CN112274249B

CN112274249B - Multi-degree-of-freedom instrument assembly of single-hole surgical robot

Info

Publication number: CN112274249B
Application number: CN202010996055.8A
Authority: CN
Inventors: 吴晨凯
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-09-21
Filing date: 2020-09-21
Publication date: 2022-08-02
Anticipated expiration: 2040-09-21
Also published as: CN112274249A

Abstract

The invention relates to the field of medical instruments, and discloses a multi-degree-of-freedom instrument assembly of a single-hole surgical robot, which comprises: a conduit; a plurality of operation ends, each operation end is connected by following structure in proper order and is constituteed: a first hard pipeline, a first soft pipeline, a second hard pipeline, a second soft pipeline and a surgical instrument; the first hard pipeline is arranged in the guide pipe in a penetrating way, hollow channels are arranged in the first hard pipeline and the second hard pipeline, a plurality of partition plates are arranged in the first soft pipeline and the second soft pipeline, a plurality of through holes are arranged in the partition plates, and steel wires are arranged in the hollow channels and the through holes in a penetrating way; the opening mechanism comprises a main push rod and a plurality of support rods. The single-hole surgical robot multi-degree-of-freedom instrument assembly can be used for placing various surgical instruments only through one opening without forming a plurality of openings, so that surgical wounds and equipment volume are greatly reduced, and the operation of each surgical instrument is independent, accurate and reliable.

Description

Multi-degree-of-freedom instrument assembly of single-hole surgical robot

Technical Field

The invention relates to the field of medical instruments, in particular to a multi-degree-of-freedom instrument assembly of a single-hole surgical robot.

Background

Surgical robots are used for the treatment of a variety of surgical diseases, but in practice, 3-5 holes are made in the abdomen for the entry of surgical instruments. Not only increasing the trauma, but also leaving scars for the patients after the operation, and having poor beautifying effect. With the use of a single-hole surgical robot, it has been proved to have the same effect as a multi-hole surgical robot. However, the control technology of the surgical instruments at the end of the existing single-hole surgical robot is not mature, and the independence and the sensitivity among the surgical instruments are still to be improved.

Disclosure of Invention

Aiming at the technical problems of low independence and low sensitivity in the control of surgical instruments at the tail end of a single-hole surgical robot in the prior art, the invention aims to provide a multi-degree-of-freedom instrument assembly of the single-hole surgical robot so as to solve the technical problems.

The single-hole surgical robot multi-degree-of-freedom instrument assembly comprises:

a conduit;

the surgical tail ends are sequentially connected from a body end far away to a body end near to form the surgical tail end with the following structures: a first hard pipeline, a first soft pipeline capable of bending in all directions, a second hard pipeline, a second soft pipeline capable of bending in all directions and a surgical instrument which are arranged in the guide pipe in a penetrating way; the first hard pipeline is arranged in the guide pipe in a penetrating mode, hollow channels are arranged in the first hard pipeline and the second hard pipeline, a plurality of partition plates are arranged in the first soft pipeline and the second soft pipeline, a plurality of through holes are formed in the partition plates, and steel wires are arranged in the hollow channels and the through holes in a penetrating mode and used for regulating and controlling the bending directions of the first soft pipeline and the second soft pipeline;

the opening mechanism comprises a main push rod and a plurality of support rods; the main push rod penetrates through the guide pipe and is positioned in the middle of the operation tail ends; one end of each supporting rod is connected with the front section of the main push rod in a sliding mode through a sliding module, and the other end of each supporting rod is hinged to the second rigid pipeline.

Preferably, the first flexible conduit and the second flexible conduit adopt a snake bone structure.

Preferably, the steel wires are divided into two groups, a first group of steel wires is used for operating the first flexible pipeline, and a second group of steel wires is used for operating the second flexible pipeline; the hollow channel of the first rigid pipeline is divided into an outer periphery group and an inner periphery group; the number and the direction of the through holes of the partition plate in the first soft pipeline correspond to those of the hollow channels of the first hard pipeline, the through holes comprise inner periphery through holes and outer periphery through holes, and the first group of steel wires penetrate through the hollow channels and the outer periphery through holes of the outer periphery group; the number and the direction of the hollow channels of the second hard pipeline and the through holes of the partition board in the second soft pipeline correspond to those of the inner-periphery through holes, and the second group of steel wires sequentially penetrate through the hollow channels of the inner-periphery group of the first hard pipeline, the inner-periphery through holes of the partition board in the first soft pipeline, the hollow channels of the second hard pipeline and the through holes of the partition board in the second soft pipeline.

Preferably, the total number of the hollow channels of the first rigid pipeline is 8-12, and the peripheral group and the inner group respectively and independently contain 4-6 hollow channels.

Preferably, the hollow channel of the second rigid duct is gradually inclined to the periphery from the far body end to the near body end, and the through holes of the partition plate of the second soft duct are distributed at the near edge of the partition plate.

Preferably, the sliding module comprises a plurality of independent sliding blocks which are matched with the front section of the main push rod in a sliding manner, and the end parts of the supporting rods are respectively and independently connected with the sliding blocks; a plurality of steel wires connected with the sliding blocks respectively penetrate through the main push rod, a spring is arranged between the rear end of each sliding block and the main push rod, the sliding blocks can move towards the body end far away by drawing the steel wires backwards, and the sliding blocks can move towards the body end under the action of the spring when the steel wires are loosened.

Preferably, the surgical instrument is bendable in all directions. The bending can also be manipulated by the inner wire.

Preferably, the length of the first hard pipeline is 15-20cm, the length of the first soft pipeline is 3-5cm, the length of the second hard pipeline is 3-5cm, and the length of the second soft pipeline is 1-3 cm.

Preferably, the diameters of the hollow channel and the through hole are 0.8-1 mm.

Preferably, the surgical instrument is selected from two or more of a camera, an electric hook, scissors, a needle holder and other instruments.

Preferably, the surgical tail end is provided with three surgical instruments, and the corresponding three surgical instruments are a camera, an electric hook and scissors or a camera, scissors and a needle holder.

Preferably, in the first group of steel wires and the second group of steel wires, two rear ends in symmetrical directions are connected to form a complete steel wire and are driven by the same micro motor to be wound and released. Specific examples thereof are: the rear ends of the two steel wires in the symmetrical direction are wound on an output shaft of the micro motor, when the motor runs, the output shaft rotates in one direction, one of the two steel wires is wound, and the other steel wire is released; when the output shaft rotates in the opposite direction, the two steel wires are reversely released or wound, and one WeChat motor can simultaneously control the two opposite wires to be released or wound, so that the number of WeChat motors is reduced, and the assembly can be effectively simplified.

The positive progress effects of the invention are as follows:

in the invention, the main push rod and the support rod are similar to the support structure of an umbrella, and the pushing and pulling of the main push rod can initially expand or contract the operation ends. The operation ends are mutually independent, the sliding of the supporting rods can be further controlled by drawing the steel wires arranged in the main push rods, and further the opening degree of the corresponding supporting rods can be controlled. The first flexible pipe and the second flexible pipe can be controlled to bend to a desired angle by pulling the steel wire arranged in each operation end, and then the operation is completed.

The single-hole surgical robot multi-degree-of-freedom instrument assembly can be used for placing various surgical instruments only through one opening without forming a plurality of openings, so that surgical wounds and equipment volume are greatly reduced, and the operation of each surgical instrument is independent, accurate and reliable.

Drawings

FIG. 1 is a schematic view of a single-port surgical robotic multi-degree of freedom instrument assembly in a closed state according to the present invention;

FIG. 2 is a schematic view of an open state of a multi-degree of freedom instrument assembly of the single-port surgical robot of the present invention;

FIG. 3 is a partial schematic view of a surgical tip of the present invention;

FIG. 4 is a schematic view of a baffle of a first flexible conduit according to the present invention;

FIG. 5 is a schematic view of a baffle plate of a second flexible conduit according to the present invention;

FIG. 6 is a partial schematic view of the distracting mechanism of the present invention.

Reference numerals:

the device comprises a catheter 1, an operation end 2, a first rigid pipeline 21, a first soft pipeline 22, a second rigid pipeline 23, a second soft pipeline 24, an operation instrument 25, a camera 251, an electric hook 252, scissors 253, a needle holder 254, a partition 221/241, a peripheral through hole 221a, an inner peripheral through hole 221b, a first group of steel wires 261, a second group of steel wires 262, a spreading mechanism 3, a main push rod 31, a support rod 32, a slide block 33 and a spring 34.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

Fig. 1 and 2 show a preferred single-hole surgical robotic multi-degree of freedom instrument assembly of the present invention, which comprises: a catheter 1, three operation ends 2 and a distraction mechanism 3.

Each operation terminal 2 is formed by connecting the following structures from a body far away end to a body near end in sequence: a first rigid pipe 21, a first flexible pipe 22, a second rigid pipe 23, a second flexible pipe 24 and a surgical instrument 25, wherein the first rigid pipe 21, the first flexible pipe 22 and the second rigid pipe 23 are arranged in the catheter 1 in a penetrating way and can be bent in all directions; the first hard pipeline 21 is arranged in the guide pipe 1 in a penetrating mode, hollow channels are arranged in the first hard pipeline 21 and the second hard pipeline 23, a plurality of

partition plates

221 and 241 are arranged in the first soft pipeline 22 and the second soft pipeline 24 respectively, a plurality of through holes are formed in the

partition plates

221 and 241, and steel wires are arranged in the hollow channels and the through holes in a penetrating mode and used for regulating and controlling the bending directions of the first soft pipeline 22 and the second soft pipeline 24.

Preferably, the wires are divided into two groups, as shown in fig. 3, a first group of wires 261 is used for operating the first flexible conduit 22, and a second group of wires 262 is used for operating the second flexible conduit 24; preferably, the total number of the hollow channels of the first rigid pipeline 21 is 8-12, and the first rigid pipeline is divided into an outer periphery group and an inner periphery group, and each of the hollow channels independently contains 4-6 hollow channels; the number and orientation of the through holes of the partition 221 in the first soft pipe 22 correspond to the hollow channel of the first hard pipe 21 (as shown in fig. 4, there are an outer through hole 221a and an inner through hole 221b), and the first set of steel wires 261 are inserted into the outer set of hollow channel and the outer through hole 221 a; the number and the orientation of the hollow channel of the second hard pipeline 23 and the through hole of the partition 241 in the second soft pipeline 24 correspond to the inner through hole 221b of the partition 221, and the second group of steel wires 262 sequentially pass through the hollow channel of the inner group of the first hard pipeline 21, the inner through hole 221b of the partition 221, the hollow channel of the second hard pipeline 23 and the through hole of the partition 241 in the second soft pipeline 24. Preferably, the hollow channel of the second rigid conduit 23 is gradually inclined towards the periphery from the distal end to the proximal end, and the through holes of the partition 241 of the second soft conduit 24 are distributed at the partition proximal edge (as shown in fig. 5).

Preferably, the surgical instrument 25 is connected to a connection that can be bent in various directions, and the bending can also be controlled by an internal wire. The surgical instrument 25 is selected from two or more of a camera, an electric hook, scissors and a needle holder.

Preferably, the surgical tip 2 has three, corresponding three surgical instruments being a camera 251, an electric hook 252 and scissors 253, or a camera 251, scissors 253 and a needle holder 254.

As shown in fig. 6, the expanding mechanism 3 includes a main push rod 31 and three support rods 32; the main push rod 31 is arranged in the catheter 1 in the middle of the operation end 2 in a penetrating way; one end of each support rod 32 is slidably connected to the front section of the main push rod 31 through a sliding module, and the other end is hinged to the second rigid conduit 23.

Preferably, the sliding module comprises three independent sliding blocks 33 which are slidably arranged at the front section of the main push rod 31, and the end parts of the support rods 32 are respectively and independently connected with the sliding blocks 33; three steel wires respectively connected with the sliding blocks 33 penetrate through the main push rod 31, a spring 34 is arranged between the rear end of each sliding block 33 and the main push rod 31, the sliding blocks 33 can move towards the end far away from the body by drawing the steel wires backwards, and the sliding blocks 33 can move towards the end near the body under the action of the springs when the steel wires are loosened.

Preferably, the first rigid pipeline 21 is 15-20cm long, the first soft pipeline 22 is 3-5cm long, the second rigid pipeline 23 is 3-5cm long, and the second soft pipeline 24 is 1-3cm long.

Preferably, in the first set of steel wires 261 and the second set of steel wires 262, two rear ends in symmetrical directions are connected to form a complete steel wire and are driven by the same micro motor to wind and release. Specific examples thereof are: the rear ends of the two steel wires in the symmetrical direction are wound on an output shaft of the micro motor, when the motor runs, the output shaft rotates in one direction, one of the two steel wires is wound, and the other steel wire is released; when the output shaft rotates in the opposite direction, the two steel wires are reversely released or wound, and one WeChat motor can simultaneously control the two opposite wires to be released or wound, so that the number of WeChat motors is reduced, and the assembly can be effectively simplified.

Taking an abdominal trauma operation as an example, the working principle of the scheme of the invention is described in detail as follows:

the doctor firstly carries out simple exploration to the state of an illness, after confirming the symptoms in the abdominal cavity, at first carries out simple clearance and disinfection to the wound, after a pore is opened to the trompil apparatus, stretches into the abdominal cavity with the single-hole surgical robot multi freedom apparatus subassembly of figure 1 state, opens the camera, and after pneumoperitoneum system or other abdomen support apparatus prop up the abdominal cavity, opens surgical instrument 25 through main push rod 31, as the state of figure 2, through built-in steel wire, controls its direction and opening and shutting.

In the surgical tip 2 of the present invention, the steel wire and the channel thereof are the core for controlling the directional bending of the first flexible conduit 22 and the second flexible conduit 24, and by tightening the steel wire in a certain direction, the corresponding direction of the first flexible conduit 22 or the second flexible conduit 24 can be contracted under the driving of the front end partition plate, and can be restored after being loosened. The circumferential arrangement of the plurality of wires can cause the first flexible conduit 22 and the second flexible conduit 24 to bend in any direction. The further design of the inner and outer sets of steel wires can make the bending of the first flexible tube 22 and the second flexible tube 24 have relative independence, and can be bent independently in different directions, so as to make the surgical instrument spread to a reasonable position and keep a better angle. Specifically, the front end of the first group of steel wires 261 can be fixedly connected with the most front partition 221, when one or more of the first group of steel wires 261 is pulled at the rear end in a certain direction, the first flexible pipeline 22 is pulled to be contracted in the corresponding direction, and is not contracted in other directions, so that the bending is realized; when one or more second steel wires 262 are pulled in a certain direction, the second steel wires 262 pass through the first flexible pipe 22 at the same time, but pass through the inner periphery of the partition 221 near the center, so that the pulling action on the partition 221 is small, and the bending influence on the first flexible pipe 22 is small; the second group of steel wires 262 mainly pull the second flexible pipeline 24 to bend, the tail ends of the second group of steel wires 262 penetrate through the peripheral through holes of the partition 241, the front ends of the second group of steel wires 262 can be fixedly connected with the partition 241 at the foremost end, and when the second group of steel wires 262 are pulled at the rear ends, the pulling effect in each direction is large, so that the bending of the second flexible pipeline 24 can be effectively controlled.

In the present invention, the main push rod 31 and the support rod 32 are constructed like an umbrella support structure, and the operation ends can be initially spread or contracted by pushing and pulling the main push rod 31. The operation terminals 2 are mutually independent, and the sliding of the support rods 32 can be further controlled by drawing the steel wires arranged in the main push rod 31, so that the opening degree of the corresponding support rods 32 can be controlled. By pulling the wires built into each surgical tip, the first flexible tube 22 and the second flexible tube 24 can be manipulated to bend to a desired angle, and then the surgical procedure can be completed.

Claims

1. A single-hole surgical robot multi-degree-of-freedom instrument assembly is characterized by comprising:

a conduit;

the opening mechanism comprises a main push rod and a plurality of support rods; the main push rod penetrates through the guide pipe and is positioned in the middle of the operation tail ends; one end of each supporting rod is connected with the front section of the main push rod in a sliding mode through a sliding module, and the other end of each supporting rod is hinged with the second rigid pipeline;

the hollow channel of the first rigid pipeline is divided into an outer periphery group and an inner periphery group; the number and the direction of the through holes of the partition plate in the first soft pipeline correspond to the hollow channel of the first hard pipeline, and the through holes comprise inner periphery through holes and outer periphery through holes; the number and the direction of the hollow channels of the second hard pipeline and the through holes of the partition board in the second soft pipeline correspond to those of the through holes on the inner periphery;

the steel wires are divided into two groups, and a first group of steel wires penetrate through the peripheral group of hollow channels of the first hard pipeline and the peripheral through holes of the partition plate in the first soft pipeline and are used for controlling the first soft pipeline; the second group of steel wires sequentially penetrate through the hollow channel of the inner periphery group of the first hard pipeline, the inner periphery through hole of the partition plate in the first soft pipeline, the hollow channel of the second hard pipeline and the through hole of the partition plate in the second soft pipeline and are used for controlling the second soft pipeline;

from the far body end to the near body end, the hollow channel of the second hard pipeline is gradually inclined towards the periphery, and the through holes of the partition plate of the second soft pipeline are distributed at the edge near the partition plate;

in the first group of steel wires and the second group of steel wires, two rear ends in symmetrical directions are connected to form a complete steel wire which is driven by the same micro motor to be wound and released; the rear ends of the two steel wires in the symmetrical direction are wound on an output shaft of the micro motor, the output shaft rotates in one direction when the micro motor operates, one of the two steel wires is wound, and the other steel wire is released; when the output shaft rotates in the opposite direction, the two steel wires are reversely released or wound, so that one micro motor can simultaneously control the two opposite wires to be released or wound, the number of the micro motors is reduced, and the assembly can be effectively simplified.

2. A single-port surgical robotic multi-degree of freedom instrument assembly as in claim 1, wherein the first rigid conduit has a total number of hollow channels of 8-12, and the peripheral group and the inner group each independently contain 4-6.

3. A single-port surgical robotic multi-degree of freedom instrument assembly as in claim 1, wherein said sliding module comprises a plurality of independent sliding blocks slidably fitted on a front section of said main push rod, an end of each of said support rods being independently connected to said sliding blocks; a plurality of steel wires connected with the sliding blocks respectively penetrate through the main push rod, a spring is arranged between the rear end of each sliding block and the main push rod, the sliding blocks can move towards the body end far away by drawing the steel wires backwards, and the sliding blocks can move towards the body end under the action of the spring when the steel wires are loosened.

4. A single port surgical robotic multiple degree of freedom instrument assembly as in claim 1, wherein the surgical instrument is bendable in all directions.

5. The single-port surgical robotic multi-degree of freedom instrument assembly of claim 1, wherein the first rigid conduit is 15-20cm long, the first soft conduit is 3-5cm long, the second rigid conduit is 3-5cm long, and the second soft conduit is 1-3cm long.

6. A single-port surgical robotic multi-degree of freedom instrument assembly according to claim 1, wherein the hollow channel and the through-hole have a diameter of 0.8-1 mm.

7. A single-port surgical robotic multiple degree of freedom instrument assembly according to claim 1, wherein the surgical instrument is selected from two or more of a camera, an electric hook, scissors, a needle holder.

8. A single-port surgical robotic multiple degree of freedom instrument assembly according to claim 1, wherein there are three of said surgical tips, and corresponding three of said surgical instruments are a camera, an electric hook, and scissors, or a camera, scissors, and a needle holder.