CN115300006A - Flexible continuum surgical instrument with structural decoupling function - Google Patents
Flexible continuum surgical instrument with structural decoupling function Download PDFInfo
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- CN115300006A CN115300006A CN202210795010.3A CN202210795010A CN115300006A CN 115300006 A CN115300006 A CN 115300006A CN 202210795010 A CN202210795010 A CN 202210795010A CN 115300006 A CN115300006 A CN 115300006A
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- 230000008878 coupling Effects 0.000 description 7
- 238000010168 coupling process Methods 0.000 description 7
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- 238000006073 displacement reaction Methods 0.000 description 3
- 229910001369 Brass Inorganic materials 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 2
- 239000010951 brass Substances 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000001035 gastrointestinal tract Anatomy 0.000 description 2
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- 238000000034 method Methods 0.000 description 2
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- 125000006850 spacer group Chemical group 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
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- 230000009471 action Effects 0.000 description 1
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- 230000008859 change Effects 0.000 description 1
- 230000015271 coagulation Effects 0.000 description 1
- 238000005345 coagulation Methods 0.000 description 1
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- 230000001079 digestive effect Effects 0.000 description 1
- 238000001839 endoscopy Methods 0.000 description 1
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
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Abstract
The invention discloses a flexible continuum surgical instrument with a decoupling function, which comprises a driving module, a flexible driving wire transmission module of a tubular structure, a flexible continuum module and an end effector module connected with the flexible continuum module, wherein the end effector module comprises a clamp; the flexible continuum module comprises a second bend and a first bend, the second bend is formed by a plurality of joints in an orthogonal stacking arrangement, the second bend is close to the end effector module, and the first bend is close to the flexible driving wire transmission module; the corresponding flexible driving wires respectively penetrate through shaft holes which are formed in the flexible driving wire transmission module of the tubular structure and are mutually separated along the radial direction, and then extend out to be connected with the flexible continuum module and the end effector module. The invention can realize the self-decoupling of the structure on the premise of ensuring more flexible control freedom, so as to carry out more accurate wire drive control.
Description
Technical Field
The invention relates to the technical field of surgical instruments, in particular to a flexible continuum surgical instrument with a structural decoupling function.
Background
With the development of the medical technology level and the gradual maturity of the robot technology in the field, the digestive endoscopy operation is widely applied to the diagnosis and treatment of early cancers of the digestive tract, the flexible surgical instrument used in the operation mainly adopts a wire driving mode, has the characteristics of compact size, multiple degrees of freedom and long-distance transmission, and the far end of the flexible surgical instrument is generally composed of two parts: a tip effector instrument and a flexible continuum structure. The tail end executing instrument performs cutting, clamping, wound suturing and other operations and is completed through surgical scissors, surgical forceps or integrated electric cutting, electric coagulation and other devices.
However, the existing flexible continuum surgical instrument has the problems of large return difference, structural coupling, large size, poor flexibility and the like. Through the mode of the orthogonal scattered stacking of the rigid joints, a continuum with available working channels, multiple degrees of freedom, high dexterity and better rigidity can be designed and manufactured. However, based on the proposed structure, although a sufficient degree of freedom is provided, there is a problem of structural coupling, and particularly in a multi-stage bending structure, a large return difference is easily caused.
Disclosure of Invention
The invention aims to provide a flexible continuum surgical instrument which is compact in structure and has a structure decoupling function, aiming at the technical defects in the prior art, and the flexible continuum surgical instrument is a flexible continuum surgical instrument for early cancer diagnosis and treatment of the digestive tract.
The technical scheme adopted for realizing the purpose of the invention is as follows:
a flexible continuum surgical instrument with decoupling function comprises a driving module, a flexible driving wire transmission module of a tubular structure, a flexible continuum module and an end effector module connected with the flexible continuum module, wherein the end effector module comprises a clamp;
the flexible continuum module comprises a second bend formed by a plurality of joints in an orthogonal stacked arrangement, a first bend, the second bend being proximal to the end effector module, the first bend being proximal to the flexible drive wire transfer module; fixed-length decoupling wires are equidistantly arranged between a first end joint and a second end joint at two ends of the first bending part along the circumferential direction of the flexible continuum module, an active bending part and a passive bending part of the first bending part are formed between the first end joint and the second end joint, the active bending part is far away from the clamp and the passive bending part is close to the clamp; the fixed-length decoupling wires sequentially penetrate through the first end joint, the active bending part, the passive bending part and the second end joint, and two ends of the fixed-length decoupling wires are fixed with the first end joint and the second end joint;
the drive module includes drive wheel group, direction wheelset, with the flexible drive silk that direction wheelset and drive wheelset are connected, flexible drive silk includes first flexion drive silk, second flexion drive silk and clamp drive silk, first flexion drive silk, second flexion drive silk and clamp drive silk pass tubular structure respectively stretch out behind the inside mutually spaced shaft hole along the radial direction that forms of flexible drive silk transmission module:
after the first end joint passes through the active bending part, the first bending part driving wire extends out of a third end joint which is separated from the passive bending part and is realized by the tail end of the active bending part and is fixed with the third end joint; the second bending part driving wire passes through the first bending part and the second bending part through the first end joint, then extends out of a fourth end joint at the tail end of the second bending part and is fixed with the fourth end joint; and the clamp driving wire passes through the first end joint, the second bending part and then extends out of a fourth end joint at the tail end of the second bending part and then extends into the end effector module to be connected with the clamp.
Wherein, first flexion drive silk and second flexion drive silk are four, all arrange along the circumference equidistance of flexible continuum module, clamp drive silk is one, arranges the inboard at first flexion drive silk and second flexion drive silk, first flexion drive silk is arranged the adjacent side at second flexion drive silk.
The clamp driving wire transmission module comprises a tubular structure, a clamp driving wire and a tubular driving wire transmission module, wherein a central channel of the tubular structure of the flexible driving wire transmission module is used for the clamp driving wire to pass through, side channels for the first flexible driving wire and the second flexible driving wire to pass through are formed inside the tube wall of the tubular structure, and the number of the side channels is the same as the sum of the first flexible driving wire and the second flexible driving wire.
The flexible driving wire is correspondingly provided with a guide wheel and a driving wheel set, and each driving wheel set is connected with a driving motor.
The one end of drive module disposes multicavity pipe fixing device, including the fixed top board of multicavity pipe and the fixed under bracing of multicavity pipe that the lock is in the same place from top to bottom each other, the body that forms the flexible drive silk transmission module that is used for tubular structure between the fixed top board of multicavity pipe and the fixed under bracing of multicavity pipe passes through and spacing groove.
Wherein the jaws of the end effector module include an upper jaw and a lower jaw; one end of the clamp driving wire is fixed with the wire fixing sliding block, a pre-compressed pressure spring and the wire fixing sliding block are arranged at one end, close to the flexible continuum module, in the clamp barrel, the clamp can be kept open in an initial state, and the clamp driving wire is pulled to compress the spring so as to close the clamp;
the upper clamp and the lower clamp are oppositely arranged at the front end of the clamp barrel, are limited by two oppositely arranged connecting plates at the front end of the clamp barrel and are positioned between the two connecting plates, and are connected through a clamp rotating pin penetrating through the top of the clamp barrel, a sliding groove pin is arranged on a mounting plate at the front end of a wire fixing slide block and is in cross connection with the mounting plate, and the sliding groove pin penetrates through sliding groove holes in the two connecting plates and can linearly move along the sliding groove holes.
Compared with the existing flexible continuum surgical instrument, the design provided by the invention can realize the decoupling of the structure on the premise of ensuring more flexible control freedom degree, so as to carry out more accurate wire drive control.
The bending part is formed by stacking rigid stainless steel joints based on rotation arc joints, and is good in rigidity and easy to machine and assemble. The driving module of the invention has compact structure, is beneficial to the miniaturization design of a surgical instrument system, and is convenient to use and replace.
The decoupling mode of the bending part is simple and effective, the problem of coupling of different bending parts in the multi-degree-of-freedom driving process is solved, and the return difference is reduced.
The flexible driving wire transmission module is simple to process and manufacture and low in cost.
Drawings
FIG. 1 shows a schematic diagram of the overall structure of the present invention;
FIG. 2 shows a schematic view of the flexible drive wire transfer module of FIG. 1;
FIG. 3 shows an exploded view of the flexible continuum module of FIG. 1;
FIG. 4 shows an exploded view of the drive module;
FIG. 5 shows an exploded view of a first wire wheel set;
FIG. 6 shows an exploded view of a drive wheel set;
FIG. 7 shows an exploded view of the end effector module;
FIG. 8 shows a schematic view of a guide wire structure;
fig. 9 shows a schematic cross-sectional view of a flexible drive wire transfer module.
In the figure:
1-a drive module; 2-a flexible drive wire transfer module; 3-an end effector module; 4-a flexible continuum module; 5-a miniature direct current motor; 6-first socket head cap screw; 7-a motor support plate; 8-a wire wheel set cover plate; 9-brass couplings; 10-a first hexagonal copper pillar; 11-copper column fixing cover plate; 12-a second inner hexagonal copper column; 13-a first wire wheel set; 14-a drive wheel set; 15-a second wire wheel set; 16-a second socket head cap screw; 17-a wire wheel set bottom plate; 18-drive wheel set floor; 19-a third socket head cap screw; 20-fixing an upper pressure plate by a multi-cavity tube; 21-a multi-cavity tube fixed lower support;
31-a clamp rotation pin; 32-upper clamp; 33-a sliding groove pin; 34-a wire fixing slide block; 35-a pressure spring; 36-clamp drive wire; 37-a forceps barrel; 38-lower clamp;
41-second bend drive wire; 42-fourth end joint; 43-second joint; 44-a second end joint; 45-fixed length decoupling wires; 46-a first joint; 47-first bend drive wire; 48-third end joint; 49-first end joint;
131-a wire guide wheel; 132-wire wheel flange bearing; 133-a gasket; 134-wire reel shaft;
141-driving wheel set first flange bearing; 142-a reel; 143-driving the drive-train shaft; 144-drive wheel set second flange bearing.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
As shown in fig. 1 to 9, the flexible continuum surgical instrument with the decoupling function according to the embodiment of the invention includes a driving module and a flexible driving wire transmission module, wherein the driving module is connected to the flexible driving wire transmission module, the flexible driving wire transmission module is connected to one end of the flexible continuum module, and the other end of the flexible continuum module is connected to an end effector module.
As an embodiment, the driving wheel set and the guiding wheel set of the driving module are connected with the driving wires of the flexible driving wire transmission module, and the driving wires include a first bending driving wire 47, a second bending driving wire 41 and a clamp driving coupling wire 36; the driving wires are respectively connected with the corresponding driving wheels after bypassing the corresponding guide wheels, and the driving wheels are driven by a motor and can rotate, so that the driving wires are driven to move and the driving force is transmitted.
As an alternative embodiment, each driving wheel is connected with a motor, the motor may be a micro dc motor, etc., a plurality of motors may be mounted on the motor supporting plate 7, a driving wheel group formed by a plurality of driving wheels is arranged on the outer side, and a wire guiding wheel group is arranged on the inner side of the driving wheel group.
Referring to fig. 7, as an embodiment, the wire wheel set includes eight first wire wheel sets 13 and one second wire wheel set 15, the number of the driving wheel sets 14 is five, the axial center end-to-end connecting lines of the four driving wheel sets 14 are rectangular, the eight first wire wheels are arranged in two rows, the axial center end-to-end connecting lines are rectangular, the other driving wheel set is arranged on the same side with two driving wheel sets, and the second wire wheel set is arranged on the same side with the four first wire wheel sets and is arranged opposite to the other four first wire wheel sets.
Referring to fig. 7, in one embodiment, there are four first bending portion driving wires 47, four second bending portion driving wires 41, and one clamp driving wire 36.
The driving wire is fixed on the threads of the winding wheel of the driving wheel set through the wire guide wheel shunt of the wire guide wheel set, and the driving wheel set is driven to rotate by the micro direct current motor, so that the driving wire moves to control the flexible continuum module and the end effector module to move.
As an embodiment, the first wire wheel set and the second wire wheel set are installed between the wire wheel set bottom plate 17 and the wire wheel set cover plate 8, the driving wheel set is located between the copper column fixing cover plate 11 of the frame structure and the driving wheel set bottom plate 18, the wire wheel set bottom plate 17 is fixed on the upper surface of the driving wheel set bottom plate 18 through the second hexagon socket head cap screws 16, the wire wheel set cover plate 8 is arranged at the rectangular hollowed-out structure inside the copper column fixing cover plate 11 of the frame structure and is limited and supported by the limiting grooves on the copper column fixing cover plate 11 of the frame structure, the corresponding copper column coupling 9 is arranged at the position of the copper column fixing cover plate 11 corresponding to the axis of the driving wheel set, the copper column coupling 9 is used for realizing the transmission connection of the motor and the driving wheel set, the first hexagon socket head cap posts 10 are respectively arranged on the upper surfaces of the four corners of the copper column fixing cover plate 11 and are matched and connected with the first hexagon socket head cap screws 6 on the motor support plate, the second hexagon socket head cap posts 12 are arranged on the lower surfaces of the four corners of the copper column fixing cover plate 11 and are matched with the driving wheel set bottom plate 18 to connect the motor support plate 7, the copper column fixing cover plate 11 and the driving wheel set bottom plate 18 to form a three-separated laminated plate structure.
Referring to fig. 3, 4 and 5, specifically, the micro dc motor 5 is fixed on a motor support plate 7, the motor support plate 7 is connected with a first inner hexagonal copper cylinder 10, a copper cylinder fixing cover plate 11 and a second inner hexagonal copper cylinder 12 through a first inner hexagonal screw 6, and the second inner hexagonal copper cylinder 12 is directly fixed on a driving wheel set bottom plate 18 through a thread; the wire wheel set bottom plate 17 is fixed on the driving wheel set bottom plate 18 through a second hexagon socket head cap screw 16.
As an embodiment, each of the first wire wheel set 13 and the second wire wheel set 15 includes a wire wheel 131, a wire wheel flange bearing 132, a spacer 133, and a wire wheel shaft 134, and each two wire wheel flange bearings 132 are engaged with the wire wheel 131, pass through the wire wheel shaft 134, and are separated by the spacer 133, so as to realize low resistance rotation of the wire wheel 131.
As an embodiment, the first wire wheel set 13 and the second wire wheel set 15 are both interference-fitted on the wire wheel set bottom plate 17 through the wire shaft 134, and the wire wheel set cover plate 8 passes through the wire shaft 134 and is fitted with the copper column fixing cover plate 11.
As an embodiment, the driving wheel set 14 includes a driving wheel set first flange bearing 141, a driving wheel set second flange bearing 144, a reel 142 and a driving wheel set shaft 143, the driving wheel set 14 is fixed on the driving wheel set bottom plate 18 through the driving wheel set second flange bearing 144, the driving wheel set first flange bearing 141 is installed at the upper end of the driving wheel set shaft 143 of the driving wheel set 14 and is connected to the motor shaft of the micro dc motor 5 through a brass coupler 9, the driving wheel set 14 is driven to rotate by the rotation of the motor shaft, so as to generate the displacement of the first bending portion driving wire 47, the second bending portion driving wire 41 and the clamp driving wire 36.
As an embodiment, a multi-lumen tube fixing lower support 21 and a multi-lumen tube fixing upper pressure plate 20 are arranged at a position near one end of the upper surface of the driving wheel set bottom plate 18; the multi-cavity tube fixing upper pressing plate is positioned on the upper surface of the multi-cavity tube fixing lower support and is fixed together by a third inner hexagon screw 19, the third inner hexagon screw forms a passing space or a passage of the multi-cavity tube through which the driving wire passes, and the flexible driving wire transmission module 2 is fixed on the multi-cavity tube fixing lower support 21 of the driving module 1. Specifically, a third socket head cap screw 19 passes through the multi-lumen tube fixing upper pressure plate 20 and the multi-lumen tube fixing lower support 21, and is fixed on the driving wheel set bottom plate 18 through threads.
As one example, the flexible drive wire delivery module includes a multi-lumen tube having a central working channel and eight circumferentially arranged drive wire channels, see fig. 8.
Referring to fig. 2, as one example, the flexible continuum module 4 includes a fourth end joint 42, a second joint 43, a second end joint 44, a first joint 46, a third end joint 48, and a first end joint 49; all joints can adopt stainless steel joints, the end joints and the non-end joints are mutually connected through a convex part at one end of one joint and a concave part at the other end of the other joint, the joints are tightly stacked together through the tension of a driving wire, the bending deformation can be realized through the curved surface contact, the first joints 46 and the second joints 43 can be the same or different and are positioned among the end joints, and the structures of the end joints can be the same or different; the flexible continuum module 4 can form different curved portions when driven to bend by the driving wire.
The fourth end joint 42 and the plurality of second joints 43 are sequentially and orthogonally stacked to form a second bending part of the flexible continuum module 4, and the second end joint 44, the plurality of first joints 46, the third end joint 48 and the first end joint 49 are sequentially and orthogonally stacked to form a first bending part of the flexible continuum module 4;
four fixed-length decoupling wires 45 are circumferentially arranged at equal intervals, the head and the tail of the four fixed-length decoupling wires are respectively fixed in the notches of the second end joint 44 and the first end joint 49 in an adhesion mode, and the first bending part driving wire 47 is knotted and fixed in the notch of the third end joint 48, so that an active bending part and a passive bending part of the first bending part are formed;
the third end joint 48, the three first joints 46 and the first end joint 49 are used as active bending parts, the displacement of the first bending part driving wire 47 is controlled, meanwhile, due to the path limiting effect of the fixed-length decoupling wire 45, the passive bending parts formed by the second end joint 44 and the three first joints 46 are bent at equal angles in opposite directions relative to the active bending parts, the path of the second bending part driving wire 41 passing through the first bending parts is not changed, and the purpose of decoupling structurally is achieved.
By controlling the displacement of the second bending section driving wire 41, the bending motion of two degrees of freedom independent of the first bending section is realized.
According to the embodiment of the invention, the passive bending part and the active bending part of the first bending part are connected end to end through the fixed-length decoupling wire, the first bending part driving wire drives the first active bending part to bend, meanwhile, under the action of the fixed-length decoupling wire, the first passive bending part moves in the opposite direction relative to the first active bending part, the path of the driving wire passing through the first bending part does not change, an operation triangle is formed, and decoupling of the first bending part and the second bending part is realized. The second bend drive wire is driven to achieve control of the second bend for achieving position control of the end effector module.
The end effector module 3 includes, as one embodiment, an upper jaw 32, a lower jaw 38, a jaw rotation pin 31, a chute pin 33, a jaw cylinder 37, a wire fixing slider 34, a pressure spring 35, and a jaw driving wire 36. One end of a clamp driving wire 36 is fixed with the wire fixing sliding block 34, a pre-compressed pressure spring 35 is placed in a clamp barrel 37, the clamp can be kept open in an initial state, and the clamp can be closed by pulling the clamp driving wire to compress the spring 35.
As an alternative embodiment, the wire fixing slide block 34 and the pressure spring 35 are installed into the front end of the jaw cylinder 37, the rear end of the jaw cylinder 37 is provided with a limiting pipe which blocks the pressure spring 35 and prevents the pressure spring from sliding out, the upper jaw 32 and the lower jaw 38 are oppositely arranged at the front end of the jaw cylinder 37 and limited by two oppositely arranged connecting plates at the front end of the jaw cylinder 37, the two connecting plates are positioned between the two connecting plates and connected through a jaw rotating pin 31 penetrating through the top of the jaw cylinder 37, a sliding groove pin 33 is installed on a mounting plate at the front end of the wire fixing slide block 34 and is connected with the mounting plate in a cross shape, and the sliding groove pin 33 penetrates through sliding groove holes in the two connecting plates and can move linearly along the sliding groove holes.
As an embodiment, the clamp driving wire 36 passes through holes at the bottoms of the clamp barrel 37, the pressure spring 35 and the wire fixing slide block 34 and is knotted and fixed, the sliding groove pin 33 is in interference fit with a hole at the top or the front end of the wire fixing slide block 34, the pressure spring 35 and the wire fixing slide block 34 are arranged in the clamp barrel 37, the clamp rotating pin 31 passes through the upper clamp 31 and the lower clamp 38 and is in interference fit with a hole at the top of the clamp barrel 37, the sliding groove pin 33 is simultaneously matched with notches on the upper clamp 31, the lower clamp 38 and the clamp barrel 37, the clamp driving wire 36 is pulled, the pressure spring 35 is compressed, the wire fixing slide block 34 drives the sliding groove pin 33 to slide backwards, and the clamps are closed; the clamp driving wire 36 is released and the clamp is opened in the restoring movement of the pressing spring 35.
As one example, the end effector module 3 and the flexible continuum module 4 are connected together by interference fit through the jaw cylinder 37, and the first and second bend drive wires 47, 41 are connected to the drive module 1 through the flexible drive wire transfer module 2, pass around the first and second leadwire wheel sets 13, 15, and are adhered in the threaded grooves of the reels 142 in the drive wheel set 14.
While there have been shown and described the fundamental principles and essential features of the invention and advantages thereof, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof;
the present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (6)
1. The flexible continuum surgical instrument with the structural decoupling function is characterized by comprising a driving module, a flexible driving wire transmission module of a tubular structure, a flexible continuum module and an end effector module connected with the flexible continuum module, wherein the end effector module comprises a clamp;
the flexible continuum module comprises a second bend and a first bend, the second bend is formed by a plurality of joints in an orthogonal stacking arrangement, the second bend is close to the end effector module, and the first bend is close to the flexible driving wire transmission module; fixed-length decoupling wires are equidistantly arranged between a first end joint and a second end joint at two ends of the first bending part along the circumferential direction of the flexible continuum module, an active bending part and a passive bending part of the first bending part are formed between the first end joint and the second end joint, the active bending part is far away from the clamp and the passive bending part is close to the clamp; the fixed-length decoupling wires sequentially penetrate through the first end joint, the active bending part, the passive bending part and the second end joint, and two ends of the fixed-length decoupling wires are fixed with the first end joint and the second end joint;
the drive module includes drive wheel group, direction wheelset, with the flexible drive silk that direction wheelset and drive wheelset are connected, flexible drive silk includes first flexion drive silk, second flexion drive silk and clamp drive silk, first flexion drive silk, second flexion drive silk and clamp drive silk pass tubular structure respectively stretch out behind the inside mutually spaced shaft hole along the radial direction that forms of flexible drive silk transmission module:
after the first bending part driving wire passes through the active bending part through the first end joint, the first bending part driving wire extends out of a third end joint separated from the passive bending part by the tail end of the active bending part and is fixed with the third end joint; the second bending part driving wire passes through the first bending part and the second bending part through the first end joint, then extends out of a fourth end joint at the tail end of the second bending part and is fixed with the fourth end joint; and the clamp driving wire passes through the first end joint, the second bending part and then extends out of a fourth end joint at the tail end of the second bending part and then extends into the end effector module to be connected with the clamp.
2. The flexible continuum surgical instrument with the structural decoupling function of claim 1, wherein the number of the first curved portion driving wires and the number of the second curved portion driving wires are four and are arranged equidistantly along a circumference of the flexible continuum module, the number of the clamp driving wires is one and is arranged on an inner side of the first curved portion driving wires and the inner side of the second curved portion driving wires, and the first curved portion driving wires are arranged on an adjacent side of the second curved portion driving wires.
3. The flexible continuous-body surgical instrument with the structural decoupling function according to claim 2, wherein a central channel of the tube body of the flexible driving wire transmission module of the tubular structure is used for the clamp driving wire to pass through, side channels through which the first flexible driving wire and the second flexible driving wire pass are formed inside the tube wall of the tube body, and the number of the side channels is the same as the sum of the first flexible driving wire and the second flexible driving wire.
4. The flexible continuous body surgical instrument with the structural decoupling function as claimed in claim 1, wherein a guide wheel and a driving wheel set are correspondingly configured for one flexible driving wire, and each driving wheel set is connected with one driving motor.
5. The flexible continuous-body surgical instrument with the structural decoupling function according to claim 1, wherein a multi-cavity tube fixing device is configured at one end of the driving module and comprises a multi-cavity tube fixing upper pressing plate and a multi-cavity tube fixing lower support which are mutually buckled up and down, and a limiting groove for allowing a tube body of the flexible driving wire transmission module of the tubular structure to pass through and limit is formed between the multi-cavity tube fixing upper pressing plate and the multi-cavity tube fixing lower support.
6. The flexible continuum surgical instrument of claim 1, wherein the jaws of the end effector module comprise an upper jaw and a lower jaw; one end of the clamp driving wire is fixed with the wire fixing sliding block, a pre-compressed pressure spring and the wire fixing sliding block are arranged at one end, close to the flexible continuum module, in the clamp barrel, the clamp can be kept open in an initial state, and the clamp driving wire is pulled to compress the spring so as to close the clamp;
the upper clamp and the lower clamp are oppositely arranged at the front end of the clamp barrel, are limited by two oppositely arranged connecting plates at the front end of the clamp barrel and are positioned between the two connecting plates, and are connected through a clamp rotating pin penetrating through the top of the clamp barrel, a sliding groove pin is arranged on a mounting plate at the front end of a wire fixing slide block and is in cross connection with the mounting plate, and the sliding groove pin penetrates through sliding groove holes in the two connecting plates and can linearly move along the sliding groove holes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210795010.3A CN115300006B (en) | 2022-07-07 | 2022-07-07 | Flexible continuum surgical instrument with structure decoupling function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210795010.3A CN115300006B (en) | 2022-07-07 | 2022-07-07 | Flexible continuum surgical instrument with structure decoupling function |
Publications (2)
| Publication Number | Publication Date |
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| CN115300006A true CN115300006A (en) | 2022-11-08 |
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