CN113349924B - Flexible joint and surgical instrument based on shape memory alloy control - Google Patents
Flexible joint and surgical instrument based on shape memory alloy control Download PDFInfo
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- CN113349924B CN113349924B CN202110668587.3A CN202110668587A CN113349924B CN 113349924 B CN113349924 B CN 113349924B CN 202110668587 A CN202110668587 A CN 202110668587A CN 113349924 B CN113349924 B CN 113349924B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/73—Manipulators for magnetic 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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1085—Programme-controlled manipulators characterised by positioning means for manipulator elements positioning by means of shape-memory materials
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/73—Manipulators for magnetic surgery
- A61B2034/731—Arrangement of the coils or magnets
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B30/00—Energy efficient heating, ventilation or air conditioning [HVAC]
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Robotics (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Medical Informatics (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Surgical Instruments (AREA)
Abstract
The application discloses a flexible joint based on shape memory alloy control and a surgical instrument, which comprise a first joint module, a second joint module and a rotating shaft, wherein the first joint module comprises a first locking part, the second joint module comprises a joint rod, a driving assembly and a second locking part, the driving assembly comprises a magnetic part A, a magnetic part B and a shape memory driving part, the shape memory driving part is in a room-temperature phase shape in the first state, the shape memory driving part is driven to deform by magnetic field force between the magnetic part A and the magnetic part B, the shape memory driving part is in a high-temperature phase shape in the second state, and the shape memory driving part overcomes the magnetic field force by shape memory driving part to drive the shape memory driving part to recover the shape. The application can avoid the phenomena of strong coupling and interference generated when the minimally invasive surgical instrument performs the operation, improves the degree of freedom of the instrument, gives doctors higher flexibility in operation, and is more close to the concept of minimally invasive at present.
Description
Technical Field
The application belongs to the technical field of medical instruments, and particularly relates to a flexible joint based on shape memory alloy control and a surgical instrument.
Background
The flexible joint can be used for various minimally invasive surgical instruments (such as single-port laparoscopic surgery (Single Port Laparoscopic Surgery, NOTES) instruments), can provide a certain variable degree of freedom for the surgical instruments, and has been widely used for various surgical instruments due to the characteristics of flexibility, compactness and the like. The surgical efficiency can be improved by adding one or more flexible joints in the surgical instrument, so that the operation of a doctor is more convenient.
However, with the rapid development of medical devices, many flexible joints on the market are not sufficient to meet the surgical requirements, mainly for the following reasons: firstly, many flexible joints adopt a pneumatic or hydraulic braking mode, and surgical instruments are required to be continuously electrified, so that the energy consumption is increased, and the wiring mode is too complex; secondly, some flexible joints only adopt a control mode of wire pulling, so that a single joint cannot be independently controlled, and strong coupling phenomenon can be generated among a plurality of joints; again, when the flexible joint provides too much variable degrees of freedom and the joint adjustment is too sensitive, it may cause inconvenience to the physician; finally, if the flexible joint occupies too much of the internal space of the surgical instrument, there is a certain limitation on the surgical instrument that mates with the joint. For a variety of surgical instruments, such as endoscopic instruments, surgical forceps, etc., although the instruments are used differently, the flexible joints therein may have the problems described above or be more difficult.
Disclosure of Invention
The application aims to provide a flexible joint based on shape memory alloy control and a surgical instrument. The current is controlled by the singlechip, so that the temperature rise of the shape memory alloy is controlled, and the shape memory alloy is deformed to realize the control of the joint.
In order to achieve the above object, the present application provides the following technical solutions: a flexible joint based on shape memory alloy control, which is connected between two support rods, wherein the flexible joint comprises a first joint module, a second joint module and a rotating shaft, the first joint module comprises a first locking part which is relatively fixed with one support rod, the second joint module comprises a joint rod which is relatively fixed with the other support rod, a driving component arranged on the joint rod and a second locking part connected with the driving component, the joint rod is rotatably connected with the first locking part through the rotating shaft, one of the first locking part and the second locking part is a gear part, the other is a buckling part, in a first state, the driving component drives the second locking part to be mutually locked after being close to the first locking part, the joint rod and the first locking part are limited in relative rotation degree of freedom, the central axis of the gear part is coaxial with the rotating shaft, in a second state, the driving component drives the second locking part to be mutually locked after being far away from the first locking part, and the second locking part is relatively free to be mutually locked after being far away from the first locking part;
the driving assembly comprises a magnetic component A which is relatively fixed with the joint rod, a magnetic component B which is relatively fixed with the second locking component, and a shape memory driving component which is connected between the joint rod and the second locking component;
in the first state, the shape memory driving part is in a room-temperature phase shape, and the magnetic force between the magnetic part A and the magnetic part B drives the shape memory driving part to deform so as to drive the buckling part to extend into the clamping groove of the gear part to lock the two parts;
in the second state, the shape memory driving part is in a high-temperature phase shape, and the shape restoring force of the shape memory driving part overcomes the magnetic field force to drive the shape memory driving part to restore the shape, so that the buckle part is driven to be separated from the clamping groove of the gear part, and the buckle part and the gear part are unlocked mutually.
Preferably, in a preferred embodiment of the present embodiment, the shape memory driving component is a shape memory alloy spring, a wire of the shape memory alloy spring is wound with a resistance wire for heating the shape memory alloy spring, two ends of the shape memory alloy spring are respectively fixed on two spring fixing columns, one of the spring fixing columns is fixed on the joint rod, and the other spring fixing column is fixedly connected with the second locking component and the magnetic component B.
Preferably, the first locking member is the gear member, and the second locking member is the buckle member.
Preferably, the gear component is a round-segment gear, and the gear tooth surface of the gear component faces away from the supporting rod connected with the gear component.
Preferably, the fastening member is a rod-shaped fastening member having a locking end in contact with the gear member, and the locking end is in the shape of a single tooth.
Preferably, the support rod and the joint rod are hollow rod bodies, the first locking part is fixedly connected to the first connecting column, the first connecting column is fixed in an inner hole of one support rod, one end of the joint rod is fixedly connected to the second connecting column, the second connecting column is fixed in an inner hole of the other support rod, an ear plate is fixed to the other end of the joint rod, the ear plate is connected with the rotating shaft, a first wiring groove for guiding a traction wire for driving the gear part to rotate is formed in the outer side face of each of the first connecting column, the second connecting column and the ear plate, and a second wiring groove for guiding a wire for powering on the shape memory driving part is formed in the outer side face of each of the first connecting column, the second connecting column and the ear plate.
Preferably, the magnetic component a and the magnetic component B are both annular, one end of the second locking component passes through the magnetic component a and then is locked with the first locking component, the other end of the second locking component passes through the magnetic component B and is connected with the shape memory driving component, and the magnetic field force is the magnetic attraction force of the magnetic component a and the magnetic component B.
Preferably, the magnetic component a and the magnetic component B are permanent magnets.
The application also provides another technical scheme: the surgical instrument comprises a tail end clamp, a flexible arm and a handle which are sequentially connected, wherein the flexible arm comprises a plurality of sections of support rods, two adjacent sections of support rods are connected through flexible joints, one of the two adjacent sections of support rods is relatively fixed with the first locking part, and the other section of support rod is relatively fixed with the joint rod.
Preferably, the handle comprises a plurality of power switches for respectively controlling the power on of the shape memory driving components, an adjustment enabling button for enabling the power switches, a power bus for supplying power to the power switches and the adjustment enabling button, an adjusting hand wheel for controlling the relative rotation angles of a first joint module and a second joint module of a certain flexible joint after the first joint module and the second joint module are mutually unlocked, and an end trigger for controlling the opening and closing of the end clamp.
Due to the application of the technical scheme, compared with the prior art, the application has the following advantages:
(1) The flexible joint and the surgical instrument based on the shape memory alloy control disclosed by the application do not need to be continuously electrified for controlling the flexible joint, and can avoid the heat dissipation problem caused by continuous electrification and the safety problem caused by overhigh temperature.
(2) The flexible joint and the surgical instrument based on the shape memory alloy control can realize independent control of a single joint and can avoid the phenomenon of strong coupling.
(3) The flexible joint and the surgical instrument based on the shape memory alloy control realize the control of the flexible joint by electrifying, heating and powering off the shape memory driving part, and have the advantages of simple structure and flexible operation.
(4) The flexible joint and the surgical instrument based on the shape memory alloy control disclosed by the application have the advantages that the cost is lower, the bending structure can be miniaturized, the operation and the use in a narrow space can be realized, and the requirements of various operations are met.
(5) The flexible joint and the surgical instrument based on shape memory alloy control disclosed by the application have the advantages that the shape memory driving part adopts the spring made of the shape memory alloy, the locking part adopts the steel material and the nickel-plated magnet, the biocompatibility is good, and the sterilization and the disinfection are convenient.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application.
FIG. 1 is a schematic illustration of the structure of a flexible joint of the present disclosure;
FIG. 2 is a schematic view of the structure of a flexible joint of the present disclosure;
FIG. 3 is a schematic illustration of the connection of a gear member to a first joint module according to the present disclosure;
FIG. 4 is a schematic illustration of the connection of the snap-fit component, magnetic component B, spring retention post and shape memory alloy spring of the present disclosure;
FIG. 5 is a schematic view of the structure of the disclosed articulating lever;
fig. 6 is an overall schematic of the presently disclosed surgical instrument.
Wherein, 1, flexible joint; 11. a rotating shaft; 121. a first locking member; 122. a first connection post; 131. a joint lever; 132. a second locking member; 133. a magnetic member A; 134. a magnetic member B; 135. a shape memory driving part; 136. a spring fixing column; 137. a second connection post; 138. ear plates; 141. a first wiring groove; 142. a second wiring groove; 2. a support rod; 3. an end clamp; 4. a handle; 41. a power-on switch; 42. an adjustment enable button; 43. a power bus; 44. an adjusting hand wheel; 45. and a terminal trigger.
Description of the embodiments
The following describes in further detail the embodiments of the present application with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof. In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, are merely relational terms determined for convenience in describing structural relationships of the various components or elements of the present disclosure, and do not denote any one of the components or elements of the present disclosure, and are not to be construed as limiting the present disclosure. In the present disclosure, terms such as "fixedly coupled," "connected," and the like are to be construed broadly and refer to either a fixed connection or an integral or removable connection; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the terms in the disclosure may be determined according to circumstances, and should not be interpreted as limiting the disclosure, for relevant scientific research or a person skilled in the art.
The following is a preferred embodiment for illustrating the present application, but is not intended to limit the scope of the present application.
Examples
Referring to fig. 1 to 5, as shown in the illustration, a flexible joint 1 based on shape memory alloy control is connected between two support rods 2, the flexible joint 1 comprises a first joint module, a second joint module and a rotation shaft 11, the first joint module comprises a first locking part 121 relatively fixed with one support rod 2, the second joint module comprises a joint rod 131 relatively fixed with the other support rod 2, a driving component installed on the joint rod 131 and a second locking part 132 connected with the driving component, the joint rod 131 is rotatably connected with the first locking part 121 through the rotation shaft 11, one of the first locking part 121 and the second locking part 132 is a gear part, the other is a buckling part, in a first state, the driving component drives the second locking part 132 to be mutually locked after approaching the first locking part 121, the joint rod 131 and the first locking part 121 are limited in relative rotation freedom degree, the central axis of the gear part is coaxial with the rotation shaft 11, in a second state, the driving component drives the second locking part 132 to be mutually unlocked after the first locking part 121 is far away from the first locking part 121;
the driving assembly comprises a magnetic component A133 which is relatively fixed with the joint rod 131, a magnetic component B134 which is relatively fixed with the second locking component 132, and a shape memory driving component 135 which is connected between the joint rod 131 and the second locking component 132;
in the first state, the shape memory driving part 135 is in a room temperature phase shape, and the magnetic force between the magnetic part A133 and the magnetic part B134 drives the shape memory driving part 135 to deform so as to drive the buckling part to extend into the clamping groove of the gear part to lock the two parts;
in the second state, the shape memory driving part 135 is in a high-temperature phase shape, and the shape restoring force of the shape memory driving part 135 overcomes the magnetic field force to drive the shape memory driving part 135 to restore the shape, so that the fastening part is driven to be separated from the clamping groove of the gear part, and the fastening part and the gear part are unlocked from each other.
In the preferred embodiment of this embodiment, the shape memory driving member 135 is a shape memory alloy spring, a wire of the shape memory alloy spring is wound with a resistance wire (not shown in the figure) for heating the wire, two ends of the shape memory alloy spring are respectively fixed on two spring fixing columns 136, one spring fixing column 136 is fixed on the joint rod 131, and the other spring fixing column 136 is fixedly connected with the second locking member 132 and the magnetic member B134.
In the preferred embodiment of the present embodiment, the first locking member 121 is a gear member, and the second locking member 132 is a snap member.
In a preferred embodiment of this embodiment, the gear member is a circular gear, and the gear tooth surface of the gear member faces away from the support rod to which it is connected.
In a preferred embodiment of this embodiment, the locking member is a rod-shaped locking member having a locking end in contact with the gear member, the locking end being in the shape of a single tooth.
In the preferred embodiment of the present embodiment, the supporting rods 2 and the joint rod 131 are hollow rods, the first locking component 121 is fixedly connected to the first connecting column 122, the first connecting column 122 is fixed in the inner hole of one supporting rod 2, one end of the joint rod 131 is fixedly connected to the second connecting column 137, the second connecting column 137 is fixed in the inner hole of the other supporting rod 2, the other end of the joint rod 131 is fixed with an ear plate 138, the ear plate 138 is connected with the rotating shaft 11, the first connecting column 122 and the second connecting column 137 are provided with a first wiring groove 141 for guiding a traction wire for driving the gear component to rotate, and the outer side surface of each of the first connecting column 122, the second connecting column 137 and the ear plate 138 is provided with a second wiring groove 142 for guiding a wire for powering on the shape memory driving component.
In the preferred embodiment of the present embodiment, the magnetic member a133 and the magnetic member B134 are both annular, one end of the second locking member 132 passes through the magnetic member a133 and then is locked with the first locking member 121, and the other end of the second locking member 132 passes through the magnetic member B134 and is connected with the shape memory driving member 135, and the magnetic force is the magnetic attraction force between the magnetic member a133 and the magnetic member B134.
In a preferred embodiment of the present embodiment, the magnetic members a133 and B134 are permanent magnets.
The application also provides another technical scheme: the surgical instrument comprises a tail end clamp 3, a flexible arm and a handle 4 which are sequentially connected, wherein the flexible arm comprises a plurality of sections of support rods 2, two adjacent sections of support rods 2 are connected through a flexible joint 1 as described above, one of the two adjacent sections of support rods 2 is relatively fixed with a first locking part 121, and the other is relatively fixed with a joint rod 131.
The handle 4 comprises a plurality of energizing switches 41 for controlling energization of the plurality of shape memory driving parts, respectively, an adjustment enabling button 42 for energizing the energizing switches, a power bus 43 for supplying power to the energizing switches and the adjustment enabling button, an adjusting hand wheel 44 for controlling a relative rotation angle of the first joint module and the second joint module of a certain flexible joint after the first joint module and the second joint module are unlocked from each other, and an end trigger 45 for controlling opening and closing of the end clamp.
Above, lead to the haulage line in the first wiring groove, after first locking part and second locking part unblock, namely first joint module and second joint module unblock after promptly, drive first joint module and second joint module through pulling the haulage line and carry out relative rotation to adjust the contained angle between two bracing pieces.
The second wiring groove is internally provided with an electric wire, before the second wiring groove is electrified, under the action of the magnetic field of the magnetic component A, the shape memory alloy spring is stressed to deform and extend in length, and the buckle component is driven to move towards the direction close to the gear component, so that the gear component is contacted with the buckle component, the gear component is limited to rotate, and the first locking component and the joint rod are limited to rotate relatively. After the power is supplied, the shape memory alloy spring is heated to deform, the length is shortened, the buckle part is driven to move towards the direction away from the gear part, the gear part is separated from the buckle part, and the first locking part and the joint rod can rotate relatively. The spring fixing column is fixed with the shape memory alloy spring in an adhesive mode. In view of space occupation and its firmness, a strong adhesive (e.g., cyanoacrylate adhesive) is used to fix the bottom end of the spring to the recess of the spring holder.
In the above, the switch can be energized to control the rotation freedom degree of the flexible joint, and when the switch is opened, the flexible joint is released from the restriction and can rotate freely within a certain limit. The adjusting hand wheel can control the rotation angle of the corresponding flexible joint more accurately under the condition that a certain power-on switch is opened. The adjustment enable button may energize the power-on switch. The power bus can supply power to the whole instrument, so that the adjustment enabling button and the power-on switch can work. The tail end trigger can rotate to control the opening and closing of the tail end pliers.
Compared with the prior art, the application can avoid the strong coupling phenomenon generated when a doctor performs operation by using the surgical instrument based on the traditional flexible joint, saves the occupied space of the instrument, ensures the doctor to have higher flexibility in operation, and is more close to the concept of the current minimally invasive. The mechanism controls the current through the singlechip, thereby controlling the temperature rise of the shape memory alloy part, and leading the shape memory alloy to deform so as to realize the control of the joint. The total external diameter of the flexible joint based on shape memory alloy control is smaller than 5mm, so that the surgical instrument can be operated and used in a narrow space, and the design and use requirements of surgical instruments in multiple fields can be met.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to the embodiments of the application will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A flexible joint based on shape memory alloy control, which is connected between two support rods, wherein the flexible joint comprises a first joint module, a second joint module and a rotating shaft, the first joint module comprises a first locking part which is relatively fixed with one support rod, the second joint module comprises a joint rod which is relatively fixed with the other support rod, a driving component arranged on the joint rod and a second locking part connected with the driving component, the joint rod is rotatably connected with the first locking part through the rotating shaft, one of the first locking part and the second locking part is a gear part, the other is a buckling part, in a first state, the driving component drives the second locking part to be mutually locked after being close to the first locking part, the joint rod and the first locking part are limited in relative rotation degree of freedom, the central axis of the gear part is coaxial with the rotating shaft, in a second state, the driving component drives the second locking part to be mutually locked after being far away from the first locking part, and the second locking part is relatively free to be mutually locked after being far away from the first locking part;
wherein the driving assembly comprises a magnetic component A fixed relative to the joint rod, a magnetic component B fixed relative to the second locking component and a shape memory driving component connected between the joint rod and the second locking component;
in the first state, the shape memory driving part is in a room-temperature phase shape, and the magnetic force between the magnetic part A and the magnetic part B drives the shape memory driving part to deform so as to drive the buckling part to extend into the clamping groove of the gear part to lock the two parts;
in the second state, the shape memory driving part is in a high-temperature phase shape, and the shape restoring force of the shape memory driving part overcomes the magnetic field force to drive the shape memory driving part to restore the shape, so that the fastening part is driven to be separated from the clamping groove of the gear part to unlock the two parts;
the shape memory driving part is a shape memory alloy spring, a resistance wire for heating the shape memory alloy spring is wound on a wire rod of the shape memory alloy spring, two ends of the shape memory alloy spring are respectively fixed on two spring fixing columns, one spring fixing column is fixed on the joint rod, and the other spring fixing column is fixedly connected with the second locking part and the magnetic part B.
2. The flexible joint based on shape memory alloy control of claim 1, wherein the first locking member is the gear member and the second locking member is the snap member.
3. The flexible joint based on shape memory alloy control of claim 1, wherein the gear member is a circular gear with its gear tooth face facing away from the support bar to which it is attached.
4. The flexible joint based on shape memory alloy control of claim 1, wherein the snap member is a rod-shaped snap member having a locking end in contact with the gear member, the locking end being in the shape of a single gear tooth.
5. The flexible joint based on shape memory alloy control according to claim 1, wherein the support rod and the joint rod are hollow rod bodies, the first locking component is fixedly connected to a first connecting column, the first connecting column is fixed in an inner hole of one support rod, one end of the joint rod is fixedly connected to a second connecting column, the second connecting column is fixed in an inner hole of the other support rod, the other end of the joint rod is fixedly provided with an ear plate, the ear plate is connected with the rotating shaft, the outer side face of each of the first connecting column and the second connecting column is provided with a first wiring groove for guiding a traction wire for driving the gear component to rotate, and the outer side face of each of the first connecting column, the second connecting column and the ear plate is provided with a second wiring groove for guiding a wire for powering the shape memory driving component.
6. The flexible joint based on shape memory alloy control according to claim 1, wherein the magnetic component a and the magnetic component B are both annular, one end of the second locking component passes through the magnetic component a and then is interlocked with the first locking component, the other end of the second locking component passes through the magnetic component B and is connected with the shape memory driving component, and the magnetic field force is the magnetic attraction force of the magnetic component a and the magnetic component B.
7. The flexible joint based on shape memory alloy control of claim 1, wherein the magnetic component a and the magnetic component B are permanent magnets.
8. A surgical instrument comprising a pair of end clamps, a flexible arm and a handle connected in sequence, wherein the flexible arm comprises a plurality of sections of support rods, and the surgical instrument is characterized in that two adjacent sections of support rods are connected through a flexible joint according to any one of claims 1 to 7, one of the two adjacent sections of support rods is relatively fixed with the first locking component, and the other section of support rod is relatively fixed with the joint rod.
9. A surgical instrument as recited in claim 8, wherein the handle includes a plurality of power switches for respectively controlling the power on of the plurality of shape memory driving members, an adjustment enabling button for enabling the power switches, a power bus for powering the power switches and the adjustment enabling button, an adjustment hand wheel for controlling the relative rotation angle of the first and second joint modules of a flexible joint after the first and second joint modules are unlocked from each other, and a tip trigger for controlling the opening and closing of the tip forceps.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110668587.3A CN113349924B (en) | 2021-06-16 | 2021-06-16 | Flexible joint and surgical instrument based on shape memory alloy control |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110668587.3A CN113349924B (en) | 2021-06-16 | 2021-06-16 | Flexible joint and surgical instrument based on shape memory alloy control |
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| Publication Number | Publication Date |
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| CN113349924A CN113349924A (en) | 2021-09-07 |
| CN113349924B true CN113349924B (en) | 2023-09-01 |
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| CN115252013A (en) * | 2022-07-28 | 2022-11-01 | 苏州科技大学 | Surgical instrument joint with variable rigidity |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103407584A (en) * | 2013-07-11 | 2013-11-27 | 南京航空航天大学 | Neck type controllable unlocking device |
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