CN113729803A

CN113729803A - Flexible surgical instrument and method for manufacturing metal cutting tube

Info

Publication number: CN113729803A
Application number: CN202111206768.0A
Authority: CN
Inventors: 张子昂; 李建民; 陈焱
Original assignee: Tianjin University
Current assignee: Tianjin University
Priority date: 2021-10-18
Filing date: 2021-10-18
Publication date: 2021-12-03

Abstract

The present disclosure provides a flexible surgical instrument and a method of manufacturing a metal cutting tube, the flexible surgical instrument including: a drive device, a multi-lumen catheter, a wrist structure, and a tip effector; one end of the multi-cavity catheter is connected with the driving device; one end of the wrist structure is connected with the other end of the multi-cavity catheter; the tail end executing device is connected with the other end of the wrist structure; the end effector is configured as a device for a surgical procedure; the drive device is configured to control the movement of the end effector.

Description

Flexible surgical instrument and method for manufacturing metal cutting tube

Technical Field

The disclosure relates to the field of minimally invasive surgery robots, in particular to a flexible surgical instrument and a manufacturing method of a metal cutting pipe.

Background

The traditional minimally invasive surgery tool is multi-dimensional, long and straight and rod-shaped, is held by a doctor, is placed in the chest, the abdominal cavity or other tiny wounds of other parts, is matched with a medical endoscope, and completes surgery operation under a display picture, and in the operation mode, a main doctor, a doctor holding the endoscope and other auxiliary doctors need to cooperate with a plurality of people to perform surgery operation. In the operation process, the problems of operation tool interference and the like often occur due to various reasons such as the coordination among the instruments is not coordinated, the field of vision in the display is not reasonable, and the movement of the operation instrument does not conform to the intuitive operation rule, so that the smooth operation of the operation is influenced.

Disclosure of Invention

Technical problem to be solved

The present disclosure provides a flexible surgical instrument and a method of manufacturing a metal cutting tube to solve the above-mentioned technical problems.

(II) technical scheme

According to one aspect of the present disclosure, there is provided a flexible surgical instrument comprising:

one end of the multi-cavity catheter is connected with the driving device;

a wrist structure, wherein one end of the wrist structure is connected with the other end of the multi-cavity catheter; the wrist structure includes: one end of the metal cutting pipe is connected with the tail end execution device; the inner part of the multi-cavity catheter is communicated with the inner part of the metal cutting pipe and is connected with the end part of the multi-cavity catheter;

the tail end executing device is connected with the other end of the wrist structure;

the end effector is configured as a device for a surgical procedure; the drive device is configured to control the end effector to move.

In some embodiments of the present disclosure, the inner diameter of the metal cutting tube is less than the outer diameter of the multi-lumen catheter, and there is a difference between the inner diameter of the metal cutting tube and the outer diameter of the multi-lumen catheter.

In some embodiments of the present disclosure, the metal cut tube comprises: the first hollow part and the second hollow part are symmetrically distributed on two sides of the axis of the metal cutting pipe; in the axial direction of the metal cutting pipe, the phase angle of two adjacent first hollows or second hollows is 180 degrees different.

In some embodiments of the present disclosure, the multi-lumen catheter comprises:

the compression hole is formed in the outer circular surface of the multi-cavity catheter; the compression holes are arranged along the radial direction of the multi-cavity catheter in a penetrating way; two adjacent compression holes differ in phase angle by 180 degrees in the direction of the multilumen catheter axis;

the wire through hole is formed in the end face of one end of the multi-cavity catheter; the axis of the wire penetrating hole is vertically penetrated with the axis of the compression hole.

In some embodiments of the present disclosure, further comprising:

the driving wire is provided with a screw thread at one end; the other end of the driving wire penetrates through the wire penetrating hole arranged on the multi-cavity catheter and is arranged in the driving device;

after the driving wire is tensioned, the screw thread is clamped at the end face of the multi-cavity catheter.

In some embodiments of the present disclosure, the difference is 0.07-0.1 mm.

According to an aspect of the present disclosure, there is also provided a method of manufacturing a metal cut tube of a flexible surgical instrument as described above, including:

installing the pipe body on a conveying device, and starting a laser cutting system program;

the laser cutting system carries out self-checking, a low-temperature cooling gas system is started, and low-temperature protective gas is sprayed out;

starting a cutting program;

acquiring the temperature of a monitored cutting point in real time, feeding the temperature back to the laser cutting system program, and judging the temperature state;

the temperature state is that the temperature of the monitoring cutting point is not more than the minimum value in the safe cutting temperature range, and the laser cutting system carries out cutting.

In some embodiments of the present disclosure, the obtaining and monitoring the cutting point temperature in real time and feeding back to the laser cutting system program further includes:

the temperature state is that the temperature of the monitoring cutting point is larger than the maximum value in the safe cutting temperature range, and the laser cutting system program is paused;

and adjusting the program parameters of the laser cutting system and restarting the cutting program.

the temperature state is that the temperature of the cutting point is monitored to be within a safe cutting temperature range, the input flow of low-temperature protective gas is increased, and the temperature state is judged again.

In some embodiments of the present disclosure, the conveying device is configured to drive the pipe body to rotate around the pipe body axis and move along the pipe body axis.

(III) advantageous effects

According to the technical scheme, the manufacturing method of the flexible surgical instrument and the metal cutting pipe has at least one or part of the following beneficial effects:

(1) the flexible surgical instrument provided by the disclosure is suitable for different surgical environments and has wider applicability.

(2) The wrist structure in the disclosure is in a flexible state in the adjustment process, can be bent and deformed according to requirements and keeps the smooth passage, and is in a rigid state after adjustment is completed, and the structure with variable rigidity is beneficial to avoiding irregular movement of instruments.

Drawings

Fig. 1 is a schematic structural view of a flexible surgical instrument according to an embodiment of the present disclosure.

Fig. 2 is a partial structure diagram of the end effector shown in fig. 1.

Fig. 3 is a schematic diagram of a wrist structure motion model.

Fig. 4 is a schematic diagram of the exploded structure of fig. 2.

Fig. 5 is a schematic structural view of a metal cutting pipe.

Fig. 6 is a schematic view of the drive wire installation.

Fig. 7 is a schematic diagram of a wrist structure movement implementation.

Figure 8 is an apparatus for wrist structure fabrication in one embodiment of the present disclosure.

FIG. 9 is a schematic view of the metal tube of FIG. 8 fitted over a multi-lumen catheter.

Figure 10 is an apparatus for wrist structure fabrication in accordance with another embodiment of the present disclosure.

Fig. 11 is a schematic diagram of a manufacturing method of an external structure according to an embodiment of the disclosure.

Detailed Description

The present disclosure provides a flexible surgical instrument and a method of manufacturing a metal cutting tube, including: a drive device, a multi-lumen catheter, a wrist structure, and a tip effector; one end of the multi-cavity catheter is connected with the driving device; one end of the wrist structure is connected with the other end of the multi-cavity catheter; the tail end executing device is connected with the other end of the wrist structure; the end effector is configured as a device for a surgical procedure; the drive device is configured to control the movement of the end effector.

For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.

Certain embodiments of the present disclosure will now be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the disclosure are shown. Indeed, various embodiments of the disclosure may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will satisfy applicable legal requirements.

In a first exemplary embodiment of the present disclosure, a flexible surgical instrument is provided. Fig. 1 is a schematic structural view of a flexible surgical instrument according to an embodiment of the present disclosure. As shown in fig. 1, the present disclosure provides a flexible surgical instrument including an end effector 231, a wrist structure 232, a multi-lumen catheter 233, and a drive device 234. One end of the multi-cavity catheter 233 is connected with the driving device 234; one end of the wrist structure 232 is connected with the other end of the multi-lumen catheter 233; an end effector 231 is connected to the other end of the wrist structure 232.

Each component will be described below.

End effector 231 is typically a tissue forceps, scissors, energy tool, negative pressure tool, or the like, used in surgical procedures.

The wrist structure 232, multi-lumen catheter 233 are used to connect the end effector 231 and the driver 234.

The driving device 234 is used to control the movement of the end effector 231. For example, wrist structure 232 is a movable structure, and drive 234 may also be used to control the movement of wrist structure 232.

In some embodiments of the present disclosure, wrist structure 232 may have a spatial 2 degree of freedom that may be controlled by drive 234 to achieve a 4-way bend, as shown in fig. 2 and 3. Referring to FIG. 4, wrist structure 232 includes a metal-cut tube 321 and a distal portion of a multi-lumen catheter, with metal-cut tube 321 fitting around the exterior of multi-lumen catheter 233. Under normal temperature, the inner diameter of the metal cutting tube 321 is slightly smaller than the outer diameter of the multi-lumen catheter 233 by a difference m.

In some embodiments of the present disclosure, the material of the metal cutting tube 321 may be selected from stainless steel, which is aimed at utilizing its characteristic of large thermal expansion coefficient to make it easier to fit with the multi-lumen catheter 233.

Fig. 5 is a schematic structural view of a metal cutting pipe. As shown in fig. 5, a first hollow 321a and a second hollow 321b are formed on the metal cutting pipe 321, and the first hollow 321a and the second hollow 321b are symmetrically distributed on two sides of the axis of the metal cutting pipe 321. Two adjacent hollow phase angles in the axial direction have a phase difference of 180 degrees. The first hollow 321a or the second hollow 321b disposed on the metal cutting pipe 321 can make the original stainless steel pipe with large elasticity, and the stainless steel pipe can be bent within a certain angle range by applying an external force to the stainless steel pipe.

In some embodiments of the present disclosure, the cutouts provided on the metal cutting tube 321 are made by laser cutting, and the surgical instrument outer diameter is typically within 10mm, at which scale the unilateral wall thickness of the stainless steel tubing for laser cutting is provided within 0.3 mm. In the manufacturing process of the stainless steel pipe, the error of the inner diameter can be controlled within plus or minus 0.02mm, and the error of the outer diameter can be controlled within plus or minus 0.03mm by the multi-lumen catheter 233 extrusion process. Through experiments, under the existing manufacturing process conditions, the difference m between the designed inner diameter value of the metal cutting pipe 321 and the designed outer diameter value of the multi-cavity catheter 233 is set to be 0.07-0.1mm, so that the metal cutting pipe 321 and the multi-cavity catheter 233 can be ensured not to fall off after being sleeved.

Referring to FIG. 4, compression holes 233a are provided on the outer circumferential surface of the multi-lumen catheter 233 in order to facilitate bending of the distal end of the multi-lumen catheter 233. The compression holes 233a extend radially through the multi-lumen catheter 233 and perpendicularly through the wire-passing holes 233 b. Two adjacent compression holes 233a are 180 degrees out of phase.

Fig. 6 is a schematic view of the drive wire installation. As shown in FIG. 6, the driving wire 322 has a screw thread 323 at one end and is installed in the driving unit 234 after passing through a wire-passing hole 233b provided in the multi-lumen catheter 233. After the driving wire 322 is tensioned, the screw thread 323 is clamped at the end surface of the multi-lumen catheter 233.

Fig. 7 is a schematic diagram of a wrist structure movement implementation. As shown in fig. 7, when the driving wire 322a is pulled, the first hollow 321a (the second hollow 321b) and the compression hole 233a on the same side of the driving wire 322a are compressed, and the wrist structure 232 is bent in the direction a shown in the figure. Similarly, pulling on drive wire 322B causes wrist structure 232 to bend in direction B, opposite direction A. Pulling the drive wire 322C, the wrist structure 232 bends in the direction C; pulling the drive wire 322D bends the wrist structure in the direction D.

Figure 8 is an apparatus for wrist structure fabrication in one embodiment of the present disclosure. As shown in fig. 8, the metal cutting pipe 321 is clamped on the conveying device 51, and the conveying device 51 can drive the metal cutting pipe 321 to move in space 2 degrees of freedom, including rotation around the axis r and movement along the axis x. The laser 52 continuously emits a laser beam capable of cutting the wall of the metal pipe, the conveying device 51 controls the movement and the rotation of the metal pipe according to a preset program, and the laser beam can cut the metal cutting pipe 321 according to the outline of the hollow 321 a.

In the process of sheathing and installing the metal cutting pipe 321 and the multi-cavity catheter 233, the metal cutting pipe is not easy to be sheathed because of the plurality of hollows arranged on the metal cutting pipe. The metal tube 321 may be obtained by sleeving the metal tube 324 on the multi-lumen catheter 233 (as shown in fig. 9) and then performing laser cutting.

Figure 10 is an apparatus for wrist structure fabrication in accordance with another embodiment of the present disclosure. As shown in FIG. 10, the multi-lumen catheter 233 is typically made of PE or PU, or modified from these materials.

Taking LDPE as an example, the softening temperature of LDPE is usually 84 ℃, and the melting temperature of the stainless steel metal tube 324 is much higher than the softening temperature of LDPE, but the residual temperature of the surface of the metal tube 324 will be diffused quickly after being cut due to the extremely small diameter of the laser beam. The cutting of the metal tube 53 can be achieved by controlling the temperature of the cutting position of the metal tube 53 to be within a range below the softening temperature of the multi-lumen catheter 233.

Referring to fig. 10, during the cutting process of the metal pipe, the low-temperature cooling gas system 54 injects low-temperature shielding gas to the cutting point, and the low-temperature shielding gas is used for reducing the temperature of the cutting point of the metal pipe 53 and simultaneously blowing away the metal slag. The infrared temperature sensor 52 is used for measuring the temperature T of the cutting position of the metal pipe 53 in real time and feeding back the temperature T to the cutting device control system, so that the conveying device 51 and the low-temperature protective gas jet flow are adjusted.

In some embodiments of the present disclosure, the safe cutting temperature range is set to T₁～T₂. When T is less than or equal to T₁At this time, the metal pipe 53 is cut according to a normal procedure.

In some embodiments of the present disclosure, the safe cutting temperature range is set to T₁～T₂. When T is₁＜T≤T₂At this time, the amount of cryogenic protective gas ejected by cryogenic cooling gas system 54 is increased.

In some embodiments of the present disclosure, the safe cutting temperature range is set to T₁～T₂. When T > T₂And (4) pausing the cutting program and readjusting the parameters of the cutting program.

Fig. 11 is a schematic diagram of a manufacturing method of an external structure according to an embodiment of the disclosure. As shown in fig. 11, a method of manufacturing a metal cut pipe provided in some embodiments of the present disclosure includes: steps S1 to S6.

In step S1, the laser cutting system program is started.

In step S2, the system performs self-test, starts the low-temperature cooling gas system 54, and sprays the low-temperature protective gas.

And step S3, starting a cutting program, and monitoring the cutting point position temperature T in real time by the infrared temperature sensor 52 and feeding back the cutting point position temperature T to the laser cutting system.

Step S4, when T is less than or equal to T₁At this time, the metal pipe 53 is cut according to a normal procedure.

Step S5, when T is reached₁＜T≤T₂At this time, the amount of cryogenic protective gas ejected by cryogenic cooling gas system 54 is increased.

Step S6, when T > T₂And (4) pausing the cutting program, and restarting the cutting system after readjusting the parameters of the cutting program.

So far, the embodiments of the present disclosure have been described in detail with reference to the accompanying drawings. It is to be noted that, in the attached drawings or in the description, the implementation modes not shown or described are all the modes known by the ordinary skilled person in the field of technology, and are not described in detail. Further, the above definitions of the various elements and methods are not limited to the various specific structures, shapes or arrangements of parts mentioned in the examples, which may be easily modified or substituted by those of ordinary skill in the art.

From the above description, those skilled in the art should clearly recognize that the flexible surgical instrument of the present disclosure is useful.

In summary, the present disclosure provides a flexible surgical instrument, which can adjust the spatial position along the instrument guide arm to provide multiple degrees of freedom required for surgical operation.

It should also be noted that directional terms, such as "upper", "lower", "front", "rear", "left", "right", and the like, used in the embodiments are only directions referring to the drawings, and are not intended to limit the scope of the present disclosure. Throughout the drawings, like elements are represented by like or similar reference numerals. Conventional structures or constructions will be omitted when they may obscure the understanding of the present disclosure.

And the shapes and sizes of the respective components in the drawings do not reflect actual sizes and proportions, but merely illustrate the contents of the embodiments of the present disclosure. Furthermore, in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim.

Unless otherwise indicated, the numerical parameters set forth in the specification and attached claims are approximations that can vary depending upon the desired properties sought to be obtained by the present disclosure. In particular, all numbers expressing quantities of ingredients, reaction conditions, and so forth used in the specification and claims are to be understood as being modified in all instances by the term "about". Generally, the expression is meant to encompass variations of ± 10% in some embodiments, 5% in some embodiments, 1% in some embodiments, 0.5% in some embodiments by the specified amount.

Furthermore, the word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements.

The use of ordinal numbers such as "first," "second," "third," etc., in the specification and claims to modify a corresponding element does not by itself connote any ordinal number of the element or any ordering of one element from another or the order of manufacture, and the use of the ordinal numbers is only used to distinguish one element having a certain name from another element having a same name.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the disclosure, various features of the disclosure are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various disclosed aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that is, the claimed disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, disclosed aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this disclosure.

The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present disclosure in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.

Claims

1. A flexible surgical instrument, comprising:

one end of the multi-cavity catheter is connected with the driving device;

2. The flexible surgical instrument of claim 1 wherein the inner diameter of the metal cutting tube is smaller than the outer diameter of the multi-lumen catheter and there is a difference between the inner diameter of the metal cutting tube and the outer diameter of the multi-lumen catheter.

3. The flexible surgical instrument of claim 1, wherein the metal cutting tube comprises: the first hollow part and the second hollow part are symmetrically distributed on two sides of the axis of the metal cutting pipe; in the axial direction of the metal cutting pipe, the phase angle of two adjacent first hollows or second hollows is 180 degrees different.

4. The flexible surgical instrument of claim 1, wherein the multi-lumen catheter comprises:

5. The flexible surgical instrument of claim 1, further comprising:

6. The flexible surgical instrument of claim 2, wherein the difference is 0.07-0.1 mm.

7. A method of manufacturing a metal cut tube of the flexible surgical instrument of any one of claims 1 to 6, comprising:

starting a cutting program;

8. The method for manufacturing the metal cutting pipe according to claim 7, wherein the step of obtaining the temperature of the cutting point in real time and feeding the temperature back to the laser cutting system program further comprises the following steps:

9. The method for manufacturing the metal cutting pipe according to claim 7, wherein the step of obtaining the temperature of the cutting point in real time and feeding the temperature back to the laser cutting system program further comprises the following steps:

10. A method of manufacturing a metal cut pipe according to claim 7, wherein the conveying device is configured to drive the pipe body to rotate about the pipe body axis and move in the pipe body axis direction.