 rotates at the same angle, the pulling and releasing lengths of the two control cables become smaller, so that the corresponding action amplitude of the remote controller 1 becomes smaller; when the two fixed wire wheels 412 are far away from each other, the connection distance between the two control cables connected to the wire wheel body 413 is increased, and when the wire wheel body 413 rotates at the same angle, the pulling and releasing lengths of the two control cables are increased, so that the corresponding action amplitude of the remote controller 1 is increased, and the rotation angle of the wire wheel body 413 is controlled by the manual action amplitude, so that the change of the corresponding action amplitude of the remote actuator 1 under the condition that the action amplitude of the handle 31 is not changed by changing the distance between the fixed wire wheels 412 is realized, that is, the adjustment of the mapping proportion between the near-end controller 3 and the remote actuator 1 is realized.
In order to facilitate simultaneous adjustment of the two fixed reels 412, the distances from the axes of the two fixed reels 412 to the axis of the winder body 413 are equal.
In some embodiments of the present application, the two fixed reels 412 are slidably mounted on the reel body 413 by: the winding wheel body 413 is provided with a sliding groove 413a, the two fixed wire wheels 412 are fixedly provided with sliding blocks 414, and the two sliding blocks 414 are slidably arranged in the sliding groove 413a, namely, the positions of the sliding blocks 414 in the sliding groove 413a are adjusted to realize the mutual approaching or separating of the fixed wire wheels 412.
As a preferred embodiment of the above embodiment, as shown in fig. 3, the adjusting assembly 42 includes an elliptical wheel 422 and a fixing bolt 423, the elliptical wheel 422 is coaxially and rotatably mounted on the bobbin body 413 through the fixing bolt 423, the two fixed pulleys 412 are slidably mounted on two sides of the elliptical wheel 422, and a force for causing the two fixed pulleys 412 to approach each other is provided between the two fixed pulleys 412, so that the fixed pulleys 412 abut against the side wall of the elliptical wheel 422.
The elliptical wheel 422 is coaxially and rotatably mounted on the spool body 413 through the fixing bolt 423, namely the fixing bolt 423 is used as a rotating shaft of the elliptical wheel 422, and when the fixing bolt 423 is screwed down, the elliptical wheel 422 cannot rotate; when the fixing bolt 423 is loosened, the elliptical wheel 422 may rotate about its axis.
Because the two fixed wire wheels 412 are respectively slidably mounted on two sides of the elliptical wheel 422, a force for enabling the two fixed wire wheels 412 to approach each other is provided between the two fixed wire wheels 412, the fixed wire wheels 412 are abutted against the side walls of the elliptical wheel 422, when the distance between the two fixed wire wheels 412 needs to be increased, the abutted positions of the elliptical wheel 422 and the fixed wire wheels 412 move from the position close to the short side to the position close to the long side, and then the two fixed wire wheels 412 are pushed to be away from each other; when the distance between the two fixed reels 412 needs to be reduced, the abutting position of the elliptical wheel 422 and the fixed reels 412 moves from the position close to the long side to the position close to the short side, and then the two fixed reels 412 are pushed to approach each other.
In some embodiments of the present application, the force between the two fixed reels 412 that causes the two fixed reels 412 to approach each other is an elastic force, which is specifically: a tension spring (not shown in the figure) is installed between the two fixed wire wheels 412, two ends of the tension spring are respectively and correspondingly connected to the two fixed wire wheels 412, under the action of the tension spring, the side walls of the two fixed wire wheels 412 always abut against the side wall of the elliptical wheel 422, so that the position stability of the fixed wire wheels 412 is ensured, in other embodiments of the application, the force for driving the two fixed wire wheels 412 to approach each other is magnetic force, wherein the two fixed wire wheels 412 are respectively and correspondingly provided with magnets, the polarities of the opposite sides of the two magnets are opposite, and the side walls of the two fixed wire wheels 412 always abut against the side wall of the elliptical wheel 422 through the principle that the magnets attract each other in a special shape.
In another embodiment of the present application, as shown in fig. 4, the adjusting assembly 42 includes a screw 424, a translating plate 425 and two connecting rods 426, the screw 424 is rotatably mounted on the reel body 413 and is disposed parallel to the reel body 413, an axial direction of the screw 424 is perpendicular to a length direction of the sliding groove 413a, the translating plate 425 is slidably mounted on the reel body 413, a sliding direction of the translating plate 425 is consistent with the axial direction of the screw 424, the screw 424 is threadedly connected to a middle portion of the translating plate 425, the two connecting rods 426 are respectively hinged to two ends of the translating plate 425, and an end of the connecting rod 426 away from the translating plate 425 is hinged to the sliding block 414.
In an implementation, two connecting blocks, namely, a first connecting block 4131 and a second connecting block 4132 are fixed on one side of the bobbin body 413, for convenience of description, wherein the first connecting block 4131 is disposed near the sliding groove 413a, the second connecting block 4132 is disposed on one side of the first connecting block 4131 away from the sliding groove 413a, the screw 424 is rotatably connected to the first connecting block 4131 through the second connecting block 4132, a rotating bearing is installed at a position where the screw 424 is connected to the second connecting block 4132 to facilitate rotation of the screw 424, two ends of the translating plate 425 are slidably connected to one side of the bobbin body 413 through a sliding rail, so that the translating plate 425 can only slide in a direction perpendicular to the length direction of the sliding groove 413a, a middle portion of the screw 424 passes through the translating plate 425 and is in threaded connection with the translating plate 425, two connecting rods 426 are respectively hinged to two ends of the translating plate 425, and one end of the connecting rod 426 away from the translating plate 425 is hinged to the sliding block 414.
When the distance between the two fixed wire wheels 412 is increased, the screw 424 is rotated to enable the translation plate 425 to move towards the chute 413a, the included angle of the two connecting rods 426 is gradually increased under the driving of the translation plate 425, one end of the connecting rod 426, which is connected with the sliding block 414, pushes the sliding block 414 to move towards two sides, and the distance between the two fixed wire wheels 412 is increased; when the distance between the two fixed wire wheels 412 needs to be reduced, the screw rod 424 is rotated, the translation plate 425 moves away from the sliding groove 413a, the included angle is gradually reduced under the driving of the translation plate 425 by the two connecting rods 426, one end, connected with the sliding block 414, of the connecting rod 426 pulls the sliding block 414 to move towards the middle, and then the distance between the two fixed wire wheels 412 is reduced.
In other embodiments of the present application, as shown in fig. 5, the adjusting assembly 42 may also be implemented as follows: the adjusting assembly 42 includes a gear 427, two racks 428 and two connecting rods 429, wherein the gear 427 is coaxially and rotatably mounted on the reel body 413, the two racks 428 are correspondingly mounted on two sides of the gear 427 and are engaged with the gear 427 for transmission, the length direction of the racks 428 is identical to the length direction of the sliding groove 413a, and two ends of the connecting rods 429 are respectively connected to the racks 428 and the sliding blocks 414.
As a more preferable embodiment, a handle is coaxially installed on the gear 427, and the operator rotates the gear 427 by rotating the handle.
When the distance between the two fixed wire wheels 412 needs to be increased, according to the illustration in fig. 4, the handle is rotated to rotate the gear 427 counterclockwise, and the ends of the racks 428 connected with the connecting rods 429 are far away from each other under the driving of the gear 427, so that the two fixed wire wheels 412 are far away from each other; when the distance between two fixed wire wheels 412 needs to be reduced, the handle is rotated to enable the gear 427 to rotate clockwise, one end of the rack 428 connected with the connecting rod 429 is close to each other under the driving of the gear 427, then the two fixed wire wheels 412 are close to each other, the gear and the rack are connected in a rack-and-pinion mode, the gear position only needs to be limited, the rack position is also fixed in a displacement mode, and good stability can be achieved for the position of the fixed wire wheels 412.
In other embodiments of the present application, as shown in fig. 6, the adjusting assembly 42 may further include a stud 4210 and two thread bushings 4211, the stud 4210 is rotatably mounted on the reel body 413, an axial direction of the stud 4210 is parallel to a length direction of the sliding groove 413a, opposite threads are respectively formed at two ends of the stud 4210, the two thread bushings 4211 are respectively connected to two ends of the stud 4210 by corresponding threads, and an outer side of the thread bushing 4211 is fixedly connected to the sliding block 414.
Because the sliding block 414 is partially installed in the sliding slot 413a, the sliding block 414 cannot rotate along with the rotation of the stud 4210, so that the rotation of the thread is generated between the stud 4210 and the threaded sleeve 4211, the threaded sleeve 4211 is driven to move along the circumferential direction of the stud 4210 under the action of the thread, and the threaded sleeve 4211 moves along the sliding slot 413a because the axial direction of the stud 4210 is parallel to the length direction of the sliding slot 413 a.
Specifically, when the distance between the two fixed wire wheels 412 needs to be increased, the stud 4210 is rotated to move the thread sleeves 4211 at the two sides to the two ends of the stud along the sliding groove, so as to drive the two fixed wire wheels 412 to be away from each other; when the distance between the two fixed wire wheels 412 needs to be reduced, the stud 4210 is rotated, so that the thread sleeves 4211 on the two sides move towards the middle direction of the stud along the sliding groove, and the two fixed wire wheels 412 are driven to approach each other.
It is understood that there are many ways to achieve the mutual approaching or departing of the two fixed reels 412, which are not listed herein for reasons of space, but all the solutions proposed by those skilled in the art to achieve the change of the mapping proportional relationship between the proximal controller 3 and the distal actuator 1 by the mutual approaching or departing of the two fixed reels 412 without creative efforts on the spirit of the present invention are within the protection scope of the present application.
When the minimally invasive medical operation equipment provided by the embodiment of the application is used, an operator holds the handle 31 by hand, and meanwhile, the wrist attachment part 32 is attached to the wrist, the whole near-end controller 3 is matched with the hand of the operator, then the far-end actuator 1 extends to a part to be operated to carry out an operation, the near-end controller 3 controls the action of the far-end actuator 1 through the mapping connection of the cable, and due to the existence of the mapping proportion adjusting device 4, the mapping proportion of the minimally invasive medical operation equipment can be adjusted, so that the minimally invasive medical operation equipment can adapt to the operation habits and hand sizes of different users, the matching use range of the minimally invasive medical operation equipment and different people is improved, and the further popularization of the minimally invasive medical operation is promoted.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are also included in the scope of the present invention.
Claims (10)
1. A minimally invasive medical operation device comprises a far-end actuator, a transmission device and a near-end controller, wherein the near-end controller controls the action of the far-end actuator through the transmission device; the mapping proportion adjusting device comprises a winding assembly and an adjusting assembly; the wire winding subassembly including rotatable install in transmission device's reel with slidable install in two fixed line wheels on the reel, adjusting part install in on the reel, be used for adjusting two interval between the fixed line wheel, so that two fixed line wheel is close to each other or keeps away from.
2. The minimally invasive medical procedure device according to claim 1, wherein the reel includes a reel body rotatably mounted to the transmission device, both of the stationary reels are slidably mounted to the reel body, and the adjustment assembly is mounted to the reel body.
3. The minimally invasive medical surgery device according to claim 2, wherein the distances from the axes of the two fixed reels to the axis of the reel body are equal.
4. The minimally invasive medical operation device according to claim 3, wherein a sliding groove is formed on the reel body, sliding blocks are fixedly mounted on both of the two fixed reel wheels, and the two sliding blocks are slidably mounted in the sliding groove.
5. The minimally invasive medical operation device according to claim 4, wherein the adjusting assembly comprises an elliptical wheel and a fixing bolt, the elliptical wheel is coaxially and rotatably mounted on the reel body through the fixing bolt, the two fixing wire wheels are slidably mounted on two sides of the elliptical wheel respectively, and a force enabling the two fixing wire wheels to approach each other is arranged between the two fixing wire wheels so that the fixing wire wheels are abutted to the side walls of the elliptical wheel.
6. The minimally invasive medical operation device according to claim 5, wherein a tension spring is installed between the two fixed wire wheels, and two ends of the tension spring are correspondingly connected to the two fixed wire wheels respectively.
7. The minimally invasive medical operation device according to claim 5, wherein magnets are correspondingly mounted on the two fixed wire wheels respectively, and the opposite sides of the two magnets have opposite polarities.
8. The minimally invasive medical operation device according to claim 4, wherein the adjusting assembly comprises a screw rotatably mounted on the reel body and arranged in parallel with the reel body, an axial direction of the screw is perpendicular to a length direction of the sliding groove, the translation plate is slidably mounted on the reel body, a sliding direction of the translation plate is consistent with the axial direction of the screw, the screw is in threaded connection with the middle of the translation plate, the two connecting rods are respectively hinged to two ends of the translation plate, and one end of each connecting rod, which is far away from the translation plate, is hinged to the sliding block.
9. The minimally invasive medical surgery device according to claim 4, wherein the adjusting assembly comprises a gear, two racks and two connecting rods, the gear is coaxially and rotatably mounted on the reel body, the two racks are correspondingly mounted on two sides of the gear respectively and are in meshing transmission with the gear, the length direction of the racks is consistent with the length direction of the sliding groove, and two ends of the connecting rods are connected to the racks and the sliding blocks respectively.
10. The minimally invasive medical surgery device according to claim 4, wherein the adjusting assembly comprises a stud and two threaded sleeves, the stud is rotatably mounted on the reel body, the axial direction of the stud is parallel to the length direction of the sliding groove, threads with opposite rotation directions are respectively formed at two ends of the stud, the two threaded sleeves are respectively in threaded connection with two ends of the stud correspondingly, and the outer side of each threaded sleeve is fixedly connected with the sliding block.
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| CN202010963018.7A CN112155613B (en) | 2020-09-14 | 2020-09-14 | Minimally invasive medical operation equipment |
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| CN202010963018.7A CN112155613B (en) | 2020-09-14 | 2020-09-14 | Minimally invasive medical operation equipment |
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| CN113907693B (en) * | 2021-12-10 | 2022-03-01 | 极限人工智能有限公司 | Operation mapping ratio adjusting method and device, electronic equipment and storage medium |
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