CN114391894A - Power mechanism of end effector - Google Patents
Power mechanism of end effector Download PDFInfo
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- CN114391894A CN114391894A CN202111510469.6A CN202111510469A CN114391894A CN 114391894 A CN114391894 A CN 114391894A CN 202111510469 A CN202111510469 A CN 202111510469A CN 114391894 A CN114391894 A CN 114391894A
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- assembly
- end effector
- flexible
- support
- power mechanism
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- 239000012636 effector Substances 0.000 title claims abstract description 51
- 230000007246 mechanism Effects 0.000 title claims abstract description 30
- 230000005540 biological transmission Effects 0.000 claims abstract description 56
- 230000033001 locomotion Effects 0.000 claims abstract description 19
- 238000005452 bending Methods 0.000 claims abstract description 15
- 239000002184 metal Substances 0.000 claims description 13
- 230000009471 action Effects 0.000 claims description 6
- 210000003813 thumb Anatomy 0.000 claims description 6
- 230000002093 peripheral effect Effects 0.000 description 4
- 238000002674 endoscopic surgery Methods 0.000 description 3
- 206010034719 Personality change Diseases 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001861 endoscopic biopsy Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000002496 gastric effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 210000000115 thoracic cavity Anatomy 0.000 description 1
Images
Classifications
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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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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C11/00—Pivots; Pivotal connections
- F16C11/04—Pivotal connections
- F16C11/06—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
- F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
- F16H1/12—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes
- F16H1/16—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes comprising worm and worm-wheel
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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
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
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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
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
Abstract
The invention relates to a power mechanism of an end effector, comprising: the power assembly is used for converting the rotary motion into linear motion; a transmission assembly for transmitting rotary motion; the flexible assembly and the supporting assembly are sleeved outside the transmission assembly and used for supporting the transmission assembly, and the handle assembly is used for driving the transmission assembly to rotate. The invention can provide enough axial braking force for the tail end of the actuator of the surgical operation instrument on the premise of bending relative to the axial direction with two degrees of freedom.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a power mechanism of an end effector.
Background
Many surgical instruments transmit axial braking force from a handle to an end effector to achieve a given instrument action, for example, forceps used in minimally invasive surgery require axial braking force to control opening and closing of a distal jaw, so as to grasp and cut tissue.
The prior surgical instruments which need to transmit axial braking force are mostly rigid structures, and the tips of a few instruments can only realize bending with one degree of freedom in an axial vertical plane. In such known surgical instruments, neither of the two degrees of freedom (pitch, yaw) is achieved at the tip. The reason for this is mainly that the transmission chain of the axial braking force must have a portion that is flexible in order to achieve bending of the distal end of the instrument. However, the axial braking force transmission scheme of the existing instruments can only realize rotation with one degree of freedom at most. Furthermore, existing axial braking force transmission schemes that allow two degrees of freedom rotation can only be used with very small forces (e.g., gastrointestinal endoscopic biopsy forceps). When the scheme is used for minimally invasive surgical instruments, the tissues in the abdominal cavity and the thoracic cavity are more, the space is smaller, the opening and closing state of the jaws can be influenced by extrusion, and the smaller force cannot meet the use requirement.
In this context, there is a need for a mechanism that can still provide a large axial force braking force in the event that the tip of the instrument bends in any direction.
The flexibility of the surgical operation instrument is further improved, and more possibilities are provided for minimally invasive endoscopic surgery by the operation of doctors conveniently.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the defect that the end effector in the prior art cannot provide larger axial force under the condition of bending with two degrees of freedom, and provide a power mechanism of the end effector, thereby improving the flexibility of a surgical operation instrument, facilitating the operation of a doctor and providing more possibilities for minimally invasive endoscopic surgery.
In order to solve the above technical problem, the present invention provides a power mechanism of an end effector, including:
a power assembly for converting rotational motion to linear motion, comprising an outer sleeve and a translating bar, a distal end of the translating bar extending beyond the outer sleeve to connect to an end effector;
the transmission assembly is used for transmitting rotary motion and comprises a rotating part, a flexible rod and a transmission rod which are sequentially connected from the distal end to the proximal end, the transmission rod, the flexible rod and the rotating part are connected through a coupler, and the rotating part is connected with the translation rod;
the flexible component is sleeved outside the flexible rod, and the distal end of the flexible component is connected with the proximal end of the outer sleeve;
the support component is used for supporting the transmission rod, and the distal end of the support component is connected with the proximal end of the flexible component;
the handle assembly is used for driving the transmission rod to rotate and comprises a driving piece and a switch, the driving piece is connected with the proximal end of the transmission rod, and the switch controls the action of the driving piece.
In an embodiment of the present invention, the rotating portion is a threaded post, the translation rod includes a nut connecting block, an inner sleeve, and a connecting rib plate, a threaded hole matched with the threaded post is formed in the center of the nut connecting block, the inner sleeve is sleeved outside the threaded post, the proximal end of the inner sleeve is connected to the nut connecting block, the connecting rib plate is installed at the distal end of the inner sleeve, a through hole matched with the connecting rib plate in shape is formed in the distal end of the outer sleeve, and the connecting rib plate passes through the through hole and extends out of the outer sleeve.
In one embodiment of the invention, a plurality of slide ways are arranged in the outer sleeve along the length direction of the outer sleeve, and bosses matched with the slide ways are arranged on the periphery of the nut connecting block.
In one embodiment of the invention, the inner diameter of the inner sleeve is greater than or equal to the outer diameter of the threaded bore, the length of the threaded post is greater than or equal to the stroke of the end effector, and the length of the threaded post is less than or equal to the length of the inner sleeve.
In one embodiment of the invention, the flexible assembly is a universal pipe, the universal pipe comprises a first connecting joint, a second connecting joint and a plurality of ball joints, the distal end of the first connecting joint is connected with the proximal end of the outer sleeve, the proximal end of the first connecting joint is connected with the distal end of the ball joints, after the ball joints are connected in sequence, the proximal ends of the ball joints are connected with the distal end of the second connecting joint, the proximal end of the second connecting joint is connected with the distal end of the support assembly, and the centers of the first connecting joint, the ball joints and the second connecting joint are provided with first round holes which are communicated with each other.
In one embodiment of the present invention, the ball joint includes an opening sphere having an opening diameter smaller than a diameter of the connection sphere, and a connection sphere inserted into the opening sphere.
In one embodiment of the invention, the first connection joint comprises an opening sphere into which the ball joint is inserted and a terminal connection post threadedly connected with the outer sleeve, and the second connection joint comprises a connection sphere inserted into the opening sphere and a starting connection post threadedly connected with the support assembly.
In one embodiment of the invention, the flexible assembly is driven to bend by a rotating wheel assembly, the rotating wheel assembly is mounted on the support assembly, the rotating wheel assembly is wound with a metal wire, a plurality of second round holes corresponding to the axial positions are formed in the circumferential directions of the first connecting joint, the ball joint and the second connecting joint, a plurality of key slots are formed in the far end of the first connecting joint, two ends of the metal wire penetrate through two opposite groups of second round holes, and two ends of the metal wire are fixed in the key slots.
In one embodiment of the invention, the rotating wheel assembly comprises a plurality of inner rotating wheels, the inner rotating wheels are coaxially arranged, and the inner rotating wheels penetrate out of the supporting assembly and are connected with shifting wheels.
In one embodiment of the invention, the support assembly comprises a support tube and a support frame, the distal end of the support tube is connected with the flexible assembly, the support frame is arranged in the support tube, and the transmission rod penetrates through the center of the support frame.
In one embodiment of the invention, the support frame comprises support rib plates and connecting strips, a central round hole is formed in the center of each support rib plate, and each connecting strip is connected with two adjacent support rib plates.
In one embodiment of the invention, the transmission rod and the flexible rod are arranged in a sleeve, the sleeve being a flexible tube, the sleeve having an outer diameter smaller than the inner diameter of the flexible assembly.
In one embodiment of the present invention, the proximal end of the transmission rod is provided with a worm, the driving member is a worm wheel, the switch is a handle, one end of the handle is inserted into the support assembly to connect with the worm wheel, the handle is rotatably connected with the support assembly, and the worm wheel is meshed with the worm.
In one embodiment of the invention, the flexible rod is a braided metal rope having bending flexibility and capable of withstanding axial torque.
Compared with the prior art, the technical scheme of the invention has the following advantages:
the power mechanism can provide enough axial braking force for the tail end of an actuator of a surgical operation instrument on the premise of bending relative to two axial degrees of freedom; the worm wheel in the handle assembly and the worm in the transmission assembly form a worm wheel and worm structure, and further provide a self-locking function for the power mechanism, so that a doctor does not need to continuously apply force on the handle to ensure that the jaw is closed.
Drawings
In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description of the embodiments of the present disclosure taken in conjunction with the accompanying drawings, in which
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the power assembly of the present invention;
FIG. 3 is a schematic view of the transmission assembly of the present invention;
FIG. 4 is a cross-sectional view taken along line A-A of FIG. 2 in accordance with the present invention;
FIG. 5 is a schematic view of a flexible component of the present invention;
FIG. 6 is a schematic view of a ball joint of the present invention;
FIG. 7 is a cross-sectional view of a ball joint of the present invention;
FIG. 8 is a schematic view of a first joint of the present invention;
FIG. 9 is a schematic view of a second joint of the present invention;
FIG. 10 is a schematic view of the stand of the present invention;
fig. 11 is a sectional view of portions of the support of the present invention.
The specification reference numbers indicate: 10. a power assembly; 11. a nut connecting block; 111. a threaded hole; 112. a boss; 12. an inner sleeve; 121. connecting rib plates; 122. connecting holes; 13. an outer sleeve; 131. a slideway; 132. an internal thread; 133. an external thread; 14. an axial direction; 151. braking force;
20. a flexible component; 21. a first connecting joint; 211. a terminal connecting column; 2111. a keyway; 22. a ball joint; 221. an open sphere; 2211. the diameter of the opening; 222. connecting the spheres; 2221. the diameter of the sphere; 223. a first circular hole; 224. a second circular hole; 23. a second connecting joint; 231. a starting point connecting column; 251. deflecting; 252. pitching;
30. a support assembly; 31. supporting a tube; 32. a support frame; 321. a support rib plate; 322. a connecting strip; 3211. a central circular hole; 3212. a peripheral circular hole;
40. a metal wire;
50. a sleeve;
60. a transmission assembly; 61. a threaded post; 62. a flexible rod; 63. a transmission rod; 64. a worm; 65. a worm bearing; 66. a drive rod bearing; 67. a transmission rod coupling; 68. a flexible rod coupling; 69. a threaded post bearing;
70. a handle assembly; 71. a handle; 72. a shaft hole; 73. a worm gear;
80. a rotating wheel assembly; 81. an upper dial wheel; 82. a lower dial wheel;
90. a housing; 95. an end effector.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
In this specification, the term "proximal" is generally used to refer to the portion of the device that is proximal to the clinician, while the term "distal" is generally used to refer to the portion of the device that is distal to the clinician. The term "surgical instrument" as used herein generally refers to surgical forceps, linear staplers, and the like, which require axial braking force to be transmitted from a handle to an end effector to achieve a given instrument action.
To better understand the solution of the present invention, the present description introduces in the examples a surgical end-effector as an input to achieve the intended function of the end-effector. In addition, the present description explains how the axial braking force is converted into the action of the instrument, taking the end effector of the surgical forceps as an example.
Referring to fig. 1, a power mechanism for an end effector according to an embodiment of the present invention is shown. The power mechanism of the invention comprises:
a power assembly 10 for converting rotational motion to linear motion, comprising an outer sleeve 13 and a translating bar, the distal end of the translating bar extending beyond the outer sleeve 13 to connect to an end effector 95;
the transmission assembly 60 is used for transmitting rotary motion and comprises a rotating part, a flexible rod 62 and a transmission rod 63 which are sequentially connected from the distal end to the proximal end, the transmission rod 63, the flexible rod 62 and the rotating part are connected through a coupler, and the rotating part is connected with the translation rod;
a flexible member 20 sleeved outside the flexible rod 62, wherein the distal end of the flexible member 20 is connected with the proximal end of the outer sleeve 13;
a support assembly 30 for supporting the drive link 63, a distal end of the support assembly 30 being connected to a proximal end of the flexible assembly 20;
a handle assembly 70 for driving the transmission rod 63 to rotate, wherein the handle assembly 70 comprises a driving member and a switch, the driving member is connected with the proximal end of the transmission rod 63, and the switch controls the action of the driving member.
In the embodiment of the present invention, the power assembly 10 is the final actuator of the power mechanism, so as to provide the axial unidirectional braking force 151 for the end effector 95 under the condition that the end effector 95 realizes the spatial attitude change with two degrees of freedom. The support assembly 30, the flexible assembly 20 and the outer sleeve 13 form an outer frame of the power mechanism, and support is provided for internal components. When it is desired to close the end effector 95 of the surgical instrument, a distal braking force 151 is provided relative to the axial direction 14, the switch in the handle assembly 70 is closed, the driving member is actuated to rotate the transmission rod 63 in the transmission assembly 60, and thus the entire transmission assembly 60, relative to the axial direction 14, and the rotation of the rotating member pushes the translation rod to move distally along the axial direction 14, thereby providing the distal braking force 151 relative to the axial direction 14. During this process, the position of the flexible rod 62 relative to the flexible member 20 is always constant, and the flexible member 20 can be arbitrarily bent in the axial direction 14. The axial movement of the translation rod does not require the axial movement of the flexible rod 62, but only requires the rotation of the flexible rod 62, and the bending of the flexible rod 62 does not affect the axial rotation of the flexible assembly 20, so that the transmission of the axial braking force 151 can be still realized under the condition that the end effector 95 is bent arbitrarily. When it is desired to open end effector 95 of the surgical instrument, the switch in handle assembly 70 is opened, and the operations described above are reversed. In order to meet the requirement of the flexible rod 62, in the present embodiment, the flexible rod 62 is a braided metal rope having bending flexibility and capable of withstanding axial torque. Of course, in other embodiments of the invention, the flexible rod 62 may be other materials.
Referring to fig. 2, in an embodiment of the present invention, the rotating part is selected as a threaded column 61, the translation rod includes a nut connecting block 11 and an inner sleeve 12, a threaded hole 111 matched with the threaded column 61 is formed in the center of the nut connecting block 11, the inner sleeve 12 is sleeved outside the threaded column 61, and the proximal end of the inner sleeve 12 is connected to the nut connecting block 11. Along with the rotation of screw post 61, nut connecting block 11 on the screw post 61 moves along the length direction of screw rod, drives the length direction of inner sleeve 12 edge screw rod and moves, realizes the translation of inner sleeve 12. The inner sleeve 12 is connected with the nut connecting block 11, so that the translation rod is stable in structure, the combination of the translation rod and the threaded column 61 occupies small space, and the requirement of small-space use is met. In order to prevent the nut connecting block 11 and the inner sleeve 12 from rotating together with the threaded post 61 and not being able to translate, the translation rod further includes a connecting rib plate 121 for connecting the end effector 95 conveniently. The connecting rib 121 is mounted on the distal end of the inner sleeve 12, and the distal end of the outer sleeve 13 is provided with a through hole matching the shape of the connecting rib 121, through which the connecting rib 121 protrudes out of the outer sleeve 13. Due to the limitation of the through hole, the connecting rib 121 cannot rotate relative to the outer sleeve 13, so that the inner sleeve 12 and the nut connecting block 11 connected with the connecting rib 121 cannot rotate relative to the outer sleeve 13, only the threaded column 61 rotates relative to the outer sleeve 13, and the nut connecting block 11 moves along the axial direction of the threaded column 61. The connecting rib 121 is provided with a connecting hole 122 at a distal end middle portion thereof, and the proximal end of the end effector 95 is hinged to the connecting rib 121 through the connecting hole 122.
In other embodiments of the present invention, the rotating portion may alternatively be a cylindrical cam having a cam slot formed therein, and the proximal end of the translating bar may have a collet disposed therein that engages the cam slot, with the distal end of the translating bar extending beyond outer sleeve 50 to engage end effector 95. When the cylindrical cam rotates, the clamping head moves along the cam groove, and the clamping head drives the translation rod to move along the axial direction.
No matter the combination of the threaded rod and the nut connecting block 11 or the combination of the cylindrical cam and the chuck, the nut connecting block 11 and the chuck are both limited by the outer sleeve 13, and the nut connecting block 11 and the chuck cannot rotate relative to the outer sleeve 13, so that the end effector 95 can be locked under the condition that the threaded rod or the cylindrical cam stops rotating. Referring to fig. 1 and 3, in one embodiment of the present invention, to achieve self-locking, a proximal end of the transmission rod 63 is provided with a worm 64, the driving member is a worm wheel 73, the switch is a handle 71, one end of the handle 71 is inserted into the support assembly 30 to connect the worm wheel 73, the handle 71 is rotatably connected with the support assembly 30, and the worm wheel 73 is meshed with the worm 64. The supporting component 30 is provided with a shaft hole 72, the handle 71 drives a worm wheel 73 to rotate around the shaft hole 72, the worm wheel 73 rotates to drive a worm 64 in the transmission component 60 to rotate, and then the whole transmission component 60 is driven to rotate relative to the axial direction 14, namely, a threaded rod or a cylindrical cam rotates, and the movement of the nut connecting block 11 or the clamping head is realized. When the handle 71 stops rotating, the worm wheel 73 and the worm 64 are self-locked, and the self-locking of the whole power mechanism is realized. Thereby eliminating the need for the surgeon to continuously apply force to handle 71 to ensure that the jaws are closed.
In other embodiments of the present invention, the driving member may also be a micro-driving motor, and the switch includes a start button and a reset button. The micro driving motor is connected with the transmission rod 63 through the coupler, when the end effector 95 of the surgical operation instrument is required to be closed, the start button is pressed, the micro motor is started to drive the transmission rod 63 to rotate, and then the whole conveying assembly is driven to rotate relative to the axial direction 14, namely the threaded rod or the cylindrical cam rotates, and the movement of the nut connecting block 11 or the clamping head is realized. When the starting button is released, the micro motor stops rotating, and the self-locking of the whole power mechanism is realized. When it is desired to open the end effector 95 of the surgical instrument, the reset button is pressed and the micro-motor reverses the above operation. In this embodiment, the extension distance of the translation rod can be controlled according to the pressing duration.
Further, referring to fig. 4, in order to further limit the rotation of the nut connecting block 11, a plurality of sliding ways 131 are arranged in the outer sleeve 13 along the length direction thereof, and bosses 112 matched with the sliding ways 131 are arranged around the nut connecting block 11. In this embodiment, 4 are all followed the circumference equipartition to slide 131 and nut connecting block 11. The slide rail 131 limits and guides the nut connecting block 11, so that the nut connecting block 11 can only do linear motion along the length direction of the slide rail 131, that is, the translation rod only does translational motion. And can cooperate with the handle assembly 70 to achieve self-locking. Furthermore, the inner diameter of the inner sleeve 12 is greater than or equal to the outer diameter of the threaded hole 111, so as to ensure that the inner sleeve is connected with the nut connecting block 11 without interfering with the threaded rod. The threaded post 61 has a length greater than or equal to the stroke of the end effector 95 and the threaded post 61 has a length less than or equal to the length of the inner sleeve 12. The nut connecting block 11 is thus able to bring the inner sleeve 12 completely close to the proximal end of the threaded post 61, while the end effector 95 is completely clamped when approaching the proximal end of the threaded post 61. Nut connecting block 11 also carries inner sleeve 12 proximate the distal end of threaded post 61 where end effector 95 is fully open.
Referring to fig. 5, the flexible assembly 20 is a gimbal tube. In this embodiment, the universal tube includes a first connecting joint 21, a second connecting joint 23 and a plurality of ball joints 22, a proximal end of the first connecting joint 21 is connected to a distal end of the ball joint 22, and after the ball joints 22 are connected in sequence, a proximal end of the ball joint 22 is connected to a distal end of the second connecting joint 23. The first connection joint 21, the ball joint 22, and the second connection joint 23 are all in a spherical surface engagement structure, so that the joints can rotate in all directions to bend, thereby improving the flexibility of the operation of the end effector 95. Referring to fig. 6 and 7, taking the fit between two ball joints 22 as an example, the ball joint 22 includes a distal opening sphere 221 and a proximal connecting sphere 222, the opening diameter 2211 of the opening sphere 221 being smaller than the sphere diameter 2221 of the connecting sphere 222. When two ball joints 22 are mutually engaged, the connecting sphere 222 of one ball joint 22 is required to be installed in the opening sphere 221 of the other ball joint 22, and the installation mode can consider the mode that the single ball joint 22 is separated and buckled. Because the opening diameter 2211 of the opening sphere 221 is small, after the connecting sphere 222 is inserted, the ball joints 22 can deflect 251, and the two ball joints 22 cannot be separated, so that the connection stability is ensured. When the deflection 251 is generated between the two ball joints 22, one side of the opening sphere 221 of the first ball joint 22 is closer to the connecting sphere 222 of the second ball joint 22, and the other side of the opening sphere 221 of the first ball joint 22 is farther from the connecting sphere 222 of the second ball joint 22, so that the length of the universal pipe on the overall axis hardly changes.
Referring to fig. 8 and 9, since both ends of the flexible member 20 are connected to the outer sleeve 13 and the support member 30, respectively, the first connection joint 21 and the second connection joint 23 are formed at both ends of the flexible member 20. The distal end of the first connecting joint 21 is connected to the proximal end of the outer sleeve 13 and the proximal end of the second connecting joint 23 is connected to the distal end of the support assembly 30. The first connecting joint 21 includes an open sphere 221 and a terminal connecting post 211, and the second connecting joint 23 includes a connecting sphere 222 and a starting connecting post 231. External threads 133 are disposed on the end connection post 211 and the start connection post 231 for connection with the outer sleeve 13 and the support assembly 30, respectively. The first connecting joint 21 and the ball joint 22, and the ball joint 22 and the second connecting joint 23 are connected in the same manner as the two ball joints 22. In order to enable the flexible rod 62 to pass through the flexible assembly 20, the centers of the first connecting joint 21, the ball joint 22 and the second connecting joint 23 are provided with a first round hole 223 which are communicated with each other.
Of course, in other embodiments of the invention, other gimbals may be used which vary only slightly in length along the overall axis.
Referring to fig. 1 and 5 to 9, in order to realize the deflection 251 of the flexible assembly 20, the flexible assembly 20 is driven to bend by a rotating wheel assembly 80, the rotating wheel assembly 80 is mounted on the support assembly 30, a metal wire 40 is wound on the rotating wheel assembly 80, a plurality of second round holes 224 corresponding to each other in the axial direction are circumferentially arranged on the first connecting joint 21, the ball joint 22 and the second connecting joint 23, a plurality of key slots 2111 are arranged at the distal end of the first connecting joint 21, two ends of the metal wire 40 penetrate through two sets of second round holes 224, and two ends of the metal wire 40 are fixed in the key slots 2111.
In the present embodiment, the spatial attitude change of the degree of freedom in two directions of the relative axial pitch 252 and yaw 251 is taken as an example. The number of the second round holes 224 on each joint is 4, two wires 40 are arranged, and the planes of the two wires 40 correspond to the pitch 252 and the yaw 251 directions respectively. Wire 40 is fixed at both ends and passes around wheel assembly 80 in the middle, and as corresponding wheel assembly 80 rotates, pulls one end of corresponding wire 40, causing the length of wire 40 on the corresponding side to decrease and the length of wire 40 on the other side to increase, providing end effector 95 with the attitude force 2521 necessary to bend in the direction of relative axial pitch 252 while controlling the magnitude of bending in the direction of relative axial pitch 252. When it is desired to adjust the bending in the direction of relative axial deflection 251, rotating wheel assembly 80 with respect to the other wire 40 pulls one end of wire 40 to provide end effector 95 with the desired attitude force 2522 for bending in the direction of relative axial deflection 251 while controlling the magnitude of the bending in the direction of relative axial deflection 251.
Specifically, referring to fig. 1, the rotating wheel assembly 80 includes a plurality of inner rotating wheels (not shown), the inner rotating wheels are coaxially disposed, and the inner rotating wheels penetrate out of the supporting assembly 30 and are connected with dial wheels. The degree of freedom in two directions is set in this embodiment, so the thumb wheel includes upper thumb wheel 81 and lower thumb wheel 82, and supporting component 30 includes shell 90, and upper thumb wheel 81, lower thumb wheel 82 can install one side or both sides equipartition at shell 90. The rotation of the rotating wheel assembly 80 is conveniently controlled by the arrangement of the upper dial wheel 81 and the lower dial wheel 82, and the adjustment of the pitch 252 and the yaw 251 directions of the flexible assembly 20 is realized.
In the invention, the transmission assembly 60 penetrates through the support assembly 30, the flexible assembly 20 and the outer sleeve 50, in order to ensure the stable connection among the transmission assemblies 60 and the smooth rotation of the transmission assembly 60, the threaded column 61 is connected with the flexible rod 62 through the flexible rod coupler 68 and transmits power, and the flexible rod 62 is arranged in the first round hole 223 of each assembly in the flexible assembly 20; the flexible rod 62 is connected with the transmission rod 63 through a transmission rod coupler 67 and transmits power; the distal end of the drive link 63 is disposed in the support tube 31 of the support assembly 30 and the proximal end of the drive link 63 is a worm 64 disposed in the housing 90 of the support assembly 30. The housing 90, the support tube 31, the flexible member 20, and the outer sleeve 13 are sequentially connected to each other, and are threadedly coupled to each other. Wherein the proximal end of the outer sleeve 13 is provided with internal threads 132 for connection to the flexible member 20; external threads 133 are disposed on the distal end of outer sleeve 13 for attachment to the outer housing of end effector 95 required to provide braking force 151. The circumferential support of each rod, the shell 90, the support tube 31 and the outer sleeve 13 respectively adopts a bearing structure such as a worm bearing 65, a transmission rod bearing 66 and a threaded column bearing 69, so as to play a supporting role and reduce friction generated by rotation motion.
Referring to fig. 10 and 11, in order to support the driving rod 63 in the support pipe 31, the support assembly 30 further includes a support bracket 32, the support bracket 32 is disposed in the support pipe 31, and the driving rod 63 passes through the center of the support bracket 32. The support frame 32 includes a support rib 321 and a connecting bar 322, a central circular hole 3211 is disposed at the center of the support rib 321, and the connecting bar 322 connects two adjacent support ribs 321. The transmission rod 63 penetrates through the central circular hole 3211, the connecting bar 322 is rectangular and arranged from the proximal end to the distal end, and the connecting bar 322 plays a supporting role. In this embodiment, the support ribs 321 are disposed at the most distal end and the most proximal end of the connecting bar 322, and the support ribs 321 are also disposed at intervals in the middle of the connecting bar 322. In this embodiment, since the wire 40 is to pass through the support tube 31 to connect the rotating wheel assembly 80, in order to prevent the wire 40 and the transmission rod 63 from being wound disorderly, the periphery of the support rib plate 321 is provided with 4 peripheral circular holes 3212, the central axis of the peripheral circular holes 3212 is parallel to the connecting bar 322, and the positions and sizes of the peripheral circular holes 3212 and the second circular holes 224 on the flexible assembly 20 are the same.
Furthermore, in order to prevent the transmission rod 63 and the flexible rod 62 from rubbing against the support member 30 or the flexible member 20 when rotating, the transmission rod 63 and the flexible rod 62 are disposed in the sleeve 50, the sleeve 50 is a flexible pipe, and the outer diameter of the sleeve 50 is smaller than the inner diameter of the flexible member 20.
The present invention provides a braking force 151 for changing the relative axial two-degree-of-freedom bending by pulling the wire 40, and realizes the bending in the direction of deflection 251 and the direction of pitching 252 as shown in the figure. The screw post 61 is driven to rotate by clockwise or anticlockwise rotation of the flexible rod 62 in the transmission assembly 60, and the boss 112 of the nut connecting block 11 is matched with the slide rail 131 arranged in the outer sleeve 13 to push the nut connecting block 11 to move back and forth in the axial direction 14, so that a braking force 151 in the axial direction 14 is provided. The worm wheel 73 and the worm 64 structure are formed by part of the mechanism in the transmission assembly 60 and part of the structure of the handle assembly 70, so that the self-locking function is realized. Greatly improves the flexibility of surgical instruments, is convenient for doctors to operate and provides more possibilities for minimally invasive endoscopic surgery.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (14)
1. A power mechanism for an end effector, comprising:
a power assembly for converting rotational motion to linear motion, comprising an outer sleeve and a translating bar, a distal end of the translating bar extending beyond the outer sleeve to connect to an end effector;
the transmission assembly is used for transmitting rotary motion and comprises a rotating part, a flexible rod and a transmission rod which are sequentially connected from the distal end to the proximal end, the transmission rod, the flexible rod and the rotating part are connected through a coupler, and the rotating part is connected with the translation rod;
the flexible component is sleeved outside the flexible rod, and the distal end of the flexible component is connected with the proximal end of the outer sleeve;
the support component is used for supporting the transmission rod, and the distal end of the support component is connected with the proximal end of the flexible component;
the handle assembly is used for driving the transmission rod to rotate and comprises a driving piece and a switch, the driving piece is connected with the proximal end of the transmission rod, and the switch controls the action of the driving piece.
2. The power mechanism of an end effector according to claim 1, wherein the rotating portion is a threaded post, the translating bar includes a nut connecting block, an inner sleeve and a connecting rib plate, a threaded hole matched with the threaded post is formed in the center of the nut connecting block, the inner sleeve is sleeved outside the threaded post, the proximal end of the inner sleeve is connected with the nut connecting block, the connecting rib plate is installed at the distal end of the inner sleeve, a through hole matched with the connecting rib plate in shape is formed in the distal end of the outer sleeve, and the connecting rib plate penetrates through the through hole and extends out of the outer sleeve.
3. The power mechanism of an end effector as claimed in claim 2, wherein the outer sleeve has a plurality of slideways along its length, and the nut connecting block has bosses around it for engaging with the slideways.
4. The end effector power mechanism according to claim 2, wherein an inner diameter of the inner sleeve is greater than or equal to an outer diameter of the threaded hole, a length of the threaded post is greater than or equal to a stroke of the end effector, and a length of the threaded post is less than or equal to a length of the inner sleeve.
5. The power mechanism of an end effector as claimed in claim 1, wherein the flexible assembly is a universal tube, the universal tube includes a first connecting joint, a second connecting joint and a plurality of ball joints, the distal end of the first connecting joint is connected to the proximal end of the outer sleeve, the proximal end of the first connecting joint is connected to the distal end of the ball joints, the proximal ends of the ball joints are connected to the distal end of the second connecting joint after the ball joints are connected in sequence, the proximal end of the second connecting joint is connected to the distal end of the support assembly, and the centers of the first connecting joint, the ball joints and the second connecting joint are provided with first circular holes which are communicated with each other.
6. The power mechanism of an end effector as claimed in claim 5, wherein the ball joint includes an opening sphere having an opening diameter smaller than a diameter of the connection sphere and a connection sphere inserted into the opening sphere.
7. The power mechanism of an end effector as claimed in claim 5, wherein the first connection joint comprises an opening ball and a terminal connection post, the ball joint is inserted into the opening ball, the terminal connection post is threadedly connected to the outer sleeve, the second connection joint comprises a connection ball and a starting connection post, the connection ball is inserted into the opening ball, and the starting connection post is threadedly connected to the support member.
8. The power mechanism of an end effector according to claim 5, wherein the flexible member is driven to bend by a rotating wheel assembly, the rotating wheel assembly is mounted on the support member, a metal wire is wound on the rotating wheel assembly, a plurality of second round holes corresponding to the axial positions are formed in the circumferential directions of the first connecting joint, the ball joint and the second connecting joint, a plurality of key slots are formed in the distal end of the first connecting joint, two ends of the metal wire penetrate through two opposite sets of the second round holes, and two ends of the metal wire are fixed in the key slots.
9. The power mechanism of an end effector as claimed in claim 8, wherein said wheel assembly includes a plurality of internal wheels coaxially disposed, said internal wheels extending through said support assembly and having a thumb wheel attached thereto.
10. The power mechanism of an end effector as claimed in claim 1, wherein the support member includes a support tube and a support frame, a distal end of the support tube is connected to the flexible member, the support frame is disposed in the support tube, and the transmission rod passes through a center of the support frame.
11. The power mechanism of an end effector as claimed in claim 10, wherein the support frame includes a support rib and a connecting bar, the support rib has a central circular hole at its center, and the connecting bar connects two adjacent support ribs.
12. The end effector power mechanism of claim 1, wherein the transmission rod and the flexible rod are disposed within a sleeve, the sleeve is a flexible tube, and an outer diameter of the sleeve is smaller than an inner diameter of the flexible assembly.
13. The power mechanism of an end effector as claimed in claim 1, wherein the proximal end of the transmission rod is configured as a worm, the driving member is a worm wheel, the switch is a handle, one end of the handle is inserted into the support assembly to connect with the worm wheel, the handle is rotatably connected with the support assembly, and the worm wheel is engaged with the worm.
14. The end effector power mechanism of claim 1, wherein the flexible rod is a braided metal cord that is flexible in bending and able to withstand axial torque.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111510469.6A CN114391894A (en) | 2021-12-10 | 2021-12-10 | Power mechanism of end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111510469.6A CN114391894A (en) | 2021-12-10 | 2021-12-10 | Power mechanism of end effector |
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| CN114391894A true CN114391894A (en) | 2022-04-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111510469.6A Pending CN114391894A (en) | 2021-12-10 | 2021-12-10 | Power mechanism of end effector |
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