CN113413200B - Puncture outfit and endoscope robot - Google Patents
Puncture outfit and endoscope robot Download PDFInfo
- Publication number
- CN113413200B CN113413200B CN202110871872.5A CN202110871872A CN113413200B CN 113413200 B CN113413200 B CN 113413200B CN 202110871872 A CN202110871872 A CN 202110871872A CN 113413200 B CN113413200 B CN 113413200B
- Authority
- CN
- China
- Prior art keywords
- puncture
- puncture tube
- tube
- distal end
- diameter
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3478—Endoscopic needles, e.g. for infusion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3415—Trocars; Puncturing needles for introducing tubes or catheters, e.g. gastrostomy tubes, drain catheters
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
- A61B17/3421—Cannulas
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
- A61B17/3421—Cannulas
- A61B17/3439—Cannulas with means for changing the inner diameter of the cannula, e.g. expandable
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3462—Trocars; Puncturing needles with means for changing the diameter or the orientation of the entrance port of the cannula, e.g. for use with different-sized instruments, reduction ports, adapter seals
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
- A61B17/3421—Cannulas
- A61B17/3439—Cannulas with means for changing the inner diameter of the cannula, e.g. expandable
- A61B2017/3441—Cannulas with means for changing the inner diameter of the cannula, e.g. expandable with distal sealing means
-
- 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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
Abstract
The invention provides a puncture outfit and an endoscope robot. Wherein the puncture outfit comprises a puncture tube and a reducing assembly, and at least one part of the reducing assembly is used for limiting and forming one part of an instrument channel; the reducing assembly contracts or expands along the radial direction of the puncture tube to drive the radial inner dimension of the instrument channel to change; wherein the direction of contraction is a direction away from the axis of the puncture tube and the direction of expansion is a direction towards the axis of the puncture tube. With the adoption of the configuration, when instruments or endoscopes with different working diameters pass through the instrument channel, the radial inner size of the instrument channel is changed through the reducing assembly, so that the instrument channel can be matched with the instruments or the endoscopes, a supporting force can be provided when the instruments or the endoscopes are stressed, and the efficiency and the safety of operation are improved.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a puncture outfit and an endoscope robot.
Background
The appearance of surgical robots is in line with the development trend of precision surgery. The design concept of the surgical robot is to adopt a minimally invasive mode and accurately implement complex surgical operations. Under the condition that the traditional operation faces various limitations, a surgical robot is developed to replace the traditional operation, the surgical robot breaks through the limitation of human eyes, and the internal organs are more clearly presented to an operator by adopting a three-dimensional imaging technology. In the area that the original staff can't stretch into, the robot hand can accomplish 360 degrees rotations, move, swing, centre gripping to avoid the shake. The operation robot has the advantages of small operation wound, less bleeding and quick recovery, greatly shortens the hospitalization time of the patient after the operation, obviously improves the survival rate and the recovery rate after the operation, is popular among doctors and patients, is taken as a high-end medical instrument at present, and is widely applied to various clinical operations.
Like the traditional laparoscopic surgery, the surgical robot needs to establish a channel for an endoscope and/or surgical instruments through a puncture outfit during surgery to ensure that the surgical instruments can smoothly enter the body of a patient and ensure that pneumoperitoneum is not leaked or lost during the use of the surgical instruments. Since the different instruments function differently, the working diameter of the surgical instrument, i.e., the maximum width or diameter of the portion that enters the patient's body, is different, and it is necessary to configure the penetrators with different inner diameters of the channels to match the needs of the use. Particularly, in the surgical robot operation, because a certain operation requirement or preoperative planning is not accurate enough, the position of the endoscope and the position of the surgical instrument are required to be exchanged sometimes, but the swinging design of the mechanical arm cannot be directly exchanged, the endoscope can only be exchanged from the mechanical arm which is used at the beginning to another mechanical arm, but the diameter of the endoscope is generally larger than that of the surgical instrument, so that a matched puncture outfit also needs to be pulled out from the position which is just started and inserted into the position which is newly planned, and the operation has two obvious disadvantages: on one hand, after the puncture outfit is pulled out, pneumoperitoneum leakage and even loss are easily caused, the pneumoperitoneum needs to be built again, and certain safety risk also exists; on the other hand, the puncture device is inserted and pulled out to cause secondary injury to the wound, and when the puncture device is inserted again, the risk of damaging the intra-abdominal tissue also exists.
In summary, the conventional puncture outfits of the prior art have a fixed inner diameter, cannot be adapted to instruments and/or endoscopes with different working diameters, and require an increased procedure for replacing the puncture outfit during the operation, thereby possibly causing a series of accidental injuries and reducing the efficiency and safety of the operation.
Disclosure of Invention
The invention aims to provide a puncture outfit and an endoscopic robot, which are used for solving the problem that the puncture outfit in the prior art cannot be adapted to instruments and/or endoscopes with different working diameters and improving the efficiency and the safety of operation.
In order to solve the technical problem, the invention provides a puncture outfit, which comprises a puncture tube and a reducing assembly, wherein at least one part of the reducing assembly is used for limiting and forming one part of an instrument channel; the reducing assembly contracts or expands along the radial direction of the puncture tube to drive the radial inner size of the instrument channel to change; wherein the direction of contraction is a direction away from the axis of the puncture tube and the direction of expansion is a direction towards the axis of the puncture tube.
Optionally, the reducing assembly is disposed at a distal end of the puncture tube.
Optionally, the puncture outfit further comprises a covering layer, the covering layer is made of flexible material, and the covering layer covers the inner surface of the diameter-variable component.
Optionally, the puncture outfit further comprises a sleeve, the sleeve is sleeved outside the puncture tube and movably arranged along the axial direction of the puncture tube relative to the puncture tube, and the sleeve moves to drive the diameter-variable assembly to radially contract or expand along the puncture tube.
Optionally, movement of the sleeve towards the proximal end of the penetration tube causes the radially inner dimension of the instrument channel to increase; movement of the sleeve distally of the penetration tube causes the radially inner dimension of the instrument channel to decrease.
Optionally, the reducing assembly comprises at least one connecting rod structure, the connecting rod structure comprises a hinge part and at least two connecting rods, at least two connecting rods are hinged through the hinge part, the distal end of the connecting rod structure is hinged with the distal end of the puncture tube, and the proximal end of the connecting rod structure is hinged with the casing; the sleeve moves towards the proximal end of the puncture tube, and the connecting rod structure is stretched; the sleeve is moved towards the distal end of the puncture tube, and the distal end and the proximal end of the connecting rod structure are close to each other, so that at least one hinge part is close to the axis of the puncture tube along the radial direction of the puncture tube.
Optionally, the axes of adjacent connecting rods of the same connecting rod structure form an included angle, and at least one included angle faces the axis of the puncture tube along the radial direction of the puncture tube; the angle of at least one of the included angles is less than 175 ° when the cannula is moved proximally of the penetration tube to an extreme position.
Optionally, the difference between the radial outer dimension and the radial inner dimension of the variable diameter assembly increases along a reference direction, the reference direction is a direction toward the distal end of the puncture tube along the axial direction of the puncture tube, and the variable diameter assembly is connected with the distal end of the puncture tube; the sleeve pipe to the distal end of puncture pipe removes, and reducing subassembly is accomodate gradually inside the sleeve pipe, the sheathed tube inner wall is right reducing subassembly's outline is applyed the restraint, orders about sheathed tube distal end port the radial internal dimension of apparatus passageway reduces.
Optionally, the reducing assembly is connected with the puncture tube through an elastic element; the sleeve moves towards the distal end of the puncture tube, and the elastic element stores elastic potential energy; the sleeve moves towards the proximal end of the puncture tube, and the elastic element releases elastic potential energy to drive the radial inner dimension of the instrument channel at the distal port of the sleeve to increase.
Optionally, the reducing subassembly includes at least one reducing lamella, the reducing lamella includes arc and floor, the shape of arc with the shape cooperation ground of the distal end of puncture pipe sets up and follows the axial extension of puncture pipe, the floor set up in on the outer wall of arc and along the axial extension of puncture pipe, the floor is followed the radial size of puncture pipe is followed reference direction grow gradually.
Optionally, the reducing lamella still includes spacing portion, spacing portion set up in the arc is kept away from the one end of puncture tube is followed the radial extension of puncture tube, and the extending direction is for keeping away from the direction of the axis of puncture tube, the sleeve pipe to when the distal end of puncture tube removed extreme position, spacing portion with sheathed tube distal end supports mutually and leans on.
Optionally, the diameter-variable assembly comprises at least one air bag, the air bag comprises an air inlet and an air outlet, and the air inlet and the air outlet are used for being hermetically connected with an air charging and discharging device; at least one part of the outer surface of the balloon is fixedly connected with the sleeve, at least another part of the outer surface of the balloon is fixedly connected with the puncture tube, the sleeve moves towards the proximal end of the puncture tube, the balloon is stretched and contracts outwards along the radial direction of the puncture tube, the sleeve moves towards the distal end of the puncture tube, the inflation and deflation device inflates the balloon, and the balloon is squeezed and expands outwards along the radial direction of the puncture tube.
In order to solve the technical problem, the invention further provides an endoscopic robot, which comprises a robot body and the puncture outfit, wherein the puncture outfit is movably connected with the robot body relatively.
Compared with the prior art, in the puncture outfit and the endoscope robot provided by the invention, the puncture outfit comprises a puncture tube and a reducing assembly, wherein at least one part of the reducing assembly is used for limiting and forming one part of an instrument channel; the reducing assembly contracts or expands along the radial direction of the puncture tube to drive the radial inner dimension of the instrument channel to change; wherein the direction of contraction is a direction away from the axis of the puncture tube and the direction of expansion is a direction towards the axis of the puncture tube. With the adoption of the configuration, when instruments or endoscopes with different working diameters pass through the instrument channel, the radial inner size of the instrument channel is changed through the reducing assembly, so that the instrument channel can be matched with the instruments or the endoscopes, and a supporting force can be provided when the instruments or the endoscopes are stressed, so that the problem that the traditional puncture outfit cannot be adapted to the instruments and/or the endoscopes with different working diameters is solved, and the efficiency and the safety of operation are improved.
Drawings
It will be appreciated by those skilled in the art that the drawings are provided for a better understanding of the invention and do not constitute any limitation to the scope of the invention. Wherein:
fig. 1 is a schematic view of the entire structure of a puncture instrument according to a first embodiment of the present invention;
FIG. 2 is a schematic view showing another angle of the whole structure of the puncture instrument according to the first embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a link structure according to a first embodiment of the present invention;
FIG. 4a is a schematic view of a cannula according to a first embodiment of the invention near the proximal end of the puncture tube;
FIG. 4b is a schematic view of a cannula according to a first embodiment of the invention, viewed axially along the puncture tube, as it approaches the proximal end of the puncture tube;
FIG. 4c is a schematic illustration of the included angle formed by the connecting rods according to the first embodiment of the present invention;
FIG. 5a is a schematic view of a cannula according to a first embodiment of the invention near the distal end of a puncture tube;
FIG. 5b is a schematic view of a cannula according to a first embodiment of the invention in a position near the distal end of the puncture tube, viewed axially along the puncture tube;
FIG. 6a is a schematic view of a second embodiment of the invention with a cannula near the proximal end of the puncture tube;
FIG. 6b is a schematic view of a second embodiment of the invention of the cannula near the proximal end of the puncture tube looking axially along the puncture tube;
FIG. 7 is a schematic view of a second embodiment of the invention showing an intermediate state of the cannula as it is moved from the proximal end of the puncture tube to the distal end of the puncture tube;
FIG. 8a is a schematic view of a second embodiment of the invention with a cannula near the distal end of the puncture tube;
FIG. 8b is a schematic view of a second embodiment of the invention of the cannula near the distal end of the puncture tube looking axially into the puncture tube;
FIG. 9 is a schematic view of a second diameter-changing lobe of a second embodiment of the present disclosure;
FIG. 10 is a schematic view of the overall structure of a third embodiment of the present invention;
FIG. 11a is a schematic view of a third embodiment of the invention when the bladder is compressed;
FIG. 11b is a schematic view of the bladder of a third embodiment of the present invention being stretched;
FIG. 12a is a schematic view of an endoscopic robot of the fourth embodiment of the present invention;
FIG. 12b is a schematic view of a tool arm mechanism according to a fourth embodiment of the present invention;
fig. 12c is an enlarged schematic view of portion a of fig. 12 a.
In the drawings:
1-a sealing base; 2-puncture tube; 3-sleeving a pipe; 4-instrument channel; 5-a cover layer; 11-a puncture outfit; 12-a tool arm mechanism; 13-a robot body; 31-a link structure; 311-connecting rod; 312-a hinge; 313-an extension bar; 32-variable diameter lobes; 321-an arc plate; 322-ribbed plate; 323-a limiting part; 33-an air bag; 331-limit groove.
Detailed Description
To further clarify the objects, advantages and features of the present invention, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It is to be noted that the drawings are in greatly simplified form and are not to scale, but are merely intended to facilitate and clarify the explanation of the embodiments of the present invention. Further, the structures illustrated in the drawings are often part of actual structures. In particular, the drawings may have different emphasis points and may sometimes be scaled differently.
As used in this disclosure, the singular forms "a," "an," and "the" include plural referents, the term "or" is generally employed in a sense including "and/or," the terms "a," "an," and "the" are generally employed in a sense including "at least one," the terms "at least two" are generally employed in a sense including "two or more," and further, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to imply that the number of indicated technical features is essential. Thus, features defined as "first", "second" and "third" may explicitly or implicitly include one or at least two of the features, "one end" and "the other end" and "proximal end" and "distal end" generally refer to the corresponding two parts, which include not only the end points, but also the terms "mounted", "connected" and "connected" should be understood broadly, e.g., as a fixed connection, as a detachable connection, or as an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. Furthermore, as used in the present invention, the disposition of an element with another element generally only means that there is a connection, coupling, fit or driving relationship between the two elements, and the connection, coupling, fit or driving relationship between the two elements may be direct or indirect through intermediate elements, and cannot be understood as indicating or implying any spatial positional relationship between the two elements, i.e., an element may be in any orientation inside, outside, above, below or to one side of another element, unless the content clearly indicates 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.
The core idea of the invention is to provide a puncture outfit and an endoscope robot, so as to solve the problem that the traditional puncture outfit has a fixed inner diameter and cannot be adapted to instruments and/or endoscopes with different working diameters in the prior art.
The following description refers to the accompanying drawings.
[ EXAMPLES one ]
Referring to fig. 1 to 5b, fig. 1 is a schematic view of an overall structure of a puncture outfit according to a first embodiment of the present invention; FIG. 2 is a schematic view showing another angle of the whole structure of the puncture instrument according to the first embodiment of the present invention; FIG. 3 is a schematic structural diagram of a link structure according to a first embodiment of the present invention; FIG. 4a is a schematic view of a cannula according to a first embodiment of the invention near the proximal end of the puncture tube; FIG. 4b is a schematic view of a cannula according to a first embodiment of the invention in a position near the proximal end of the puncture tube, viewed axially along the puncture tube; FIG. 4c is a schematic view of an included angle formed by the connecting rods according to the first embodiment of the present invention; FIG. 5a is a schematic view of a cannula according to a first embodiment of the invention near the distal end of the puncture tube; FIG. 5b is a schematic view of a cannula according to a first embodiment of the invention as seen in the axial direction of the puncture tube near the distal end of the puncture tube.
As shown in fig. 1 and 2, the present embodiment provides a puncture instrument 11, which includes a puncture tube 2, an instrument channel 4 and a diameter-varying assembly, wherein the instrument channel 4 is disposed along an axial direction of the puncture tube 2 and penetrates through the puncture tube 2, at least a portion of the diameter-varying assembly is used for defining a portion of the instrument channel 4, and the instrument channel 4 is used for passing a surgical instrument. The reducing assembly contracts or expands along the radial direction of the puncture tube 2 to drive the radial inner size of the instrument channel 4 to change; wherein the direction of contraction is a direction away from the axis of the puncture tube 2 and the direction of expansion is a direction closer to the axis of the puncture tube 2. It can be understood that when the cross section of the instrument channel 4 at the reducing assembly is deformed similarly with the change of the reducing assembly, any size of the cross section (such as a side length, a connecting line between a specific two points, etc.) can be considered as a radial inner size, when the deformation of the cross section is not similar, the radial inner size is reduced, that is, the area of the effective cross section after deformation is smaller than that of the effective cross section before deformation, and the concept of the effective cross section refers to a part of the cross section which can be used for passing through a surgical instrument. It is to be understood that outward or external means a direction away from the axis of the puncture tube 2 and inward or internal means a direction closer to the axis of the puncture tube 2, and in the following description, unless otherwise specified, the above idea can be understood. With the adoption of the configuration, when instruments or endoscopes with different working diameters pass through the instrument channel 4, the radial inner size of the instrument channel 4 is changed through the reducing assembly, so that the instrument channel can be matched with the instruments or the endoscopes, and a supporting force can be provided when the instruments or the endoscopes are stressed, so that the problems that the inner diameter of a traditional puncture outfit is fixed and cannot be adapted to the instruments and/or the endoscopes with different working diameters are solved, and the efficiency and the safety of operation are improved.
The puncture instrument 11 may further include a sealing base 1, and the proximal end of the puncture tube 2 is connected to the sealing base 1. Wherein the sealing base 1 comprises a sealing structure connected to the instrument channel 4 for closing and opening the instrument channel 4, wherein when the sealing structure is closed, a gas seal can be formed. The sealing structure can be a magnetic sheet sealing structure, a multi-membrane sealing structure and a ball sealing structure.
The variable diameter assembly may be disposed at any position inside the puncture tube 2, but in view of convenience in processing and stability of the clamping effect, it is preferable that the variable diameter assembly is disposed at the distal end of the puncture tube 2.
Further, the puncture instrument 11 may further include a covering layer 5, the material of the covering layer 5 is, for example, a flexible material, and the covering layer 5 covers the inner surface of the diameter-variable assembly. So configured, the covering layer 5 can be adaptively deformed according to the movement of the variable diameter assembly, and plays roles in isolating pollutants and protecting the surface of an instrument.
Preferably, the puncture instrument 11 further comprises a sleeve 3, the sleeve 3 is sleeved outside the puncture tube 2 and movably arranged along the axial direction of the puncture tube 2 relative to the puncture tube, and the sleeve 3 moves to drive the diameter-changing assembly to contract or expand along the radial direction of the puncture tube 2.
In this embodiment, the moving direction of the cannula 3 is the axial direction of the puncture tube 2, which is more suitable for the operation habit of the medical staff and simplifies the whole structure of the puncture device 11. In other embodiments, the rotational movement of the cannula 3 along the circumference of the puncture tube 2 may be provided, or a combined movement may be performed along both the axial direction of the puncture tube 2 and the circumference of the puncture tube 2, which may also achieve the desired effect.
In this embodiment, movement of the cannula 3 towards the proximal end of the penetration tube 2 forces the radially inner dimension of the instrument channel 4 to increase; movement of the cannula 3 distally of the penetration tube 2 forces the radially inner dimension of the instrument channel 4 to decrease. The configuration is more suitable for the operation habit of medical personnel. In other embodiments, it may be provided that movement of the sleeve 3 towards the distal end of the penetration tube 2 causes the radially inner dimension of the instrument channel 4 to increase; proximal movement of the cannula 3 towards the penetration tube 2 forces the radially inner dimension of the instrument channel 4 to decrease.
Referring to fig. 3, 4a and 5a, the reducing assembly comprises at least one connecting rod structure 31, the connecting rod structure 31 comprises a hinge 312 and at least two connecting rods 311, the at least two connecting rods 311 are hinged through the hinge 312, the distal end of the connecting rod structure 31 is hinged with the distal end of the puncture tube 2, and the proximal end of the connecting rod structure 31 is hinged with the casing 3. Specifically, the proximal end of the link structure 31 is hinged to the distal end of an extension bar 313, and the proximal end of the extension bar 313 is fixedly connected to the cannula 3. Referring to fig. 4a and 4b, the cannula 3 is moved towards the proximal end of the penetration tube 2 and the linkage arrangement 31 is stretched. Referring to fig. 5a and 5b, the sleeve 3 is moved towards the distal end of the puncture tube (as shown by the arrow in fig. 5 a), and the distal end and the proximal end of the link structure 31 are gradually approached, so that at least one of the hinge portions 312 is close to the axis of the puncture tube along the radial direction of the puncture tube.
Referring to fig. 4c, preferably, the axes of the adjacent links 311 of the same link structure 31 form an included angle, and the included angle faces the axis of the puncture tube along the radial direction of the puncture tube; the angle of the included angle is less than 175 degrees when the cannula is moved to an extreme position towards the proximal end of the penetration tube. Said angle is the angle theta in fig. 4 c. This configuration prevents two adjacent links 311 of the link structure 31 from being jammed due to collinearity.
In this embodiment, the diameter-variable assembly includes four connecting rod structures 31, and the connecting rod structures 31 are uniformly distributed along the circumferential direction of the puncture tube 2. With such a configuration, the puncture outfit 11 can hold the internal instruments more uniformly, so that the phenomenon that the internal instruments slide under force is not easy to occur.
It is understood that in other embodiments, the number of the link structures 31 may be two, three or more than four; when the number of the link structures 31 is two, the link structures 31 are preferably symmetrically distributed about the axis of the puncture tube; when the number of the link structures 31 is three or more, the link structures 31 are preferably uniformly distributed along the circumferential direction of the puncture tube 2.
In this embodiment, the diameter-changing effect is realized by the connecting rod structure 31, and the connecting rod structure has the advantages of high reliability and long service life.
[ example two ]
Referring to fig. 6a to 9, fig. 6a is a schematic view of a cannula according to a second embodiment of the present invention near the proximal end of the puncture tube; FIG. 6b is a schematic view of a second embodiment of the invention of the cannula near the proximal end of the puncture tube looking axially along the puncture tube; FIG. 7 is a schematic view of a second embodiment of the invention showing an intermediate state of the cannula as it is moved from the proximal end of the puncture tube to the distal end of the puncture tube; FIG. 8a is a schematic view of a second embodiment of the invention with a cannula near the distal end of the puncture tube; FIG. 8b is a schematic view of a second embodiment of the invention of the cannula near the distal end of the puncture tube looking axially into the puncture tube; fig. 9 is a schematic view of a diameter-changing lobe according to a second embodiment of the present invention.
The puncture instrument 11 according to the present embodiment is basically the same as the puncture instrument 11 according to the first embodiment, and the same portions will not be described again, and only different points will be described below.
In this embodiment, the specific implementation of the reducing assembly and the arrangement of the corresponding casing 2 are different from the first embodiment, wherein the difference between the radially outer dimension and the radially inner dimension of the reducing assembly increases along a reference direction, which is a direction towards the distal end of the puncture tube 2 along the axial direction of the puncture tube 2. Wherein, the radial outer dimension can be understood as the distance between the farthest point of the reducing assembly from the central axis of the puncture tube 2 and the central axis of the puncture tube 2 or the average distance between the farthest edge of the center axis of the puncture tube 2 and the central axis of the puncture tube 2 in a cross section perpendicular to the axial direction of the puncture tube 2; the radially inner dimension is understood to be the distance from the closest point of the central axis of the puncture tube 2 to the central axis of the puncture tube 2 or the average distance from the closest side of the central axis of the puncture tube 2 to the central axis of the puncture tube 2 in a cross section perpendicular to the axial direction of the puncture tube 2. The difference value increases along the reference direction, which can be understood as a variation that occurs as the position of the section taken advances along the reference direction, for example, the radially outer dimension increases along the reference direction and the radially inner dimension does not vary along the reference direction; or the radial outer dimension becomes larger along the reference direction, and the radial inner dimension becomes smaller along the reference direction; or the radial outer dimension is constant along the reference direction, and the radial inner dimension is smaller along the reference direction; or both become larger along the reference direction, but the radially outer dimension becomes larger faster; and so on. The reducing assembly is connected with the distal end of the puncture tube 2, when the casing 3 is close to the proximal end of the puncture tube 2, the distal end of the casing 3 is close to the reducing assembly, and if the convenience of an operator is considered, the proximal end of the casing 3 also needs to be close to the proximal end of the puncture tube 2, so in the embodiment, the preferable scheme is that the length of the casing 3 is close to the length of the puncture tube 2. The sleeve 3 moves towards the far end of the puncture tube 2, the inner wall of the sleeve 3 imposes constraint on the outer contour of the reducing assembly, and the radial inner size of the instrument channel 4 at the far end port of the sleeve 3 is driven to be gradually reduced. The process of the sleeve 3 driving the reducing assembly to move can be understood with reference to fig. 6a to 8 b.
Further, the reducing assembly is connected with the puncture tube 2 through an elastic element, the sleeve 3 moves towards the far end of the puncture tube 2, the elastic element stores elastic potential energy, the sleeve moves towards the near end of the puncture tube 2, and the elastic potential energy is released by the elastic element to drive the inner size of the reducing assembly to be increased. The elastic element can be a spring, a torsion spring, a nickel-titanium wire, a memory alloy and other devices with elasticity. In one embodiment, the reducing assembly, the elastic element and the puncture tube 2 are connected in an integrated manner.
Referring to fig. 9, preferably, the diameter-changing assembly includes at least one diameter-changing flap 32, the diameter-changing flap 32 includes an arc-shaped plate 321 and a rib plate 322, the arc-shaped plate 321 is configured to match with the shape of the distal end of the puncture tube 2 and extends along the axial direction of the puncture tube 2, the rib plate 322 is disposed on the outer wall of the arc-shaped plate 321 and extends along the axial direction of the puncture tube 2, and the dimension of the rib plate 322 along the radial direction of the puncture tube 2 gradually increases along the reference direction. In this embodiment, the rib 322 has a wedge shape, but in other embodiments, the rib 322 may have other shapes, for example, a cross section tangential to the puncture tube, in which one side of the cross section away from the arc-shaped plate 321 is a circular arc or a zigzag.
Preferably, the diameter-variable valve 32 further includes a limiting part 323, the limiting part 323 is disposed at one end of the arc-shaped plate 321 far away from the puncture tube 2 and extends along the radial direction of the puncture tube 2, and the extending direction is a direction far away from the axis of the puncture tube 2, so that the limiting part 323 has a portion which extends outward beyond the inner contour of the casing 2. When the cannula 3 moves to the extreme position toward the distal end of the puncture tube 2, the stopper 323 abuts against the distal end of the cannula 3. So configured, the wound of the patient may be further protected.
Preferably, the reducing assembly comprises four reducing petals 32, and the reducing petals 32 are uniformly distributed along the circumferential direction of the puncture tube 2. With such a configuration, the puncture outfit 11 can hold the internal instruments more uniformly, so that the phenomenon that the internal instruments slide under force is not easy to occur.
It should be understood that, in other embodiments, the number of the variable diameter petals 32 may be two, three, or more than four, when the number of the variable diameter petals 32 is two, the variable diameter petals 32 are symmetrically distributed about the axis of the puncture tube 2, and when the number of the variable diameter petals 32 is three or more, the variable diameter petals 32 are uniformly distributed along the circumferential direction of the puncture tube 2.
Other details of the present embodiment can be understood with reference to the first embodiment.
In this embodiment, the diameter-changing effect is realized by the diameter-changing valve 32, and the diameter-changing valve has the advantages of simple structure and convenience in processing.
[ EXAMPLE III ]
Please refer to fig. 10 to 11b, wherein fig. 10 is a schematic overall structure diagram of a third embodiment of the present invention; FIG. 11a is a schematic view of a bladder of a third embodiment of the present invention being compressed; fig. 11b is a schematic view of the bladder of the third embodiment of the present invention being stretched.
The puncture instrument 11 according to the present embodiment is basically the same as the puncture instrument 11 according to the first embodiment, and the same portions will not be described again, and only different points will be described below.
In this embodiment, the specific implementation manner of the reducing assembly and the arrangement of the corresponding sleeve 3 are different from those of the first embodiment, wherein the reducing assembly includes at least one air bag 33, the air bag 33 includes an air inlet and an air outlet, and the air inlet and the air outlet are used for being hermetically connected with an air charging and discharging device; the inlet and outlet ports and the inflation and deflation means may be provided according to common knowledge and will not be described herein. At least one part of the outer surface of the balloon 33 is fixedly connected with the sleeve 3, at least another part of the outer surface of the balloon 33 is fixedly connected with the puncture tube 2, the sleeve 3 moves towards the proximal end of the puncture tube 3, the balloon 33 is stretched and contracted along the radial direction of the puncture tube 2 due to the increase of the distance between the sleeve 3 and the balloon 33, the sleeve 3 moves towards the distal end of the puncture tube 3 and the inflation and deflation device inflates the balloon 33, and the balloon 33 is pressed and expanded along the radial direction of the puncture tube 2 due to the decrease of the distance between the sleeve 3 and the balloon 33. The directions of contraction and expansion described above can be understood with reference to the description of both in example one. The outer surface of the balloon 33 may be connected to the cannula 3 or the puncture tube 2 by adhesion, by screw connection, by a stopper structure, or the like.
In one embodiment, the air bag 33 is connected to the cannula 3 by an extension bar 313, as shown in fig. 11a and 11 b.
The puncture instrument 11 further includes a limiting groove 331, the limiting groove 331 is disposed in cooperation with the balloon 33 and is disposed on the inner wall of the instrument channel 4, please refer to fig. 11a, the sleeve 3 moves towards the proximal end of the puncture tube 3, the balloon 33 is stretched and contracted into the limiting groove 331 along the radial direction of the puncture tube 2, and at this time, no matter whether the inflation and deflation device inflates the balloon 33, the balloon 33 is not expanded. Referring to fig. 11b, the cannula 3 is moved towards the distal end of the puncture tube 3 and the inflation and deflation device inflates the balloon 33, and the balloon 33 is pressed and expanded along the radial direction of the puncture tube and protrudes out of the limiting groove 331.
Preferably, the diameter-variable assembly comprises four air bags 33, and the air bags 33 are uniformly distributed along the circumferential direction of the puncture tube 2. With such a configuration, the puncture instrument 11 can hold the internal instrument more uniformly, so that the phenomenon that the internal instrument slides under force is not easy to occur.
It is to be understood that in other embodiments, the number of the balloons 33 may be two, three, or more than four, and when the number of the balloons 33 is two, the balloons 33 are symmetrically distributed about the axis of the puncture tube 2, and when the number of the balloons 33 is three or more, the balloons 33 are uniformly distributed along the circumferential direction of the puncture tube 2.
Other details of the present embodiment can be understood with reference to the first embodiment.
In this embodiment, the diameter-changing effect is realized by the air bag 33, and the air bag has the advantages of simple structure and convenience in processing.
[ EXAMPLE IV ]
Referring to fig. 12a to 12c, fig. 12a is a schematic view of an endoscopic robot according to a fourth embodiment of the present invention; FIG. 12b is a schematic view of a tool arm mechanism according to a fourth embodiment of the present invention; fig. 12c is an enlarged schematic view of portion a of fig. 12 a.
The embodiment provides an endoscope robot, which comprises a robot body 13 and a puncture outfit 11, wherein the puncture outfit 11 is relatively rotatably connected with the robot body 13. The relative movement means that the puncture instrument 11 can make translation, rotation and compound change relative to the robot main body 13. In an embodiment, the puncture outfit 11 is connected with the robot body 13 through a tool arm mechanism 12, the tool arm mechanism 12 comprises at least two mechanical arms capable of rotating relatively, one end of the tool arm mechanism 12 is connected with the robot body 13, and the other end of the tool arm mechanism 12 is fixedly connected with the puncture outfit 11. The details of the puncture instrument 11 in this embodiment can be understood with reference to the details of embodiments 1 to 3. When the endoscopic robot is used for treatment, the puncture instrument 11 is positioned to a target position by the tool arm mechanism 12.
In other embodiments, the puncture instrument 11 may be connected to the robot main body 13 in other manners. The cavity mirror robot may include a plurality of the puncture devices 11, or may include only one puncture device 11, that is, the cavity mirror robot includes at least one puncture device 11.
Other elements, connection relations and specific working principles of the cavity mirror robot can be arranged according to the common knowledge in the field, and are not described in an expansion mode. Because the endoscope robot comprises the puncture outfit 11, the endoscope robot also has the beneficial effect of adapting to instruments with different working diameters.
In summary, in the puncture instrument 11 and the endoscopic robot provided by the present embodiment, the puncture instrument 11 includes a puncture tube 2 and a diameter-variable assembly, at least a portion of the diameter-variable assembly is used for defining a portion of an instrument channel 4; the reducing assembly contracts or expands along the radial direction of the puncture tube 2 to drive the radial inner dimension of the instrument channel 4 to change; wherein the direction of contraction is a direction away from the axis of the puncture tube 2 and the direction of expansion is a direction closer to the axis of the puncture tube 2. With the adoption of the configuration, when instruments or endoscopes with different working diameters pass through the instrument channel, the radial inner size of the instrument channel 4 is changed through the reducing assembly, so that the instrument channel 4 can be matched with the instruments or the endoscopes, and a supporting force can be provided when the instruments or the endoscopes are stressed, so that the problem that the traditional puncture outfit cannot be adapted to the instruments and/or the endoscopes with different working diameters is solved, and the efficiency and the safety of operation are improved.
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.
Claims (12)
1. A puncture instrument, which is characterized by comprising a puncture tube and a diameter-changing assembly, wherein at least one part of the diameter-changing assembly is used for limiting a part forming an instrument channel; the reducing assembly is arranged at the distal end of the puncture tube;
the reducing assembly contracts or expands along the radial direction of the puncture tube to drive the radial inner dimension of the instrument channel to change; wherein the direction of contraction is a direction away from the axis of the puncture tube and the direction of expansion is a direction towards the axis of the puncture tube.
2. The puncture instrument according to claim 1, further comprising a covering layer, wherein the covering layer is made of a flexible material, and the covering layer covers the inner surface of the diameter-variable component.
3. A puncture instrument according to any one of claims 1 to 2, further comprising a sleeve which is disposed around the outside of the puncture tube and is arranged to be movable relative to the puncture tube in an axial direction of the puncture tube, wherein the sleeve movement causes the diameter variable assembly to contract or expand in a radial direction of the puncture tube.
4. A puncture instrument according to claim 3, wherein movement of the sleeve towards the proximal end of the puncture tube causes the radially inner dimension of the instrument channel to increase; movement of the cannula distally of the puncture tube causes the radially inner dimension of the instrument channel to decrease.
5. A puncture instrument according to claim 3, wherein the diameter-changing assembly comprises at least one linkage structure, the linkage structure comprising a hinge and at least two linkages, at least two linkages being hinged by the hinge, a distal end of the linkage structure being hinged to the distal end of the puncture tube, and a proximal end of the linkage structure being hinged to the cannula; the sleeve moves towards the proximal end of the puncture tube, and the connecting rod structure is stretched; the sleeve is moved towards the distal end of the puncture tube, and the distal end and the proximal end of the connecting rod structure are close to each other, so that at least one hinge part is close to the axis of the puncture tube along the radial direction of the puncture tube.
6. A puncture instrument according to claim 5, wherein the axes of at least two adjacent links of the same link structure form an included angle which is directed towards the axis of the puncture tube in the radial direction of the puncture tube; the angle of the included angle is less than 175 degrees when the cannula is moved to an extreme position towards the proximal end of the penetration tube.
7. A puncture instrument according to claim 3, wherein the difference between the radially outer dimension and the radially inner dimension of the diameter-varying assembly increases along a reference direction, the reference direction being a direction toward the distal end of the puncture tube along the axial direction of the puncture tube, the diameter-varying assembly being connected to the distal end of the puncture tube; the sleeve pipe to the distal end of puncture pipe removes, the reducing subassembly is gradually received into inside the sleeve pipe, the sheathed tube inner wall is right the outer profile of reducing subassembly imposes the restraint, orders about the sheathed tube distal end port the radial internal dimension of apparatus passageway reduces.
8. The puncture instrument according to claim 7, wherein the diameter-variable assembly is connected with the puncture tube by an elastic element; the sleeve moves towards the distal end of the puncture tube, and the elastic element stores elastic potential energy; the sleeve moves towards the proximal end of the puncture tube, and the elastic element releases elastic potential energy to drive the radial inner dimension of the instrument channel at the distal port of the sleeve to increase.
9. The puncture instrument according to claim 7, wherein the diameter changing assembly comprises at least one diameter changing flap, the diameter changing flap comprises an arc-shaped plate and a rib, the arc-shaped plate is matched with the distal end of the puncture tube in shape and extends along the axial direction of the puncture tube, the rib is arranged on the outer wall of the arc-shaped plate and extends along the axial direction of the puncture tube, and the dimension of the rib along the radial direction of the puncture tube is gradually increased along the reference direction.
10. The puncture instrument according to claim 9, wherein the diameter-changing flap further comprises a limiting portion, the limiting portion is disposed at one end of the arc-shaped plate away from the puncture tube and extends along the radial direction of the puncture tube, the extending direction is the direction away from the axis of the puncture tube, and when the sleeve moves to the limit position towards the distal end of the puncture tube, the limiting portion abuts against the distal end of the sleeve.
11. The puncture outfit of claim 3, wherein the diameter-variable component comprises at least one air bag, the air bag comprises an air inlet and an air outlet, and the air inlet and the air outlet are used for being in sealing connection with an air charging and discharging device; at least one part of the outer surface of the balloon is fixedly connected with the sleeve, at least another part of the outer surface of the balloon is fixedly connected with the puncture tube, the sleeve moves towards the proximal end of the puncture tube, the balloon is stretched and contracts along the radial direction of the puncture tube, the sleeve moves towards the distal end of the puncture tube, the inflation and deflation device inflates the balloon, and the balloon is squeezed and expands along the radial direction of the puncture tube.
12. An endoscopic robot comprising a robot body and a puncture instrument according to any one of claims 1 to 11, said puncture instrument being connected to said robot body so as to be relatively movable.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110871872.5A CN113413200B (en) | 2021-07-30 | 2021-07-30 | Puncture outfit and endoscope robot |
| PCT/CN2022/108781 WO2023006049A1 (en) | 2021-07-30 | 2022-07-29 | Puncture outfit and endoscope robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110871872.5A CN113413200B (en) | 2021-07-30 | 2021-07-30 | Puncture outfit and endoscope robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113413200A CN113413200A (en) | 2021-09-21 |
| CN113413200B true CN113413200B (en) | 2023-02-07 |
Family
ID=77718646
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110871872.5A Active CN113413200B (en) | 2021-07-30 | 2021-07-30 | Puncture outfit and endoscope robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113413200B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023006049A1 (en) * | 2021-07-30 | 2023-02-02 | 上海微创医疗机器人（集团）股份有限公司 | Puncture outfit and endoscope robot |
| CN116019532A (en) * | 2022-12-13 | 2023-04-28 | 北京泰杰伟业科技有限公司 | Diameter-variable tissue expanding device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018175837A1 (en) * | 2017-03-23 | 2018-09-27 | Gys Tech, Llc, D/B/A Cardan Robotics | Robotic end effector with adjustable inner diameter |
| CN110603005A (en) * | 2016-09-28 | 2019-12-20 | 项目莫里股份有限公司 | Delivery methods and devices for arrhythmia diagnosis and/or treatment, and robotic systems for other uses |
| CN112137661A (en) * | 2020-11-26 | 2020-12-29 | 珠海维尔康生物科技有限公司 | Visual expansion sheath |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8623028B2 (en) * | 2009-09-23 | 2014-01-07 | Intuitive Surgical Operations, Inc. | Surgical port feature |
| CN106963457B (en) * | 2017-04-06 | 2023-08-22 | 山东省肿瘤防治研究院 | Laparoscope puncture sheath |
| CN109589161B (en) * | 2017-06-03 | 2023-06-30 | 成都五义医疗科技有限公司 | Chuck type reducer sleeve device and puncture outfit |
| CN107049381B (en) * | 2017-06-03 | 2019-04-30 | 成都五义医疗科技有限公司 | A kind of sheath assembly containing the mobile air bag that swells |
| CN110313980B (en) * | 2019-07-31 | 2023-04-18 | 宋勇 | Variable-diameter conveying sleeve and medical instrument set |
| CN111772744A (en) * | 2020-07-24 | 2020-10-16 | 施爱德（厦门）医疗器材有限公司 | Puncture outfit capable of automatically adjusting specification |
-
2021
- 2021-07-30 CN CN202110871872.5A patent/CN113413200B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110603005A (en) * | 2016-09-28 | 2019-12-20 | 项目莫里股份有限公司 | Delivery methods and devices for arrhythmia diagnosis and/or treatment, and robotic systems for other uses |
| WO2018175837A1 (en) * | 2017-03-23 | 2018-09-27 | Gys Tech, Llc, D/B/A Cardan Robotics | Robotic end effector with adjustable inner diameter |
| CN112137661A (en) * | 2020-11-26 | 2020-12-29 | 珠海维尔康生物科技有限公司 | Visual expansion sheath |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113413200A (en) | 2021-09-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20190309928A1 (en) | Soft conformal laparoscopic instrument | |
| EP2238924B1 (en) | Foam port and introducer assembly | |
| US8827901B2 (en) | Access assembly with translating lumens | |
| EP3653105B1 (en) | Steerable medical device | |
| CN113413200B (en) | Puncture outfit and endoscope robot | |
| US8919348B2 (en) | System and method for multi-instrument surgical access | |
| US8702748B2 (en) | Small caliber laparoscope surgical apparatus | |
| ES2566562T3 (en) | Appropriate surgical equipment for mini-invasive surgery | |
| US9693760B2 (en) | Triangulation methods with hollow segments | |
| AU4739796A (en) | Expandable multifunctional instruments for creating spaces at obstructed sites endoscopically and methods therefor | |
| WO2011027183A2 (en) | Surgical device and accessories | |
| AU2007254247B2 (en) | A surgical port system and method of performing a minimally invasive medical procedure | |
| US8025641B2 (en) | Powered variable seal diameter trocar employing a winepress mechanism | |
| JP3460204B2 (en) | Laparoscope insertion tube for medical use | |
| CN107137131A (en) | A kind of thimble assembly of the expanding distortion body containing rotation | |
| US20100331879A1 (en) | Articulating Surgical Hand Tool | |
| CN113413201B (en) | Puncture outfit and endoscope robot | |
| US9808317B2 (en) | Pneumatic system for deployment of articulating arms for an access port | |
| EP3100689B1 (en) | Surgical instruments for blunt and sharp tissue dissection | |
| WO2023006049A1 (en) | Puncture outfit and endoscope robot | |
| CN114072034A (en) | Method and device for manipulating and visualizing the side walls of a body lumen or cavity | |
| US20060041194A1 (en) | Surgical gripper with foldable head |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |