CN112545584A - Bending device and surgical operation instrument - Google Patents
Bending device and surgical operation instrument Download PDFInfo
- Publication number
- CN112545584A CN112545584A CN202011423330.3A CN202011423330A CN112545584A CN 112545584 A CN112545584 A CN 112545584A CN 202011423330 A CN202011423330 A CN 202011423330A CN 112545584 A CN112545584 A CN 112545584A
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- China
- Prior art keywords
- flexible joint
- indexing
- bending
- driving
- frame 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
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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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- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
- A61B2034/306—Wrists with multiple vertebrae
Abstract
The invention belongs to the field of medical instruments, and relates to a bending device and a surgical operation instrument, wherein the bending device comprises a plurality of rotating units which are sequentially connected, and each rotating unit comprises: a flexible joint; the driving device is arranged in the flexible joint in a penetrating manner and used for driving the flexible joint to realize bending at a preset angle; and the indexing rotating device is arranged at one end of the flexible joint and used for driving the flexible joint to realize positioning at any circumferential angle. The invention utilizes the driving device to drive the flexible joint to swing, can realize deflection at a preset angle, utilizes the indexing rotating device to carry out precise indexing, can adjust the swinging angle of the flexible joint in the circumferential direction, and can ensure that the bending device realizes deflection at any position in the circumferential direction by the matching of the driving device and the indexing rotating device. The invention has reliable structure, strong controllability of operation by utilizing the invention, high working efficiency and strong practicability, can realize precise control, avoids the intervention of human factors, and is worthy of popularization.
Description
Technical Field
The invention belongs to the field of medical instruments, and particularly relates to a bending device and a surgical operation instrument.
Background
In the surgical operation, in order to avoid the tissue structure, the turning operation is required in many cases, and in the patent documents of the electric turning device named as the surgical instrument and the surgical instrument with the application number of 201320487489.0 on the application date of 8/9/2013, the electric turning device can realize the electric driving of the turning of the end effector, but the electric turning device can only realize the turning in one direction due to the structural limitation of the electric turning device, so the application range of the electric turning device is limited.
Disclosure of Invention
Accordingly, the present invention is directed to a bending device and a surgical instrument that overcome the deficiencies of the prior art.
The technical scheme of the invention is as follows:
a turn around device comprising:
a plurality of rotation units that connect gradually in proper order, rotation unit includes:
a flexible joint;
the driving device is arranged in the flexible joint in a penetrating manner and used for driving the flexible joint to realize bending at a preset angle;
and the indexing rotating device is arranged at one end of the flexible joint and used for driving the flexible joint to realize positioning at any circumferential angle.
Preferably, the flexible joint comprises:
the chain comprises a plurality of chain links, wherein the chain links are hinged through connecting pieces;
the number of the connecting rods is multiple, the connecting rods are divided into an upper group and a lower group which are arranged between the two groups of chains in parallel, and two ends of each connecting rod are respectively and fixedly connected with the chain links in a vertical mode;
the support body is arranged on one side of the two groups of chains, and chain links at the end part of one end of the two groups of chains are hinged with the support body.
Preferably, the driving means includes:
the steering engine is fixed on the frame body and arranged on one side of the frame body, which is far away from the chain, and an output shaft of the steering engine extends to one side of the frame body, which is provided with the chain;
one end of the curved rod is sleeved and fixed inside one end of the sleeve, and the other end of the sleeve is sleeved and fixed with an output shaft of the steering engine.
Preferably, the index rotating means includes:
an electric indexing turntable;
the two first connecting bodies are respectively arranged at two ends of one side of the electric indexing turntable and are used for being connected with the frame body and transmitting the indexing rotation of the electric indexing turntable to the frame body;
and the second connecting body is arranged on the other side of the electric indexing turntable.
Preferably, the link comprises:
the special-shaped block body is provided with a groove in the circumferential direction;
the bulge is fixedly connected to one side, away from the groove, of the special-shaped block body, and the bulge is in clearance fit with the groove;
the mounting holes are a plurality of and are respectively arranged on the special-shaped blocks and the protrusions.
A surgical instrument comprises the bending device.
Further comprising:
the connecting part is arranged at one end of the bending device;
the mounting box is arranged at the other end of the bending device;
the image acquisition device is arranged on one side of the installation box, which is far away from the connecting part;
the cutting head is arranged on the side edge of the image acquisition device, and a driving device of the cutting head is arranged in the mounting box;
the controller is electrically connected with the image acquisition device, the driving device of the cutting head and the driving device of the bending device respectively and is electrically connected with the power supply through a control switch;
and the display is electrically connected with the controller and the power supply respectively.
Preferably, the method further comprises the following steps:
and the lifting device is arranged in the installation box, one end of the lifting device is fixed with the inner bottom surface of the installation box, the other end of the lifting device is fixedly connected with the cutting head and used for realizing the height adjustment of the cutting head, and the lifting device is electrically connected with the controller.
Compared with the prior art, the bending device and the surgical operation instrument provided by the invention have the beneficial effects that:
1. the structure of the invention is reliable;
2. the invention can realize continuous turning, thereby increasing the avoidable structures, adapting to the requirements of various application occasions, having strong controllability of operation, realizing precise control, avoiding the intervention of human factors, having high working efficiency and strong practicability and being worthy of popularization.
Drawings
Fig. 1 is a front view of the overall structure of the bending apparatus of the present invention;
FIG. 2 is a schematic view of a partial structure of the bending apparatus of the present invention 2;
FIG. 3 is a schematic view of a partial structure of the bending apparatus of the present invention 1;
FIG. 4 is a top view of the overall construction of the turn down device of the present invention;
FIG. 5 is a front view of a link of the present invention;
FIG. 6 is a top view of a link of the present invention;
FIG. 7 is a partial block diagram of a surgical instrument according to the present invention.
Detailed Description
The present invention provides a bending device and a surgical instrument, and the invention will be described with reference to the structural schematic diagrams of fig. 1 to 7.
Example 1
As shown in fig. 1, 2 and 4, the present invention provides a turning device, including:
a plurality of rotation units that connect gradually in proper order, rotation unit includes:
a flexible joint;
the driving device is arranged in the flexible joint in a penetrating manner and used for driving the flexible joint to realize bending at a preset angle;
and the indexing rotating device 1 is arranged at one end of the flexible joint and used for driving the flexible joint to realize positioning at any circumferential angle.
Wherein, the structure of flexible joint includes:
the chain comprises two groups of chains, wherein the two groups of chains are arranged in parallel, each group of chains is structurally composed of a plurality of chain links 7, and the chain links 7 are hinged through connecting pieces 8;
as shown in fig. 5 to 6, the link 7 includes:
the special-shaped block body 701 is provided with a groove in the circumferential direction;
the protrusion 702 is fixedly connected to one side, away from the groove, of the special-shaped block body 701, and the protrusion 702 is in clearance fit with the groove;
the number of the mounting holes 703 is plural, and the mounting holes are respectively formed on the irregular block body 701 and the protrusion 702.
In particular, the connecting element 8 is preferably configured as a pin.
A plurality of connecting rods 6 are erected between the two groups of chains, the central lines of the connecting rods 6 are perpendicular to the length direction of the chains, the connecting rods 6 are divided into an upper group and a lower group which are arranged in parallel, and two ends of each connecting rod 6 are respectively and fixedly connected with the chain links 7 in a perpendicular mode.
And the frame body 9 is arranged on one side of the two groups of chains, and the chain links 7 at the end parts of one ends of the two groups of chains are hinged with the frame body 9.
The frame body 9 comprises a plate body, wherein two protruding structures are arranged on one side of the plate body, and the protruding structures are hinged to the chain links 7 through connecting pieces 8.
Wherein, drive arrangement's structure includes:
the steering engine 2 is fixed on the plate body of the frame body 9, the steering engine 2 is arranged on one side of the frame body 9, which is far away from the chain, and an output shaft of the steering engine 2 extends out of the plate body and then extends outwards;
the sleeve 3 is sleeved on an output shaft of the steering engine 2, the sleeve 3 is fixed with the output shaft of the steering engine 2 through screws, the other end of the sleeve 3 is sleeved with a bent rod 5, and the sleeve 3 and the bent rod are fixedly connected through screws.
Wherein, the steering engine 2 adopts MG995 or MG996R type steering engine to realize the rotation within a certain angle range.
As shown in fig. 3, the indexing-rotation device 1 includes:
an electric index dial 102;
the two first connecting bodies 103 are respectively arranged at two ends of one side of the electric indexing turntable 102, are used for connecting with the frame body 9 and transmitting the indexing rotation of the electric indexing turntable 102 to the frame body 9;
and the second connecting body 101 is arranged on the other side of the electric indexing turntable 102.
The first connecting body 103 and the second connecting body 101 are rod body structures.
When the flexible joint is used, the steering engine 2 is started to drive the curved rod 5 connected to the output shaft of the steering engine 2 to rotate by a certain angle, so that the flexible joint is forced to swing within a certain range. When the electric indexing turntable 102 is started, the frame body 9 and the flexible joint can be driven to rotate synchronously, so that the end, deviating from the frame body 9, of the flexible joint changes in circumferential angle.
The steering engine 2 and the electric indexing turntable 102 are matched, so that the circumferential angle and the inclination angle of the flexible joint can be changed, the turning function of the rotating unit in the range of 360 degrees is realized, multiple turning is possible due to the combination of a plurality of rotating units, the application range of the device is expanded, and the applicability of the device is improved.
Example 2
A surgical instrument, as shown in fig. 7, comprises the turn device provided in example 1.
Specifically, still include:
a connecting part 10 disposed at one end of the bending device;
the mounting box 12 is arranged at the other end of the bending device;
the image acquisition device 4 is arranged on one side of the installation box 12, which is far away from the connecting part 10;
the image acquisition device is a miniature camera and is used for realizing the real-time image acquisition function in the moving process of the device and facilitating clearer positioning of targets.
The cutting head 11 is arranged on the side edge of the image acquisition device 4, and a driving device of the cutting head 11 is arranged in the installation box 12;
wherein the cutting head 11 is a laser knife.
The controller is electrically connected with the image acquisition device 4, the driving device of the cutting head 11 and the driving device of the bending device respectively and is electrically connected with the power supply through the control switch;
and the display is electrically connected with the controller and the power supply respectively.
Further, the method also comprises the following steps:
and the lifting device is arranged in the installation box 12, one end of the lifting device is fixed with the inner bottom surface of the installation box 12, the other end of the lifting device is fixedly connected with the cutting head 11 and used for realizing the height adjustment of the cutting head 11, and the lifting device is electrically connected with the controller.
In the use, connecting portion 10 can be connected with handheld portion or mount, utilizes the device of turning round can realize the dodging to the tissue after getting into the human body to with the position adjustment of cutting head 11 to the place back that needs the location, start elevating gear, accomplish the function of stretching out cutting head 11, then start the drive arrangement of cutting head 11, drive cutting head 11 action and accomplish the cutting.
Compared with the prior art, the bending device and the surgical operation instrument provided by the invention have the advantages of reliable structure, strong controllability in operation, high working efficiency and strong practicability, can realize precise control, avoids human factor intervention, and is worthy of popularization.
The above disclosure is only for the preferred embodiments of the present invention, but the embodiments of the present invention are not limited thereto, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present invention.
Claims (8)
1. A turn around device, comprising:
a plurality of rotation units that connect gradually in proper order, rotation unit includes:
a flexible joint;
the driving device is arranged in the flexible joint in a penetrating manner and used for driving the flexible joint to realize bending at a preset angle;
and the indexing rotating device (1) is arranged at one end of the flexible joint and is used for driving the flexible joint to realize positioning at any circumferential angle.
2. The steering device of claim 1, wherein said flexible joint comprises:
the chain comprises two groups of chains, wherein the two groups of chains are arranged in parallel, each chain comprises a plurality of chain links (7), and the chain links (7) are hinged through connecting pieces (8);
the number of the connecting rods (6) is multiple, the connecting rods are divided into an upper group and a lower group which are arranged between the two groups of chains in parallel, and two ends of each connecting rod (6) are respectively and fixedly connected with the chain links (7) in a vertical mode;
the frame body (9) is arranged on one side of the two groups of chains, and the chain links (7) at the end parts of one ends of the two groups of chains are hinged with the frame body (9).
3. The steering apparatus of claim 2, wherein said drive means comprises:
the steering engine (2) is fixed on the frame body (9) and arranged on one side of the frame body (9) away from the chain, and an output shaft of the steering engine (2) extends to one side of the frame body (9) where the chain is arranged;
and one end of the curved rod (5) is sleeved and fixed inside one end of the sleeve (3), and the other end of the sleeve (3) is sleeved and fixed with an output shaft of the steering engine (2).
4. Turning device according to claim 2, characterized in that the indexing and rotating means (1) comprise:
an electrically-driven indexing dial (102);
the two first connecting bodies (103) are respectively arranged at two ends of one side of the electric indexing turntable (102) and are used for being connected with the frame body (9) and transmitting the indexing rotation of the electric indexing turntable (102) to the frame body (9);
and the second connecting body (101) is arranged on the other side of the electric indexing turntable (102).
5. A bending device according to claim 2, wherein the chain link (7) comprises:
the special-shaped block body (701), wherein a groove is formed in the circumferential direction of the special-shaped block body (701);
the protrusion (702) is fixedly connected to one side, away from the groove, of the special-shaped block body (701), and the protrusion (702) is in clearance fit with the groove;
a plurality of mounting holes (703) are respectively arranged on the special-shaped block body (701) and the bulge (702).
6. A surgical instrument comprising the bending device according to any one of claims 1 to 5.
7. A surgical instrument according to claim 6, further comprising:
a connecting part (10) arranged at one end of the bending device;
the mounting box (12) is arranged at the other end of the bending device;
the image acquisition device (4) is arranged on one side, away from the connecting part (10), of the installation box (12);
the cutting head (11) is arranged on the side edge of the image acquisition device (4), and a driving device of the cutting head (11) is arranged in the installation box (12);
the controller is electrically connected with the image acquisition device (4), the driving device of the cutting head (11) and the driving device of the bending device respectively and is electrically connected with a power supply through a control switch;
and the display is electrically connected with the controller and the power supply respectively.
8. A surgical instrument as recited in claim 7, further comprising:
the lifting device is arranged in the installation box (12), one end of the lifting device is fixed with the inner bottom surface of the installation box (12), the other end of the lifting device is fixedly connected with the cutting head (11) and used for achieving height adjustment of the cutting head (11), and the lifting device is electrically connected with the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011423330.3A CN112545584B (en) | 2020-12-08 | 2020-12-08 | Bending device and surgical operation instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011423330.3A CN112545584B (en) | 2020-12-08 | 2020-12-08 | Bending device and surgical operation instrument |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112545584A true CN112545584A (en) | 2021-03-26 |
| CN112545584B CN112545584B (en) | 2022-02-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011423330.3A Active CN112545584B (en) | 2020-12-08 | 2020-12-08 | Bending device and surgical operation instrument |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105287002A (en) * | 2015-12-02 | 2016-02-03 | 吉林大学 | Flexible multi-joint operation micro instrument for robot-assisted minimally invasive surgery |
| CN105433989A (en) * | 2014-06-27 | 2016-03-30 | 瑞奇外科器械(中国)有限公司 | Surgery operation instrument bending device and surgery operation instrument |
| CN106923902A (en) * | 2017-03-30 | 2017-07-07 | 微创（上海）医疗机器人有限公司 | Operating robot snakelike joint, operating theater instruments and endoscope |
| US20180008125A1 (en) * | 2008-11-11 | 2018-01-11 | Intuitive Surgical Operations, Inc. | Robotic linkage |
| CN109452976A (en) * | 2018-12-28 | 2019-03-12 | 北京术锐技术有限公司 | A kind of flexible operation tool system |
| CN111685882A (en) * | 2020-07-10 | 2020-09-22 | 深圳大学 | Robot for narrow cavity medical operation and narrow cavity medical operation system |
| WO2020217010A1 (en) * | 2019-04-24 | 2020-10-29 | Lift'o | Device for actuating a mobile platform |
-
2020
- 2020-12-08 CN CN202011423330.3A patent/CN112545584B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180008125A1 (en) * | 2008-11-11 | 2018-01-11 | Intuitive Surgical Operations, Inc. | Robotic linkage |
| CN105433989A (en) * | 2014-06-27 | 2016-03-30 | 瑞奇外科器械(中国)有限公司 | Surgery operation instrument bending device and surgery operation instrument |
| CN105287002A (en) * | 2015-12-02 | 2016-02-03 | 吉林大学 | Flexible multi-joint operation micro instrument for robot-assisted minimally invasive surgery |
| CN106923902A (en) * | 2017-03-30 | 2017-07-07 | 微创（上海）医疗机器人有限公司 | Operating robot snakelike joint, operating theater instruments and endoscope |
| CN109452976A (en) * | 2018-12-28 | 2019-03-12 | 北京术锐技术有限公司 | A kind of flexible operation tool system |
| WO2020217010A1 (en) * | 2019-04-24 | 2020-10-29 | Lift'o | Device for actuating a mobile platform |
| CN111685882A (en) * | 2020-07-10 | 2020-09-22 | 深圳大学 | Robot for narrow cavity medical operation and narrow cavity medical operation system |
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| CN112545584B (en) | 2022-02-18 |
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