CN113397654B - Synchronous locking structure, minimally invasive surgical instrument and control method of minimally invasive surgical instrument - Google Patents
Synchronous locking structure, minimally invasive surgical instrument and control method of minimally invasive surgical instrument Download PDFInfo
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- CN113397654B CN113397654B CN202110490153.9A CN202110490153A CN113397654B CN 113397654 B CN113397654 B CN 113397654B CN 202110490153 A CN202110490153 A CN 202110490153A CN 113397654 B CN113397654 B CN 113397654B
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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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
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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
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00137—Details of operation mode
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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
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/2909—Handles
- A61B2017/2912—Handles transmission of forces to actuating rod or piston
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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
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2946—Locking means
Abstract
The invention relates to a synchronous locking structure which comprises a first moving part, a second moving part, an intermediate connecting piece and a synchronous locking assembly. The first moving part and the second moving part are respectively movably connected with the middle connecting piece, the synchronous locking assembly is movably arranged on the middle connecting piece, and the synchronous locking assembly has a reset locking position and an unlocking position relative to the middle connecting piece. When the synchronous locking component moves to the reset locking position under the action of external force, the synchronous locking component synchronously limits the movement of the first movable part and the second movable part relative to the middle connecting piece respectively. When the synchronous locking assembly moves to the unlocking position under the action of external force, the synchronous locking assembly synchronously avoids the first moving part and the second moving part. The invention also relates to a minimally invasive surgical instrument comprising the synchronous locking structure and a control method thereof. The synchronous locking structure is applied to minimally invasive surgical instruments, can effectively keep the pitching angle and the deflection angle of the far-end actuator to be respectively zero, and is convenient for an operator to insert and pull out.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a synchronous locking structure, a minimally invasive surgical instrument and a control method thereof.
Background
Minimally invasive surgical instruments such as endoscopes and the like can assist doctors to perform minimally invasive surgery more smoothly. Minimally invasive surgical instruments mostly comprise a proximal controller, a routing structure (comprising an elongated shaft and a frame), and a distal actuator. And part of the far-end actuators comprise two degrees of freedom of pitching and deflecting, and the near-end controller is used for controlling the far-end actuators through the routing device to finish the pitching and deflecting actions of the far-end actuators. It is often desirable that the pitch and yaw angles of the distal end effector be zero and remain there for a period of time as the instrument is inserted or withdrawn from the body. The common minimally invasive surgical instrument has no related locking structure, and the arm and the slender rod of a doctor need to keep coaxial when in use so as to achieve the aim of zero pitching angle and zero deflection angle.
Disclosure of Invention
In view of the above, it is necessary to provide a synchronous locking structure, a minimally invasive surgical instrument and a control method thereof, which can synchronously limit at least two degrees of freedom to a specific state, for solving the problem that two degrees of freedom of pitch and yaw cannot be accurately limited to the specific state in a general minimally invasive surgical instrument.
A synchronous locking structure comprises a first movable part, a second movable part, an intermediate connecting piece and a synchronous locking assembly;
the first movable piece is rotatably connected with the middle connecting piece around a first axial direction, the second movable piece is rotatably connected with the middle connecting piece around a second axial direction, and the first axial direction and the second axial direction are perpendicular to each other;
the synchronous locking assembly is movably arranged on the middle connecting piece and has a reset locking position and an unlocking position relative to the middle connecting piece; when the synchronous locking assembly moves to a reset locking position under the action of external force, the synchronous locking assembly enables the positions of the first movable piece and the second movable piece relative to the middle connecting piece to reset to initial positions and lock; when the synchronous locking assembly moves to the unlocking position under the action of external force, the synchronous locking assembly synchronously unlocks the first moving part and the second moving part.
In one embodiment, the synchronous locking assembly has a first locking portion and a second locking portion, when the synchronous locking assembly moves to the reset locking position under the action of an external force, the first locking portion limits the relative rotation between the first movable member and the intermediate connecting member, and the second locking portion limits the relative rotation between the second movable member and the intermediate connecting member; when the synchronous locking assembly moves to the unlocking position under the action of external force, the first locking portion and the second locking portion respectively avoid the first moving part and the second moving part to realize unlocking.
In one embodiment, the synchronous locking assembly comprises a clamping member slidably disposed on the intermediate link in a first sliding direction, the clamping member forming the first locking portion and the second locking portion.
In one embodiment, the clamping piece is in a hollow cuboid shape, two adjacent faces of the hollow cuboid are openings, two opposite side walls of the clamping piece form the second locking part, and one side wall of the other two side walls forms the first locking part; when the clamping piece moves to the reset locking position under the action of external force, the first locking portion is abutted to the first moving piece, and the second locking portion is abutted to the second moving piece.
In one embodiment, two side walls of the second locking portion are respectively provided with a strip-shaped through hole along a first sliding direction, the intermediate connecting member is provided with a strip-shaped protrusion along the first sliding direction, and the clamping member is slidably connected with the intermediate connecting member through the strip-shaped through hole and the strip-shaped protrusion.
And the two sliding limit positions of the clamping piece relative to the middle connecting piece respectively correspond to the reset locking position or the unlocking position.
In one embodiment, the synchronous locking assembly further comprises a driving piece, the driving piece is movably arranged on the intermediate connecting piece, the driving piece is in transmission connection with the clamping piece, and the driving piece moves under the action of external force and drives the clamping piece to move to a reset locking position or an unlocking position.
In one embodiment, the driving member includes a driving wheel rotatably disposed on the intermediate link member.
In one embodiment, the driving member further comprises a driving spring, two ends of the driving spring are fixedly connected to the clamping member and the edge of the driving wheel respectively, and the driving wheel drives the clamping member to move to the reset locking position or the reset unlocking position through the driving spring.
A minimally invasive surgical instrument comprising a distal end effector and the lockout structure of any of the various embodiments described above; the first movable piece forms a handle, the second movable piece forms a wiring structure, one end of the second movable piece is movably connected with the middle connecting piece, and the other end of the second movable piece is provided with the far-end actuator; the handle is in transmission connection with the far-end actuator through a transmission rope, and the routing structure accommodates the transmission rope; relative motion between the handle and the intermediate connector controls pitching motion of the distal end effector, and relative motion between the routing structure and the intermediate connector controls deflection motion of the distal end effector.
A method for controlling a minimally invasive surgical instrument, which is suitable for the minimally invasive surgical instrument described in the above embodiment, the method for controlling the minimally invasive surgical instrument includes:
synchronously locking the relative movement of the handle and the wiring structure relative to the middle connecting piece respectively;
maintaining the distal end effector in a zero position for insertion within an object of action;
synchronously unlocking the relative movement of the handle and the routing structure relative to the middle connecting piece respectively, and performing surgical operation by using the surgical instrument;
and synchronously locking the relative movement of the handle and the routing structure relative to the middle connecting piece respectively, and keeping the far-end actuator at a zero position to move out of an action object.
According to the synchronous locking structure, the minimally invasive surgical instrument and the control method thereof, the first movable piece and the second movable piece are respectively movably connected with the middle connecting piece, and the first movable piece and the second movable piece can be synchronously locked when the synchronous locking assembly movably mounted on the middle connecting piece moves to the reset locking position, so that the first movable piece and the second movable piece are respectively fixed relative to the middle connecting piece and are kept in the current state, and further an operator is allowed to perform the next operation. When the synchronous locking structure is applied to a minimally invasive surgical instrument, the pitching angle and the deflection angle of the distal end actuator can be effectively kept to be zero respectively, and an operator can conveniently perform plugging operation.
Drawings
FIG. 1 is a schematic perspective view of a minimally invasive surgical instrument according to an embodiment of the present invention;
FIG. 2 is a partial schematic structural view of a minimally invasive surgical instrument according to an embodiment of the invention;
FIG. 3 is a schematic perspective view of an intermediate connector according to an embodiment of the present invention;
FIG. 4 is a schematic perspective view of a retainer according to an embodiment of the present invention;
FIG. 5 is a schematic view of a synchrolock assembly shown in a first perspective view in a reset locking position in accordance with one embodiment of the present invention;
FIG. 6 is a second perspective view of the synchrolock assembly in a reset locking position in accordance with one embodiment of the present invention;
FIG. 7 is a schematic view of a first perspective of a synchrolock assembly in an unlocked position according to one embodiment of the present invention;
FIG. 8 is a second perspective view of the synchrolock assembly in an unlocked position in accordance with one embodiment of the present invention;
FIG. 9 is a perspective view of an intermediate connector according to another embodiment of the present invention;
FIG. 10 is a schematic perspective view of a retainer according to another embodiment of the present invention;
FIG. 11 is a schematic illustration of a synchrolock assembly in a reset locking position according to another embodiment of the present invention;
FIG. 12 is a schematic view of a synchrolock assembly according to another embodiment of the present invention in an unlocked position.
Wherein: 10. a minimally invasive surgical instrument; 100. a handle; 200. an intermediate connecting member; 210. a first connection portion; 220. a second connecting portion; 230. a slide rail; 300. a routing structure; 310. a frame; 320. a slender rod; 400. a synchronous locking assembly; 410. a retainer; 411. a first locking portion; 412. a second locking portion; 413. a chute; 420. a drive wheel; 500. a distal end effector; 600. a deflection wheel.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
An embodiment of the present invention provides a synchronous locking structure capable of synchronously locking degrees of freedom in at least two directions. Specifically, as shown in fig. 1-5, the synchronous locking structure includes a first movable member, a second movable member, an intermediate connecting member 200, and a synchronous locking assembly 400. The first movable piece is movably connected with the middle connecting piece 200, the second movable piece is movably connected with the middle connecting piece 200, and the first movable piece and the second movable piece can control other structures to generate corresponding movement relative to the movement of the middle connecting piece 200. The synchrolock assembly 400 is movably disposed on the intermediate link 200, and the synchrolock assembly 400 has a reset-locked position and an unlocked position with respect to the intermediate link 200. When the synchrolock assembly 400 is moved to the reset-locking position by an external force, the synchrolock assembly 400 resets the positions of the first and second movable members with respect to the intermediate link 200 to the initial positions and locks. When the locking assembly 400 moves to the unlocked position under the action of an external force, the locking assembly 400 is moved away from the first movable member and the second movable member.
In the above-mentioned synchronous locking structure, the first movable member and the second movable member are respectively movably connected to the intermediate connecting member 200, and the synchronous locking assembly 400 movably mounted on the intermediate connecting member 200 can synchronously lock the first movable member and the second movable member when moving to the reset locking position, so that the first movable member and the second movable member are respectively fixed and maintained in the current state with respect to the intermediate connecting member 200, thereby allowing the operator to perform the next operation. When the synchronous locking structure is applied to the minimally invasive surgical instrument 10, the pitch angle and the yaw angle of the distal end effector 500 can be effectively kept to be zero, so that the insertion and extraction operations of an operator are facilitated.
It is understood that the synchronous locking structure described in the above embodiments can be applied to various occasions where synchronous locking with two degrees of freedom is required, for convenience of description, the following embodiments are described by taking the application in the minimally invasive surgical instrument 10 as an example, and the application process of the synchronous locking structure in other occasions is similar and will not be described herein again. And the relative motion between the first movable member and the second movable member and the intermediate connecting member 200 in the above embodiments may be translational motion, rotational motion, or other types of motion. When used in a minimally invasive surgical instrument 10, the following embodiments will be described by way of example only with respect to the relative rotation between the first and second moveable members, respectively, and the intermediate connecting member 200.
Corresponding to the application scenario of the synchronous locking structure, as shown in fig. 1 to 5, an embodiment of the present invention further provides a minimally invasive surgical instrument 10. Minimally invasive surgical instrument 10 includes a distal end effector 500 and a synchronization lock structure drivingly connected to distal end effector 500, and distal end effector 500 is configured to perform a corresponding action under control of the synchronization lock structure. Specifically, the first movable member in the synchronous locking structure forms a handle 100, the second movable member forms a routing structure 300, one end of the routing structure 300 is movably connected to the intermediate connecting member 200, and the other end of the routing structure 300 is mounted with a distal end actuator 500. Handle 100 and distal end effector 500 are in driving connection via a drive cord, and routing structure 300 accommodates the drive cord. Relative motion between the handle 100 and the intermediate linkage 200 controls the pitch motion of the distal end effector 500, and relative motion between the trace structure 300 and the intermediate linkage 200 controls the yaw motion of the distal end effector 500. In one implementation, the routing structure 300 includes a frame 310 and an elongated rod 320, the frame 310 is movably connected to the middle connector 200, the frame 310, the elongated rod 320 and the distal end effector 500 are connected in sequence, and the transmission rope passes through the frame 310 and the elongated rod 320. Alternatively, the distal end effector 500 may be a needle holder, grasper, electrocoagulation pliers, scissors, aspirator, or the like.
In one embodiment of the present invention, as shown in fig. 2-8, the handle 100 is rotatably coupled to the intermediate link 200 about a first axial direction, and the frame 310 is rotatably coupled to the intermediate link 200 about a second axial direction, the first and second axial directions being perpendicular to each other. Relative rotation between the handle 100 and the intermediate linkage 200 controls the pitch motion of the distal end effector 500 via the drive cord, and relative rotation between the frame 310 and the intermediate linkage 200 controls the yaw motion of the distal end effector 500 via the drive cord. Correspondingly, the synchrolock assembly 400 has a first locking portion 411 and a second locking portion 412, and when the synchrolock assembly 400 moves to the reset locking position by an external force, the first locking portion 411 limits the relative rotation between the handle 100 and the middle link 200, and the second locking portion 412 limits the relative rotation between the frame 310 and the middle link 200. When the synchronous locking assembly 400 moves to the unlocking position by an external force, the first locking portion 411 and the second locking portion 412 are respectively retracted from the handle 100 and the frame 310.
In the synchronous locking structure described in the above embodiment, during use, the handle 100 and the frame 310 are rotated to a set state or a set position, such as a position where the pitch angle and the yaw angle of the remote actuator 500 are controlled to be zero, respectively, first and second locking portions 411 and 412 respectively limit the rotation of the handle 100 and the frame 310, and then the synchronous locking assembly 400 is driven to move to the reset locking position. It will be appreciated that the synchrolock assembly 400 cannot be moved directly to the reset-lock position when the handle 100 and/or frame 310 are not rotated to a set position or state relative to the intermediate linkage 200; during the movement of the synchrolock assembly 400 to the reset-lock position, an urging force is exerted on the handle 100 and/or the frame 310 to urge the handle 100 and/or the frame 310 to rotate to the set position or the set state, thereby completing the locking process.
The synchronized locking assembly 400 functions to simultaneously limit the rotation of the handle 100 and the frame 310, respectively, relative to the intermediate link 200. Optionally, the synchrolock assembly 400 is movable in a rotational and/or sliding manner between a reset lock position and an unlocked position. As one way of achieving this, as shown in fig. 3 to 6, the synchronized locking assembly 400 includes a clamping member 410, the clamping member 410 is slidably disposed on the middle link 200 along a first sliding direction, and the clamping member 410 forms a first locking portion 411 and a second locking portion 412. In this embodiment, the retainer 410 is moved to the reset locked position or the unlocked position when slid. Further, the adaptation mode that the sliding rail 230 and the sliding groove 413 are arranged between the clamping member 410 and the middle connecting member 200 ensures that the clamping member 410 slides stably relative to the middle connecting member 200, and further ensures smooth switching of the locking or avoiding process.
The specific structure of the clamping member 410 may be designed according to actual working conditions, as long as the clamping member 410 is ensured to be respectively matched with the handle 100, the middle connecting member 200 and the frame 310. In one embodiment of the present invention, as shown in fig. 3-6, the fastening member 410 has a hollow rectangular parallelepiped shape, two adjacent faces of the hollow rectangular parallelepiped are open, two opposite side walls of the fastening member 410 form the second locking portion 412, and one of the other two side walls forms the first locking portion 411. When the clamping member 410 moves to the reset locking position under the action of external force, the first locking portion 411 abuts against the handle 100 to further limit the relative rotation of the handle 100 relative to the middle connecting member 200, the second locking portion 412 abuts against the frame 310 to further limit the relative rotation of the frame 310 relative to the middle connecting member 200, the relative fixation of the handle 100 and the frame 310 relative to the middle connecting member 200 is synchronously realized, and finally, the pitch angle and the yaw angle of the distal end actuator 500 are stably maintained at zero degrees, so that the plugging and unplugging operation of an operator is facilitated.
Specifically, two side walls of the second locking portion 412 are respectively provided with a strip-shaped through hole along the first sliding direction, the intermediate connecting member 200 is provided with a strip-shaped protrusion along the first sliding direction, and the clamping member 410 and the intermediate connecting member 200 are slidably connected through the strip-shaped through hole and the strip-shaped protrusion. Wherein, the two sliding limit positions of the clamping member 410 relative to the middle connecting member 200 correspond to the reset locking position or the unlocking position respectively.
The middle connector 200 is rotatably connected to the handle 100 and the frame 310, respectively, and is also a key structural member for connecting the handle 100 and the frame 310. In an embodiment of the present invention, as shown in fig. 3 to 6, the middle connector 200 has a first connector 210 and a second connector 220 formed at both ends thereof, the first connector 210 is for rotatably connecting with the handle 100, and the second connector 220 is for rotatably connecting with the frame 310. The specific structural form of the first connection portion 210 and the second connection portion 220 may be designed according to actual conditions. In an implementation manner, the first connecting portion 210 includes two opposite, spaced and parallel connecting plates, the handle 100 is mounted between the two mounting plates, and the two mounting plates and the handle 100 are connected by a rotating shaft. The second connecting portion 220 is a circular ring structure, and the frame 310 is rotatably connected to the second connecting portion 220 through a bearing. And set up slide rail 230 between first connecting portion 210 and second connecting portion 220, correspond to seting up spout 413 on chucking spare 410, slide rail 230 wears to establish in spout 413, guarantees chucking spare 410's stable slip.
The stable sliding of retainer 410 is advantageous to ensure simultaneous locking or avoidance of handle 100 and frame 310. As one way of realizing this, as shown in fig. 5-8, the two ends of the fastening member 410 along the first sliding direction are respectively formed with a first locking portion 411 and a second locking portion 412, the handle 100 and the frame 310 are respectively rotatably connected with the two ends of the middle connecting member 200 along the first sliding direction, when the fastening member 410 is slid along the first sliding direction to the reset locking position, the first connecting portion 210 in the form of an end face abuts against the handle 100 and limits the rotation of the handle 100, and the second connecting portion 220 is nested in the frame 310 and limits the rotation of the frame 310. As another way of realizing this, as shown in fig. 9 to 12, the clamping member 410 is formed with a first locking portion 411 and a second locking portion 412 at both ends in the direction perpendicular to the first sliding direction, the handle 100 and the frame 310 are rotatably connected to both ends in the direction perpendicular to the first sliding direction of the intermediate link 200, respectively, when the clamping member 410 is slid in the first sliding direction to the reset locking position, the first connecting portion 210 in the form of an end face is inserted between the intermediate link 200 and the handle 100 and restricts the rotation of the handle 100, and the second connecting portion 220 is inserted into the frame 310 and restricts the rotation of the frame 310.
In the above embodiments, the operator may directly push or pull the fastening member 410 to slide to the reset locking position or the unlocking position, or may drive the fastening member 410 to slide to the reset locking position or the unlocking position through an intermediate structure. In an embodiment of the present invention, the synchronous locking assembly 400 further includes a driving member movably disposed on the intermediate connecting member 200, the driving member is in transmission connection with the clamping member 410, and the driving member moves under an external force and drives the clamping member 410 to move to the reset locking position or the unlocking position. The clamping piece 410 is driven by the driving piece to slide to the reset locking position or the unlocking position, so that the operation of an operator can be facilitated. Alternatively, the driving member is rotatably or slidably provided to the intermediate link 200. 5-7, the driving member includes a driving wheel 420, the driving wheel 420 is rotatably disposed on the intermediate connecting member 200, the driving wheel 420 is in transmission connection with the clamping member 410, and the driving wheel 420 moves under the action of external force and drives the clamping member 410 to move to the reset locking position or the unlocking position. The driving wheel 420 can drive the clamping piece 410 to slide to the reset locking position or the unlocking position through rotation of the driving wheel 420, no additional moving space is needed in the rotation process of the driving wheel 420, and the compactness of the synchronous locking structure can be guaranteed.
Optionally, the driving wheel 420 and the clamping member 410 are driven by a connecting rope, a protrusion and sliding groove 413. In an embodiment of the present invention, as shown in fig. 5 to 7, the driving member further includes a driving spring, two ends of the driving spring are respectively and fixedly disposed at edges of the clamping member 410 and the driving wheel 420, and the driving wheel 420 moves under an external force and drives the clamping member 410 to move to the reset locking position or the unlocking position through the driving spring. The drive spring not only can drive the clamping member 410 to slide when the driving wheel 420 rotates, but also can avoid rigid connection between the driving wheel 420 and the clamping member 410, so as to protect the driving wheel 420 and the clamping member 410 respectively.
Relative rotation between the handle 100 and the intermediate link 200 can adjust the pitch angle of the distal end effector 500, and relative rotation between the frame 310 and the intermediate link 200 can adjust the yaw angle of the distal end effector 500. The drive lines controlling pitch and yaw, respectively, may be connected directly to the handle 100, frame 310, and/or intermediate linkage 200, or the drive lines may be connected to the handle 100, frame 310, and/or intermediate linkage 200 via wheels. In an embodiment of the present invention, as shown in fig. 6 to 8, the minimally invasive surgical instrument 10 further includes a deflection wheel 600, the deflection wheel 600 is fixedly disposed on the middle connecting member 200, the deflection wheel 600 is connected to the corresponding transmission rope, and the synchronous locking assembly 400 avoids the deflection wheel 600 during the movement process. During rotation of the frame 310 relative to the intermediate linkage 200, the corresponding drive line is wound around the deflection pulley 600 or unwound from the deflection pulley 600. An arc groove is formed in the handle 100, a transmission rope for controlling the pitching of the distal end actuator 500 is wound in the arc groove, and the handle 100 drives the corresponding transmission rope to be tightened or loosened in the process of rotating relative to the intermediate connecting piece 200.
An embodiment of the present invention further provides a method for controlling a minimally invasive surgical instrument 10, which is suitable for the minimally invasive surgical instrument 10 in the above embodiments, and can ensure smooth performance of a minimally invasive surgery. The control method of the minimally invasive surgical instrument 10 comprises the following steps:
relative movement of the synchronized locking handle 100 and the routing structure 300, respectively, with respect to the intermediate connector 200;
holding the distal end effector 500 in a zero position for insertion within the subject;
the synchronous unlocking handle 100 and the routing structure 300 respectively perform relative movement relative to the middle connecting piece 200, and surgical operation is performed by using surgical instruments;
relative movement of the synchronized locking handle 100 and the routing structure 300, respectively, with respect to the intermediate linkage 200 maintains the distal end effector 500 in a zero position for removal from the subject.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A synchronous locking structure is characterized by comprising a first movable piece, a second movable piece, an intermediate connecting piece and a synchronous locking assembly;
the first movable piece is rotatably connected with the middle connecting piece around a first axial direction, the second movable piece is rotatably connected with the middle connecting piece around a second axial direction, and the first axial direction and the second axial direction are perpendicular to each other;
the synchronous locking assembly is movably arranged on the middle connecting piece and has a reset locking position and an unlocking position relative to the middle connecting piece; when the synchronous locking assembly moves to a reset locking position under the action of external force, the synchronous locking assembly enables the positions of the first movable piece and the second movable piece relative to the middle connecting piece to reset to initial positions and lock; when the synchronous locking assembly moves to the unlocking position under the action of external force, the synchronous locking assembly synchronously unlocks the first movable piece and the second movable piece;
wherein, synchronous locking Assembly includes the chucking spare, the chucking spare along first slip direction slip set up in the intermediate junction spare, the chucking spare forms first locking portion and second locking portion.
2. The synchronous locking structure of claim 1, wherein when the synchronous locking assembly moves to the reset locking position under the action of an external force, the first locking portion limits relative rotation between the first movable member and the intermediate connecting member, and the second locking portion limits relative rotation between the second movable member and the intermediate connecting member; when the synchronous locking assembly moves to the unlocking position under the action of external force, the first locking portion and the second locking portion respectively avoid the first moving part and the second moving part to realize unlocking.
3. The synchrolock structure according to claim 2, wherein said clip has a hollow rectangular parallelepiped shape, two adjacent faces of said hollow rectangular parallelepiped are open, two opposite side walls of said clip form said second locking portion, one of the other two side walls forms said first locking portion; when the clamping piece moves to the reset locking position under the action of external force, the first locking portion is abutted to the first moving piece, and the second locking portion is abutted to the second moving piece.
4. The synchronous locking structure according to claim 3, wherein both side walls of the second locking portion are respectively provided with a strip-shaped through hole along a first sliding direction, the intermediate connecting member is provided with a strip-shaped protrusion along the first sliding direction, and the clamping member and the intermediate connecting member are slidably connected through the strip-shaped through hole and the strip-shaped protrusion;
and the two sliding limit positions of the clamping piece relative to the middle connecting piece respectively correspond to the reset locking position or the unlocking position.
5. The synchronous locking structure of claim 2, wherein the synchronous locking assembly further comprises a driving member movably disposed on the intermediate connecting member, the driving member is in transmission connection with the clamping member, and the driving member moves under the action of an external force and drives the clamping member to move to the reset locking position or the unlocking position.
6. The synchrolock structure of claim 5, wherein the drive member comprises a drive wheel rotatably disposed on the intermediate linkage.
7. The lock mechanism as claimed in claim 6, wherein the driving member further comprises a driving spring, both ends of the driving spring are fixedly connected to the clamping member and the edge of the driving wheel respectively, and the driving wheel drives the clamping member to move to the reset locking position or the unlocking position through the driving spring.
8. A minimally invasive surgical instrument comprising a distal end effector and the lockout structure of any of claims 1-7; the first movable piece forms a handle, the second movable piece forms a wiring structure, one end of the second movable piece is movably connected with the middle connecting piece, and the other end of the second movable piece is provided with the far-end actuator; the handle is in transmission connection with the far-end actuator through a transmission rope, and the routing structure accommodates the transmission rope; relative motion between the handle and the intermediate connector controls pitching motion of the distal end effector, and relative motion between the routing structure and the intermediate connector controls deflection motion of the distal end effector.
9. The minimally invasive surgical instrument according to claim 8, wherein the routing structure includes a frame and an elongated rod, the frame is movably connected to the intermediate connector, the frame, the elongated rod and the distal end effector are connected in sequence, and the transmission rope passes through the frame and the elongated rod.
10. The minimally invasive surgical instrument according to claim 8, further comprising a deflection wheel fixedly disposed on the intermediate connector, the deflection wheel being connected to a corresponding transmission rope, the synchronous locking assembly avoiding the deflection wheel during movement.
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113749700B (en) * | 2021-11-09 | 2022-02-11 | 极限人工智能(北京)有限公司 | Endoscope instrument replacing method and device, electronic equipment and storage medium |
| CN113855172B (en) * | 2021-11-15 | 2023-03-28 | 英特姆(武汉)医疗科技股份有限公司 | Handle locking assembly of split type minimally invasive instrument |
| CN114305592B (en) * | 2022-01-07 | 2023-06-23 | 苏州康多机器人有限公司 | Deflection mechanism and surgical instrument |
| CN117064494A (en) * | 2023-08-18 | 2023-11-17 | 南京道壹生物医学科技有限公司 | Multifunctional articulated laparoscopic forceps |
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