CN115211908A - Multipurpose flexible controllable instrument based on spring - Google Patents

Multipurpose flexible controllable instrument based on spring Download PDF

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Publication number
CN115211908A
CN115211908A CN202210693250.2A CN202210693250A CN115211908A CN 115211908 A CN115211908 A CN 115211908A CN 202210693250 A CN202210693250 A CN 202210693250A CN 115211908 A CN115211908 A CN 115211908A
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China
Prior art keywords
far
spring
hole
connecting block
compression spring
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Pending
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CN202210693250.2A
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Chinese (zh)
Inventor
廖洪恩
王杰
胡成全
马龙飞
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Tsinghua University
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Tsinghua University
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Priority to CN202210693250.2A priority Critical patent/CN115211908A/en
Publication of CN115211908A publication Critical patent/CN115211908A/en
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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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
    • A61B10/02—Instruments for taking cell samples or for biopsy
    • A61B10/04—Endoscopic instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
    • A61B10/02—Instruments for taking cell samples or for biopsy
    • A61B10/06—Biopsy forceps, e.g. with cup-shaped jaws
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
    • A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
    • A61B18/22—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor
    • A61B18/24—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor with a catheter
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • 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
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A61B2017/3445—Cannulas used as instrument channel for multiple instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00982—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body combined with or comprising means for visual or photographic inspections inside the body, e.g. endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
    • A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
    • A61B18/22—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor
    • A61B2018/2205—Characteristics of fibres
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/067—Measuring instruments not otherwise provided for for measuring angles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/373—Surgical systems with images on a monitor during operation using light, e.g. by using optical scanners
    • A61B2090/3735—Optical coherence tomography [OCT]

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Veterinary Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Otolaryngology (AREA)
  • Gynecology & Obstetrics (AREA)
  • Springs (AREA)

Abstract

The invention discloses a spring-based multipurpose flexible controllable instrument, which comprises: a compression spring; the far-end connecting block comprises a far-end matching part and a far-end stopping part, the far-end matching part is fixedly matched in the compression spring, and the compression spring is abutted against the far-end stopping part; the near-end connecting block comprises a near-end matching part and a near-end stopping part, the near-end matching part is fixedly matched in the compression spring, and the compression spring is abutted against the near-end stopping part; the extension spring sleeve is positioned on the radial inner side of the compression spring; the two ends of the nickel-titanium alloy rod are respectively connected with the near-end connecting block and the far-end connecting block; the steel wire rope is provided with a locking block, the far-end connecting block is provided with a counter bore, and the locking block is fixedly matched in the counter bore. The spring-based multipurpose flexible controllable instrument has the advantages of good flexibility, strong stability, large load capacity, high controllability, good reliability and the like.

Description

Multipurpose flexible controllable instrument based on spring
Technical Field
The invention relates to the technical field of medical instrument manufacturing, in particular to a multipurpose flexible controllable instrument based on a spring.
Background
With the development of science and technology, minimally invasive surgery is more and more favored by doctors and patients due to the advantages of small wound, light pain, short recovery period and the like. The traditional open abdominal surgery is gradually replaced by multi-hole or single-hole laparoscopic surgery and surgery through natural orifice of human body. Meanwhile, with the development of the robot technology, the robot-assisted laparoscopic surgery and the robot-assisted surgery through the natural orifice of the human body are also gradually applied to clinics. In fact, both traditional minimally invasive surgery and robot-assisted minimally invasive surgery increase the difficulty of the surgery due to the reduction of the surgical incision, and therefore, high requirements are placed on surgical tools.
A flexible controllable tool for minimally invasive surgery in the related art, comprising:
the connecting rod joint type tool is characterized in that two or more rigid connecting rods are connected in series in a kinematic pair mode, a plurality of wire holes are threaded in the middle to control bending, and compared with other types of controllable tools, the connecting rod joint type tool has the biggest characteristics of high stability and large load capacity, but the tool is in a state that a plurality of sections of broken lines are connected end to end when bent, and corners exist at joints, so that the tool is generally in a dangerous structural form in an operation scene, and the tool does not have flexibility, namely the tool cannot flexibly avoid tissues when colliding with the peripheral tissues, so that the peripheral tissues are greatly damaged;
the flexible tool is generally made of flexible materials, the length of a rigid connecting rod of the flexible tool can be considered to be zero, meanwhile, kinematic pairs between joints are degraded and disappear, the tool can be controlled in a line driving mode and can also be subjected to bending control in other modes such as a fluid mode and the like, and the flexible tool is characterized in that a flexible tool body is bent naturally and has flexibility, but the tool generally has the problems of poor stability and weak load capacity, so that the tool cannot be supported well when being used, and the use scene is limited;
the continuous tool is arranged between the two tools, the length of the rigid connecting rod is very small but still exists, the motion between the connecting rods still exists in a kinematic pair mode, the bending control is carried out in a wire drive mode, the continuous tool combines the advantages of a connecting rod articulated tool and a flexible tool, namely, the continuous tool has certain stability and rigidity, can also generate a natural bending state, and has larger tool tail end load capacity.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides the spring-based multipurpose flexible controllable instrument which has the advantages of good flexibility, strong stability, large load capacity, high controllability, good reliability and the like.
To achieve the above objects, embodiments according to a first aspect of the present invention provide a spring-based multi-purpose flexibly controllable instrument, comprising: a compression spring having a distal end and a proximal end;
the far-end connecting block comprises a far-end matching part and a far-end stopping part, the outer diameter of the far-end matching part is equal to the inner diameter of the compression spring and is fixedly matched in the compression spring, the far end of the compression spring is abutted against the far-end stopping part, the far-end matching part is provided with a far-end matching part through hole which axially penetrates through the far-end matching part, the far-end stopping part is provided with a far-end stopping part through hole which axially penetrates through the far-end stopping part, and the far-end matching part through hole is connected with the far-end stopping part through hole; the near-end connecting block comprises a near-end matching part and a near-end stopping part, the outer diameter of the near-end matching part is equal to the inner diameter of the compression spring and is fixedly matched in the compression spring, the near end of the compression spring is abutted against the near-end stopping part, the near-end matching part is provided with a near-end matching part through hole which axially penetrates through the near-end matching part, the near-end stopping part is provided with a near-end stopping part through hole which axially penetrates through the near-end stopping part, the near-end matching part through hole is connected with the near-end stopping part through hole, and the outer diameter of the compression spring is equal to the outer diameter of the far-end stopping part; the extension spring sleeve is positioned on the radial inner side of the compression spring, two ends of the extension spring sleeve are respectively matched in the far-end matching part through hole and the near-end matching part through hole, the central axes of the compression spring, the far-end connecting block, the near-end connecting block and the extension spring sleeve are overlapped, the normal length of the extension spring sleeve is smaller than the normal length of the compression spring and larger than the minimum distance between the near-end connecting block and the far-end connecting block, and the diameter of the far-end stopping part through hole is equal to the diameter of the near-end stopping part through hole and equal to the inner diameter of the extension spring sleeve; the nickel-titanium alloy rod is positioned on the radial inner side of the compression spring and the radial outer side of the extension spring sleeve, two ends of the nickel-titanium alloy rod are respectively connected with the near-end connecting block and the far-end connecting block, a far-end blind hole is formed in the far-end connecting block, a near-end blind hole is formed in the near-end connecting block, two ends of the nickel-titanium alloy rod are respectively fixedly matched in the far-end blind hole and the near-end blind hole, the far-end blind hole is internally tangent to the circumferential surface of the far-end matching part, and the near-end blind hole is internally tangent to the circumferential surface of the near-end matching part; wire rope, wire rope is located the radial inboard of compression spring just is located the radial outside of extension spring sleeve pipe, wire rope's one end is equipped with the lock block, the distal end connecting block is kept away from the terminal surface of near-end connecting block is equipped with the counter bore, be equipped with on the distal end connecting block with the distal end via hole of counter bore intercommunication, be equipped with near-end via hole on the near-end connecting block, lock block fixed fit is in the counter bore just wire rope passes distal end via hole with near-end via hole, wire rope with near-end via hole clearance fit, wire rope with nickel titanium alloy pole is in compression spring's the relative setting in circumference, the lock block is kept away from wire rope's terminal surface with on the distal end connecting block the terminal surface parallel and level at counter bore place.
The spring-based multipurpose flexible controllable instrument disclosed by the embodiment of the invention has the advantages of good flexibility, strong stability, large load capacity, high controllability, good reliability and the like.
In addition, the multi-purpose flexible controllable instrument based on the spring according to the above embodiment of the invention may have the following additional technical features:
according to one embodiment of the invention, the length of the nitinol rod is equal to the sum of the normal length of the compression spring, the axial depth of the distal blind hole and the axial depth of the proximal blind hole.
According to one embodiment of the invention, the diameter of the distal via hole is equal to the diameter of the steel wire rope.
According to an embodiment of the present invention, two ends of the extension spring sleeve are fixedly connected in the distal mating portion through hole and the proximal mating portion through hole, respectively.
According to one embodiment of the invention, one end of the extension spring sleeve is fixedly fitted within the proximal fitting portion through hole and the other end is clearance fitted within the distal fitting portion through hole.
According to one embodiment of the invention, the distal connection block is adapted to connect to a laser light source connected fiber optic or optical coherence tomography probe for tissue ablation.
According to one embodiment of the invention, the distal connecting block is adapted to be connected with a biopsy forceps which is rotatably mounted on the distal connecting block by a bearing, a drive rope of the biopsy forceps passes through the extension spring sleeve, and a biopsy forceps spring sleeve is sleeved between the extension spring sleeve and the drive rope.
According to one embodiment of the invention, the proximal connection block is adapted to connect to an extension rigid tube.
According to one embodiment of the invention, the proximal connection block is adapted to be connected to an extension flexible tube, and the wire rope is sleeved with a proximal spring sleeve.
According to one embodiment of the invention, a near-end position and pose sensor is arranged on the near-end connecting block, a far-end position and pose sensor is arranged on the far-end connecting block, and one end of the steel wire rope, which is far away from the locking block, is connected with a tension displacement sensor.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic diagram of a spring-based multi-purpose flexible controllable instrument according to an embodiment of the present invention.
Figure 2 is a schematic diagram of a spring-based multi-purpose flexible controllable instrument according to an embodiment of the present invention.
Figure 3 is a cross-sectional view of a spring-based multi-purpose flexible controllable instrument according to an embodiment of the present invention.
FIG. 4 is a partial cross-sectional view of a spring-based multipurpose flexibly controllable instrument according to an embodiment of the present invention.
FIG. 5 is a schematic diagram of a portion of a spring-based multi-purpose flexible controllable instrument, according to one embodiment of the present invention.
FIG. 6 is a schematic partial view of a spring-based multi-purpose flexible controllable instrument according to another embodiment of the present invention.
FIG. 7 is a schematic partial view of a spring-based multi-purpose flexible controllable instrument according to another embodiment of the present invention.
Figure 8 is a schematic diagram of a spring-based multi-purpose flexible controllable instrument according to another embodiment of the present invention.
Figure 9 is a schematic diagram of a spring-based multi-purpose flexible controllable instrument according to another embodiment of the present invention.
FIG. 10 is a schematic structural view of a spring-based multi-purpose flexible controllable instrument according to another embodiment of the present invention.
FIG. 11 is a schematic partial view of a spring-based multi-purpose flexible controllable instrument according to another embodiment of the present invention.
Figure 12 is a force diagram of a spring-based multi-purpose flexible controllable instrument according to another embodiment of the present invention.
FIG. 13 is a schematic illustration of a palpation procedure for a spring based multi-purpose flexible controllable instrument according to another embodiment of the invention.
Reference numerals: the multi-purpose flexible controllable spring-based instrument 1, a compression spring 100, a distal connection block 200, a distal engagement portion 210, a distal engagement portion via hole 211, a distal stop 220, a distal stop via hole 221, a distal blind hole 230, a counter bore 240, a distal via hole 250, a proximal connection block 300, a proximal engagement portion 310, a proximal engagement portion via hole 311, a proximal stop 320, a proximal stop via hole 321, a proximal blind hole 330, a proximal via hole 340, an extension spring sleeve 400, a nitinol rod 500, a steel wire rope 600, a locking block 610, a proximal spring sleeve 620, an optical fiber or probe 2, a bioptome 3, a bearing 31, a drive rope 32, a connecting sleeve 33, a bioptome spring sleeve 34, an extension rigid tube 4, an extension flexible tube 5, an elastic groove 51, a distal pose sensor 6, a distal sensor line 61, a proximal pose sensor 7, a proximal sensor line 71, a tension displacement sensor 8, a laparoscope 9, a channel 91, a liver 10.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically 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 a specific case to those of ordinary skill in the art.
A spring based multi-purpose flexible controllable instrument 1 according to an embodiment of the present invention is described below with reference to the accompanying drawings.
As shown in fig. 1-13, a spring-based multipurpose flexible controllable instrument 1 according to an embodiment of the present invention includes a compression spring 100, a distal connection block 200, a proximal connection block 300, an extension spring sleeve 400, a nitinol rod 500, and a wire cable 600.
The compression spring 100 has a distal end and a proximal end.
Distal end connecting block 200 includes distal end cooperation portion 210 and distal end backstop portion 220, the external diameter of distal end cooperation portion 210 equals the internal diameter of compression spring 100 and fixed cooperation in compression spring 100, compression spring 100's distal end and distal end backstop portion 220 butt, distal end cooperation portion 210 is equipped with the distal end cooperation portion via hole 211 that link up distal end cooperation portion 210 along the axial, distal end backstop portion 220 is equipped with the distal end backstop portion via hole 221 that link up distal end backstop portion 220 along the axial, distal end cooperation portion via hole 211 links to each other with distal end backstop portion via hole 221.
The proximal connection block 300 includes a proximal fitting portion 310 and a proximal stopper portion 320, an outer diameter of the proximal fitting portion 310 is equal to an inner diameter of the compression spring 100 and is fixedly fitted in the compression spring 100, a proximal end of the compression spring 100 abuts against the proximal stopper portion 320, the proximal fitting portion 310 is provided with a proximal fitting portion via hole 311 axially penetrating through the proximal fitting portion 310, the proximal stopper portion 320 is provided with a proximal stopper portion via hole 321 axially penetrating through the proximal stopper portion 320, and the proximal fitting portion via hole 311 is connected to the proximal stopper portion via hole 321.
The outer diameter of the compression spring 100 is equal to the outer diameter of the distal stop 220 and the outer diameter of the proximal stop 320.
The extension spring sleeve 400 is located at the radially inner side of the compression spring 100 and both ends are fitted in the distal-end fitting portion through hole 211 and the proximal-end fitting portion through hole 311, respectively.
The central axes of the compression spring 100, the distal connection block 200, the proximal connection block 300 and the extension spring sleeve 400 coincide.
The normal length of the extension spring sleeve 400 is less than the normal length of the compression spring 100 and greater than the minimum distance between the proximal and distal connector blocks 300, 200.
The diameter of the distal stop through hole 221 is equal to the diameter of the proximal stop through hole 321 is equal to the inner diameter of the extension spring sleeve 400.
The nitinol rod 500 is located on the radial inner side of the compression spring 100 and on the radial outer side of the extension spring sleeve 400, and both ends of the nitinol rod are respectively connected with the near-end connecting block 300 and the far-end connecting block 200, the far-end connecting block 200 is provided with a far-end blind hole 230, the near-end connecting block 300 is provided with a near-end blind hole 330, both ends of the nitinol rod 500 are respectively and fixedly matched in the far-end blind hole 230 and the near-end blind hole 330, the far-end blind hole 230 is internally tangent to the circumferential surface of the far-end matching portion 210, and the near-end blind hole 330 is internally tangent to the circumferential surface of the near-end matching portion 310.
The steel wire rope 600 is located on the radial inner side of the compression spring 100 and located on the radial outer side of the extension spring sleeve 400, one end of the steel wire rope 600 is provided with a locking block 610, the end face, far away from the near-end connecting block 300, of the far-end connecting block 200 is provided with a counter bore 240, the far-end connecting block 200 is provided with a far-end via hole 250 communicated with the counter bore 240, the near-end connecting block 300 is provided with a near-end via hole 340, the locking block 610 is fixedly matched in the counter bore 240, the steel wire rope 600 penetrates through the far-end via hole 250 and the near-end via hole 340, the steel wire rope 600 is in clearance fit with the near-end via hole 340, the steel wire rope 600 and the nickel-titanium alloy rod 500 are oppositely arranged in the circumferential direction of the compression spring 100, and the end face, far away from the steel wire rope 600, of the locking block 610 is flush with the end face, where the counter bore 240 is located, of the far-end connecting block 200.
Specifically, when the spring-based multi-purpose flexible controllable instrument 1 is required to be controlled to bend as shown in fig. 1 in a normal state, as shown in fig. 2, a tensile force F is applied to the steel wire rope 600, one side of the compression spring 100 is compressed by the steel wire rope 600 while the other side of the compression spring is not compressed axially due to the support of the nitinol rod 500, so that the compression spring 100 bends toward one side of the steel wire rope 600.
According to the spring-based multipurpose flexible controllable instrument 1 provided by the embodiment of the invention, the connecting block comprises the matching part and the stopping part, the matching part can be fixedly matched in the compression spring 100, the stopping part is used for stopping two ends of the compression spring 100, so that the two connecting blocks can be installed and positioned, and the matching part is fixedly matched with the compression spring to prevent the connecting blocks and the compression spring 100 from rotating relatively.
By making the outer diameter of the compression spring 100 equal to the outer diameter of the distal stopper portion 220 equal to the outer diameter of the proximal stopper portion 320, the increase in the radial dimension of the spring-based multipurpose flexible controllable instrument 1 due to the arrangement of the connection block can be avoided, and the circumferential surface of the spring-based multipurpose flexible controllable instrument 1 can be made more neat, reducing the influence of the rugged structure on the surgical procedure.
By locating the extension spring sleeve 400 radially inward of the compression spring 100 with both ends fitted in the distal fitting portion through hole 211 and the proximal fitting portion through hole 311, respectively, positioning and installation of the extension spring sleeve 400 can be facilitated.
By making the central axes of the compression spring 100, the distal connecting block 200, the proximal connecting block 300 and the extension spring sleeve 400 coincide, it is convenient to ensure that the axial directions of the steel wire rope 600 and the nitinol rod 500 are parallel to the axial direction of the compression spring 100, thereby facilitating the bending control of the spring-based multipurpose flexible controllable instrument 1.
By making the normal length of the extension spring sleeve 400 smaller than the normal length of the compression spring 100 and larger than the minimum distance between the proximal connection block 300 and the distal connection block 200, it is possible to prevent the extension spring sleeve 400 from being excessively deformed to affect the natural bending of the compression spring 100 when the spring-based multipurpose flexible controllable instrument 1 is bent, and to prevent the extension spring sleeve 400 from being separated from the distal connection block 200 and the proximal connection block 300.
By making the diameter of the distal-end stopper via hole 221 equal to the diameter of the proximal-end stopper via hole 321 equal to the inner diameter of the extension spring sleeve 400, it is convenient to wear other structures, such as optical fibers, driving ropes of biopsy forceps, etc., inside the distal-end connecting block 200, the proximal-end connecting block 300, and the extension spring sleeve 400, avoiding interference with the wear of other structures, for example, when the spring-based multipurpose flexible controllable instrument 1 is used as a bending controllable catheter, it is convenient for the surgical instrument to be smoothly inserted and pulled out in the extension spring sleeve 400 and the two stopper blocks.
Through setting up nickel titanium alloy pole 500, make nickel titanium alloy pole 500 be located compression spring 100 radial inboard and be located the radial outside of extension spring sleeve pipe 400 and both ends link to each other with near-end connecting block 300 and far-end connecting block 200 respectively, be equipped with distal end blind hole 230 on the distal end connecting block 200, be equipped with near-end blind hole 330 on the near-end connecting block 300, the both ends of nickel titanium alloy pole 500 fixed fit is in far-end blind hole 230 and near-end blind hole 330 respectively, can utilize nickel titanium alloy pole 500 to support far-end connecting block 200 and near-end connecting block 300 in the axial like this, avoid compression spring 100 to take place the axial compression in one side that nickel titanium alloy pole 500 supported, guarantee compression spring 100 only to wire rope 600's one side bending.
By internally cutting the distal blind hole 230 into the peripheral surface of the distal fitting portion 210 and internally cutting the proximal blind hole 330 into the peripheral surface of the proximal fitting portion 310, the nitinol rod 500, especially the compression spring 100, can be kept in contact with the inner side of the compression spring 100 after being mounted, so that the compression spring 100 and the nitinol rod 500 have the same degree of bending, and the compression spring 100 is further prevented from being axially compressed on the side where the nitinol rod 500 is supported.
By providing the wire rope 600, one side of the compression spring 100 may be driven to be compressed by pulling the wire rope 600, thereby causing the compression spring 100 to bend to one side of the wire rope 600.
By arranging the wire rope 600 and the nitinol rod 500 opposite to each other in the circumferential direction of the compression spring 100, in other words, the wire rope 600 and the nitinol rod 500 are arranged 180 degrees in the circumferential direction of the compression spring 100. Thus, the bending neutral layer of the whole spring-based multipurpose flexible controllable instrument 1 is deflected when being bent, a smaller driving force is needed when the tool is bent at the same angle, and the generation of component force in other directions can be avoided, so that the compression direction of the compression spring 100 is ensured, and the bending direction of the spring-based multipurpose flexible controllable instrument 1 is ensured.
By clearance-fitting the wire rope 600 with the proximal end via hole 340, the wire rope 600 can slide smoothly relative to the proximal end via hole 340.
Through setting up locking piece 610, can be convenient for with the one end fixed connection of wire rope 600 on distal end connecting block 200 to be convenient for wire rope 600's connection and installation.
Through the terminal surface that makes locking piece 610 keep away from wire rope 600 and the terminal surface parallel and level that counter bore 240 was located on the distal end connecting block 200, can avoid locking piece 610 protrusion distal end connecting block 200's terminal surface, avoid convex structure to disturb the operation process, can avoid disturbing other structures such as connection biopsy pincers moreover.
That is to say, compared with the link joint type tool in the related art, the spring of the multi-purpose flexible controllable instrument 1 based on the spring has better flexibility, and can flexibly avoid tissues, compared with the flexible tool in the related art, the spring has better stability and load capacity, compared with the continuity tool in the related art, the bending position of the compression spring can be ensured through the support of the nickel-titanium alloy rod 500 and the driving of the steel wire rope 600, and the multi-purpose flexible controllable instrument 1 based on the spring is ensured to correspond to only one bending state in one driving state, so that the controllability of the multi-purpose flexible controllable instrument 1 based on the spring is improved.
Therefore, the multi-purpose flexible controllable instrument 1 based on the spring has the advantages of good flexibility, strong stability, large load capacity, high controllability, good reliability and the like.
A spring-based multipurpose flexible controllable instrument 1 according to an embodiment of the present invention is described below with reference to the accompanying drawings.
In some embodiments of the invention, as shown in fig. 1-13, a spring-based multipurpose flexible controllable instrument 1 according to embodiments of the invention includes a compression spring 100, a distal connection block 200, a proximal connection block 300, an extension spring sleeve 400, a nitinol rod 500, and a wire cable 600.
Specifically, as shown in FIG. 3, the length of the Nitinol rod 500 is equal to the sum of the normal length of the compression spring 100, the axial depth of the distal blind bore 230, and the axial depth of the proximal blind bore 330. Can guarantee like this that the both ends butt of nickel titanium alloy pole 500 is on the diapire of two blind holes, avoid two connecting blocks to take place axial displacement in one side that nickel titanium alloy pole 500 supported to avoid compression spring 100 to take place axial compression in one side that nickel titanium alloy pole 500 supported.
More specifically, the diameter of the distal via 250 is equal to the diameter of the wire rope 600. This may facilitate the fixed connection of one end of the wire rope 600 to the distal connection block 200.
In some embodiments of the present invention, both ends of the extension spring sleeve 400 are fixedly connected within the distal mating portion through hole 211 and the proximal mating portion through hole 311, respectively. Specifically, the outer diameter of the extension spring sleeve 400 is equal to the diameter of the proximal fitting via 311 and the diameter of the distal fitting via 211. This prevents the opposite ends of the extension spring sleeve 400 from moving relative to the connection block. For example, when customizing the wire driven surgical instrument tip using the spring based multi-purpose flexible controllable instrument 1, the outer diameter of the extension spring sleeve 400 can be adjusted to match the wire of the tip wire driven instrument to form a Bowden tube, ensuring that the tool can freely bend while transmitting tension to the tip wire driven instrument.
In other embodiments of the present invention, one end of the extension spring sleeve 400 is fixedly fit within the proximal fitting via 311 and the other end is clearance fit within the distal fitting via 211. Specifically, the outer diameter of the extension spring sleeve 400 is equal to the diameter of the proximal mating portion through hole 311. This allows one end of the extension spring sleeve 400 to be fixedly connected to the proximal connection block 300 and the other end to be axially movable with respect to the distal connection block 200, which improves the flexibility and flexibility of the spring-based multi-purpose flexible controllable instrument 1.
Specifically, the outer diameters of the distal mating portion 210 and the proximal mating portion 310 are equal to the inner diameter of the compression spring 100. This may facilitate a secure connection of the connecting block to the compression spring 100.
In some embodiments of the present invention, the spring-based multipurpose flexible controllable instrument 1 may be used as a controllable catheter. The spring-based multipurpose flexible controllable instrument 1 plays a role in guiding and positioning when used as a catheter, and other flexible instruments penetrate through the proximal stop portion through hole 321, pass through the extension spring sleeve 400 and extend out of the distal stop portion through hole 221.
In some embodiments, as shown in fig. 5, the distal connection block 200 is adapted to connect to an optical fiber or probe 2, the optical fiber being a laser light source connected optical fiber for tissue ablation, the probe being an optical coherence tomography probe, which can be used to determine cancerous tissue regions and boundaries, etc. Specifically, the optical fiber or probe 2 can be threaded through the proximal stop through hole 321, pass through the extension spring sleeve 400, and extend out of the distal stop through hole 221. Thus, the multi-purpose flexible controllable instrument 1 based on the spring can be used as a controllable catheter of the optical fiber or the probe 2, and the optical fiber or the probe 2 can be guided and positioned.
Of course, the distal connection block 200 may also be connected to other flexible surgical tools of suitable dimensions.
In other embodiments, as shown in FIGS. 6 and 7, distal hub 200 is adapted to couple to bioptome 3, bioptome 3 is rotatably mounted to distal hub 200 via bearing 31, drive cord 32 of bioptome 3 extends through tension spring sleeve 400, and bioptome spring sleeve 34 is disposed between tension spring sleeve 400 and drive cord 32. Specifically, the opening and closing of the forward end of bioptome 3 is accomplished by relative movement of its drive cord 32 and bioptome spring sleeve 34. The bottom of the biopsy forceps 3 is fixed on the connecting sleeve 33 in a nesting mode, the connecting sleeve 33 is arranged in an inner hole of the bearing 31 in an interference fit mode, and the bearing 31 is fixedly arranged on the distal connecting block 200. This ensures that the biopsy forceps 3 and the spring based multi-purpose flexible controllable instrument 1 are locked in their axial mutual positions, while ensuring that the biopsy forceps 3 can be rotated relative to the spring based multi-purpose flexible controllable instrument 1. The bearing 31 may be a deep groove ball and groove ball bearing.
In other embodiments of the present invention, the spring-based multipurpose flexible controllable instrument 1 can be used as a controllable front end, a rear end can be connected with an extension sleeve to increase the overall length, and the sleeve is fixedly connected with the end face of the proximal connection block 300, and the length of the sleeve can be adjusted according to the scene and the requirement of the surgical operation.
In some embodiments, as shown in FIG. 8, the proximal connector block 300 is adapted to connect to an extension rigid tube 4. This ensures the stiffness of the extension tube and improves the stability of the spring based multi-purpose flexible controllable instrument 1.
In other embodiments, as shown in fig. 9, the proximal connection block 300 is adapted to connect to the extension flexible tube 5, the extension flexible tube 5 is provided with an elastic groove 51, and the cable 600 is sleeved with a proximal spring sleeve 620. The elastic groove 51 may increase the flexibility of the extension flexible tube 5. It will be appreciated by those skilled in the art that the extension flexible tube 5 may not be provided with the resilient groove 51. The near-end spring sleeve 620 is sleeved outside the steel wire rope 600 to form a bowden tube, so that the steel wire rope 600 can correctly and effectively transmit tension and reduce friction between the steel wire rope 600 and peripheral parts. Due to the good flexibility of the multipurpose flexible controllable instrument 1 based on the spring, the instrument can be used in a curved channel. For example, the spring-based multi-purpose flexible controllable instrument 1 may be used in a channel of an endoscopic platform.
In other embodiments of the present invention, as shown in fig. 10 to 13, a near-end position sensor 7 is disposed on the near-end connecting block 300, a far-end position sensor 6 is disposed on the far-end connecting block 200, and a tension displacement sensor 8 is connected to an end of the steel cable 600 far from the locking block 610. Specifically, the distal end posture sensor 6 is connected to a distal end sensor line 61, and the proximal end posture sensor 7 is connected to a proximal end sensor line 71. This allows the spring based multipurpose flexible controllable instrument 1 to be used as a force sensor.
Specifically, as shown in fig. 12, for the multi-purpose flexible controllable device 1 based on a spring, the spring is a main component part, so the relationship between the tensile force F (θ) on the steel cable 600 and the bending angle θ of the multi-purpose flexible controllable device 1 based on the spring can be obtained through the static analysis of the spring.
The tension F (θ) on the steel cable 600 can be calculated according to the elastic modulus of each component when the multi-purpose flexible controllable spring-based instrument 1 is bent at the bending angle θ and the bending angle θ of the multi-purpose flexible controllable spring-based instrument 1. The elastic modulus of these components can be derived from the structural and physical properties of the assembly. Meanwhile, the relation S (θ) between the telescopic length of the wire rope 600 and the bending angle θ of the multi-purpose flexible controllable instrument 1 based on the spring can be obtained by performing geometric relation analysis from the aspect of kinematics. In any state, the tension F (θ) on the wire rope 600 and the expansion length S (θ) of the wire rope 600 can be measured by the tension displacement sensor 8.
When the surgical tool is used for performing a surgical operation, the force sensing function is to prevent the tool from being in contact with tissues with excessive force, so that the shape and the position of the tool are unknown and the tool can damage the tissues to a certain extent. Thus, when the spring-based multipurpose flexible controllable instrument 1 is subjected to forces that are too small to change the controllable state of the spring tool, the tool need not feedback such forces.
As shown in fig. 12, when the spring tool is in a natural extension state, the end apparatus is acted by an external force Ff (except a special force parallel to the tool axis), from the perspective of energy, the external force Ff does work on the tool deformation displacement, the deformed multi-purpose flexible controllable apparatus 1 based on the spring is stored in an energy mode, the deformation result can be transmitted to an upper computer through a sensor line according to position and direction information provided by pose sensors on two connecting blocks of the tool, and the state of the tool under the action of the external force is fitted through a bezier curve theory. The bending condition and the stress condition of the tool can be judged by fitting the bending direction and the bending angle theta of the curve.
When the multi-purpose flexible and controllable spring-based instrument 1 is in a bent state and the distal end is subjected to an external force Ff, three situations may occur in the tension F (θ) of the cable 600. The first is F (θ) =0, that is, the tension F (θ) of the steel wire rope 600 disappears at this time, and the analysis of the stress condition of the end in this state is consistent with the situation when the spring-based multipurpose flexible controllable instrument 1 is in the natural straightening state (without the action of the tension F (θ)); the second is that F (theta) is unchanged, but the tool pose fitted according to the information of the pose sensor is changed at the moment, and the tool pose contributed by F (theta) is removed according to the bending direction and the bending angle of the changed tool, so that the bending condition and the stress condition can be judged; the third is that F (theta) changes, the posture of the multipurpose flexible controllable instrument 1 based on the spring also changes, and the tool bending condition and the stress condition can be judged by removing the tool posture contributed by the changed F (theta) according to the changed bending direction and bending angle.
The force sensing of the multi-purpose flexible controllable instrument 1 based on the spring under the two states can feed back the shape and the position of the tool in real time, whether the instrument is influenced by external force or not and the action plane of the external force. When the spring-based multipurpose flexible controllable instrument 1 is applied to a laparoscope platform as a flexible tool, the position and the direction of the spring-based multipurpose flexible controllable instrument 1 at the tail end of the laparoscope platform are adjusted, so that the action point and the action direction of the spring-based multipurpose flexible controllable instrument 1 and tissues can be determined according to the pose and tissue contour information of the laparoscope platform, and the magnitude of the external force can be accurately deduced through the shape change of the spring-based multipurpose flexible controllable instrument 1.
For example, as shown in fig. 13, a hepatobiliary-pancreatic laparoscopic procedure is performed with a spring-based multi-purpose flexible controllable instrument 1 for palpation to approximate the location and boundary of a liver tumor. The spring-based multipurpose flexible controllable instrument 1 extends from the channel 91 of the laparoscope 9 and the distal connection block 200 of the spring-based multipurpose flexible controllable instrument 1 is in surface contact with the liver 10. During palpation, the laparoscope 9 is manipulated to slide across the surface of the liver 10, ensuring that the spring-based multi-purpose flexible controllable instrument 1 is in contact with the tissue and the cable 600 does not exert a pulling force during the sliding process. In the process, the deformation of the spring based multipurpose flexible controllable instrument 1 comes partly from the change of the position of the laparoscope 9 and partly from the change of the tissue profile and the tissue stiffness. Therefore, the shape change of the multi-purpose flexible controllable device 1 based on the spring can reflect the hardness change of the liver 10 tissue without the influence of the position change of the laparoscope 9. If the liver 10 is healthy, the elasticity of the liver tissue is consistent, so the shape of the spring-based multipurpose flexible controllable device 1 along the contour of the liver 10 will remain consistent; if a tumour is present in the liver 10 this disrupts the consistency of the tissue elasticity resulting in greater bending of the spring based multi-purpose flexible controllable instrument 1 as it is stroked over the tumour as the stiffness of the tissue becomes greater due to the presence of the tumour such that the deformation of the tissue is reduced. The approximate area of the liver tumor can be judged according to the change of the tool shape fitted by the information of the two pose sensors of the spring-based multipurpose flexible controllable instrument 1. In the process of palpating the multi-purpose flexible controllable instrument 1 based on the spring, the force information received by the tail end is deduced in real time according to the shape information of the multi-purpose flexible controllable instrument 1 based on the spring, and the information is transmitted to an operating doctor, so that on one hand, the normal palpation can be ensured, and on the other hand, the visual perception of the doctor can avoid the action of overlarge force on the tissues of a patient in the palpation process. According to the information of palpation, the outline of the tumor can be accurately determined by combining the optical coherence tomography, so that the preparation for the subsequent operation treatment can be realized.
Other constructions and operations of the spring-based multipurpose flexible controllable instrument 1 according to embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (10)

1. A spring-based multi-purpose flexibly controllable instrument, comprising:
a compression spring having a distal end and a proximal end;
the outer diameter of the far-end matching part is equal to the inner diameter of the compression spring and is fixedly matched in the compression spring, the far end of the compression spring is abutted against the far-end stopping part, the far-end matching part is provided with a far-end matching part through hole which axially penetrates through the far-end matching part, the far-end stopping part is provided with a far-end stopping part through hole which axially penetrates through the far-end stopping part, and the far-end matching part through hole is connected with the far-end stopping part through hole;
the near-end connecting block comprises a near-end matching part and a near-end stopping part, the outer diameter of the near-end matching part is equal to the inner diameter of the compression spring and is fixedly matched in the compression spring, the near end of the compression spring is abutted against the near-end stopping part, the near-end matching part is provided with a near-end matching part through hole which axially penetrates through the near-end matching part, the near-end stopping part is provided with a near-end stopping part through hole which axially penetrates through the near-end stopping part, the near-end matching part through hole is connected with the near-end stopping part through hole, and the outer diameter of the compression spring is equal to the outer diameter of the far-end stopping part;
the extension spring sleeve is positioned on the radial inner side of the compression spring, two ends of the extension spring sleeve are respectively matched in the far-end matching part through hole and the near-end matching part through hole, the central axes of the compression spring, the far-end connecting block, the near-end connecting block and the extension spring sleeve are overlapped, the normal length of the extension spring sleeve is smaller than the normal length of the compression spring and larger than the minimum distance between the near-end connecting block and the far-end connecting block, and the diameter of the far-end stopping part through hole is equal to the diameter of the near-end stopping part through hole and equal to the inner diameter of the extension spring sleeve;
the nickel-titanium alloy rod is positioned on the radial inner side of the compression spring and the radial outer side of the extension spring sleeve, two ends of the nickel-titanium alloy rod are respectively connected with the near-end connecting block and the far-end connecting block, a far-end blind hole is formed in the far-end connecting block, a near-end blind hole is formed in the near-end connecting block, two ends of the nickel-titanium alloy rod are respectively fixedly matched in the far-end blind hole and the near-end blind hole, the far-end blind hole is internally tangent to the circumferential surface of the far-end matching part, and the near-end blind hole is internally tangent to the circumferential surface of the near-end matching part;
wire rope, wire rope is located the radial inboard of compression spring just is located the radial outside of extension spring sleeve pipe, wire rope's one end is equipped with the lock block, the distal end connecting block is kept away from the terminal surface of near-end connecting block is equipped with the counter bore, be equipped with on the distal end connecting block with the distal end via hole of counter bore intercommunication, be equipped with near-end via hole on the near-end connecting block, lock block fixed fit is in the counter bore just wire rope passes distal end via hole with near-end via hole, wire rope with near-end via hole clearance fit, wire rope with nickel titanium alloy pole is in compression spring's the relative setting in circumference, the lock block is kept away from wire rope's terminal surface with on the distal end connecting block the terminal surface parallel and level at counter bore place.
2. The spring-based multipurpose flexible controllable instrument according to claim 1, wherein said nitinol rod has a length equal to the sum of the normal length of said compression spring, the axial depth of said distal blind hole and the axial depth of said proximal blind hole.
3. The spring-based multipurpose flexible controllable instrument according to claim 1, wherein a diameter of said distal through hole is equal to a diameter of said wire rope.
4. The spring-based multipurpose flexibly controllable instrument according to claim 1, wherein both ends of said extension spring sleeve are fixedly connected within said distal mating portion through hole and said proximal mating portion through hole, respectively.
5. The spring-based multi-purpose flexible controllable instrument according to claim 1, wherein one end of said extension spring sleeve is fixedly fit within said proximal mating portion through hole and the other end is clearance fit within said distal mating portion through hole.
6. The spring-based multi-purpose flexible controllable instrument according to claim 1, wherein said distal connection block is adapted to connect to a laser light source connected fiber optic or optical coherence tomography probe for tissue ablation.
7. The spring-based multi-purpose flexible controllable instrument according to claim 1, wherein said distal attachment block is adapted to connect to a biopsy forceps rotatably mounted on said distal attachment block by a bearing, a drive cord of said biopsy forceps passing through said extension spring sleeve, said extension spring sleeve and said drive cord being nested with said biopsy forceps spring sleeve.
8. The spring-based multipurpose flexible controllable instrument according to claim 1, wherein said proximal connection block is adapted to connect to an extension rigid tube.
9. The spring-based multipurpose flexible controllable instrument according to claim 1, wherein said proximal connection block is adapted to connect to an extension flexible tube, and said wire rope is sleeved with a proximal spring sleeve.
10. The spring-based multipurpose flexible controllable instrument according to claim 1, characterized in that a near-end pose sensor is arranged on the near-end connecting block, a far-end pose sensor is arranged on the far-end connecting block, and a tension displacement sensor is connected to one end of the steel wire rope far away from the locking block.
CN202210693250.2A 2022-06-17 2022-06-17 Multipurpose flexible controllable instrument based on spring Pending CN115211908A (en)

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CN202210693250.2A CN115211908A (en) 2022-06-17 2022-06-17 Multipurpose flexible controllable instrument based on spring

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Application Number Priority Date Filing Date Title
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