CN114469201A - Mechanism for controlling snakelike joint deflection and multi-degree-of-freedom flexible instrument applied by mechanism - Google Patents

Abstract

The invention discloses a mechanism for controlling the deflection of a snake-shaped joint and a multi-degree-of-freedom flexible instrument applied by the mechanism. A connecting rod sliding block mechanism and a flexible transmission rod (a steel wire bundle) are arranged in the handle and used for controlling the opening and closing of the actuating tool. The main frame is provided with a multi-degree-of-freedom rotating shaft which comprises two rotating shafts for controlling horizontal deflection and vertical deflection of the snake-shaped joint, and the main frame is also provided with a joint locking mechanism which can lock the execution tool relative to the shaft tube at any angle and can unlock the execution tool at any time. The fixed support is internally provided with a pulley mechanism for bearing the silk thread. The far end of the silk thread is fixed on the execution tool and passes through the snake-shaped joint and the axle tube to be fixed on the wire spool of the multi-freedom-degree rotating shaft. The horizontal and vertical deflection at the handle can realize the horizontal and vertical movement of the execution tool through the snake-shaped joint transmitted by the multi-freedom-degree rotating shaft.

Description

Mechanism for controlling snakelike joint deflection and multi-degree-of-freedom flexible instrument applied by mechanism

Technical Field

The invention relates to the technical field of surgical operation instruments, in particular to a mechanism for controlling the deflection of a snake-shaped joint and a multi-degree-of-freedom flexible instrument applied by the mechanism.

Background

In the minimally invasive surgery operation process, a surgeon cuts 2-4 small incisions of 5-10 mm on the body surface of a patient, required surgical instruments are inserted into the abdominal cavity through the small incisions on the body surface of the patient, surgical operations such as cutting and clamping are carried out on focus tissue organs, and the surgical instruments can only move in a narrow inverted-cone-shaped working space with the incisions as vertexes. At present, the minimally invasive surgical instrument mainly adopts a manual control straight rod type instrument, an end effector of the instrument only has opening and closing freedom degrees and does not have a joint deflection function, the instrument operation flexibility is low, and the difficulty of operation is increased.

For example, patents CN215534654U, CN215651296U, CN215534655U have the following disadvantages: 1. when the silk thread is dragged by grabbing the swing joint to swing left and right, the tail end executor is driven to swing left and right with more effort due to a smaller lever arm; 2. the spherical crown surface on the swing joint can lock the deflection joint only when the round hole of the spherical crown surface is aligned with the insertion and extraction rod in the gun shell, so that the end effector can be locked only when being in the same straight line with the shaft tube, and the end effector cannot be locked after deflecting for a certain angle relative to the shaft tube, so that the flexible displacement of the flexible transmission rod can change the offset angle of the end effector relative to the shaft tube, therefore, the surgical instrument drives the flexible transmission rod to grab, cut, sew and the like tissues after the rotation direction of the end effector, and the tissues can be torn by the end effector.

Feedback from the surgeon using such surgical instruments also needs to improve upon the above problems.

At present, a mechanism for driving the snake-shaped joint to deflect through the winding shafts and the silk threads, which is published by CN113100857A, can only drive the snake-shaped joint to deflect towards one degree of freedom, if deflection of two degrees of freedom is to be realized, four winding shafts are needed, but how to convert one action at a time of one hand into two actions at a time of four winding shafts has design difficulty, and no reference scheme exists at present.

Disclosure of Invention

In order to solve the technical problems, the invention aims to provide a deflection control mechanism, which realizes multi-free rotation and self-locking after rotating for a certain angle under the action of a deflection control assembly through four silk threads, is beneficial to increasing the force arm of horizontal and vertical deflection operation of a wrist, and is more labor-saving and more comfortable to operate.

The invention also aims to provide a multi-degree-of-freedom flexible instrument comprising the deflection control mechanism, and the instrument can perform the activities with multiple degrees of freedom such as pushing, pulling, bending, twisting and the like a human wrist joint in the surgical process. The flexibility and the operation accuracy of the instrument enable actions such as grabbing, cutting, suturing and the like in minimally invasive surgery to be simpler.

In order to further achieve the purpose, the technical scheme of the invention is as follows:

the utility model provides a mechanism of control snakelike joint beat, the central siphon is connected to snakelike articular near-end, and the distal end of four ply silk threads passes respectively around snakelike joint central passage evenly arranged's through-hole connection snakelike joint distal end all around, its characterized in that, the through-hole is located the four corners of central passage: upper left, upper right, lower left, lower right; two silk threads and two silk threads which are in diagonal relation with each other in the four silk threads are respectively combined into a first combination and a second combination, the near ends of the silk threads which are combined into the first combination and the second combination are respectively wound and fixed on two wire reels after penetrating through an axle tube, the winding directions of the two silk threads of the same combination are opposite, when the two silk threads are in different combinations, if the two silk threads are in an up-and-down position relation, the winding directions of the two silk threads are opposite, and if the two silk threads are in a left-and-right position relation, the winding directions of the two silk threads are the same; the two wire reels are used for drawing four silk threads, so that the far end of the snake-shaped joint can freely swing relative to the axle tube.

Advantageously, when the two wire reels rotate in the same direction, the two upper threads in the two assemblies are loosened/loosened, the two lower threads in the two assemblies are loosened/loosened, and the distal ends of the snake-shaped joints can swing up and down; when the two wire reels rotate reversely, the two silk threads on the left side of the two combinations are loosened/loosened, the two silk threads on the right side of the two combinations are loosened/loosened, and the distal ends of the snake-shaped joints can swing left and right; the multi-strand wire driven snake-shaped closing device can be controlled to swing at two degrees of freedom by a small number of control components.

Optionally, the device further comprises a deflection control assembly II and a deflection control assembly I, wherein a main frame and a pair of shafts III concentric with the revolution axis are arranged in the deflection control assembly II, the pair of shafts III are further respectively rotatably connected with a pair of ear plates symmetrically arranged on the main frame, one opposite ends of the pair of shafts III are respectively sleeved with a pair of bevel gears II rotating along with the shafts III, and the pair of shafts III between the pair of ear plates is further rotatably connected with the deflection control assembly I;

the first deflection control assembly is internally provided with a second rotating shaft and a first rotating shaft which are perpendicular to each other, the second rotating shaft is perpendicular to the revolution axis and can rotate, the first rotating shaft is rotationally connected with the first deflection control assembly and is perpendicular to the revolution axis, one end of the second rotating shaft and the first rotating shaft are close to each other and are provided with transmission parts which are coupled with each other, the other end of the second rotating shaft and one end, opposite to the third rotating shaft, are provided with transmission parts which are coupled with each other, the first rotating shaft is arranged at the upper end of a handle, the handle can rotate around the first rotating shaft to drive the second rotating shaft to rotate, so that the third rotating shaft rotates in the opposite direction, or the handle revolves around the revolution axis and can drive the third rotating shaft to rotate in the same direction;

the two wire reels are respectively driven by one side of the pair of shafts, which is back to back.

Optionally, the transmission part comprises a bevel gear, a bevel ring gear and a gear which are engaged with each other.

Advantageously, the above-described construction enables one-handed operation, with both reels being driven in the same or opposite directions simultaneously, one action at a time.

Preferably, the two wire reels are respectively sleeved on a pair of shafts III.

Advantageously, the linear speed of the three surfaces of the pair of shafts is smaller than that of the surfaces of the pair of wire reels, the number of transmission stages is small, and the small swing amplitude of the wrist can be converted into the large telescopic distance of the silk thread to the maximum extent.

Furthermore, the two wire reels are respectively sleeved on a pair of shafts which can rotate on the main frame, the pair of shafts are symmetrically arranged and are concentric with an axis parallel to the revolution axis, and one sides of the pair of shafts, which are back to back, are respectively driven by driving pieces which are mutually coupled with the pair of shafts; the transmission part comprises gears which are meshed with each other on the pair of shafts III and IV, or chain wheels which are arranged on the pair of shafts III and IV and chains for transmitting the two chain wheels.

Advantageously, a pair of shafts four are arranged, the wire reels are respectively sleeved on the pair of shafts four, and the width of the deflection control assembly two is reduced relative to the situation that the two wire reels are respectively sleeved on the pair of shafts three, so that the structural size of the invention is smaller.

Furthermore, brake discs are respectively fixed on the opposite sides of the pair of third shafts or the pair of fourth shafts, two symmetrical joint locking clamps are further arranged on the main frame, the brake discs are contained between the clamps which can be relatively close to and separated from each other, the rotation of the pair of third shafts or the pair of fourth shafts is limited when the joint locking clamps are clamped, and the rotation of the pair of third shafts or the pair of fourth shafts is not blocked when the joint locking clamps are loosened.

Further, the main frame be provided with the square hole that runs through the front and back side between a pair of otic placode, the edge that the square hole is close to the otic placode is provided with a pair of limiting plate that is on a parallel with the otic placode, a pair of limiting plate is kept away from the bevel gear one side and is provided with the trigger that can rotate around the axle that is on a parallel with the revolution axle center, the side of the one end that the trigger is connected with a pair of limiting plate rotation is provided with the arch towards the limiting plate, the limiting plate is provided with can accept, the bellied two recesses of joint, the recess is located protruding along with trigger pivoted orbit.

Furthermore, the joint locking clamp is a pincer-shaped drum brake and is provided with a spring and two groups of arc-shaped friction plates which are hinged with each other, the spring is arranged between the non-hinged ends of the arc-shaped friction plates, the guide wire penetrates through the spring to be arranged, one end of the guide wire is fixed at the non-hinged end of one arc-shaped friction plate, and the other end of the guide wire penetrates through the non-hinged end of the other arc-shaped friction plate and one end of the hose connecting trigger, which is far away from the shaft;

one end of the hose is fixed on the circular arc friction plate of the joint locking clamp, and the other end of the hose is fixed on the square hole between the limiting plates; the trigger pivots about an axis on the limit plate, pulling the wire to telescope relative to the hose and thereby compress or release the spring.

Advantageously, the surgeon operates the handle with only one hand to effect control of the serpentine joint. Meanwhile, when the joint locking clamp is clamped, the rotation of a pair of shafts three or a pair of shafts four is limited, and the snake-shaped joint is locked. When the joint locking clamp is loosened, the snake-shaped joint does not block the rotation of the one pair of shafts three or the one pair of shafts four, and the snake-shaped joint rotates relative to the shaft tube; the joint locking mechanism can lock the snake-shaped joint relative to the shaft tube at any angle and can unlock at any time. The front end execution tool is connected to snakelike joint distal end, and the snakelike that is locked is closed can be when flexible transfer line concertina movement, even receive flexible drive rod thrust and the pulling force that brings, can not change snakelike articular angle yet.

Furthermore, the handle is L-shaped and comprises a holding section and a non-holding section positioned at the upper end of the holding section, and the first rotation shaft is arranged at one end of the non-holding section, which is far away from the holding section.

Advantageously, this design of the handle makes the gripping portion form a lever with respect to the non-gripping portion, by which the rotation and revolution of the non-gripping portion are driven, making the traction of the thread more labour-saving.

Correspondingly, the invention also provides a multi-degree-of-freedom flexible instrument, on the basis of the deflection control mechanism, the far end of the snake-shaped joint is further connected with a front end executing tool, the front end executing tool comprises at least one tool flap and a tool supporting seat, the tool flap is rotatably connected with the tool supporting seat, the tool flap is driven by the far end of the flexible transmission rod and can rotate relative to the tool supporting seat, and the far end of the flexible transmission rod penetrates through a central channel formed in the centers of the snake-shaped joint and the tool supporting seat and a sliding block in a shaft tube connecting handle.

Further, in a first plane formed by the extension direction of the proximal end of the shaft tube: the near end of the shaft tube is provided with an upward bent fixed support and a main frame vertically distributed downwards from the near end of the fixed support, a deflection control assembly I and a deflection control assembly II for controlling horizontal deflection and vertical deflection of the snake-shaped joint are arranged in the main frame, and the handle is arranged below the fixed support;

the handle is characterized in that a connecting rod and slider mechanism is arranged in the holding section of the handle, and comprises a slider which is arranged in the sliding groove and can slide along the axial direction of the handle, an operation trigger which is rotatably connected with the far end of the handle, and a connecting rod which is rotatably connected with the operation trigger and the slider, wherein one end of the operation trigger which is rotatably connected with the handle is provided with a ratchet towards the inside of the handle, and a pawl which is biased by an elastic body to shift towards the ratchet on the operation trigger is also arranged in the handle.

Advantageously, horizontal and vertical deflection of the handle can be achieved through the multi-freedom-degree rotating shaft to transmit the snake-shaped joint to achieve horizontal and vertical two-degree-of-freedom movement of the execution tool, the multi-freedom-degree flexible instrument can achieve multi-freedom rotation and can be locked automatically after rotating for a certain angle, labor is saved, when a doctor operates the instrument, the mechanism for controlling the snake-shaped joint deflection of the instrument falls on the position of an arm, the handle is held by the hand, the handle moves in the horizontal and vertical two-degree-of-freedom due to rotation of the wrist, the operation balance sense of the instrument is better, and the operation of the doctor is more convenient.

Furthermore, the fixed support has the installation section that is used for being connected with the central siphon near-end, the bending section who upwards buckles from this installation section upper end and from this bending section near-end towards the horizontal bending's horizontal segment, and installation section, bending section and horizontal segment integrated into one piece have the cavity of mutual intercommunication, are provided with pulley mechanism in the cavity and are used for accepting the silk thread.

Furthermore, the pulley mechanism comprises pulley blocks a and b which are oppositely arranged up and down in the section of cavity positioned at the mounting section, two groups of pulley blocks are arranged downwards and side by side in the section of cavity of the bending section close to the near end of the horizontal section, and two groups of pulley blocks are arranged side by side at the near end of the horizontal section; the four silk threads penetrate through the hole at the near end of the axle center to be divided into an upper silk thread and a lower silk thread, and the upper silk thread and the lower silk thread are respectively arranged around the pulley block a and the pulley block b and are wound on the pulley block through the pulley block.

Advantageously, the silk thread is wound through the pulley mechanism in the fixed support, so that the force arm of the horizontal and vertical deflection operation of the wrist can be increased, the labor is saved, and the operation is more comfortable.

The near end of a flexible transmission rod for controlling the opening and closing of the front end execution tool is connected with a sliding block in the handle, the operation trigger is pressed, a connecting rod connected with the operation trigger pushes the sliding block to move towards the near end of the handle horizontally to drive the flexible transmission rod to be pulled towards the near end so as to close the front end execution tool, and a ratchet is meshed with a pawl in the pressing process of the operation trigger so as to lock the front end execution tool. The pawl is biased by an elastomer, and depressing the handle of the pawl releases engagement with the ratchet teeth, thereby releasing the implement.

Drawings

FIG. 1 is an overall view of an embodiment of the multi-degree of freedom flexible minimally invasive surgical instrument of the invention;

FIG. 2 is a partial perspective view of an embodiment of the multi-degree of freedom flexible minimally invasive surgical instrument of the invention;

FIG. 3 is a schematic view of the inside of the fixing bracket;

FIG. 4 is a schematic structural diagram of the internal structure of the yaw control mechanism;

FIG. 5 is a schematic diagram of the internal structure of the second deflection control assembly;

FIG. 6 is a schematic view of a 4-strand wire-wound pulley block;

FIG. 7 is a schematic view of the layout of 4 strands of wires and a wire spool;

FIG. 8 is a schematic view of a joint lock configuration;

FIG. 9 is a schematic view of the articulation locking arrangement installed;

FIG. 10 is an external view of the joint locking structure;

FIG. 11 is a schematic view of a joint locking clip

FIG. 12 is a schematic view of the internal structure of the handle;

FIG. 13 is a schematic structural view of a serpentine joint

FIG. 14 is a schematic structural diagram of a modified version of the second yaw control assembly;

fig. 15 is a schematic structural diagram of a modified version of the second yaw control assembly.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "a" and "an" are used for descriptive purposes and are not to be construed as indicating or implying relative importance. The terms "proximal" and "distal" are used to describe the distance of the instrument from the operator.

In the description of the present invention, it should be noted that, unless otherwise specifically stated or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected, and mechanically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1

Referring to fig. 6 and 7, in a mechanism for controlling the deflection of the serpentine joint, the proximal end of the serpentine joint 60 is connected to the shaft tube 50, the distal ends of the four threads are respectively connected to the periphery of the distal end of the serpentine joint 60 through holes uniformly arranged around the periphery of the central channel 92 of the serpentine joint 60, and the through holes are located at the four corners of the central channel 92: upper left, upper right, lower left, lower right; two silk threads 8a and 8c and two silk threads 8d and 8b which are in diagonal relation with each other in the four silk threads are respectively combined into a first combination and a second combination, the near ends of the silk threads of the first combination and the second combination penetrate through the axle tube 50 and then are respectively wound and fixed on the two wire reels 38b and 38a, the winding directions of the two silk threads of the same combination are opposite, when the two silk threads are in different combinations, if the two silk threads are in vertical position relation with each other, the winding directions of the two silk threads are opposite, and if the two silk threads are in left-right position relation with each other, the winding directions of the two silk threads are the same; the two spools 38b, 38a are used to pull four wires so that the distal end of the serpentine joint 60 is free to swing relative to the shaft tube 50. As shown in fig. 7, the spool 38A is divided into a left portion and a right portion for receiving 2 threads, the proximal ends of the 2 threads are wound around the left portion and the right portion of the spool in opposite directions and fixed at the holes 38B and 38A, respectively, and the spool is rotated to ensure that the 2 threads are pulled and wound one by one. The wire spool 38b is also divided into a left part and a right part for receiving 2 strands of silk threads respectively, the near ends of the 2 strands of silk threads are wound on the left part and the right part of the left wire spool respectively in opposite directions, the near ends of the 2 strands of silk threads are wound on the left part and the right part of the wire spool respectively in opposite directions and are fixed at the holes 38D and 38C respectively, and the 2 strands of silk threads are guaranteed to be pulled and wound one by one when the wire spool rotates.

As shown in fig. 2, 4 and 5, the swing control device further comprises a second swing control assembly 30 and a first swing control assembly 20, wherein a main frame and a pair of shafts 32d and 32c concentric with the revolution axis are arranged in the second swing control assembly 30, the pair of shafts 32d and 32c are further rotatably connected with a pair of ear plates 85a and 85b symmetrically arranged on the main frame respectively, a pair of bevel gears 32a and 32b rotating along with the pair of shafts 32d and 32c are sleeved at opposite ends of the pair of shafts 32d and 32c respectively, and the pair of shafts 32d and 32c between the pair of ear plates 85a and 85b are further rotatably connected with the first swing control assembly 20;

the deflection control assembly I20 is internally provided with a rotation shaft II 22a and a rotation shaft I21 a which are perpendicular to each other, the rotation shaft II 22a is perpendicular to the revolution axis and can rotate, the rotation shaft I21 a is rotationally connected with the deflection control assembly I20 and is perpendicular to the revolution axis, one end of the rotation shaft II 22a and the rotation shaft I21 a are close to each other and are provided with transmission parts which are coupled with each other, the other end of the rotation shaft II 22a and one end opposite to a pair of shafts III 32d and 32c are provided with transmission parts which are coupled with each other, the rotation shaft I21 a is arranged at the upper end of the handle 10, the handle 10 rotates around the rotation shaft I21 a and can drive the rotation shaft II 22a to rotate, so that the pair of shafts III 32d and 32c rotate reversely, or the handle 10 revolves around the revolution axis and can drive the pair of shafts III 32d and 32c to rotate in the same direction;

the two wire reels 38a, 38b are driven by the opposite sides of the pair of third shafts 32d, 32c, respectively. The transmission part comprises bevel gears 32a and 32b at the opposite ends of a pair of shafts 32d and 32c and a bevel gear 31 on a rotation shaft two 22a, and also comprises a horizontal deflection bevel gear two 22 at one end of the rotation shaft two 22a close to the handle and a horizontal deflection bevel gear one 21 at the upper end of the rotation shaft one 21a, and the bevel gears can be replaced by bevel gears or basin gears and gears.

The two wire spools 38a, 38b are respectively sleeved on a pair of shafts 32d, 32 c.

The horizontal deflection of the handle 10 realizes that the first deflection control component 20 rotates around the first rotation axis, and the symmetrical wire reels 38a and 38b are driven to rotate reversely by the self-transmission of the first bevel gear 31 and the gear transmission mechanism, so that the wires 8a and 8b in the 4 threads in the figure 7 are tightened and the wires 8c and 8d are loosened, or the wires 8a and 8b are loosened and the wires 8c and 8d are tightened; the deflection in the vertical direction of the wrist realizes that the first deflection control assembly 20 rotates around the revolution axis, and symmetrical wire reels 38a and 38b rotate in the same direction under the revolution of a first bevel gear 31 and the driving of a gear transmission mechanism, so that the wires 8a and 8d in the 4 strands of wires in the graph 13 are tightened while the wires 8c and 8b are loosened, or the wires 8a and 8d are loosened while the wires 8c and 8b are tightened; in fig. 13, the through holes for the threads 8a, 8b, 8c, 8d to pass through formed on the serpentine joint 60 form a square, the threads 8a, 8d pass through the left and right ends of the upper horizontal side of the square, the threads 8b, 8c pass through the left and right ends of the lower horizontal side of the square, as shown in fig. 7, the wire 8D is passed around the pulley block 44 and connected to its hole 38B from the upper left portion of the spool 38A, the wire 8C is passed around the pulley block 44 and connected to its hole 38C from the lower right portion of the spool 38B, the wire 8A is passed around the pulley block 44 and connected to its hole 38D from the upper left portion of the spool 38B, the wire 8B is passed around the pulley block 44 and connected to its hole 38A from the lower right portion of the spool 38A, therefore, as shown in table 1, the operation of the handle 10 corresponds to the tightness of the respective wires and the rotation direction of the spool.

TABLE 1

The position of the first autorotation axis and the center point of the revolution axis are not coincident, so that the rotations in the horizontal direction and the vertical direction are not interfered with each other. The structure ensures that the control gravity center of the instrument falls on the position of the wrist, the operation balance of the instrument is better, and the operation of a doctor is more convenient.

Fig. 8 shows a schematic view of a joint locking structure, fig. 9 shows a schematic view of a joint locking structure installation, fig. 10 shows a schematic view of an appearance of the joint locking structure, fig. 11 shows a schematic view of joint locking clamps, brake discs are respectively fixed on the opposite sides of a pair of shafts three 32d, 32c, two symmetrical joint locking clamps 35a, 35b are further arranged on the main frame, the brake discs are accommodated between the clamps which can be relatively close to and separated from the joint locking clamps 35a, 35b, the pair of shafts three 32d, 32c are limited to rotate when the joint locking clamps 35a, 35b are clamped, and the pair of shafts three 32d, 32c are not hindered from rotating when the joint locking clamps 35a, 35b are loosened.

The main frame is provided with a square hole 84 penetrating through the front side and the rear side between the pair of lug plates 85a and 85b, the edges of the square hole 84 close to the lug plates 85a and 85b are provided with a pair of limiting plates 88 parallel to the lug plates 85a and 85b, one sides of the pair of limiting plates 88 far away from the bevel gear I31 are provided with triggers 80 capable of rotating around a shaft 85 parallel to the revolution axis, the side surface of one end of the trigger 80 rotatably connected with the pair of limiting plates 88 is provided with a protrusion 90 facing the limiting plates 88, the limiting plates 88 are provided with two grooves 91a and 91b capable of containing and clamping the protrusion 90, and the grooves 91a and 91b are positioned on the rotating track of the protrusion 90 along with the triggers 80.

As a preferred embodiment, the joint locking clamps 35a, 35b are caliper-shaped drum brakes, each having a spring 81 and two sets of circular arc friction plates hinged to each other, the spring 81 is disposed between the non-hinged ends of the circular arc friction plates, the guide wire 83 is disposed through the spring 81, one end is fixed to the non-hinged end of one circular arc friction plate, the other end passes through the non-hinged end of the other circular arc friction plate, and the hose 82 is connected to one end of the trigger 80 away from the shaft 85; preferably, the trigger 80 is provided with a sleeve around the shaft 85 at one end thereof adjacent the shaft 85, and the other end of the wire 83 is routed around the sleeve along a track 86 on the sleeve and secured to an aperture 87 at the end of the trigger 80 remote from the shaft 85. One end of the hose 82 is fixed on the circular arc friction plates of the joint locking clamps 35a and 35b, and the other end is fixed on the square hole 84 between the limiting plates 88; the trigger 80 pivots around a shaft 85 on a limit plate 88, and pulls the guide wire 83 to stretch and contract relative to the hose 82 so as to compress or release the spring 81, so that the joint locking clamp is clasped or loosened, and the serpentine joint can be locked or unlocked at any angle.

Example 2

As an improvement of embodiment 1 based on embodiment 1, as shown in fig. 14, two wire reels 38a, 38b may be respectively sleeved on a pair of shafts 34d, 34c rotatable on the main frame, the pair of shafts 34d, 34c being symmetrically arranged and concentric with an axis parallel to the revolution axis and located above a pair of shafts 32d, 32c in fig. 4, and the opposite sides of the pair of shafts 32d, 32c are respectively transmitted to the pair of shafts 34d, 34c through mutually coupled transmission members, such as mutually engaging gears (33a and 36a, 33b and 36 b). Brake discs are respectively fixed on the opposite sides of the pair of shafts three 32d and 32c or the pair of shafts four 34d and 34c, two symmetrical joint locking clamps 35a and 35b are further arranged on the main frame, the brake discs are contained between the clamps which can be relatively close to and separated from the joint locking clamps 35a and 35b, the pair of shafts three 32d and 32c or the pair of shafts four 34d and 34c are limited to rotate when the joint locking clamps 35a and 35b are clamped, and the pair of shafts three 32d and 32c or the pair of shafts four 34d and 34c are not limited to rotate when the joint locking clamps 35a and 35b are loosened.

The design has the advantages that the pair of shafts four are arranged, the wire reels are respectively sleeved on the pair of shafts four, and compared with the situation that the two wire reels are respectively sleeved on the pair of shafts three, the width of the deflection control assembly II is reduced, and the structural size of the invention is smaller. Meanwhile, if the diameters of the gears on the pair of shafts three 32d and 32c are larger than the diameters of the gears on the pair of shafts four 34d and 34c, the angular speeds of the pair of shafts four 34d and 34c are larger than the angular speeds of the pair of shafts three 32d and 32c when the pinions are driven by the large gears, and the diameters of the two wire reels 38b and 38a are designed to be larger, so that the snake-shaped joint can be greatly driven to deflect through slight handle deflection.

As shown in fig. 15, the transmission member coupling the pair of shafts three 32d, 32c and the pair of shafts four 34d, 34c may be a chain 40b/40a, a sprocket (33a and 36a, 33b and 36b), which has two advantages in such a design, namely, the distance between the pair of shafts three 32d, 32c and the pair of shafts four 34d, 34c is increased, so that the handle 10 is not hindered when it is swung in the up-down direction; secondly, the diameter of the chain wheels on the pair of shafts three 32d and 32c can be designed to be larger than that of the chain wheels on the pair of shafts four 34d and 34c, when the chain drives the chain wheels to rotate, the angular speed of the pair of shafts four 34d and 34c is larger than that of the pair of shafts three 32d and 32c, and then the diameters of the two wire reels 38b and 38a are designed to be larger, so that the snake-shaped joint can be greatly driven to swing through slight handle swing.

Example 3

FIG. 1 is a general view showing an embodiment of a multi-degree-of-freedom flexible minimally invasive surgical instrument according to the present invention, FIG. 2 is a partial perspective view showing the multi-degree-of-freedom flexible minimally invasive surgical instrument according to the present invention, which has a hollow shaft tube 50, a distal end of the shaft tube 50 is connected to a front end effector 70 through a serpentine joint 60, a fixed bracket 40 that is bent upward and a main frame that is vertically arranged downward from a proximal end of the fixed bracket 40 are installed at a proximal end of the shaft tube 50 in a first plane formed by an extension direction of the shaft tube 50, a yaw control assembly one 20 and a yaw control assembly two 30 that control horizontal and vertical yaw of the serpentine joint 60 are installed in the main frame, the yaw control assembly two 30 is fixed to the main frame and rotatably connected to a proximal end of the yaw control assembly one 20 around a revolution axis perpendicular to the first plane, and a handle 10 is installed below the fixed bracket 40, the distal end of the flexible transmission rod 52 is drawn through the shaft tube 50 and the central channel 92 formed in the center of the serpentine joint 60 to the front end effector 70, and the proximal end of the flexible transmission rod 52 is drawn through the distal end of the fixed bracket 40 and out of the slide block 12 in the connection handle 10. The upper end of the handle 10 can rotate around a rotation axis I which is positioned in the first plane and is perpendicular to the revolution axis I, and is connected with the distal end of the deflection control assembly I20, wherein the front end executing tool 70 comprises, but is not limited to, common tools for laparoscopic minimally invasive surgery, such as needle holding forceps, separating forceps, grasping forceps, scissors, hooks, electrocoagulation and the like. The connection between the front end executing tool 70 and the serpentine joint 60 can be referred to in paragraphs 0056 to 0059 of the patent CN215534654U and the corresponding drawings, and the connection between the serpentine joint 60 and the shaft tube 50 can be referred to in paragraphs 0043 to 0044 of the patent CN215534654U and the corresponding drawings, wherein the first plane is the front view of fig. 1.

In the present invention, the front end effector 70 includes at least one tool flap and a tool support pivotally connected to the tool support, the distal end of the flexible drive rod 52 passes through 50 and a central channel 92 formed in the center of the tool support and the serpentine joint 60 to drive the tool flap to pivot relative to the tool support, the distal ends of the four filaments pass through holes evenly disposed around the periphery of the central channel 92 of the serpentine joint 60 to connect to the periphery of the tool support, and the tool support is driven to swing freely relative to the shaft tube 50.

Fig. 3 shows a schematic view of the inside of the fixing bracket 40, the fixing bracket 40 having a mounting section for connecting with the proximal end of the shaft tube 50, a bending section bent upward from the upper end of the mounting section, and a horizontal section bent horizontally from the proximal end of the bending section, the mounting section, the bending section, and the horizontal section being integrally formed and having hollow cavities communicating with each other, and a pulley mechanism disposed in the hollow cavities for receiving four wires; specifically, two sets of pulley blocks, namely a pulley block a41 and a pulley block b42, are oppositely arranged up and down in the section of the cavity positioned at the installation section, two sets of pulley blocks 43 are arranged downwards side by side in the section of the cavity, close to the near end of the horizontal section, of the bending section, and two sets of pulley blocks 44 are arranged side by side at the near end of the horizontal section. The 4 strands of the wire from the front end executing tool 70 pass through the hole at the near end of the shaft center 51 of the shaft tube 50 and enter the fixed bracket 40, the wire passes through the hole at the near end of the shaft center 51 and is divided into an upper strand and a lower strand, which are respectively arranged around the pulley block a41 and the pulley block b42, pass through the pulley block 43 and are wound on the pulley block 44. The silk thread is wound on the fixing support 40, so that the force arm of the horizontal and vertical deflection operation of the wrist can be increased, the labor is saved, and the operation is more comfortable.

Fig. 13 shows an internal structure schematic diagram of the handle 10, the handle 10 is L-shaped and includes a holding section and a non-holding section located at the upper end of the holding section, the first rotation shaft 21a is arranged at one end of the non-holding section far away from the holding section, the design of the handle enables the holding section to form a lever relative to the non-holding section, and the lever drives the rotation and revolution of the non-holding section, so that the traction of the silk thread is more labor-saving. The handle 10 is provided with a link slider mechanism, which includes a slider 12 mounted in a slide groove 16 to be slidable in the axial direction of the handle 10, an operating trigger 11 rotatably connected to the distal end of the handle 10, and a link 13 rotatably connected to the operating trigger 11 and the slider 12, wherein one end of the operating trigger 11 rotatably connected to the handle 10 is provided with a ratchet 14 facing the inside of the handle 10, and the inside of the handle 10 is provided with a pawl 15 biased by an elastic body (not shown) toward the ratchet 14 on the operating trigger 11.

The proximal end of the flexible transmission rod 52 (including but not limited to a steel wire bundle and the like) for controlling the opening and closing of the front end execution tool 70 is connected with the slide block 12 in the handle 10, the operation trigger 11 is pressed, the link rod 13 connected with the operation trigger 11 pushes the slide block 12 to move horizontally towards the proximal end of the handle 10, the flexible transmission rod is driven to pull towards the proximal end so as to close the front end execution tool 70, and the ratchet 14 is engaged with the pawl 15 during the process of pressing down the operation trigger 11, so that the front end execution tool 70 is locked. Pawl 15 is biased by an elastomer, and depressing the handle of pawl 15 releases engagement with ratchet 14, thereby releasing implement 70.

It should be understood that the above description of the preferred embodiments is illustrative, and not restrictive, and that various changes and modifications may be made therein by those skilled in the art without departing from the scope of the invention as defined in the appended claims.

Claims (10)

1. The utility model provides a mechanism of control snakelike joint beat, the near-end connecting axle pipe (50) of snakelike joint (60), the distal end of four silk threads passes respectively around snakelike joint (60) central channel (92) evenly arranged's through-hole connection snakelike joint (60) distal end all around, its characterized in that, the through-hole is located the four corners of central channel (92): upper left, upper right, lower left, lower right; two silk threads (8a, 8c) and two silk threads (8d, 8b) which are in diagonal relation with each other in the four silk threads are respectively combined into a first combination and a second combination, the near ends of the silk threads of the first combination and the second combination are respectively wound and fixed on two wire winding discs (38b, 38a) after penetrating through an axle tube (50), the winding directions of the two silk threads of the same combination are opposite, when the two silk threads are in different combinations, if the two silk threads are in vertical position relation with each other, the winding directions of the two silk threads are opposite, and if the two silk threads are in left-right position relation with each other, the winding directions of the two silk threads are the same; two spools (38b, 38a) are used to pull four wires so that the distal end of the serpentine joint (60) can swing freely relative to the shaft tube (50).

2. The mechanism for controlling the deflection of the serpentine joint according to claim 1, further comprising a second deflection control assembly (30) and a first deflection control assembly (20), wherein a main frame and a pair of third shafts (32d, 32c) concentric with the revolution axis are arranged in the second deflection control assembly (30), the pair of third shafts (32d, 32c) are further rotatably connected with a pair of ear plates (85a, 85b) symmetrically arranged on the main frame respectively, and the pair of third shafts (32d, 32c) between the pair of ear plates (85a, 85b) are further rotatably connected with the first deflection control assembly (20);

a second rotating shaft (22a) and a first rotating shaft (21a) which are perpendicular to each other are arranged in the first deflection control assembly (20), the second rotating shaft (22a) is perpendicular to the revolution axis and can rotate, the first rotating shaft (21a) is rotationally connected with the first deflection control assembly (20) and is perpendicular to the revolution axis, one end of the second rotating shaft (22a) and the first rotating shaft (21a) are close to each other and are provided with transmission parts which are coupled with each other, the other end of the second rotating shaft (22a) and one end of the second rotating shaft (32d, 32c) which is opposite to the pair of shafts (32d, 32c) are provided with transmission parts which are coupled with each other, the first rotating shaft (21a) is arranged at the upper end of the handle (10), the handle (10) can rotate around the first rotating shaft (21a) to drive the second rotating shaft (22a) to rotate, so that the pair of shafts (32d, 32c) can rotate reversely, or the handle (10) revolves around the revolution axis and can drive a pair of shafts (32d, 32c) to rotate in the same direction;

the two wire reels (38a, 38b) are respectively driven by the opposite sides of the pair of third shafts (32d, 32 c).

3. A mechanism for controlling serpentine joint yaw as set forth in claim 2, wherein said two spools (38a, 38b) are mounted on a pair of shafts (32d, 32c), respectively.

4. A mechanism for controlling yaw of a serpentine joint as set forth in claim 2, wherein said two wire reels (38a, 38b) are respectively sleeved on a pair of shafts (34d, 34c) rotatable on said main frame, said pair of shafts (34d, 34c) being symmetrically disposed and concentric with an axis parallel to the axis of revolution, and the opposite sides of said pair of shafts (32d, 32c) are respectively driven by a driving member coupled to said pair of shafts (34d, 34 c);

the transmission member comprises gears meshed with each other on a pair of shafts three (32d, 32c) and a pair of shafts four (34d, 34c), or chain wheels arranged on the pair of shafts three (32d, 32c) and the pair of shafts four (34d, 34c) and a chain for driving the two chain wheels.

5. A mechanism for controlling the yaw of a serpentine joint according to any one of claims 3 or 4, wherein brake discs are respectively fixed to the opposite sides of the pair of third shafts (32d, 32c) or the pair of fourth shafts (34d, 34c), the main frame is further provided with two symmetrical joint locking clamps (35a, 35b), the brake discs are accommodated between the clamps which can be relatively close to and separated from each other and are arranged on the joint locking clamps (35a, 35b), the pair of third shafts (32d, 32c) or the pair of fourth shafts (34d, 34c) are limited to rotate when the joint locking clamps (35a, 35b) are clamped, and the pair of third shafts (32d, 32c) or the pair of fourth shafts (34d, 34c) are not hindered to rotate when the joint locking clamps (35a, 35b) are released.

6. The mechanism for controlling the deflection of the snake-shaped joint as claimed in claim 5, wherein the main frame is provided with a square hole (84) which penetrates through the front side and the rear side between the pair of ear plates (85a, 85b), the edges of the square hole (84) close to the ear plates (85a, 85b) are provided with a pair of limit plates (88) which are parallel to the ear plates (85a, 85b), one side of the pair of limit plates (88) far away from the bevel gear I (31) is provided with a trigger (80) which can rotate around a shaft (85) which is parallel to the revolution axis, the side of one end of the trigger (80) which is rotatably connected with the pair of limit plates (88) is provided with a bulge (90) facing the limit plate (88), and the limit plate (88) is provided with a holding part, two grooves (91a, 91b) of the clamping bulge (90), and the grooves (91a, 91b) are positioned on the track of the bulge (90) rotating along with the trigger (80).

7. A mechanism for controlling yaw of a serpentine joint as claimed in claim 6, wherein the joint locking clamps (35a, 35b) are caliper-like drum brakes each having a spring (81) and two sets of circular arc friction plates hinged to each other, the spring (81) is disposed between the non-hinged ends of the circular arc friction plates, a wire (83) is disposed through the spring (81), one end of the wire is fixed to the non-hinged end of one circular arc friction plate, the other end of the wire passes through the non-hinged end of the other circular arc friction plate, and a hose (82) is connected to one end of the trigger (80) away from the shaft (85);

one end of the hose (82) is fixed on the circular arc friction plates of the joint locking clamps (35a, 35b), and the other end of the hose is fixed on a square hole (84) between the limiting plates (88); the trigger (80) pivots about an axis (85) on a stop plate (88) pulling the guide wire (83) to telescope relative to the hose (82) to compress or release the spring (81).

8. The mechanism for controlling the deflection of a serpentine joint as claimed in claim 7, wherein the handle (10) is L-shaped and comprises a holding section and a non-holding section at the upper end of the holding section, and the rotation shaft I (21a) is disposed at one end of the non-holding section far from the holding section.

9. A multi-degree-of-freedom flexible instrument, based on the yaw control mechanism of any one of claims 1-8, wherein the distal end of the serpentine joint (60) is further coupled to a front-end implement (70), the front-end implement (70) includes at least one tool flap and a tool support base, the tool flap is rotatably coupled to the tool support base, the tool flap is rotatably driven by the distal end of a flexible drive rod (52) and is rotatable relative to the tool support base, the distal end of the flexible drive rod (52) passes through a central channel (92) formed in the center of the serpentine joint (60) and the tool support base, and a shaft tube (50) is coupled to a slider (12) in the handle (10).

10. The multi-degree-of-freedom flexible instrument of claim 9, wherein, in a first plane formed by the proximal-end elongation direction of the shaft tube (50): the proximal end of the shaft tube (50) is provided with an upward bent fixed support (40) and a main frame which is vertically arranged downwards from the proximal end of the fixed support (40), a deflection control assembly I (20) and a deflection control assembly II (30) for controlling horizontal deflection and vertical deflection of the snake-shaped joint (60) are arranged in the main frame, and the handle (10) is arranged below the fixed support (40);

the handle is characterized in that a connecting rod sliding block mechanism is arranged in a holding section of the handle (10) and comprises a sliding block (12) which is arranged in a sliding groove (16) and can slide along the axial direction of the handle (10), an operation trigger (11) which is rotatably connected with the far end of the handle (10), and a connecting rod (13) which is rotatably connected with the operation trigger (11) and the sliding block (12), wherein one end of the operation trigger (11) which is rotatably connected with the handle (10) is provided with a ratchet (14) facing the inside of the handle (10), and a pawl (15) which is biased to the ratchet (14) on the operation trigger (11) by an elastic body is also arranged in the handle (10).

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